version: 66.13
glider: 196
mission: 14
dive: 73
start: 8 15 117 4 37 30
data:
$ID,196
$MISSION,14
$DIVE,73
$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,24
$R_STBD_OVSHOOT,26
$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
$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,212.0
$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
$GPS1,150817,042127,7215.2451,-14804.8613,35,0.8,36,21.3,0.0,0.0,10,8.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.4
$GPS2,150817,043655,7215.2622,-14805.3535,10,0.9,10,21.3,0.0,266.0,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.8,119707,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,166,2211,503,479,0.0,0.0,0,129,0.00,0.00,-81.28,0.000,16386,0.000,0.000,163,2210,2124,2048,2201,0,0,0,0,0,0,14.25,28.83,14.23
$GC,132,-0.57,-145.9,165,2211,2052,2203,3.7,-4.5,8,187,12.75,2.80,-32.55,0.000,18724,0.454,2.139,2382,3602,3964,3953,3976,0,0,0,0,0,0,13.62,12.69,14.01
$GC,412,-0.57,-145.9,2374,3602,3962,3976,63.9,-15.5,63,419,0.00,2.42,0.00,0.000,1030,0.000,0.056,2376,2191,3969,3962,3977,0,0,0,0,0,0,14.09,13.99,14.11
$GC,737,-0.57,-145.9,2376,2191,3964,3978,112.7,-13.5,90,742,0.00,2.45,0.00,0.000,260,0.000,0.082,2366,3598,3969,3963,3975,0,0,0,0,0,0,14.42,14.07,14.44
$GC,817,-0.69,-145.9,2366,3600,3964,3978,122.4,-10.8,106,822,0.00,2.38,0.00,0.000,1158,0.000,0.054,2366,2193,3970,3963,3977,0,0,0,0,0,0,14.26,14.17,14.30
$GC,1127,-0.73,-145.9,2366,2193,3964,3977,161.2,-12.1,118,1132,0.00,2.47,0.00,0.000,388,0.000,0.085,2357,3604,3969,3963,3976,0,0,0,0,0,0,14.49,14.18,14.52
$GC,1182,-0.85,-145.9,2357,3606,3964,3977,167.4,-10.5,129,1188,0.17,2.38,0.00,0.000,5254,0.113,0.054,2287,2205,3969,3963,3976,0,0,0,0,0,0,14.23,14.19,14.31
$GC,1487,-0.76,-145.9,2287,2199,3964,3976,220.5,-16.9,140,1492,0.17,2.45,0.00,0.000,2436,0.280,0.080,2319,3606,3969,3964,3975,0,0,0,0,0,0,13.90,14.16,14.08
$GC,1557,-0.84,-145.9,2320,3612,3965,3975,229.3,-10.8,154,1562,0.00,2.38,0.00,0.000,1158,0.000,0.056,2315,2196,3969,3963,3975,0,0,0,0,0,0,14.31,14.19,14.33
$GC,1877,-0.84,-145.9,2319,2196,3963,3974,266.3,-11.4,168,1882,0.00,2.47,0.00,0.000,260,0.000,0.088,2319,3607,3968,3963,3973,0,0,0,0,0,0,14.55,14.21,14.57
$GC,1948,-0.94,-145.9,2319,3607,3964,3972,273.6,-9.7,182,1953,0.15,2.38,0.00,0.000,5286,0.122,0.057,2259,2199,3968,3963,3973,0,0,0,0,0,0,14.28,14.25,14.37
$GC,2268,-0.86,-145.9,2260,2199,3964,3971,323.5,-15.9,196,2274,0.15,2.45,0.00,0.000,2436,0.307,0.082,2284,3607,3966,3963,3970,0,0,0,0,0,0,13.95,14.21,14.14
$GC,2354,-0.89,-145.9,2285,3606,3963,3970,334.8,-12.3,213,2360,0.00,2.40,0.00,0.000,1158,0.000,0.057,2285,2193,3963,3957,3970,0,0,0,0,0,0,14.32,14.21,14.35
$GC,2659,-0.87,-145.9,2284,2193,3962,3971,374.6,-12.8,224,2664,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3605,3964,3961,3968,0,0,0,0,0,0,14.54,14.17,14.56
$GC,2719,-0.91,-145.9,2280,3607,3962,3967,382.2,-12.1,236,2724,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2199,3964,3961,3968,0,0,0,0,0,0,14.33,14.21,14.38
$GC,3049,-0.88,-145.9,2280,2200,3962,3967,424.0,-12.7,252,3054,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3605,3963,3961,3966,0,0,0,0,0,0,14.56,14.17,14.58
$GC,3119,-0.93,-145.9,2280,3611,3962,3967,432.5,-11.6,266,3124,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2193,3964,3961,3967,0,0,0,0,0,0,14.35,14.23,14.38
$GC,3439,-0.93,-145.9,2280,2192,3962,3966,471.9,-12.4,280,3444,0.00,2.47,0.00,0.000,260,0.000,0.086,2279,3605,3963,3961,3965,0,0,0,0,0,0,14.55,14.16,14.57
$STATE,3507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3507,begin apogee
$GC,3515,-0.13,0.0,2280,2100,3961,3965,480.2,-11.3,294,3725,0.98,0.00,206.77,1.434,10246,0.235,0.000,2529,2099,3364,3398,3330,0,0,0,0,0,0,13.97,13.51,12.83
$STATE,3729,end apogee,CONTROL_FINISHED_OK
$STATE,3729,begin climb
$GC,3731,0.57,145.9,2530,2101,3396,3321,490.2,0.0,301,3941,0.73,2.67,197.70,1.383,10500,0.067,0.074,2776,3505,2761,2819,2704,0,0,0,0,0,0,13.58,13.09,12.57
$GC,4167,0.16,145.9,2776,3506,2803,2704,453.0,17.4,347,4173,0.73,2.47,0.00,0.000,5254,0.346,0.058,2637,2096,2752,2800,2704,0,0,0,0,0,0,13.48,13.78,13.81
$GC,4479,0.10,176.7,2634,2097,2808,2705,424.5,8.6,359,4525,0.00,2.47,40.60,1.437,8612,0.000,0.078,2637,3507,2639,2694,2584,0,0,0,0,0,0,14.31,13.74,13.15
$GC,4630,0.01,176.7,2638,3509,2685,2582,409.1,10.7,389,4636,0.25,2.42,0.00,0.000,5254,0.252,0.057,2589,2100,2632,2684,2581,0,0,0,0,0,0,13.79,13.98,14.04
$GC,4961,0.11,245.3,2590,2098,2685,2578,386.3,6.8,405,5064,0.00,0.00,100.40,1.351,8870,0.000,0.000,2590,2100,2365,2425,2306,0,0,0,0,0,0,14.40,13.76,13.09
$GC,5351,0.27,310.9,2590,2101,2413,2292,358.9,7.0,423,5457,0.22,2.62,96.85,1.314,10916,0.095,0.087,2684,694,2093,2149,2037,0,0,0,0,0,0,14.12,13.66,13.04
$GC,5523,0.29,310.9,2686,693,2139,2037,336.7,12.7,457,5529,0.00,2.53,0.00,0.000,1158,0.000,0.078,2685,2093,2087,2138,2036,0,0,0,0,0,0,13.93,13.81,13.95
$GC,5834,0.25,310.9,2685,2095,2137,2028,294.9,13.3,469,5835,0.00,0.00,0.00,0.000,134,0.000,0.000,2685,2094,2080,2133,2027,0,0,0,0,0,0,14.35,14.37,14.36
$GC,6134,0.22,310.9,2686,2094,2135,2025,256.3,12.6,479,6140,0.12,2.45,0.00,0.000,4740,0.260,0.084,2659,694,2083,2134,2032,0,0,0,0,0,0,13.76,14.15,13.98
$GC,6180,0.33,319.9,2659,695,2133,2026,251.5,9.6,488,6196,0.00,2.45,8.00,1.557,9382,0.000,0.078,2659,2103,2058,2112,2004,0,0,0,0,0,0,14.31,14.19,13.36
$GC,6495,0.38,337.2,2659,2105,2109,2000,221.3,9.2,501,6526,0.15,0.00,27.38,1.401,10406,0.122,0.000,2719,2102,1988,2040,1937,0,0,0,0,0,0,14.24,14.09,13.38
$GC,6825,0.33,337.2,2719,2104,2035,1930,179.5,12.5,512,6830,0.12,2.47,0.00,0.000,4740,0.239,0.081,2697,688,1982,2034,1930,0,0,0,0,0,0,14.03,14.14,14.16
$GC,6900,0.41,349.9,2697,689,2031,1931,171.9,9.4,527,6926,0.00,2.45,18.73,1.437,9382,0.000,0.078,2697,2100,1936,1985,1887,0,0,0,0,0,0,14.31,14.19,13.39
$GC,7248,0.45,360.1,2697,2101,1977,1883,138.1,9.5,546,7265,0.00,0.00,15.02,1.470,8358,0.000,0.000,2697,2101,1897,1940,1854,0,0,0,0,0,0,14.47,14.09,13.37
$GC,7547,0.53,391.9,2697,2101,1931,1848,111.4,8.5,556,7602,0.15,2.53,50.25,1.281,10916,0.117,0.084,2769,688,1764,1796,1732,0,0,0,0,0,0,14.24,13.83,13.31
$GC,7634,0.50,391.9,2769,689,1786,1732,100.9,13.0,573,7640,0.00,2.50,0.00,0.000,1158,0.000,0.079,2769,2099,1759,1788,1731,0,0,0,0,0,0,14.07,13.97,14.10
$GC,7937,0.46,391.9,2768,2100,1788,1725,62.4,11.3,602,7939,0.17,0.00,0.00,0.000,4230,0.263,0.000,2732,2100,1755,1787,1724,0,0,0,0,0,0,13.91,14.22,14.17
$GC,8238,0.58,466.8,2732,2101,1789,1720,39.0,6.5,632,8282,0.12,2.50,37.42,0.318,10916,0.130,0.087,2794,694,1458,1501,1416,0,0,0,0,0,0,14.20,13.97,13.85
$GC,8397,0.68,515.5,2795,694,1507,1413,25.1,7.8,663,8426,0.00,2.47,25.23,0.287,9382,0.000,0.080,2794,2098,1263,1324,1203,0,0,0,0,0,0,14.13,14.03,13.85
$GC,8722,1.04,735.5,2794,2099,1324,1189,14.6,-0.2,698,8739,0.35,0.00,15.02,0.260,10658,0.089,0.000,2924,2099,1140,1209,1072,0,0,0,0,0,0,14.16,28.83,14.21
$FREEZE,14.58,5.256,-1.381,0,1,0
$STATE,8740,end climb,NO_VERTICAL_VELOCITY
$STATE,8740,begin surface
$SM_CCo,8747,83.03,0.249,0,0,502,702.78
$SM_GC,1.13,8.98,0.20,0.00,0.137,0.104,0.000,206,2230,500,-7.38,-0.34,702.78,0,0,0,0,0,0,14.19,14.24,14.28
$RAFOS_CLK,389
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7216.26,-14800.43,150817,043001
$TT8_MAMPS,0.038948,0.940744
$HUMID,49.60
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.30
$XPDR_PINGS,12
$CP_FREE,16007004160.000000
$PM_FREEKB_00,57582528
$24V_AH,12.57,77.186
$10V_AH,12.50,0.000
$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,26.475,79.450,839.375,83.025,0.000,0.000,0.000,544.450,3.000,0.000,11.181,0.000,6586.602,838.263,2219.381,276.416,0.000,2181.445,0.000,1006.700,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2138.940,1556.775,249.390,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8767.000,8758.000,8716.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.335,20.000,16.565,0.000
$MEM,323868
$DATA_FILE_SIZE,23447,701
$CAP_FILE_SIZE,104226,0
$CFSIZE,2097872896,2066317312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.6
$CURRENT,0.078,273.88,1
$GPS,150817,070825,7216.468,-14806.627,23,0.7,34,21.3,0.8,62.9,12,7.2