version: 66.13
glider: 196
mission: 14
dive: 282
start: 9 8 117 14 46 29
data:
$ID,196
$MISSION,14
$DIVE,282
$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,62
$R_STBD_OVSHOOT,50
$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,786.0
$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
$GPS1,080917,144003,7532.6548,-15109.7363,15,0.7,21,20.7,0.9,123.0,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.0
$GPS2,080917,144556,7532.6426,-15109.6836,9,0.7,40,20.7,0.4,99.2,11,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,347.6,19372,-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,51,-0.57,-145.9,193,2229,505,481,0.0,0.0,0,144,0.00,0.00,-91.60,0.000,16386,0.000,0.000,191,2228,2159,2090,2229,0,0,0,0,0,0,14.56,28.83,14.58
$GC,147,-0.57,-145.9,192,2229,2094,2231,4.0,-5.4,9,204,12.88,0.00,-36.08,0.000,18982,0.454,0.000,2386,2228,3964,3949,3979,0,0,0,0,0,0,13.62,12.53,14.05
$GC,502,-0.68,-145.9,2386,2229,3954,3981,69.9,-11.7,47,503,0.00,0.00,0.00,0.000,134,0.000,0.000,2386,2228,3967,3954,3980,0,0,0,0,0,0,14.57,14.59,14.59
$GC,804,-0.86,-145.9,2386,2228,3955,3980,98.0,-7.9,77,806,0.28,0.00,0.00,0.000,4262,0.087,0.000,2281,2228,3967,3954,3980,0,0,0,0,0,0,14.28,14.39,14.38
$GC,1122,-0.86,-145.9,2281,2228,3955,3980,146.9,-15.0,89,1127,0.00,2.40,0.00,0.000,260,0.000,0.087,2271,3585,3967,3954,3980,0,0,0,0,0,0,14.64,14.10,14.66
$GC,1269,-0.98,-145.9,2271,3586,3955,3980,165.3,-11.5,118,1275,0.00,2.30,0.00,0.000,1158,0.000,0.058,2271,2236,3966,3954,3979,0,0,0,0,0,0,14.31,14.17,14.33
$GC,1572,-1.01,-145.9,2271,2236,3955,3981,206.9,-13.4,129,1573,0.00,0.00,0.00,0.000,134,0.000,0.000,2271,2235,3967,3954,3980,0,0,0,0,0,0,14.66,14.68,14.67
$GC,1872,-1.07,-145.9,2271,2235,3955,3980,244.0,-11.9,139,1878,0.10,2.40,0.00,0.000,4484,0.153,0.084,2224,3585,3966,3954,3979,0,0,0,0,0,0,14.26,14.15,14.28
$GC,1938,-1.11,-145.9,2229,3586,3955,3980,253.0,-13.7,152,1944,0.00,2.35,0.00,0.000,1158,0.000,0.057,2224,2201,3967,3954,3980,0,0,0,0,0,0,13.70,13.72,13.70
$GC,2264,-1.11,-145.9,2225,2201,3955,3981,299.2,-13.7,167,2268,0.00,2.45,0.00,0.000,260,0.000,0.090,2222,3585,3967,3954,3980,0,0,0,0,0,0,14.67,14.14,14.69
$GC,2344,-1.19,-145.9,2223,3586,3956,3980,309.2,-11.8,183,2349,0.00,2.35,0.00,0.000,1158,0.000,0.057,2222,2200,3967,3954,3981,0,0,0,0,0,0,14.20,14.13,14.26
$GC,2654,-1.19,-145.9,2223,2201,3954,3981,349.5,-12.9,195,2659,0.00,2.45,0.00,0.000,260,0.000,0.090,2222,3585,3966,3953,3980,0,0,0,0,0,0,14.66,14.09,14.69
$GC,2724,-1.28,-145.9,2223,3586,3955,3980,357.9,-11.4,209,2729,0.17,2.35,0.00,0.000,5254,0.112,0.057,2156,2196,3967,3954,3980,0,0,0,0,0,0,14.27,14.21,14.36
$GC,3044,-1.15,-145.9,2156,2196,3953,3981,417.9,-19.0,223,3049,0.20,2.45,0.00,0.000,2436,0.314,0.082,2190,3588,3967,3954,3980,0,0,0,0,0,0,13.71,14.07,13.92
$GC,3144,-1.15,-145.9,2190,3588,3954,3980,432.9,-13.7,243,3149,0.00,2.35,0.00,0.000,1030,0.000,0.056,2192,2200,3967,3954,3980,0,0,0,0,0,0,14.34,14.21,14.38
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3468,-0.13,0.0,2191,2055,3954,3980,480.4,-14.8,257,3693,1.35,0.00,221.25,1.421,10246,0.243,0.000,2527,2053,3364,3380,3348,0,0,0,0,0,0,13.78,13.52,12.66
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3699,0.57,145.9,2527,2054,3375,3339,492.5,0.0,264,3919,0.75,2.58,211.52,1.366,10756,0.062,0.080,2781,725,2765,2804,2726,0,0,0,0,0,0,13.66,12.86,12.26
$GC,4145,0.18,145.9,2781,725,2793,2722,477.6,13.4,358,4150,0.65,2.40,0.00,0.000,5254,0.325,0.074,2647,2073,2755,2792,2719,0,0,0,0,0,0,13.40,13.81,13.78
$GC,4457,0.02,174.4,2647,2074,2793,2715,449.7,8.7,370,4501,0.22,2.40,38.05,1.452,12964,0.262,0.079,2600,721,2651,2696,2606,0,0,0,0,0,0,13.76,13.76,13.12
$GC,4626,0.06,231.0,2600,723,2694,2602,437.1,7.4,404,4717,0.00,2.45,84.90,1.381,9254,0.000,0.079,2600,2107,2421,2477,2366,0,0,0,0,0,0,14.15,14.02,12.96
$GC,5027,0.08,257.5,2598,2108,2469,2352,402.5,8.8,434,5067,0.00,0.00,37.85,1.434,8742,0.000,0.000,2599,2107,2316,2369,2264,0,0,0,0,0,0,14.40,13.95,13.14
$GC,5358,0.12,285.1,2600,2107,2359,2251,373.6,8.7,450,5407,0.00,2.47,42.08,1.417,8868,0.000,0.084,2600,730,2195,2245,2146,0,0,0,0,0,0,14.45,13.96,13.15
$GC,5459,0.25,323.5,2602,730,2241,2145,365.0,8.2,470,5523,0.20,2.42,58.42,1.355,11430,0.098,0.078,2678,2103,2044,2089,1999,0,0,0,0,0,0,14.07,13.99,13.05
$GC,5838,0.18,323.5,2679,2103,2082,1984,310.7,14.4,496,5843,0.15,2.42,0.00,0.000,4740,0.251,0.083,2652,731,2035,2080,1991,0,0,0,0,0,0,13.81,14.02,13.94
$GC,5883,0.22,323.5,2647,732,2077,1985,305.1,11.5,505,5889,0.00,2.40,0.00,0.000,1158,0.000,0.078,2646,2102,2030,2077,1984,0,0,0,0,0,0,14.23,14.10,14.27
$GC,6199,0.22,323.5,2647,2102,2078,1982,269.2,11.0,518,6204,0.00,2.42,0.00,0.000,516,0.000,0.085,2645,730,2029,2077,1982,0,0,0,0,0,0,14.49,14.07,14.50
$GC,6255,0.28,326.7,2647,731,2077,1983,263.6,9.9,529,6262,0.00,2.40,0.00,0.000,1190,0.000,0.078,2647,2103,2027,2075,1980,0,0,0,0,0,0,14.25,14.09,14.25
$GC,6560,0.29,336.0,2647,2102,2077,1982,233.4,9.6,540,6575,0.00,0.00,14.00,1.501,8230,0.000,0.000,2647,2101,1998,2045,1951,0,0,0,0,0,0,14.49,14.06,13.22
$GC,6862,0.35,364.9,2647,2102,2040,1942,206.8,8.7,550,6922,0.12,2.55,49.28,1.339,10660,0.128,0.081,2704,3512,1875,1911,1839,0,0,0,0,0,0,14.15,13.98,13.19
$GC,6945,0.28,364.9,2705,3514,1899,1842,196.5,13.8,566,6950,0.17,2.38,0.00,0.000,5254,0.253,0.063,2672,2132,1869,1899,1840,0,0,0,0,0,0,13.85,14.03,14.09
$GC,7257,0.33,390.2,2672,2132,1897,1833,167.7,8.8,578,7305,0.00,2.55,41.55,1.320,8868,0.000,0.090,2672,687,1771,1797,1746,0,0,0,0,0,0,14.57,14.06,13.26
$GC,7450,0.45,423.3,2673,687,1787,1744,150.8,8.5,617,7516,0.17,2.47,57.80,1.258,11430,0.110,0.080,2747,2099,1636,1663,1610,0,0,0,0,0,0,14.14,14.07,13.19
$GC,7827,0.40,423.3,2747,2100,1663,1596,101.7,12.3,642,7828,0.15,0.00,0.00,0.000,4230,0.229,0.000,2714,2099,1629,1663,1595,0,0,0,0,0,0,14.07,14.33,14.30
$GC,8127,0.47,463.5,2714,2100,1662,1591,74.4,8.1,670,8154,0.00,2.50,20.58,0.426,8868,0.000,0.088,2714,683,1472,1510,1435,0,0,0,0,0,0,14.58,14.07,13.59
$GC,8269,0.67,538.8,2715,687,1510,1435,64.2,6.5,698,8317,0.25,2.47,40.95,0.392,11430,0.086,0.078,2803,2097,1165,1226,1105,0,0,0,0,0,0,14.21,14.14,13.62
$GC,8622,0.69,572.9,2803,2099,1227,1097,30.4,8.4,738,8645,0.00,2.55,18.20,0.295,8484,0.000,0.082,2803,3511,1026,1093,960,0,0,0,0,0,0,14.56,13.98,13.78
$GC,8680,0.75,589.1,2803,3511,1095,963,24.9,9.3,749,8698,0.00,2.42,9.52,0.281,9382,0.000,0.064,2807,2099,964,1032,896,0,0,0,0,0,0,14.15,14.04,13.74
$GC,8996,0.86,642.4,2808,2099,1033,894,3.4,7.5,782,9019,0.12,0.00,21.30,0.214,10914,0.129,0.000,2870,2098,806,872,741,0,0,0,0,0,0,14.26,28.83,14.28
$STATE,9019,end climb,SURFACE_DEPTH_REACHED
$STATE,9019,begin surface coast
$FINISH,0.1,1.020095
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9033,begin surface
$SM_CCo,9099,42.85,0.209,0,0,500,702.78
$SM_GC,1.13,8.18,0.17,42.85,0.071,0.113,0.209,203,2223,500,-7.37,-0.79,702.78,0,0,0,0,0,0,14.32,14.31,13.96
$RAFOS_CLK,225
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7531.56,-15107.58,080917,120540
$TT8_MAMPS,0.038948,0.871836
$HUMID,46.96
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,6
$CP_FREE,0.000000
$PM_FREEKB_00,49634496
$24V_AH,12.26,177.563
$10V_AH,12.15,0.000
$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,26.125,68.475,967.250,42.850,0.000,0.000,0.000,132.375,1.500,0.000,41.591,0.000,6468.112,862.325,1948.779,228.558,0.000,1857.450,0.000,1129.293,2208.000,0.539,0.000
$DEVICE_MAMPS,453.645,113.220,1500.930,208.845,0.000,0.000,0.000,137.700,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9000.000,9083.000,9053.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.834,20.000,9.904,0.000
$MEM,323536
$DATA_FILE_SIZE,26742,788
$CAP_FILE_SIZE,98885,0
$CFSIZE,2097872896,2005696512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.0
$CURRENT,0.025,279.20,1
$GPS,080917,171952,7533.850,-15108.136,15,0.8,16,20.8,0.0,0.0,10,9.5