version: 66.13
glider: 196
mission: 14
dive: 275
start: 9 7 117 19 57 57
data:
$ID,196
$MISSION,14
$DIVE,275
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,767.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,070917,194702,7524.4658,-15118.4004,33,0.8,33,20.7,1.1,288.1,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.4
$GPS2,070917,195721,7524.4941,-15118.4824,5,0.7,10,20.7,0.0,182.8,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,352.6,34646,-17.9,-10.000,-21.31,2227
$D_GRID,480
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,52,-0.57,-145.9,173,2233,493,479,0.0,0.0,0,140,0.00,0.00,-87.43,0.000,16386,0.000,0.000,171,2232,2032,1965,2100,0,0,0,0,0,0,14.51,28.83,14.56
$GC,143,-0.57,-145.9,170,2233,1965,2102,3.1,-3.4,9,207,13.18,2.78,-44.33,0.000,18724,0.455,2.134,2375,3585,3964,3949,3979,1,0,0,0,0,0,13.24,12.61,14.01
$GC,327,-0.71,-145.9,2375,3587,3955,3981,39.0,-13.7,45,332,0.00,2.42,0.00,0.000,1158,0.000,0.058,2375,2208,3966,3954,3979,0,0,0,0,0,0,13.90,13.33,14.00
$GC,638,-0.83,-145.9,2375,2206,3957,3979,83.4,-11.3,77,639,0.20,0.00,0.00,0.000,4230,0.111,0.000,2299,2206,3968,3956,3980,0,0,0,0,0,0,13.95,14.07,14.04
$GC,957,-0.86,-145.9,2299,2207,3956,3980,132.4,-14.1,95,963,0.00,2.50,0.00,0.000,388,0.000,0.087,2294,3590,3967,3956,3978,0,0,0,0,0,0,14.43,13.96,14.45
$GC,1068,-0.97,-145.9,2293,3593,3956,3981,145.7,-11.8,117,1073,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2188,3967,3955,3979,0,0,0,0,0,0,14.14,14.02,14.18
$GC,1379,-1.03,-145.9,2293,2187,3962,3981,184.2,-12.1,129,1384,0.12,2.53,0.00,0.000,4484,0.135,0.085,2236,3594,3967,3955,3979,0,0,0,0,0,0,14.09,14.00,14.13
$GC,1444,-1.06,-145.9,2235,3594,3954,3980,194.1,-14.9,142,1449,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2192,3967,3956,3979,0,0,0,0,0,0,14.18,14.06,14.22
$GC,1769,-1.04,-145.9,2236,2191,3956,3980,247.3,-15.8,157,1774,0.00,2.50,0.00,0.000,388,0.000,0.087,2235,3588,3966,3955,3977,0,0,0,0,0,0,14.45,13.99,14.46
$GC,1849,-1.10,-145.9,2235,3589,3956,3979,258.2,-12.7,173,1854,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2196,3967,3955,3980,0,0,0,0,0,0,14.18,14.06,14.21
$GC,2159,-1.10,-145.9,2235,2196,3955,3980,299.6,-12.9,185,2164,0.00,2.50,0.00,0.000,260,0.000,0.088,2235,3590,3967,3955,3979,0,0,0,0,0,0,14.45,13.99,14.47
$GC,2249,-1.19,-145.9,2236,3593,3955,3980,310.0,-10.7,203,2255,0.12,2.40,0.00,0.000,5254,0.135,0.055,2185,2195,3967,3955,3979,0,0,0,0,0,0,14.08,14.05,14.19
$GC,2581,-1.12,-145.9,2186,2193,3956,3979,364.2,-16.4,219,2587,0.12,2.45,0.00,0.000,2436,0.304,0.083,2203,3596,3966,3955,3978,0,0,0,0,0,0,13.70,13.95,13.85
$GC,2687,-1.15,-145.9,2204,3595,3955,3980,378.6,-12.5,240,2692,0.00,2.38,0.00,0.000,1158,0.000,0.054,2203,2191,3967,3955,3979,0,0,0,0,0,0,14.20,14.02,14.20
$GC,3002,-1.15,-145.9,2203,2191,3955,3980,422.4,-13.8,253,3007,0.00,2.47,0.00,0.000,260,0.000,0.087,2198,3593,3967,3955,3979,0,0,0,0,0,0,14.61,14.09,14.62
$GC,3107,-1.18,-145.9,2198,3594,3955,3979,436.2,-12.5,274,3112,0.00,2.35,0.00,0.000,1158,0.000,0.055,2196,2199,3966,3954,3979,0,0,0,0,0,0,14.32,14.19,14.35
$STATE,3420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3420,begin apogee
$GC,3426,-0.13,0.0,2198,2062,3955,3979,480.2,-14.0,287,3663,1.33,0.00,230.27,1.405,10246,0.239,0.000,2531,2061,3357,3376,3339,0,0,0,0,0,0,13.83,13.21,12.63
$STATE,3667,end apogee,CONTROL_FINISHED_OK
$STATE,3667,begin climb
$GC,3670,0.57,145.9,2532,2062,3373,3336,493.4,0.0,295,4230,0.73,2.58,214.20,1.343,10756,0.060,0.080,2781,732,2749,2785,2714,0,0,0,0,0,0,13.64,12.88,12.28
$GC,4242,0.57,145.9,2781,733,2786,2714,458.2,7.1,298,4247,0.00,2.38,0.00,0.000,1030,0.000,0.076,2781,2086,2748,2785,2712,0,0,0,0,0,0,14.12,14.00,14.16
$GC,4557,0.15,145.9,2782,2086,2786,2707,412.5,14.1,311,4563,0.62,2.47,0.00,0.000,4484,0.314,0.075,2640,3516,2746,2784,2709,0,0,0,0,0,0,13.71,14.10,13.96
$GC,4713,-0.06,150.0,2640,3517,2783,2709,396.5,9.8,342,4718,0.35,2.33,0.00,0.000,5286,0.281,0.058,2569,2133,2745,2782,2709,0,0,0,0,0,0,13.91,14.26,14.29
$GC,5038,0.01,251.4,2569,2133,2782,2710,378.1,5.3,357,5223,0.00,2.65,174.73,1.269,8740,0.000,0.086,2572,697,2332,2381,2283,0,0,0,0,0,0,14.67,13.73,12.94
$GC,5283,0.19,318.1,2573,697,2375,2273,362.8,6.9,405,5398,0.22,2.53,108.05,1.231,11430,0.093,0.080,2663,2094,2067,2116,2019,0,0,0,0,0,0,13.93,13.84,12.82
$GC,5706,0.16,318.1,2663,2096,2096,1997,308.0,13.1,439,5711,0.12,2.47,0.00,0.000,4740,0.256,0.083,2638,689,2045,2095,1996,0,0,0,0,0,0,13.95,14.08,14.09
$GC,5736,0.19,318.1,2639,690,2093,1997,304.4,11.5,445,5741,0.00,2.47,0.00,0.000,1158,0.000,0.078,2639,2104,2044,2093,1996,0,0,0,0,0,0,14.21,14.07,14.26
$GC,6066,0.21,318.1,2638,2106,2093,1994,269.4,10.3,461,6067,0.00,0.00,0.00,0.000,134,0.000,0.000,2638,2105,2042,2092,1992,0,0,0,0,0,0,14.62,14.63,14.64
$GC,6366,0.26,347.0,2639,2106,2092,1993,242.0,8.7,471,6417,0.00,2.50,42.12,1.294,8868,0.000,0.086,2644,702,1944,1990,1899,0,0,0,0,0,0,14.65,14.09,13.26
$GC,6507,0.39,382.9,2644,703,1979,1896,230.2,8.3,499,6572,0.20,2.45,60.08,1.236,11430,0.099,0.080,2719,2105,1805,1833,1778,0,0,0,0,0,0,14.23,14.16,13.19
$GC,6878,0.33,382.9,2720,2105,1815,1757,181.2,13.0,523,6879,0.12,0.00,0.00,0.000,4230,0.232,0.000,2691,2105,1785,1814,1757,0,0,0,0,0,0,14.05,14.33,14.27
$GC,7177,0.33,382.9,2691,2106,1815,1754,150.2,10.1,533,7182,0.00,2.50,0.00,0.000,516,0.000,0.090,2691,691,1783,1813,1753,0,0,0,0,0,0,14.62,14.16,14.64
$GC,7258,0.43,400.3,2691,691,1811,1753,142.7,9.2,549,7288,0.00,2.47,23.12,1.317,9382,0.000,0.078,2690,2106,1730,1757,1703,0,0,0,0,0,0,14.35,14.21,13.31
$GC,7600,0.50,431.3,2692,2106,1750,1688,111.9,8.6,567,7660,0.12,2.55,54.25,1.227,10916,0.135,0.089,2756,697,1606,1639,1574,0,0,0,0,0,0,14.30,14.05,13.26
$GC,7765,0.50,431.3,2758,697,1618,1568,92.1,11.2,600,7772,0.00,2.47,0.00,0.000,1030,0.000,0.079,2756,2102,1591,1616,1566,0,0,0,0,0,0,14.21,14.08,14.25
$GC,8070,0.48,449.7,2757,2103,1618,1559,60.6,9.1,631,8083,0.00,2.53,8.98,0.355,8612,0.000,0.083,2757,3510,1529,1562,1497,0,0,0,0,0,0,14.60,14.09,13.62
$GC,8274,0.53,563.0,2757,3512,1564,1515,46.3,4.8,671,8348,0.00,2.42,66.95,0.334,9382,0.000,0.063,2766,2095,1067,1133,1002,0,0,0,0,0,0,14.34,14.23,13.71
$GC,8644,0.77,683.5,2765,2094,1135,1008,24.0,4.4,715,8724,0.17,2.53,71.47,0.262,10916,0.106,0.091,2849,691,576,617,536,0,0,0,0,0,0,14.14,13.93,13.82
$GC,8809,0.92,729.9,2850,692,620,538,10.2,7.9,747,8831,0.00,2.47,14.27,0.233,9382,0.000,0.077,2849,2105,495,521,469,0,0,0,0,0,0,14.26,14.13,13.82
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.4,1.021485
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8979,0.00,0.000,0,0,494,704.01
$SM_GC,1.26,8.02,0.17,0.00,0.063,0.117,0.000,202,2218,494,-7.37,-0.57,704.01,0,0,0,0,0,0,14.28,14.28,14.37
$RAFOS_CLK,402
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7523.72,-15124.05,070917,171043
$TT8_MAMPS,0.040446,0.902545
$HUMID,46.41
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,15954837504.000000
$PM_FREEKB_00,49841728
$24V_AH,12.28,174.335
$10V_AH,12.17,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.775,79.550,1068.500,0.000,0.000,0.000,0.000,327.775,3.000,0.000,11.370,0.000,6038.993,842.039,2466.138,266.968,0.000,2454.550,0.000,1086.367,2212.000,0.539,0.000
$DEVICE_MAMPS,455.175,2134.350,1405.305,0.000,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8912.000,8884.000,8870.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.815,20.000,9.907,0.000
$MEM,323564
$DATA_FILE_SIZE,26765,758
$CAP_FILE_SIZE,99854,0
$CFSIZE,2097872896,2007171072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.9
$CURRENT,0.021,275.59,1
$GPS,070917,222857,7525.582,-15117.129,28,0.8,39,20.7,0.5,245.7,11,9.2