version: 66.13
glider: 196
mission: 14
dive: 92
start: 8 17 117 9 37 26
data:
$ID,196
$MISSION,14
$DIVE,92
$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,28
$R_STBD_OVSHOOT,35
$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,264.0
$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
$GPS1,170817,092546,7234.2617,-14829.0635,16,0.8,17,21.2,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.5
$GPS2,170817,093651,7234.3047,-14829.0166,7,0.8,20,21.2,0.3,256.9,9,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,316.0,83135,-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,-145.9,197,2223,521,458,0.0,0.0,0,129,0.00,0.00,-81.62,0.000,16386,0.000,0.000,196,2222,2057,1974,2140,0,0,0,0,0,0,14.38,28.83,14.42
$GC,132,-0.57,-145.9,197,2222,1977,2141,3.4,-4.0,8,185,12.45,2.70,-34.65,0.000,18724,0.454,2.147,2375,3595,3963,3947,3979,0,0,0,0,0,0,13.71,12.94,14.12
$GC,410,-0.65,-145.9,2375,3596,3955,3980,66.2,-14.1,63,417,0.00,2.38,0.00,0.000,1158,0.000,0.054,2375,2198,3966,3954,3979,0,0,0,0,0,0,14.14,14.04,14.14
$GC,737,-0.69,-145.9,2375,2197,3957,3980,112.7,-13.0,90,742,0.00,2.47,0.00,0.000,388,0.000,0.088,2370,3602,3967,3956,3979,0,0,0,0,0,0,14.50,14.16,14.50
$GC,884,-0.84,-145.9,2369,3603,3957,3980,128.3,-9.8,119,892,0.20,2.38,0.00,0.000,5286,0.099,0.054,2289,2190,3967,3956,3979,0,0,0,0,0,0,14.15,14.12,14.26
$GC,1187,-0.76,-145.9,2290,2189,3957,3979,183.5,-18.0,130,1192,0.15,2.47,0.00,0.000,2436,0.280,0.085,2316,3596,3967,3956,3978,0,0,0,0,0,0,13.86,14.13,14.03
$GC,1332,-0.86,-145.9,2316,3598,3956,3979,202.9,-11.9,159,1340,0.00,2.35,0.00,0.000,1158,0.000,0.054,2316,2197,3967,3956,3978,0,0,0,0,0,0,14.33,14.23,14.36
$GC,1638,-0.88,-145.9,2316,2197,3957,3977,241.2,-12.1,170,1642,0.00,2.45,0.00,0.000,388,0.000,0.087,2307,3595,3966,3956,3976,0,0,0,0,0,0,14.57,14.19,14.57
$GC,1723,-0.98,-145.9,2307,3595,3957,3977,250.8,-10.6,187,1730,0.15,2.35,0.00,0.000,5254,0.119,0.054,2250,2202,3966,3956,3976,0,0,0,0,0,0,14.26,14.23,14.34
$GC,2028,-0.90,-145.9,2251,2201,3956,3973,300.0,-15.9,198,2033,0.15,2.45,0.00,0.000,2436,0.301,0.084,2275,3601,3964,3956,3973,0,0,0,0,0,0,13.87,14.18,14.07
$GC,2193,-0.95,-145.9,2275,3601,3957,3973,320.7,-11.8,231,2199,0.00,2.38,0.00,0.000,1158,0.000,0.057,2275,2193,3964,3956,3973,0,0,0,0,0,0,14.33,14.25,14.35
$GC,2509,-0.95,-145.9,2275,2194,3957,3971,361.2,-12.8,244,2514,0.00,2.47,0.00,0.000,260,0.000,0.089,2267,3604,3963,3956,3971,0,0,0,0,0,0,14.59,14.23,14.60
$GC,2626,-1.00,-145.9,2267,3605,3957,3971,375.6,-12.1,267,2633,0.00,2.38,0.00,0.000,1158,0.000,0.055,2267,2198,3963,3956,3971,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2929,-1.00,-145.9,2267,2197,3957,3971,415.9,-13.2,278,2934,0.00,2.45,0.00,0.000,260,0.000,0.087,2259,3598,3962,3954,3970,0,0,0,0,0,0,14.59,14.23,14.61
$GC,3051,-1.03,-145.9,2259,3599,3957,3970,431.4,-12.5,302,3056,0.00,2.38,0.00,0.000,1158,0.000,0.055,2260,2193,3963,3956,3970,0,0,0,0,0,0,14.38,14.27,14.41
$GC,3381,-1.00,-145.9,2261,2192,3956,3968,475.8,-13.3,318,3386,0.00,2.47,0.00,0.000,388,0.000,0.087,2253,3603,3962,3956,3968,0,0,0,0,0,0,14.59,14.19,14.60
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3421,-0.13,0.0,2253,2101,3957,3970,480.5,-14.0,325,3637,1.10,0.00,212.75,1.446,10246,0.248,0.000,2530,2100,3366,3405,3328,0,0,0,0,0,0,14.00,13.48,12.78
$STATE,3641,end apogee,CONTROL_FINISHED_OK
$STATE,3641,begin climb
$GC,3644,0.57,145.9,2531,2100,3399,3320,491.1,0.0,332,3853,0.75,0.00,201.25,1.393,10502,0.067,0.000,2779,2100,2763,2824,2703,0,0,0,0,0,0,13.57,13.03,12.51
$GC,4182,0.19,145.9,2780,2100,2808,2699,451.5,15.0,348,4187,0.60,2.50,0.00,0.000,4740,0.331,0.077,2658,690,2753,2808,2698,0,0,0,0,0,0,13.57,13.88,13.80
$GC,4322,0.10,171.0,2658,695,2807,2699,437.7,8.8,376,4364,0.20,2.47,31.90,1.476,13478,0.289,0.080,2617,2094,2663,2723,2603,0,0,0,0,0,0,13.78,14.01,13.11
$GC,4664,0.08,215.2,2618,2095,2719,2599,410.5,8.0,394,4732,0.00,0.00,65.05,1.426,8358,0.000,0.000,2617,2094,2485,2556,2415,0,0,0,0,0,0,14.39,13.84,13.12
$GC,5023,0.11,245.8,2618,2094,2546,2403,379.8,8.6,406,5072,0.00,2.53,43.85,1.424,8740,0.000,0.083,2625,682,2357,2422,2293,0,0,0,0,0,0,14.38,13.90,13.16
$GC,5109,0.19,270.2,2625,686,2415,2294,372.4,8.9,423,5150,0.00,2.50,35.17,1.422,9382,0.000,0.076,2625,2100,2262,2327,2198,0,0,0,0,0,0,14.05,13.94,13.08
$GC,5477,0.25,290.1,2626,2100,2320,2186,338.9,9.1,446,5511,0.12,2.50,27.98,1.454,10916,0.129,0.084,2682,690,2177,2241,2114,0,0,0,0,0,0,14.17,13.96,13.22
$GC,5531,0.20,290.1,2685,691,2239,2114,332.0,13.5,452,5538,0.17,2.50,0.00,0.000,5254,0.242,0.078,2647,2108,2173,2232,2114,0,0,0,0,0,0,13.85,13.99,14.05
$GC,5837,0.22,290.1,2648,2109,2237,2108,300.0,10.2,463,5842,0.00,2.50,0.00,0.000,644,0.000,0.086,2647,688,2171,2236,2107,0,0,0,0,0,0,14.48,14.16,14.47
$GC,5887,0.30,300.4,2648,689,2234,2108,295.1,9.5,473,5903,0.00,2.45,12.52,1.541,9382,0.000,0.077,2648,2102,2142,2206,2078,0,0,0,0,0,0,14.31,14.22,13.30
$GC,6230,0.34,310.9,2648,2102,2199,2069,261.9,9.5,491,6250,0.12,2.55,15.35,1.510,10916,0.132,0.084,2709,686,2096,2156,2037,0,0,0,0,0,0,14.27,14.16,13.38
$GC,6270,0.27,310.9,2709,686,2152,2037,256.8,12.7,499,6275,0.17,2.47,0.00,0.000,5254,0.230,0.077,2669,2100,2093,2150,2037,0,0,0,0,0,0,14.03,14.16,14.21
$GC,6590,0.27,310.9,2670,2101,2150,2034,223.0,10.1,513,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2101,2090,2149,2032,0,0,0,0,0,0,14.51,14.52,14.53
$GC,6891,0.31,337.9,2671,2100,2148,2032,195.5,8.8,523,6940,0.00,2.53,44.05,1.382,8868,0.000,0.086,2672,684,1985,2039,1931,0,0,0,0,0,0,14.55,14.04,13.35
$GC,6997,0.42,376.9,2673,684,2032,1931,186.7,8.2,544,7073,0.15,2.50,65.82,1.283,11430,0.125,0.079,2735,2102,1824,1861,1788,0,0,0,0,0,0,14.12,14.08,13.16
$GC,7371,0.38,376.9,2736,2102,1857,1776,139.9,12.2,569,7372,0.12,0.00,0.00,0.000,4230,0.241,0.000,2710,2103,1816,1856,1776,0,0,0,0,0,0,13.97,14.24,14.18
$GC,7671,0.42,388.9,2710,2104,1856,1774,110.8,9.4,579,7686,0.00,2.50,9.40,1.456,8868,0.000,0.087,2710,687,1776,1813,1739,0,0,0,0,0,0,14.50,14.16,13.37
$GC,7773,0.53,414.3,2709,692,1803,1739,101.6,8.8,599,7820,0.15,2.45,40.17,1.281,11430,0.119,0.078,2772,2100,1676,1711,1641,0,0,0,0,0,0,14.13,14.10,13.29
$GC,8125,0.50,414.3,2772,2101,1708,1627,59.2,10.7,639,8126,0.12,0.00,0.00,0.000,4230,0.260,0.000,2747,2101,1670,1715,1626,0,0,0,0,0,0,13.93,14.21,14.18
$GC,8425,0.62,523.7,2747,2100,1709,1623,40.1,4.9,669,8482,0.12,0.00,54.75,0.322,10918,0.132,0.000,2796,2100,1228,1298,1159,0,0,0,0,0,0,14.21,14.17,13.88
$GC,8798,0.91,736.8,2796,2101,1298,1148,15.0,0.2,706,8896,0.22,2.55,90.25,0.256,10916,0.099,0.085,2890,689,499,546,452,0,0,0,0,0,0,14.09,13.88,13.78
$GC,9002,1.06,791.4,2890,689,547,448,2.1,7.5,746,9007,0.00,2.50,0.00,0.000,1190,0.000,0.076,2889,2106,496,545,448,0,0,0,0,0,0,14.12,13.98,14.14
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,0.0,1.005205
$STATE,9030,end surface coast,CONTROL_FINISHED_OK
$STATE,9030,begin surface
$SM_CCo,9111,0.00,0.000,0,0,495,704.75
$SM_GC,1.09,8.27,0.17,0.00,0.078,0.128,0.000,206,2213,495,-7.37,-0.59,704.75,0,0,0,0,0,0,14.09,14.09,14.18
$RAFOS_CLK,33
$RAFOS_FIX,7232.996094,-14830.577148,170817,080809,4,255,0.26
$IRIDIUM_FIX,7233.84,-14824.02,170817,064746
$TT8_MAMPS,0.086135,1.35419
$HUMID,47.24
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.50
$XPDR_PINGS,14
$CP_FREE,16003760128.000000
$PM_FREEKB_00,56226112
$24V_AH,12.51,86.385
$10V_AH,12.27,0.000
$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,25.525,79.300,950.275,0.000,0.000,0.000,0.000,383.025,3.500,0.000,21.192,0.000,6500.161,840.894,2160.811,286.266,0.000,2065.672,0.000,1075.234,2219.000,0.539,0.000
$DEVICE_MAMPS,454.410,2147.355,1541.475,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9058.000,9048.000,9007.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.533,20.000,16.567,0.000
$MEM,323712
$DATA_FILE_SIZE,26741,750
$CAP_FILE_SIZE,101341,0
$CFSIZE,2097872896,2060451840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.052,230.71,1
$GPS,170817,121032,7235.355,-14829.925,33,0.8,33,21.2,0.5,239.2,10,7.3