version: 66.13
glider: 196
mission: 14
dive: 177
start: 8 27 117 13 13 15
data:
$ID,196
$MISSION,14
$DIVE,177
$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,62
$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,499.0
$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
$GPS1,270817,125419,7359.5981,-15210.3311,24,0.7,41,19.9,0.6,277.4,11,7.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.1
$GPS2,270817,131243,7359.6450,-15210.5430,5,0.7,12,19.9,0.0,0.0,12,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,285.4,63355,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,183,2216,496,488,0.0,0.0,0,142,0.00,0.00,-91.55,0.000,16386,0.000,0.000,181,2217,2164,2089,2239,0,0,0,0,0,0,14.50,28.83,14.52
$GC,144,-0.57,-145.9,183,2217,2095,2240,3.7,-5.1,9,198,12.68,2.72,-34.17,0.000,18724,0.454,2.144,2376,3594,3962,3942,3982,1,0,0,0,0,0,13.55,12.88,14.03
$GC,423,-0.67,-145.9,2377,3594,3951,3982,61.9,-14.0,64,430,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2225,3965,3950,3981,0,0,0,0,0,0,14.29,14.17,14.33
$GC,748,-0.75,-145.9,2376,2224,3952,3981,107.3,-11.6,93,753,0.12,2.42,0.00,0.000,4484,0.145,0.086,2319,3598,3966,3950,3982,0,0,0,0,0,0,14.14,14.10,14.18
$GC,818,-0.82,-145.9,2319,3599,3951,3983,116.7,-13.4,107,823,0.00,2.38,0.00,0.000,1158,0.000,0.059,2319,2202,3966,3951,3982,0,0,0,0,0,0,14.31,14.19,14.33
$GC,1138,-0.84,-145.9,2319,2201,3952,3982,162.0,-13.6,121,1143,0.00,2.45,0.00,0.000,388,0.000,0.088,2314,3599,3965,3950,3980,0,0,0,0,0,0,14.63,14.21,14.63
$GC,1183,-0.98,-145.9,2315,3600,3952,3982,167.5,-11.2,130,1188,0.15,2.38,0.00,0.000,5254,0.117,0.058,2256,2195,3966,3950,3982,0,0,0,0,0,0,14.28,14.23,14.39
$GC,1499,-0.91,-145.9,2256,2194,3951,3983,224.0,-17.8,143,1504,0.12,2.45,0.00,0.000,2436,0.309,0.084,2274,3595,3966,3950,3982,0,0,0,0,0,0,13.99,14.23,14.14
$GC,1569,-0.97,-145.9,2271,3603,3951,3982,234.2,-12.9,157,1574,0.00,2.38,0.00,0.000,1158,0.000,0.058,2274,2191,3966,3950,3982,0,0,0,0,0,0,14.41,14.28,14.44
$GC,1889,-0.97,-145.9,2274,2191,3951,3982,276.9,-12.6,171,1894,0.00,2.47,0.00,0.000,260,0.000,0.088,2267,3603,3966,3950,3982,0,0,0,0,0,0,14.65,14.22,14.67
$GC,1964,-1.06,-145.9,2267,3605,3951,3983,285.9,-11.3,186,1969,0.00,2.38,0.00,0.000,1158,0.000,0.057,2266,2189,3966,3950,3982,0,0,0,0,0,0,14.41,14.29,14.44
$GC,2279,-1.08,-145.9,2267,2189,3951,3982,323.6,-11.7,199,2284,0.12,2.47,0.00,0.000,4484,0.147,0.086,2209,3600,3965,3950,3981,0,0,0,0,0,0,14.32,14.22,14.37
$GC,2386,-1.05,-145.9,2209,3601,3951,3981,339.6,-15.2,220,2392,0.15,2.35,0.00,0.000,3206,0.265,0.056,2238,2198,3965,3950,3981,0,0,0,0,0,0,14.00,14.29,14.28
$GC,2702,-1.02,-145.9,2237,2197,3951,3982,383.2,-13.5,233,2707,0.00,2.45,0.00,0.000,388,0.000,0.088,2236,3595,3965,3950,3981,0,0,0,0,0,0,14.65,14.18,14.67
$GC,2783,-1.06,-145.9,2236,3598,3951,3982,393.5,-12.0,249,2788,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2189,3965,3950,3981,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3093,-1.06,-145.9,2236,2189,3951,3982,434.3,-13.1,261,3098,0.00,2.47,0.00,0.000,260,0.000,0.087,2227,3600,3965,3950,3981,0,0,0,0,0,0,14.69,14.18,14.70
$GC,3178,-1.09,-145.9,2228,3601,3950,3981,445.2,-12.4,278,3184,0.00,2.38,0.00,0.000,1158,0.000,0.056,2227,2195,3965,3949,3981,0,0,0,0,0,0,14.29,14.18,14.33
$STATE,3450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3450,begin apogee
$GC,3456,-0.13,0.0,2228,2061,3956,3982,482.3,-13.5,288,3675,1.20,0.00,215.75,1.447,10246,0.245,0.000,2531,2060,3366,3383,3349,0,0,0,0,0,0,13.88,13.52,12.68
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,0.57,145.9,2532,2061,3379,3342,492.9,0.0,295,4224,0.73,1.85,208.73,1.385,10756,0.063,0.084,2781,733,2757,2795,2720,0,0,0,0,0,0,13.57,13.12,12.36
$GC,4236,0.57,145.9,2782,733,2797,2720,450.4,8.6,298,4241,0.00,2.40,0.00,0.000,1030,0.000,0.076,2781,2088,2757,2795,2719,0,0,0,0,0,0,14.00,13.88,14.04
$GC,4551,0.17,145.9,2781,2089,2793,2717,400.6,15.4,311,4556,0.60,2.47,0.00,0.000,4484,0.323,0.077,2646,3513,2754,2793,2715,0,0,0,0,0,0,13.78,14.14,14.02
$GC,4591,-0.03,145.9,2646,3514,2790,2716,395.4,11.6,319,4597,0.32,2.35,0.00,0.000,5254,0.279,0.058,2581,2125,2753,2791,2715,0,0,0,0,0,0,13.85,14.18,14.20
$GC,4912,0.04,232.1,2581,2125,2792,2714,375.0,6.0,333,5048,0.00,2.58,129.60,1.331,8740,0.000,0.084,2580,697,2413,2467,2359,0,0,0,0,0,0,14.63,13.59,13.01
$GC,5075,0.21,298.2,2581,697,2464,2356,364.3,6.9,365,5180,0.22,2.53,99.22,1.307,11430,0.100,0.080,2669,2101,2149,2202,2097,0,0,0,0,0,0,13.61,13.82,12.76
$GC,5487,0.17,298.2,2670,2101,2187,2079,311.9,12.8,397,5493,0.12,2.50,0.00,0.000,4740,0.269,0.082,2648,693,2132,2186,2079,0,0,0,0,0,0,13.86,14.01,14.00
$GC,5543,0.23,298.2,2647,694,2183,2080,305.8,10.9,408,5550,0.00,2.47,0.00,0.000,1158,0.000,0.079,2647,2104,2130,2183,2078,0,0,0,0,0,0,14.16,14.04,14.21
$GC,5848,0.23,298.2,2648,2102,2184,2077,273.8,10.3,419,5852,0.00,2.47,0.00,0.000,516,0.000,0.086,2647,693,2130,2184,2077,0,0,0,0,0,0,14.57,14.21,14.58
$GC,5868,0.27,302.8,2648,693,2182,2077,271.8,9.8,423,5873,0.00,2.45,0.00,0.000,1190,0.000,0.080,2647,2098,2129,2181,2077,0,0,0,0,0,0,14.32,14.18,14.35
$GC,6178,0.31,328.3,2644,2100,2184,2076,242.7,8.8,435,6225,0.10,0.00,45.17,1.356,10406,0.151,0.000,2694,2099,2026,2072,1980,0,0,0,0,0,0,14.34,14.03,13.28
$GC,6508,0.29,328.3,2694,2099,2062,1969,205.9,11.1,446,6513,0.00,2.47,0.00,0.000,644,0.000,0.086,2698,696,2014,2061,1968,0,0,0,0,0,0,14.54,14.17,14.56
$GC,6573,0.29,328.3,2699,696,2060,1969,199.1,10.1,459,6578,0.00,2.45,0.00,0.000,1030,0.000,0.078,2698,2103,2013,2059,1967,0,0,0,0,0,0,14.35,14.21,14.38
$GC,6898,0.29,328.3,2699,2104,2060,1966,164.5,10.3,474,6903,0.00,2.47,0.00,0.000,516,0.000,0.084,2695,691,2015,2058,1973,0,0,0,0,0,0,14.62,14.21,14.64
$GC,6968,0.34,340.3,2699,694,2057,1967,157.7,9.4,488,6990,0.00,2.45,15.77,1.469,9382,0.000,0.079,2699,2099,1976,2022,1930,0,0,0,0,0,0,14.35,14.23,13.35
$GC,7288,0.35,357.7,2699,2100,2017,1923,127.8,9.2,502,7319,0.00,0.00,24.52,1.388,8742,0.000,0.000,2699,2099,1905,1945,1865,0,0,0,0,0,0,14.60,14.16,13.36
$GC,7618,0.42,407.5,2699,2099,1937,1862,100.3,7.7,518,7712,0.00,2.58,85.60,1.228,8868,0.000,0.083,2699,692,1698,1723,1673,0,0,0,0,0,0,14.57,13.88,13.19
$GC,7788,0.59,474.5,2699,693,1717,1672,88.0,6.9,551,7827,0.22,2.50,34.35,0.468,11430,0.094,0.080,2784,2099,1428,1468,1389,0,0,0,0,0,0,14.03,13.97,13.55
$GC,8122,0.60,486.0,2785,2100,1470,1378,52.3,9.5,588,8135,0.00,0.00,6.35,0.360,8230,0.000,0.000,2788,2099,1379,1430,1328,0,0,0,0,0,0,14.50,13.90,13.66
$GC,8433,0.69,558.4,2784,2099,1431,1331,30.3,6.7,619,8476,0.00,2.55,38.12,0.301,8868,0.000,0.085,2794,692,1089,1153,1026,0,0,0,0,0,0,14.55,14.04,13.86
$GC,8538,0.88,619.6,2791,691,1149,1024,22.8,7.2,639,8576,0.22,2.47,32.35,0.278,11430,0.097,0.079,2883,2102,836,902,771,0,0,0,0,0,0,14.23,14.14,13.83
$STATE,8748,end climb,SURFACE_DEPTH_REACHED
$STATE,8748,begin surface coast
$FINISH,0.2,1.011565
$STATE,8769,end surface coast,CONTROL_FINISHED_OK
$STATE,8769,begin surface
$SM_CCo,8789,45.47,0.212,0,0,502,702.78
$SM_GC,1.14,8.23,0.17,45.47,0.083,0.114,0.212,200,2225,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.33,14.31,14.03
$RAFOS_CLK,899
$RAFOS_FIX,7358.794434,-15208.318359,270817,121202,3,255,0.09
$IRIDIUM_FIX,7359.85,-15216.30,270817,130454
$TT8_MAMPS,0.040446,1.10927
$HUMID,46.65
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,18
$CP_FREE,15989407744.000000
$PM_FREEKB_00,52713088
$24V_AH,12.36,127.789
$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,25.325,83.200,935.550,45.475,0.000,0.000,0.000,634.900,4.500,0.000,19.941,0.000,6231.539,867.834,2557.271,295.609,0.000,2628.140,0.000,956.705,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2144.295,1468.800,211.905,0.000,0.000,0.000,162.945,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8798.000,8778.000,8745.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.655,20.000,10.000,0.000
$MEM,323228
$DATA_FILE_SIZE,23386,666
$CAP_FILE_SIZE,100352,0
$CFSIZE,2097872896,2033352704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.7
$CURRENT,0.025,310.42,1
$GPS,270817,154157,7400.576,-15213.930,40,0.8,41,19.9,0.0,0.0,10,9.4