version: 66.13
glider: 196
mission: 14
dive: 360
start: 9 17 117 14 27 0
data:
$ID,196
$MISSION,14
$DIVE,360
$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,32
$R_STBD_OVSHOOT,25
$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,1004.0
$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
$GPS1,170917,141503,7439.7158,-15139.9863,33,0.8,34,20.3,0.0,0.0,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.5
$GPS2,170917,142623,7439.7466,-15140.0488,11,0.8,11,20.3,0.0,47.1,11,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,214.5,75194,-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,64,end surface,CONTROL_FINISHED_OK
$STATE,64,begin dive
$GC,68,-0.57,-145.9,184,2209,510,482,0.0,0.0,0,160,0.00,0.00,-91.12,0.000,16386,0.000,0.000,182,2209,2185,2123,2248,0,0,0,0,0,0,14.51,28.83,14.54
$GC,164,-0.57,-145.9,183,2209,2126,2252,4.6,-6.8,9,216,12.90,2.80,-31.83,0.000,18980,0.451,2.166,2385,799,3963,3947,3979,0,0,0,0,0,0,13.50,12.59,13.97
$GC,352,-0.71,-145.9,2385,797,3960,3981,46.4,-12.9,46,358,0.00,2.47,0.00,0.000,1158,0.000,0.086,2383,2195,3965,3952,3979,0,0,0,0,0,0,14.29,14.14,14.33
$GC,657,-0.85,-145.9,2383,2196,3953,3980,85.8,-10.5,77,662,0.22,2.53,0.00,0.000,4484,0.099,0.087,2291,3617,3966,3953,3979,0,0,0,0,0,0,14.07,14.12,14.12
$GC,765,-0.94,-145.9,2292,3619,3954,3979,100.2,-13.1,98,771,0.00,2.42,0.00,0.000,1158,0.000,0.059,2291,2199,3966,3953,3979,0,0,0,0,0,0,14.11,13.97,14.15
$GC,1068,-0.98,-145.9,2292,2199,3954,3979,145.1,-14.0,109,1069,0.00,0.00,0.00,0.000,134,0.000,0.000,2291,2199,3966,3953,3979,0,0,0,0,0,0,14.69,14.73,14.71
$GC,1368,-1.04,-145.9,2292,2198,3954,3979,182.8,-12.3,119,1369,0.15,0.00,0.00,0.000,4230,0.122,0.000,2236,2198,3966,3953,3979,0,0,0,0,0,0,14.20,14.29,14.26
$GC,1668,-1.01,-145.9,2237,2198,3954,3979,232.1,-15.9,129,1673,0.00,2.50,0.00,0.000,388,0.000,0.088,2236,3610,3966,3953,3979,0,0,0,0,0,0,14.71,14.09,14.73
$GC,1773,-1.10,-145.9,2236,3611,3953,3980,246.1,-12.1,150,1778,0.00,2.40,0.00,0.000,1158,0.000,0.059,2235,2197,3966,3953,3979,0,0,0,0,0,0,14.30,14.16,14.34
$GC,2089,-1.10,-145.9,2236,2198,3954,3979,288.5,-12.9,163,2093,0.00,2.50,0.00,0.000,260,0.000,0.088,2235,3610,3966,3953,3979,0,0,0,0,0,0,14.71,14.09,14.73
$GC,2134,-1.20,-145.9,2235,3612,3954,3980,294.0,-11.4,172,2140,0.15,2.40,0.00,0.000,5254,0.122,0.058,2174,2199,3966,3953,3979,0,0,0,0,0,0,14.12,14.16,14.23
$GC,2451,-1.11,-145.9,2174,2199,3954,3980,349.4,-17.4,185,2456,0.20,2.50,0.00,0.000,2436,0.285,0.082,2210,3614,3966,3953,3979,0,0,0,0,0,0,13.76,14.08,13.94
$GC,2532,-1.20,-145.9,2210,3615,3953,3980,360.2,-11.3,201,2537,0.00,2.40,0.00,0.000,1158,0.000,0.058,2210,2199,3966,3953,3979,0,0,0,0,0,0,14.26,14.14,14.32
$GC,2842,-1.20,-145.9,2210,2198,3953,3979,400.1,-12.9,213,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2198,3965,3952,3979,0,0,0,0,0,0,14.72,14.74,14.73
$GC,3142,-1.20,-145.9,2210,2198,3954,3979,438.1,-12.6,223,3147,0.00,2.50,0.00,0.000,260,0.000,0.087,2209,3608,3965,3952,3979,0,0,0,0,0,0,14.70,14.04,14.71
$GC,3242,-1.29,-145.9,2209,3610,3952,3980,449.6,-10.9,243,3247,0.15,2.40,0.00,0.000,5254,0.117,0.057,2151,2196,3963,3947,3979,0,0,0,0,0,0,14.19,14.13,14.29
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3447,-0.13,0.0,2152,2063,3953,3979,484.8,-18.2,253,3684,1.58,0.05,229.12,1.393,10246,0.267,0.122,2526,2108,3356,3370,3342,0,0,0,0,0,0,13.63,13.33,12.71
$STATE,3686,end apogee,CONTROL_FINISHED_OK
$STATE,3686,begin climb
$GC,3689,0.57,145.9,2527,2108,3368,3337,498.9,0.0,261,3914,0.75,2.62,216.15,1.338,10500,0.060,0.073,2783,3506,2761,2793,2730,0,0,0,0,0,0,13.77,13.13,12.29
$GC,4059,0.07,145.9,2784,3507,2776,2723,495.1,14.6,297,4065,0.93,2.42,0.00,0.000,5254,0.345,0.057,2608,2134,2748,2774,2722,0,0,0,0,0,0,13.30,13.71,13.71
$GC,4393,-0.01,208.8,2608,2134,2775,2720,470.2,7.1,313,4492,0.12,0.00,97.62,1.338,12454,0.295,0.000,2583,2135,2513,2565,2462,0,0,0,0,0,0,13.89,13.82,13.02
$GC,4780,0.02,250.8,2583,2136,2543,2437,439.9,8.1,326,4850,0.00,2.62,62.35,1.366,8740,0.000,0.088,2595,699,2336,2382,2290,0,0,0,0,0,0,14.54,13.96,13.11
$GC,4903,0.13,294.8,2589,699,2375,2283,430.0,8.0,350,4977,0.00,2.47,69.10,1.320,9382,0.000,0.080,2588,2103,2164,2212,2116,0,0,0,0,0,0,14.18,14.06,13.05
$GC,5293,0.20,313.5,2589,2104,2193,2093,394.3,9.1,378,5324,0.17,0.00,25.62,1.388,10406,0.104,0.000,2667,2103,2083,2130,2037,0,0,0,0,0,0,14.25,13.81,13.21
$GC,5625,0.12,313.5,2667,2104,2120,2025,347.4,14.3,389,5630,0.15,2.50,0.00,0.000,4740,0.249,0.085,2635,696,2072,2119,2025,0,0,0,0,0,0,13.89,14.06,14.04
$GC,5700,0.16,313.5,2636,696,2118,2025,338.1,10.9,404,5706,0.00,2.47,0.00,0.000,1158,0.000,0.078,2635,2101,2071,2117,2025,0,0,0,0,0,0,14.21,14.09,14.26
$GC,6017,0.16,313.5,2635,2102,2117,2025,302.3,11.0,417,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2101,2067,2112,2023,0,0,0,0,0,0,14.46,14.49,14.48
$GC,6317,0.16,313.5,2636,2102,2118,2022,270.3,10.3,427,6321,0.00,2.50,0.00,0.000,516,0.000,0.087,2635,695,2069,2117,2022,0,0,0,0,0,0,14.46,14.02,14.47
$GC,6357,0.22,317.6,2637,696,2116,2024,266.4,9.8,435,6362,0.00,2.50,0.00,0.000,1190,0.000,0.077,2637,2105,2068,2115,2022,0,0,0,0,0,0,14.18,14.06,14.22
$GC,6677,0.23,339.9,2637,2107,2115,2023,236.1,9.0,449,6727,0.00,2.55,41.88,1.333,8740,0.000,0.086,2637,703,1973,2017,1930,0,0,0,0,0,0,14.45,14.00,13.19
$GC,6780,0.36,381.0,2638,704,2013,1930,227.7,8.1,469,6860,0.17,2.47,71.07,1.238,11430,0.104,0.079,2703,2103,1808,1832,1784,0,0,0,0,0,0,14.07,14.02,13.09
$GC,7157,0.31,381.0,2704,2104,1817,1768,180.4,12.2,495,7158,0.00,0.00,0.00,0.000,134,0.000,0.000,2702,2103,1791,1816,1767,0,0,0,0,0,0,14.40,14.42,14.42
$GC,7458,0.28,381.0,2703,2103,1816,1764,146.3,11.1,505,7463,0.12,2.50,0.00,0.000,4740,0.226,0.085,2672,697,1789,1814,1765,0,0,0,0,0,0,13.93,14.02,14.03
$GC,7538,0.41,425.3,2672,698,1812,1766,139.5,8.0,521,7623,0.12,2.50,77.22,1.196,11430,0.127,0.079,2725,2101,1628,1652,1604,0,0,0,0,0,0,14.05,13.90,13.14
$GC,7929,0.41,425.3,2726,2100,1639,1581,95.1,10.6,552,7935,0.00,2.47,0.00,0.000,516,0.000,0.087,2725,694,1611,1642,1581,0,0,0,0,0,0,14.38,13.98,14.38
$GC,7965,0.44,425.3,2726,695,1642,1582,91.4,10.3,559,7971,0.00,2.50,0.00,0.000,1158,0.000,0.078,2726,2100,1610,1640,1581,0,0,0,0,0,0,14.03,13.90,14.07
$GC,8270,0.52,503.4,2727,2104,1641,1577,66.0,6.4,590,8318,0.00,2.55,40.20,0.391,8868,0.000,0.086,2726,693,1311,1358,1264,0,0,0,0,0,0,14.54,14.06,13.66
$GC,8370,0.69,578.0,2727,700,1361,1270,59.8,6.6,609,8419,0.25,2.50,42.22,0.373,11430,0.085,0.078,2817,2097,1006,1073,940,0,0,0,0,0,0,14.15,14.02,13.69
$GC,8715,0.70,587.2,2817,2100,1074,952,23.9,9.6,648,8727,0.00,2.53,6.43,0.266,8740,0.000,0.086,2822,689,970,1036,904,0,0,0,0,0,0,14.57,13.91,13.70
$GC,8830,0.83,657.0,2822,689,1039,916,15.9,6.8,670,8877,0.00,2.50,41.03,0.247,9382,0.000,0.076,2822,2113,683,740,626,0,0,0,0,0,0,14.16,14.00,13.83
$STATE,9029,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,0.2,1.013391
$STATE,9060,end surface coast,CONTROL_FINISHED_OK
$STATE,9060,begin surface
$SM_CCo,9081,27.88,0.207,0,0,499,702.78
$SM_GC,1.41,8.02,0.15,27.88,0.068,0.115,0.207,200,2240,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.27,14.28,13.90
$RAFOS_CLK,169
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7439.30,-15148.01,170917,113519
$TT8_MAMPS,0.040446,0.883071
$HUMID,45.94
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,11.10
$XPDR_PINGS,8
$CP_FREE,15917940736.000000
$PM_FREEKB_00,46099520
$24V_AH,12.29,217.443
$10V_AH,12.21,0.000
$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,26.175,75.375,1020.025,27.875,0.000,0.000,0.000,403.225,2.000,0.000,11.774,0.000,6473.099,929.536,2053.669,348.145,0.000,2146.647,0.000,1004.237,2211.000,0.539,0.000
$DEVICE_MAMPS,450.585,2165.715,1393.065,207.315,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9097.000,5426.000,9020.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.521,20.000,9.992,0.000
$MEM,323592
$DATA_FILE_SIZE,23393,698
$CAP_FILE_SIZE,98350,0
$CFSIZE,2097872896,1985413120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.5
$CURRENT,0.023,344.58,1
$GPS,170917,170002,7439.246,-15144.499,26,0.9,26,20.3,0.0,0.0,8,9.3