version: 66.13
glider: 196
mission: 14
dive: 89
start: 8 17 117 1 6 41
data:
$ID,196
$MISSION,14
$DIVE,89
$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,25
$R_STBD_OVSHOOT,20
$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,255.0
$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
$GPS1,170817,004941,7231.2363,-14825.8213,15,0.7,17,21.2,0.0,0.0,11,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.4
$GPS2,170817,010613,7231.1343,-14826.0693,5,0.8,25,21.2,0.0,229.1,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,320.7,88876,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,202,2203,515,474,0.0,0.0,0,130,0.00,0.00,-81.65,0.000,16386,0.000,0.000,201,2203,2094,2017,2171,0,0,0,0,0,0,14.40,28.83,14.42
$GC,133,-0.57,-145.9,202,2204,2020,2173,3.3,-4.0,8,186,12.45,2.75,-34.83,0.000,18724,0.454,2.144,2375,3608,3960,3945,3976,0,0,0,0,0,0,13.71,12.95,14.13
$GC,411,-0.57,-145.9,2375,3609,3954,3978,65.4,-15.6,63,418,0.00,2.40,0.00,0.000,1030,0.000,0.053,2375,2198,3965,3954,3977,0,0,0,0,0,0,13.93,13.94,13.92
$GC,739,-0.60,-145.9,2375,2198,3956,3977,112.2,-12.9,90,743,0.00,2.50,0.00,0.000,388,0.000,0.086,2365,3619,3965,3955,3976,0,0,0,0,0,0,14.47,14.14,14.49
$GC,943,-0.73,-145.9,2365,3621,3958,3978,134.8,-10.5,131,951,0.00,2.40,0.00,0.000,1158,0.000,0.054,2369,2198,3965,3955,3976,0,0,0,0,0,0,14.31,14.18,14.33
$GC,1249,-0.80,-145.9,2365,2198,3956,3977,169.2,-11.0,142,1254,0.12,2.47,0.00,0.000,4484,0.145,0.086,2299,3610,3965,3955,3976,0,0,0,0,0,0,14.12,14.16,14.08
$GC,1345,-0.83,-145.9,2299,3611,3956,3977,182.9,-14.4,161,1350,0.00,2.38,0.00,0.000,1158,0.000,0.057,2299,2198,3965,3955,3976,0,0,0,0,0,0,14.37,14.26,14.39
$GC,1670,-0.80,-145.9,2299,2197,3956,3977,231.0,-14.1,176,1675,0.00,2.47,0.00,0.000,388,0.000,0.086,2293,3610,3965,3955,3976,0,0,0,0,0,0,14.56,14.19,14.57
$GC,1830,-0.85,-145.9,2294,3614,3952,3977,251.2,-12.0,208,1835,0.00,2.38,0.00,0.000,1158,0.000,0.054,2293,2200,3964,3953,3976,0,0,0,0,0,0,14.36,14.26,14.39
$GC,2150,-0.85,-145.9,2293,2198,3953,3976,291.1,-12.3,222,2155,0.00,2.47,0.00,0.000,260,0.000,0.087,2285,3612,3963,3951,3976,0,0,0,0,0,0,14.55,14.22,14.59
$GC,2262,-0.91,-145.9,2282,3613,3951,3976,304.1,-11.5,244,2267,0.00,2.38,0.00,0.000,1158,0.000,0.055,2284,2199,3963,3950,3976,0,0,0,0,0,0,14.38,14.27,14.40
$GC,2572,-0.91,-145.9,2284,2199,3951,3975,342.3,-12.2,256,2577,0.00,2.50,0.00,0.000,260,0.000,0.089,2280,3620,3962,3950,3974,0,0,0,0,0,0,14.57,14.21,14.57
$GC,2684,-0.97,-145.9,2280,3621,3950,3975,355.2,-10.8,278,2689,0.00,2.40,0.00,0.000,1158,0.000,0.056,2280,2200,3961,3949,3973,0,0,0,0,0,0,14.36,14.25,14.40
$GC,2994,-0.97,-145.9,2280,2200,3949,3974,393.0,-12.0,290,2999,0.00,2.47,0.00,0.000,260,0.000,0.087,2271,3610,3960,3948,3973,0,0,0,0,0,0,14.58,14.16,14.60
$GC,3099,-1.02,-145.9,2272,3612,3948,3974,405.3,-11.4,311,3105,0.00,2.40,0.00,0.000,1158,0.000,0.057,2272,2194,3960,3947,3973,0,0,0,0,0,0,14.36,14.24,14.39
$GC,3415,-1.02,-145.9,2272,2194,3947,3973,443.6,-12.1,324,3420,0.00,2.50,0.00,0.000,260,0.000,0.088,2267,3614,3958,3946,3971,0,0,0,0,0,0,14.57,14.16,14.58
$GC,3542,-1.05,-145.9,2267,3615,3947,3973,458.3,-11.4,349,3547,0.00,2.40,0.00,0.000,1158,0.000,0.055,2267,2191,3959,3947,3971,0,0,0,0,0,0,14.35,14.23,14.38
$STATE,3745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3745,begin apogee
$GC,3751,-0.13,0.0,2267,2067,3947,3972,483.6,-12.3,360,3960,1.02,0.08,205.77,1.444,10246,0.239,0.180,2530,2112,3363,3387,3339,0,0,0,0,0,0,13.94,13.46,12.81
$STATE,3964,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3968,0.57,145.9,2530,2112,3382,3333,493.1,0.0,367,4178,0.75,2.65,194.82,1.395,11012,0.067,0.078,2791,727,2764,2809,2720,0,0,0,0,0,0,13.59,13.21,12.52
$GC,4403,0.22,145.9,2791,728,2803,2714,459.2,16.1,448,4409,0.62,2.45,0.00,0.000,5254,0.312,0.075,2658,2094,2758,2802,2714,0,0,0,0,0,0,13.47,13.76,13.79
$GC,4720,0.08,145.9,2658,2097,2803,2710,426.1,10.1,461,4725,0.17,2.42,0.00,0.000,4740,0.312,0.076,2624,712,2755,2802,2709,0,0,0,0,0,0,13.79,14.05,14.02
$GC,4900,0.11,184.3,2625,713,2803,2710,411.6,8.2,497,4962,0.00,2.45,52.95,1.421,9254,0.000,0.079,2625,2109,2609,2662,2557,0,0,0,0,0,0,14.26,14.11,13.16
$GC,5262,0.10,205.7,2625,2110,2661,2544,379.5,9.0,519,5292,0.00,0.00,28.83,1.476,8358,0.000,0.000,2625,2109,2527,2589,2466,0,0,0,0,0,0,14.39,14.00,13.24
$GC,5590,0.11,225.3,2625,2110,2580,2457,349.3,9.1,530,5622,0.00,2.53,27.58,1.466,8740,0.000,0.083,2630,718,2443,2503,2383,0,0,0,0,0,0,14.45,14.03,13.26
$GC,5674,0.19,245.9,2632,720,2497,2383,341.8,9.0,546,5709,0.00,2.42,30.25,1.445,9382,0.000,0.077,2632,2099,2363,2419,2307,0,0,0,0,0,0,14.17,14.07,13.18
$GC,6016,0.23,260.3,2633,2100,2408,2296,309.6,9.3,564,6037,0.00,0.00,20.50,1.492,8358,0.000,0.000,2632,2099,2303,2358,2249,0,0,0,0,0,0,14.42,14.05,13.26
$GC,6314,0.28,280.1,2633,2102,2349,2237,282.0,9.1,574,6350,0.12,2.47,29.80,1.432,10916,0.129,0.084,2696,716,2217,2268,2167,0,0,0,0,0,0,14.25,14.03,13.30
$GC,6380,0.24,280.1,2696,716,2263,2167,274.1,12.5,582,6386,0.15,2.42,0.00,0.000,5254,0.233,0.078,2661,2098,2216,2266,2166,0,0,0,0,0,0,13.92,14.04,14.11
$GC,6706,0.24,280.1,2664,2099,2267,2159,238.8,10.5,597,6710,0.00,2.42,0.00,0.000,516,0.000,0.083,2672,721,2212,2266,2158,0,0,0,0,0,0,14.47,14.16,14.49
$GC,6746,0.28,280.1,2672,722,2265,2159,234.7,10.4,605,6751,0.00,2.40,0.00,0.000,1158,0.000,0.079,2672,2099,2212,2265,2159,0,0,0,0,0,0,14.28,14.17,14.31
$GC,7066,0.29,294.3,2673,2100,2265,2157,203.2,9.3,619,7086,0.00,0.00,19.23,1.457,8230,0.000,0.000,2672,2100,2167,2218,2116,0,0,0,0,0,0,14.52,14.16,13.40
$GC,7366,0.34,326.4,2673,2100,2211,2106,177.1,8.5,629,7428,0.00,2.45,54.10,1.330,8868,0.000,0.084,2672,726,2028,2073,1983,0,0,0,0,0,0,14.49,13.96,13.28
$GC,7465,0.48,367.2,2673,727,2071,1984,169.1,8.1,648,7538,0.20,2.42,66.50,1.250,11430,0.105,0.078,2753,2100,1866,1900,1833,0,0,0,0,0,0,14.06,14.00,13.13
$GC,7849,0.42,367.2,2753,2100,1893,1820,118.2,13.1,675,7854,0.15,2.42,0.00,0.000,4740,0.238,0.080,2724,724,1856,1892,1820,0,0,0,0,0,0,13.95,14.01,14.08
$GC,7879,0.45,367.2,2724,723,1889,1821,114.7,11.1,681,7884,0.00,2.42,0.00,0.000,1158,0.000,0.076,2724,2101,1854,1888,1820,0,0,0,0,0,0,14.14,14.03,14.19
$GC,8191,0.49,385.9,2723,2101,1889,1817,84.0,9.1,707,8203,0.00,2.50,8.25,0.457,8868,0.000,0.084,2725,722,1790,1823,1758,0,0,0,0,0,0,14.44,14.13,13.74
$GC,8278,0.60,421.1,2726,722,1825,1760,76.2,8.4,724,8306,0.15,2.40,19.10,0.439,11430,0.115,0.076,2783,2101,1646,1675,1617,0,0,0,0,0,0,14.12,14.06,13.75
$GC,8603,0.59,455.1,2785,2102,1676,1611,42.8,8.4,759,8625,0.00,0.00,17.60,0.335,8358,0.000,0.000,2785,2101,1506,1543,1470,0,0,0,0,0,0,14.45,14.10,13.78
$GC,8923,0.67,517.4,2786,2100,1544,1464,18.5,7.1,791,8960,0.00,2.47,31.62,0.269,8612,0.000,0.080,2785,3503,1253,1309,1198,0,0,0,0,0,0,14.47,14.09,13.89
$FREEZE,14.82,6.224,-1.407,0,1,0
$STATE,9138,end climb,NO_VERTICAL_VELOCITY
$STATE,9138,begin surface
$SM_CCo,9144,173.50,0.226,0,0,499,702.78
$SM_GC,1.08,7.93,2.22,0.00,0.078,0.059,0.000,204,2230,502,-7.38,1.78,703.28,0,0,0,0,0,0,14.17,14.16,14.26
$RAFOS_CLK,404
$RAFOS_FIX,7229.806152,-14828.175781,170817,000013,4,255,0.31
$IRIDIUM_FIX,7233.84,-14824.02,170817,005852
$TT8_MAMPS,0.040446,0.835135
$HUMID,47.40
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,9
$CP_FREE,16004251648.000000
$PM_FREEKB_00,56446080
$24V_AH,12.52,84.741
$10V_AH,12.59,0.000
$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,23.850,83.475,806.900,173.500,0.000,0.000,0.000,583.250,2.250,0.000,28.730,0.000,6797.887,1022.506,2298.117,310.048,0.000,2345.685,0.000,1192.885,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2143.530,1491.750,225.675,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9164.000,9161.000,9111.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.158,20.000,16.544,0.000
$MEM,323660
$DATA_FILE_SIZE,30110,832
$CAP_FILE_SIZE,108335,0
$CFSIZE,2097872896,2061402112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.0
$CURRENT,0.075,228.83,1
$GPS,170817,034502,7232.071,-14826.926,27,0.7,27,21.2,0.0,0.0,12,6.2