version: 66.13
glider: 196
mission: 14
dive: 201
start: 8 30 117 9 5 48
data:
$ID,196
$MISSION,14
$DIVE,201
$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,39
$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,566.0
$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
$GPS1,300817,085122,7417.8428,-15340.9277,15,0.7,16,19.3,0.0,0.0,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.3
$GPS2,300817,090515,7417.8110,-15340.8838,7,0.7,19,19.3,0.0,254.6,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,262.8,8093,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,196,2229,488,493,0.0,0.0,0,152,0.00,0.00,-101.60,0.000,16386,0.000,0.000,194,2230,2343,2286,2400,0,0,0,0,0,0,14.50,28.83,14.52
$GC,155,-0.57,-145.9,195,2230,2290,2401,4.3,-6.1,10,206,12.65,2.62,-30.35,0.000,18724,0.454,2.144,2375,3589,3964,3945,3983,0,0,0,0,0,0,13.61,12.86,14.04
$GC,281,-0.68,-145.9,2375,3592,3951,3984,38.7,-14.3,34,286,0.00,2.40,0.00,0.000,1158,0.000,0.060,2375,2199,3966,3951,3982,0,0,0,0,0,0,14.19,14.05,14.22
$GC,593,-0.74,-145.9,2376,2198,3953,3983,84.7,-12.2,66,598,0.12,2.47,0.00,0.000,4484,0.148,0.086,2319,3601,3967,3952,3983,0,0,0,0,0,0,14.13,14.12,14.14
$GC,664,-0.82,-145.9,2320,3602,3953,3982,94.5,-13.5,80,669,0.00,2.40,0.00,0.000,1158,0.000,0.060,2319,2192,3967,3952,3983,0,0,0,0,0,0,14.31,14.17,14.35
$GC,974,-0.85,-145.9,2319,2195,3953,3983,139.3,-13.9,94,979,0.00,2.47,0.00,0.000,388,0.000,0.088,2311,3600,3967,3952,3983,0,0,0,0,0,0,14.64,14.15,14.64
$GC,1029,-0.98,-145.9,2312,3601,3953,3986,146.4,-11.6,105,1037,0.15,2.38,0.00,0.000,5254,0.116,0.058,2251,2201,3967,3952,3983,0,0,0,0,0,0,14.24,14.16,14.35
$GC,1334,-0.92,-145.9,2251,2202,3953,3984,200.6,-17.4,116,1339,0.12,2.45,0.00,0.000,2436,0.299,0.084,2270,3599,3967,3952,3983,0,0,0,0,0,0,13.97,14.17,14.14
$GC,1405,-0.98,-145.9,2270,3601,3953,3984,210.8,-13.1,130,1410,0.00,2.40,0.00,0.000,1158,0.000,0.059,2270,2189,3967,3952,3982,0,0,0,0,0,0,14.38,14.22,14.42
$GC,1725,-0.98,-145.9,2271,2191,3953,3982,255.9,-13.6,144,1730,0.00,2.47,0.00,0.000,260,0.000,0.088,2266,3603,3967,3952,3983,0,0,0,0,0,0,14.66,14.21,14.68
$GC,1810,-1.08,-145.9,2266,3603,3953,3983,266.1,-11.0,161,1817,0.12,2.38,0.00,0.000,5254,0.137,0.057,2220,2195,3967,3953,3982,0,0,0,0,0,0,14.14,14.12,14.23
$GC,2115,-1.03,-145.9,2222,2195,3953,3982,313.1,-15.2,172,2120,0.12,2.45,0.00,0.000,2436,0.297,0.086,2240,3592,3967,3952,3982,0,0,0,0,0,0,13.99,14.23,14.15
$GC,2222,-1.08,-145.9,2239,3595,3953,3984,326.6,-11.8,193,2228,0.00,2.35,0.00,0.000,1158,0.000,0.057,2241,2194,3967,3952,3982,0,0,0,0,0,0,14.40,14.28,14.45
$GC,2538,-1.08,-145.9,2241,2194,3953,3981,366.9,-12.6,206,2543,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3592,3966,3952,3981,0,0,0,0,0,0,14.68,14.21,14.69
$GC,2598,-1.14,-145.9,2237,3593,3953,3981,374.2,-11.7,218,2603,0.00,2.35,0.00,0.000,1158,0.000,0.058,2237,2194,3965,3950,3981,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2928,-1.14,-145.9,2236,2193,3953,3979,415.1,-12.3,234,2933,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3594,3966,3953,3980,0,0,0,0,0,0,14.68,14.21,14.69
$GC,3045,-1.21,-145.9,2236,3595,3952,3981,428.1,-10.8,257,3052,0.15,2.35,0.00,0.000,5254,0.125,0.056,2174,2196,3964,3951,3978,0,0,0,0,0,0,14.26,14.23,14.37
$STATE,3346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3346,begin apogee
$GC,3352,-0.13,0.0,2174,2068,3953,3980,481.2,-17.9,268,3573,1.45,0.00,217.02,1.437,10246,0.275,0.000,2526,2065,3366,3390,3342,0,0,0,0,0,0,13.85,13.49,12.69
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3579,0.57,145.9,2527,2067,3384,3330,492.7,0.0,275,3801,0.75,2.12,208.02,1.381,10500,0.063,0.073,2780,3523,2757,2803,2712,0,0,0,0,0,0,13.60,12.95,12.35
$GC,4026,0.12,145.9,2780,3518,2791,2713,461.1,17.4,322,4033,0.82,2.42,0.00,0.000,5254,0.346,0.058,2617,2130,2751,2790,2712,0,0,0,0,0,0,13.40,13.76,13.78
$GC,4332,0.05,182.5,2621,2131,2791,2712,434.1,8.3,333,4387,0.00,2.42,50.42,1.426,8612,0.000,0.080,2621,3494,2616,2667,2566,0,0,0,0,0,0,14.46,13.73,13.14
$GC,4602,-0.04,182.5,2621,3495,2656,2560,406.3,10.7,387,4607,0.25,2.38,0.00,0.000,5254,0.259,0.060,2573,2095,2607,2655,2560,0,0,0,0,0,0,13.93,14.18,14.21
$GC,4934,0.05,253.1,2575,2095,2656,2559,383.6,6.7,403,5047,0.00,2.53,106.70,1.355,8868,0.000,0.090,2575,694,2327,2379,2276,0,0,0,0,0,0,14.61,13.87,13.07
$GC,5075,0.24,312.5,2572,697,2372,2275,373.9,7.3,426,5175,0.25,2.47,89.62,1.315,11430,0.092,0.080,2673,2080,2084,2139,2029,0,0,0,0,0,0,13.97,13.88,12.84
$GC,5473,0.20,312.5,2673,2081,2132,2015,320.1,13.4,456,5478,0.00,2.47,0.00,0.000,644,0.000,0.090,2673,690,2074,2131,2018,0,0,0,0,0,0,14.42,14.07,14.43
$GC,5518,0.20,312.5,2673,691,2128,2019,314.2,12.8,465,5524,0.00,2.47,0.00,0.000,1030,0.000,0.078,2673,2105,2072,2127,2018,0,0,0,0,0,0,14.26,14.13,14.29
$GC,5834,0.16,312.5,2673,2105,2128,2016,273.0,12.8,478,5835,0.17,0.00,0.00,0.000,4230,0.257,0.000,2634,2105,2070,2126,2015,0,0,0,0,0,0,14.04,14.38,14.33
$GC,6134,0.24,340.8,2635,2106,2127,2014,245.2,8.7,488,6180,0.00,2.58,41.05,1.359,8868,0.000,0.087,2643,685,1971,2023,1919,0,0,0,0,0,0,14.66,14.12,13.31
$GC,6257,0.37,376.7,2644,686,2014,1919,235.2,8.3,512,6321,0.17,2.50,57.47,1.298,11430,0.107,0.080,2710,2107,1828,1859,1798,0,0,0,0,0,0,14.21,14.14,13.17
$GC,6646,0.35,376.7,2710,2107,1854,1783,185.5,12.4,540,6651,0.00,2.50,0.00,0.000,644,0.000,0.089,2712,694,1817,1852,1783,0,0,0,0,0,0,14.52,14.16,14.54
$GC,6676,0.35,376.7,2712,695,1850,1783,181.8,11.9,546,6681,0.00,2.45,0.00,0.000,1030,0.000,0.079,2712,2099,1816,1849,1783,0,0,0,0,0,0,14.31,14.17,14.35
$GC,7006,0.35,376.7,2713,2099,1850,1781,143.7,11.2,562,7011,0.00,2.47,0.00,0.000,516,0.000,0.089,2713,692,1814,1848,1781,0,0,0,0,0,0,14.61,14.23,14.64
$GC,7097,0.40,379.9,2713,693,1845,1781,134.4,9.9,580,7101,0.00,2.45,0.00,0.000,1190,0.000,0.078,2713,2105,1812,1844,1781,0,0,0,0,0,0,14.36,14.22,14.39
$GC,7427,0.40,383.2,2713,2106,1845,1781,101.3,9.8,596,7432,0.00,2.55,1.48,0.414,8740,0.000,0.086,2713,685,1801,1833,1770,0,0,0,0,0,0,14.65,14.23,13.60
$GC,7504,0.49,408.5,2713,685,1838,1770,94.4,8.8,611,7526,0.00,2.47,15.07,0.490,9382,0.000,0.078,2713,2103,1698,1727,1670,0,0,0,0,0,0,14.23,14.11,13.62
$GC,7831,0.58,466.6,2713,2103,1728,1668,66.8,7.3,646,7864,0.15,0.00,31.02,0.402,10918,0.117,0.000,2784,2103,1461,1497,1425,0,0,0,0,0,0,14.21,14.17,13.74
$GC,8161,0.62,519.8,2784,2103,1498,1417,35.5,7.5,680,8195,0.00,2.58,27.60,0.310,8740,0.000,0.088,2785,688,1245,1299,1191,0,0,0,0,0,0,14.57,13.97,13.81
$GC,8225,0.75,572.5,2786,689,1299,1192,30.7,7.6,692,8259,0.12,2.47,28.17,0.293,11430,0.137,0.078,2841,2100,1028,1096,961,0,0,0,0,0,0,14.19,14.14,13.72
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$FINISH,0.2,1.021549
$STATE,8573,end surface coast,CONTROL_FINISHED_OK
$STATE,8573,begin surface
$SM_CCo,8594,71.05,0.209,0,0,500,702.78
$SM_GC,1.30,8.15,0.17,71.05,0.083,0.120,0.209,197,2221,500,-7.39,-0.71,702.78,0,0,0,0,0,0,14.33,14.31,14.00
$RAFOS_CLK,389
$RAFOS_FIX,7417.214844,-15339.044922,300817,080800,4,255,0.17
$IRIDIUM_FIX,7417.53,-15340.30,300817,085606
$TT8_MAMPS,0.039697,0.910035
$HUMID,47.00
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15983116288.000000
$PM_FREEKB_00,51960384
$24V_AH,12.35,139.523
$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,25.750,83.500,873.675,71.050,0.000,0.000,0.000,477.175,3.500,0.000,20.224,0.000,6166.791,847.012,2190.965,304.231,0.000,2163.088,0.000,1046.872,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2143.530,1436.670,208.845,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8605.000,8590.000,8548.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.723,20.000,9.867,0.000
$MEM,323552
$DATA_FILE_SIZE,26726,730
$CAP_FILE_SIZE,101400,0
$CFSIZE,2097872896,2025783296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,197.29,0x2341ea,0,24
$SOUNDSPEED,1448.8
$CURRENT,0.046,166.03,1
$GPS,300817,113132,7418.018,-15344.869,35,0.8,35,19.3,0.0,0.0,10,8.3