version: 66.13
glider: 196
mission: 14
dive: 214
start: 8 31 117 20 54 35
data:
$ID,196
$MISSION,14
$DIVE,214
$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,24
$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,1.4
$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,604.0
$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
$GPS1,310817,204035,7426.0757,-15333.9863,27,0.7,29,19.4,0.3,39.5,10,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.6
$GPS2,310817,205401,7426.0874,-15334.1914,7,0.8,13,19.4,0.0,0.0,9,7.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,22.2,156991,-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,-145.9,199,2212,501,488,0.0,0.0,0,142,0.00,0.00,-91.60,0.000,16386,0.000,0.000,198,2212,2180,2112,2249,0,0,0,0,0,0,14.35,28.83,14.37
$GC,145,-0.57,-145.9,199,2212,2116,2249,4.0,-5.8,9,199,12.70,2.85,-34.45,0.000,18724,0.454,2.141,2376,3605,3959,3941,3977,0,0,0,0,0,0,13.59,12.74,14.04
$GC,324,-0.69,-145.9,2377,3608,3949,3978,43.3,-14.2,44,331,0.00,2.42,0.00,0.000,1158,0.000,0.058,2376,2196,3963,3948,3978,0,0,0,0,0,0,14.26,14.12,14.29
$GC,631,-0.78,-145.9,2376,2197,3950,3978,86.9,-11.5,75,636,0.12,2.50,0.00,0.000,4484,0.145,0.085,2319,3607,3963,3950,3976,0,0,0,0,0,0,14.21,14.05,14.26
$GC,686,-0.86,-145.9,2320,3607,3951,3977,94.6,-13.5,86,692,0.00,2.42,0.00,0.000,1158,0.000,0.060,2319,2192,3963,3949,3977,0,0,0,0,0,0,14.22,14.04,14.28
$GC,1001,-0.90,-145.9,2319,2194,3955,3977,138.9,-13.2,100,1007,0.00,2.50,0.00,0.000,388,0.000,0.088,2319,3607,3962,3948,3977,0,0,0,0,0,0,14.64,14.14,14.65
$GC,1047,-1.05,-145.9,2319,3607,3951,3977,144.2,-10.6,109,1053,0.25,2.40,0.00,0.000,5254,0.091,0.057,2227,2190,3963,3949,3977,0,0,0,0,0,0,14.26,14.20,14.35
$GC,1363,-0.95,-145.9,2229,2189,3951,3977,206.9,-19.6,122,1368,0.17,2.50,0.00,0.000,2436,0.289,0.083,2259,3607,3963,3950,3977,0,0,0,0,0,0,13.83,13.67,14.01
$GC,1480,-1.01,-145.9,2259,3609,3951,3978,223.4,-13.0,145,1486,0.00,2.38,0.00,0.000,1158,0.000,0.057,2258,2202,3963,3949,3977,0,0,0,0,0,0,14.25,14.17,14.28
$GC,1783,-1.01,-145.9,2258,2202,3950,3978,266.1,-13.4,156,1789,0.00,2.47,0.00,0.000,260,0.000,0.088,2249,3607,3963,3949,3978,0,0,0,0,0,0,14.68,13.85,14.70
$GC,1844,-1.07,-145.9,2249,3608,3957,3977,273.7,-12.1,168,1850,0.00,2.40,0.00,0.000,1158,0.000,0.058,2249,2198,3963,3949,3977,0,0,0,0,0,0,14.42,14.26,14.42
$GC,2175,-1.07,-145.9,2249,2198,3950,3978,315.8,-12.5,184,2181,0.00,2.47,0.00,0.000,260,0.000,0.087,2240,3604,3963,3949,3977,0,0,0,0,0,0,14.69,14.21,14.71
$GC,2276,-1.15,-145.9,2240,3606,3950,3978,327.7,-11.3,204,2281,0.00,2.38,0.00,0.000,1158,0.000,0.058,2240,2199,3963,3949,3977,0,0,0,0,0,0,14.39,14.27,14.46
$GC,2597,-1.15,-145.9,2240,2199,3950,3978,367.1,-12.3,218,2601,0.00,2.47,0.00,0.000,260,0.000,0.089,2234,3607,3962,3949,3976,0,0,0,0,0,0,14.67,14.19,14.69
$GC,2637,-1.21,-145.9,2237,3609,3950,3977,371.9,-12.0,226,2642,0.15,2.38,0.00,0.000,5254,0.127,0.059,2172,2200,3962,3949,3976,0,0,0,0,0,0,14.23,14.20,14.34
$GC,2957,-1.09,-145.9,2173,2204,3945,3976,429.2,-17.9,240,2963,0.22,2.47,0.00,0.000,2436,0.295,0.083,2212,3610,3961,3948,3974,0,0,0,0,0,0,13.83,14.16,14.04
$GC,3103,-1.11,-145.9,2214,3612,3949,3976,448.6,-12.7,269,3109,0.00,2.40,0.00,0.000,1158,0.000,0.056,2213,2201,3961,3948,3975,0,0,0,0,0,0,14.00,13.68,14.14
$STATE,3346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3346,begin apogee
$GC,3352,-0.13,0.0,2214,2058,3949,3976,482.3,-13.8,278,3572,1.25,0.08,216.62,1.427,10246,0.245,0.183,2528,2105,3365,3387,3343,0,0,0,0,0,0,13.88,13.46,12.68
$STATE,3575,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3580,0.57,145.9,2529,2105,3380,3333,493.8,0.0,285,3795,0.75,2.62,205.40,1.375,10500,0.063,0.073,2782,3506,2765,2809,2722,0,0,0,0,0,0,13.63,12.93,12.34
$GC,3947,0.11,145.9,2782,3506,2789,2718,479.4,16.8,347,3953,0.85,2.42,0.00,0.000,5254,0.350,0.056,2623,2132,2752,2788,2717,0,0,0,0,0,0,13.31,13.65,13.66
$GC,4268,0.02,184.8,2623,2131,2789,2715,451.2,8.2,361,4330,0.12,2.55,54.70,1.427,12964,0.295,0.083,2602,695,2605,2655,2555,0,0,0,0,0,0,13.87,13.69,13.07
$GC,4390,0.08,230.6,2601,695,2652,2550,441.8,7.9,385,4461,0.00,2.47,66.70,1.392,9382,0.000,0.080,2600,2096,2424,2485,2364,0,0,0,0,0,0,14.12,14.00,12.95
$GC,4782,0.12,259.1,2600,2096,2471,2350,408.0,8.7,413,4826,0.00,0.00,39.67,1.433,8614,0.000,0.000,2600,2095,2306,2360,2252,0,0,0,0,0,0,14.49,13.76,13.15
$GC,5143,0.19,289.5,2601,2092,2361,2242,376.6,8.6,435,5193,0.12,0.00,47.20,1.405,10406,0.131,0.000,2660,2095,2186,2233,2139,0,0,0,0,0,0,14.28,14.02,13.22
$GC,5472,0.15,289.5,2660,2095,2225,2118,335.2,12.7,446,5477,0.12,2.45,0.00,0.000,4740,0.253,0.083,2633,694,2171,2224,2118,0,0,0,0,0,0,14.04,14.17,14.19
$GC,5589,0.21,289.5,2637,694,2223,2118,323.0,10.0,469,5595,0.00,2.45,0.00,0.000,1158,0.000,0.080,2636,2105,2173,2222,2125,0,0,0,0,0,0,14.34,14.20,14.37
$GC,5892,0.21,289.5,2637,2106,2222,2117,290.7,10.5,480,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2105,2169,2222,2116,0,0,0,0,0,0,14.66,14.68,14.67
$GC,6193,0.21,296.1,2637,2104,2222,2115,261.1,9.7,490,6199,0.00,2.53,1.75,0.469,8740,0.000,0.084,2637,696,2161,2214,2109,0,0,0,0,0,0,14.68,14.08,13.48
$GC,6274,0.32,327.8,2637,696,2215,2115,253.9,8.5,506,6341,0.15,2.42,59.85,1.334,11430,0.114,0.079,2696,2101,2024,2071,1978,0,0,0,0,0,0,14.31,14.28,13.25
$GC,6646,0.27,327.8,2696,2101,2065,1969,209.3,11.7,530,6647,0.00,0.00,0.00,0.000,134,0.000,0.000,2695,2100,2016,2064,1969,0,0,0,0,0,0,14.57,14.59,14.59
$GC,6946,0.23,327.8,2701,2101,2058,1968,176.9,10.6,540,6951,0.15,2.47,0.00,0.000,4740,0.227,0.085,2659,690,2014,2061,1967,0,0,0,0,0,0,14.09,14.23,14.23
$GC,7022,0.36,373.4,2660,690,2060,1968,170.5,7.9,555,7103,0.12,2.47,75.80,1.267,11430,0.134,0.080,2710,2107,1841,1871,1812,0,0,0,0,0,0,14.30,14.24,13.23
$GC,7428,0.36,373.4,2710,2108,1860,1802,126.8,10.3,586,7434,0.00,2.47,0.00,0.000,516,0.000,0.086,2712,695,1830,1860,1801,0,0,0,0,0,0,14.56,14.19,14.57
$GC,7479,0.41,379.2,2712,696,1859,1802,121.7,9.7,596,7485,0.00,2.45,1.25,0.392,9382,0.000,0.078,2712,2099,1821,1850,1792,0,0,0,0,0,0,14.25,14.12,13.51
$GC,7791,0.42,397.4,2713,2100,1857,1792,91.8,9.2,614,7807,0.00,2.45,11.35,0.479,8740,0.000,0.085,2712,697,1744,1770,1718,0,0,0,0,0,0,14.59,13.90,13.57
$GC,7852,0.52,430.7,2713,698,1773,1719,86.5,8.5,625,7879,0.12,2.45,18.70,0.464,11430,0.130,0.078,2768,2100,1609,1637,1582,0,0,0,0,0,0,14.18,14.14,13.66
$GC,8184,0.52,468.6,2769,2100,1638,1575,51.7,8.3,661,8205,0.00,0.00,19.88,0.357,8614,0.000,0.000,2768,2100,1455,1491,1419,0,0,0,0,0,0,14.57,14.14,13.75
$GC,8504,0.63,567.2,2769,2101,1492,1414,31.9,5.4,694,8562,0.00,2.50,52.05,0.308,8612,0.000,0.084,2769,3508,1053,1121,986,0,0,0,0,0,0,14.58,14.07,13.71
$GC,8619,0.81,613.4,2769,3509,1121,985,24.1,7.9,716,8651,0.22,2.42,24.90,0.283,11430,0.096,0.067,2859,2106,862,934,791,0,0,0,0,0,0,14.14,14.15,13.69
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,0.2,1.021180
$STATE,8885,end surface coast,CONTROL_FINISHED_OK
$STATE,8885,begin surface
$SM_CCo,8906,48.58,0.210,0,0,500,702.78
$SM_GC,1.24,8.25,0.17,48.58,0.087,0.119,0.210,198,2223,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.33,14.28,13.97
$RAFOS_CLK,396
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7426.45,-15333.27,310817,204521
$TT8_MAMPS,0.040446,0.845621
$HUMID,47.51
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15979773952.000000
$PM_FREEKB_00,51605120
$24V_AH,12.34,145.710
$10V_AH,12.25,0.000
$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,25.875,79.475,895.825,48.575,0.000,0.000,0.000,453.875,3.750,0.000,14.263,0.000,6481.832,937.884,2047.295,307.369,0.000,2116.025,0.000,1070.359,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2141.235,1432.845,210.375,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8915.000,8901.000,8858.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.465,20.000,9.862,0.000
$MEM,323448
$DATA_FILE_SIZE,26734,746
$CAP_FILE_SIZE,102240,0
$CFSIZE,2097872896,2021883904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.053,305.24,1
$GPS,310817,232502,7426.963,-15331.218,22,0.7,27,19.4,0.3,202.6,12,6.4