version: 66.13
glider: 196
mission: 14
dive: 150
start: 8 24 117 5 45 55
data:
$ID,196
$MISSION,14
$DIVE,150
$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,23
$R_STBD_OVSHOOT,21
$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,420.0
$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
$GPS1,240817,052015,7332.5425,-15043.2275,16,0.8,21,20.5,0.0,0.0,11,9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.6
$GPS2,240817,054526,7332.5342,-15043.2646,5,0.8,37,20.5,0.0,0.0,10,8.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.1,128631,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,187,2202,501,480,0.0,0.0,0,138,0.00,0.00,-91.22,0.000,16386,0.000,0.000,186,2204,2220,2153,2288,0,0,0,0,0,0,14.48,28.83,14.50
$GC,141,-0.57,-145.9,187,2202,2157,2281,4.5,-6.6,9,194,12.77,2.80,-31.33,0.000,18724,0.458,2.147,2374,3605,3963,3944,3982,0,0,0,0,0,0,13.69,12.62,14.15
$GC,324,-0.63,-145.9,2375,3607,3952,3982,49.7,-16.5,45,329,0.00,2.40,0.00,0.000,1158,0.000,0.056,2374,2196,3971,3960,3983,0,0,0,0,0,0,14.26,14.14,14.29
$GC,634,-0.67,-145.9,2374,2196,3953,3983,100.8,-13.0,77,640,0.00,2.50,0.00,0.000,388,0.000,0.086,2365,3610,3967,3952,3982,0,0,0,0,0,0,14.54,14.14,14.56
$GC,720,-0.82,-145.9,2367,3610,3953,3982,110.7,-10.5,94,726,0.15,2.40,0.00,0.000,5254,0.119,0.055,2303,2197,3967,3952,3982,0,0,0,0,0,0,14.24,14.21,14.33
$GC,1025,-0.79,-145.9,2303,2196,3954,3982,161.1,-16.3,105,1030,0.00,2.47,0.00,0.000,388,0.000,0.087,2294,3610,3964,3948,3981,0,0,0,0,0,0,14.60,14.22,14.63
$GC,1105,-0.84,-145.9,2294,3611,3953,3983,172.8,-13.8,121,1110,0.00,2.38,0.00,0.000,1158,0.000,0.057,2294,2199,3967,3953,3982,0,0,0,0,0,0,14.39,14.28,14.44
$GC,1415,-0.84,-145.9,2295,2198,3953,3982,219.3,-14.7,133,1420,0.00,2.50,0.00,0.000,260,0.000,0.086,2284,3613,3967,3952,3982,0,0,0,0,0,0,14.62,14.20,14.64
$GC,1495,-0.91,-145.9,2285,3614,3953,3981,230.2,-12.6,149,1500,0.00,2.38,0.00,0.000,1158,0.000,0.057,2284,2201,3967,3952,3982,0,0,0,0,0,0,14.43,14.28,14.43
$GC,1805,-0.91,-145.9,2284,2201,3953,3983,271.6,-13.1,161,1810,0.00,2.47,0.00,0.000,260,0.000,0.089,2279,3609,3967,3952,3982,0,0,0,0,0,0,14.64,14.23,14.66
$GC,1890,-1.00,-145.9,2279,3610,3954,3982,282.1,-10.8,178,1896,0.00,2.40,0.00,0.000,1158,0.000,0.059,2280,2201,3967,3952,3983,0,0,0,0,0,0,14.38,14.25,14.40
$GC,2195,-1.03,-145.9,2280,2200,3953,3982,318.2,-11.6,189,2200,0.00,2.47,0.00,0.000,388,0.000,0.089,2271,3610,3967,3952,3982,0,0,0,0,0,0,14.66,14.24,14.67
$GC,2250,-1.11,-145.9,2272,3610,3953,3980,324.5,-10.7,200,2258,0.15,2.38,0.00,0.000,5254,0.123,0.058,2213,2199,3965,3952,3978,0,0,0,0,0,0,14.31,14.26,14.39
$GC,2556,-1.02,-145.9,2215,2199,3952,3982,374.7,-16.6,211,2561,0.12,2.47,0.00,0.000,2436,0.311,0.085,2236,3610,3966,3951,3981,0,0,0,0,0,0,13.90,14.19,14.07
$GC,2672,-1.02,-145.9,2237,3610,3951,3981,390.7,-13.1,234,2678,0.00,2.38,0.00,0.000,1030,0.000,0.059,2236,2203,3966,3951,3981,0,0,0,0,0,0,14.33,14.25,14.34
$GC,2976,-0.97,-145.9,2236,2201,3950,3981,433.6,-14.1,245,2981,0.12,2.47,0.00,0.000,2436,0.308,0.084,2261,3613,3965,3950,3980,0,0,0,0,0,0,13.94,14.20,14.11
$GC,3084,-1.05,-145.9,2261,3614,3958,3980,446.1,-10.9,266,3088,0.00,2.40,0.00,0.000,1158,0.000,0.057,2254,2188,3965,3950,3981,0,0,0,0,0,0,14.36,14.23,14.39
$STATE,3366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3366,begin apogee
$GC,3372,-0.13,0.0,2256,2057,3948,3980,480.5,-12.0,278,3589,1.08,0.08,213.35,1.444,10246,0.233,0.182,2539,2108,3363,3384,3342,0,0,0,0,0,0,13.97,13.45,12.70
$STATE,3593,end apogee,CONTROL_FINISHED_OK
$STATE,3593,begin climb
$GC,3597,0.57,145.9,2533,2110,3379,3335,491.2,0.0,285,4140,0.73,2.67,204.98,1.385,11012,0.066,0.083,2781,730,2755,2796,2715,0,0,0,0,0,0,13.59,13.16,12.41
$GC,4368,0.22,145.9,2782,730,2796,2723,412.1,14.9,332,4375,0.57,2.40,0.00,0.000,5254,0.321,0.077,2657,2101,2755,2796,2715,0,0,0,0,0,0,13.75,14.08,14.10
$GC,4674,0.06,151.3,2657,2102,2795,2712,381.3,9.8,343,4679,0.20,2.47,0.38,0.339,12708,0.282,0.082,2608,3514,2748,2788,2708,0,0,0,0,0,0,13.93,14.14,14.00
$GC,4905,0.01,193.2,2608,3516,2789,2712,361.6,8.1,389,4978,0.15,2.33,67.45,1.385,13478,0.274,0.058,2585,2136,2577,2629,2526,0,0,0,0,0,0,14.04,14.28,13.21
$GC,5275,0.11,259.6,2586,2131,2625,2508,336.4,6.9,413,5385,0.00,2.55,100.82,1.322,8612,0.000,0.083,2585,3510,2299,2350,2248,0,0,0,0,0,0,14.51,13.80,13.08
$GC,5420,0.25,297.2,2586,3510,2341,2248,325.6,8.3,442,5487,0.22,2.47,56.40,1.335,11430,0.091,0.062,2677,2095,2145,2195,2096,0,0,0,0,0,0,13.91,13.85,12.95
$GC,5785,0.22,297.2,2677,2095,2188,2084,279.3,12.6,465,5790,0.00,2.50,0.00,0.000,644,0.000,0.090,2681,690,2135,2187,2083,0,0,0,0,0,0,14.40,14.04,14.43
$GC,5885,0.22,297.2,2682,685,2184,2084,267.5,11.4,485,5890,0.00,2.47,0.00,0.000,1030,0.000,0.079,2681,2099,2133,2183,2084,0,0,0,0,0,0,14.28,14.15,14.32
$GC,6206,0.18,297.2,2682,2101,2183,2088,231.9,10.4,499,6211,0.15,2.47,0.00,0.000,4740,0.252,0.083,2648,682,2132,2183,2081,0,0,0,0,0,0,14.02,14.19,14.18
$GC,6256,0.34,350.3,2648,682,2182,2082,227.8,7.6,509,6347,0.12,2.47,82.38,1.281,11430,0.129,0.080,2699,2107,1932,1977,1888,0,0,0,0,0,0,14.29,14.23,13.18
$GC,6657,0.34,350.3,2699,2109,1963,1882,184.5,10.6,539,6662,0.00,2.53,0.00,0.000,516,0.000,0.087,2699,684,1921,1962,1881,0,0,0,0,0,0,14.50,14.05,14.51
$GC,6712,0.40,352.2,2699,684,1960,1881,178.9,9.9,550,6719,0.00,2.47,0.00,0.000,1190,0.000,0.078,2696,2106,1920,1959,1881,0,0,0,0,0,0,14.26,14.14,14.30
$GC,7017,0.40,358.6,2700,2107,1960,1879,148.6,9.7,561,7028,0.00,2.47,4.03,1.584,8740,0.000,0.087,2699,692,1903,1943,1864,0,0,0,0,0,0,14.59,14.27,13.17
$GC,7058,0.48,372.9,2700,688,1946,1866,144.8,9.3,569,7094,0.10,2.45,29.83,1.369,11430,0.158,0.079,2749,2104,1844,1875,1813,0,0,0,0,0,0,14.28,14.26,13.35
$GC,7411,0.42,372.9,2749,2105,1868,1804,102.9,11.4,589,7416,0.12,2.47,0.00,0.000,4740,0.238,0.083,2726,685,1835,1866,1805,0,0,0,0,0,0,14.04,14.21,14.18
$GC,7441,0.46,385.5,2727,685,1866,1805,99.5,9.4,595,7452,0.00,2.47,6.15,0.499,9382,0.000,0.080,2726,2106,1792,1820,1764,0,0,0,0,0,0,14.32,14.19,13.62
$GC,7751,0.53,437.6,2727,2106,1824,1764,72.8,7.6,627,7784,0.00,2.58,27.85,0.426,8868,0.000,0.086,2726,686,1580,1611,1549,0,0,0,0,0,0,14.57,14.09,13.69
$GC,7850,0.72,516.7,2727,688,1609,1551,66.4,6.3,646,7900,0.25,2.47,40.95,0.400,11430,0.090,0.079,2819,2100,1257,1315,1199,0,0,0,0,0,0,14.23,14.16,13.69
$GC,8205,0.73,530.7,2820,2100,1315,1186,30.3,9.4,685,8218,0.00,2.55,7.10,0.309,8484,0.000,0.082,2819,3511,1198,1264,1133,0,0,0,0,0,0,14.41,14.00,13.81
$GC,8258,0.73,530.7,2819,3511,1265,1135,25.0,10.4,695,8263,0.00,2.45,0.00,0.000,1030,0.000,0.067,2826,2097,1197,1259,1135,0,0,0,0,0,0,14.12,14.00,14.14
$GC,8569,0.87,660.4,2826,2103,1265,1131,6.2,4.0,727,8642,0.00,2.55,67.30,0.222,8868,0.000,0.081,2826,679,670,728,613,0,0,0,0,0,0,14.40,14.02,13.85
$STATE,8670,end climb,SURFACE_DEPTH_REACHED
$STATE,8670,begin surface coast
$FINISH,0.1,1.012845
$STATE,8720,end surface coast,CONTROL_FINISHED_OK
$STATE,8720,begin surface
$SM_CCo,8742,22.75,0.214,0,0,499,702.78
$SM_GC,0.72,8.10,2.72,22.75,0.080,0.074,0.214,204,2210,499,-7.37,-0.57,702.78,0,0,0,0,0,0,14.17,14.12,13.90
$RAFOS_CLK,42
$RAFOS_FIX,7332.196777,-15037.294922,240817,040412,3,255,0.40
$IRIDIUM_FIX,7333.41,-15103.36,240817,053656
$TT8_MAMPS,0.084637,0.92127
$HUMID,44.95
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,15994028032.000000
$PM_FREEKB_00,53547328
$24V_AH,12.41,114.541
$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,25.125,94.525,908.950,22.750,0.000,0.000,0.000,962.650,4.750,0.000,38.931,0.000,6079.308,830.272,3044.097,334.550,0.000,2979.551,0.000,1084.982,2213.000,0.539,0.000
$DEVICE_MAMPS,458.235,2146.590,1584.315,214.200,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8746.000,8730.000,8695.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.715,20.000,9.899,0.000
$MEM,323356
$DATA_FILE_SIZE,26690,757
$CAP_FILE_SIZE,111406,0
$CFSIZE,2097872896,2041905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.056,275.92,1
$GPS,240817,081330,7333.351,-15046.194,40,0.7,44,20.5,0.8,191.8,11,9.8