version: 66.13
glider: 196
mission: 14
dive: 215
start: 8 31 117 23 36 30
data:
$ID,196
$MISSION,14
$DIVE,215
$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,21
$R_STBD_OVSHOOT,40
$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,607.0
$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
$GPS1,310817,232502,7426.9634,-15331.2178,22,0.7,27,19.4,0.3,202.6,12,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.5
$GPS2,310817,233555,7426.9429,-15331.3398,7,0.8,10,19.4,0.0,0.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.9,155008,-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,-145.9,196,2225,496,492,0.0,0.0,0,142,0.00,0.00,-92.03,0.000,16386,0.000,0.000,195,2225,2190,2129,2252,0,0,0,0,0,0,14.50,28.83,14.52
$GC,145,-0.57,-145.9,196,2225,2133,2252,4.1,-5.9,9,198,12.75,2.72,-33.65,0.000,18724,0.456,2.143,2375,3588,3964,3941,3987,0,0,0,0,0,0,13.56,12.62,14.02
$GC,240,-0.66,-145.9,2376,3590,3947,3987,31.8,-16.6,27,246,0.00,2.40,0.00,0.000,1158,0.000,0.061,2375,2193,3966,3946,3987,0,0,0,0,0,0,14.13,14.01,14.16
$GC,545,-0.72,-145.9,2375,2193,3950,3987,81.0,-12.6,58,550,0.00,2.47,0.00,0.000,388,0.000,0.086,2366,3592,3968,3949,3987,0,0,0,0,0,0,14.54,14.00,14.56
$GC,590,-0.90,-145.9,2366,3594,3950,3988,86.1,-10.0,67,596,0.25,2.38,0.00,0.000,5254,0.095,0.056,2267,2197,3967,3949,3986,0,0,0,0,0,0,14.12,14.05,14.19
$GC,905,-0.84,-145.9,2267,2197,3950,3984,144.4,-17.8,83,910,0.15,2.45,0.00,0.000,2436,0.278,0.084,2293,3594,3968,3949,3987,0,0,0,0,0,0,13.95,14.19,14.10
$GC,1017,-0.94,-145.9,2293,3595,3949,3987,158.9,-12.1,105,1022,0.00,2.38,0.00,0.000,1158,0.000,0.059,2292,2189,3967,3949,3986,0,0,0,0,0,0,14.38,14.24,14.40
$GC,1327,-0.96,-145.9,2293,2188,3950,3985,200.8,-13.2,117,1332,0.00,2.47,0.00,0.000,388,0.000,0.086,2284,3594,3968,3949,3987,0,0,0,0,0,0,14.64,14.16,14.66
$GC,1367,-1.07,-145.9,2284,3596,3950,3991,205.7,-12.0,125,1372,0.15,2.38,0.00,0.000,5254,0.116,0.057,2228,2201,3968,3950,3986,0,0,0,0,0,0,14.27,14.25,14.36
$GC,1690,-1.01,-145.9,2227,2200,3950,3988,260.7,-16.4,139,1694,0.00,2.47,0.00,0.000,388,0.000,0.087,2222,3595,3967,3949,3986,0,0,0,0,0,0,14.47,14.07,14.50
$GC,1826,-1.01,-145.9,2223,3596,3950,3987,280.8,-14.0,166,1831,0.15,2.38,0.00,0.000,3078,0.249,0.056,2252,2205,3967,3948,3986,0,0,0,0,0,0,13.76,14.06,14.06
$GC,2141,-1.03,-145.9,2252,2200,3950,3988,319.4,-11.8,179,2146,0.00,2.47,0.00,0.000,388,0.000,0.086,2248,3594,3967,3949,3986,0,0,0,0,0,0,14.47,14.00,14.49
$GC,2201,-1.13,-145.9,2248,3595,3949,3989,326.2,-10.2,191,2206,0.00,2.40,0.00,0.000,1158,0.000,0.057,2247,2192,3967,3949,3986,0,0,0,0,0,0,14.16,14.04,14.20
$GC,2531,-1.16,-145.9,2247,2191,3950,3987,364.5,-11.5,207,2536,0.12,2.47,0.00,0.000,4484,0.148,0.083,2185,3592,3968,3949,3987,0,0,0,0,0,0,14.13,13.98,14.16
$GC,2628,-1.11,-145.9,2185,3593,3956,3987,379.0,-15.4,226,2633,0.17,2.38,0.00,0.000,3206,0.260,0.056,2220,2198,3967,3948,3987,0,0,0,0,0,0,13.79,14.10,14.09
$GC,2954,-1.11,-145.9,2221,2196,3950,3986,422.6,-13.2,241,2958,0.00,2.50,0.00,0.000,260,0.000,0.090,2220,3592,3967,3948,3986,0,0,0,0,0,0,14.46,13.98,14.48
$GC,3023,-1.16,-145.9,2221,3592,3949,3986,431.4,-12.0,255,3028,0.00,2.38,0.00,0.000,1158,0.000,0.056,2220,2201,3967,3948,3986,0,0,0,0,0,0,14.19,14.09,14.24
$GC,3344,-1.16,-145.9,2220,2200,3949,3987,472.9,-12.9,269,3348,0.00,2.50,0.00,0.000,260,0.000,0.088,2220,3595,3966,3947,3986,0,0,0,0,0,0,14.46,14.01,14.47
$STATE,3401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3401,begin apogee
$GC,3409,-0.13,0.0,2221,2102,3948,3987,480.4,-11.8,281,3629,1.23,0.00,215.75,1.424,10246,0.239,0.000,2530,2100,3365,3381,3350,0,0,0,0,0,0,13.79,13.31,12.43
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3633,begin climb
$GC,3635,0.57,145.9,2531,2100,3379,3344,491.6,0.0,288,4028,0.75,2.67,210.23,1.378,10500,0.063,0.074,2786,3489,2753,2783,2724,0,0,0,0,0,0,13.50,12.88,12.30
$GC,4038,0.57,145.9,2779,3490,2785,2723,471.1,5.4,291,4043,0.00,2.42,0.00,0.000,1030,0.000,0.057,2788,2097,2753,2784,2723,0,0,0,0,0,0,13.68,13.59,13.71
$GC,4354,0.15,145.9,2786,2098,2784,2724,420.2,15.6,304,4359,0.65,2.45,0.00,0.000,4740,0.313,0.079,2649,691,2753,2784,2723,0,0,0,0,0,0,13.69,14.04,13.92
$GC,4569,0.04,161.6,2649,691,2785,2723,400.1,9.3,347,4595,0.22,2.42,17.88,1.548,13478,0.266,0.080,2600,2082,2703,2738,2668,0,0,0,0,0,0,13.92,14.19,13.26
$GC,4896,0.04,213.1,2600,2088,2742,2664,375.9,7.6,362,4977,0.00,0.00,78.93,1.375,8614,0.000,0.000,2599,2083,2495,2547,2444,0,0,0,0,0,0,14.59,13.93,13.13
$GC,5254,0.06,245.7,2602,2082,2541,2428,345.7,8.5,379,5304,0.00,0.00,48.78,1.387,8230,0.000,0.000,2600,2083,2363,2414,2313,0,0,0,0,0,0,14.56,14.02,13.20
$GC,5584,0.13,284.9,2600,2083,2402,2301,318.5,8.2,390,5651,0.00,2.58,59.45,1.350,8612,0.000,0.085,2599,3502,2199,2248,2151,0,0,0,0,0,0,14.55,13.96,13.19
$GC,5683,0.20,293.4,2603,3504,2240,2150,310.2,9.6,409,5698,0.15,2.42,9.77,1.542,11430,0.109,0.062,2668,2101,2169,2212,2126,0,0,0,0,0,0,14.07,14.04,13.11
$GC,6010,0.16,293.4,2669,2101,2207,2114,269.1,12.5,424,6015,0.12,2.45,0.00,0.000,4740,0.274,0.083,2647,690,2159,2206,2113,0,0,0,0,0,0,13.99,14.19,14.14
$GC,6155,0.23,312.2,2647,691,2203,2114,254.8,9.1,453,6191,0.00,2.47,28.75,1.401,9382,0.000,0.080,2647,2108,2088,2133,2044,0,0,0,0,0,0,14.33,14.21,13.29
$GC,6492,0.28,339.5,2648,2108,2131,2037,224.5,8.7,470,6541,0.00,2.50,43.30,1.345,8868,0.000,0.084,2650,691,1977,2021,1934,0,0,0,0,0,0,14.59,13.87,13.32
$GC,6578,0.41,373.9,2650,692,2014,1934,217.2,8.4,487,6642,0.20,2.50,56.45,1.286,11430,0.102,0.080,2730,2109,1836,1864,1809,0,0,0,0,0,0,14.15,14.06,13.14
$GC,6941,0.35,373.9,2731,2109,1858,1799,167.8,13.3,510,6946,0.12,2.50,0.00,0.000,4740,0.248,0.085,2700,691,1830,1857,1803,0,0,0,0,0,0,14.03,14.06,14.17
$GC,7028,0.41,376.2,2700,692,1857,1799,158.7,9.9,527,7034,0.00,2.47,0.00,0.000,1190,0.000,0.078,2699,2111,1824,1850,1798,0,0,0,0,0,0,14.31,14.18,14.35
$GC,7331,0.41,376.2,2700,2109,1853,1795,127.7,10.0,538,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2108,1823,1852,1795,0,0,0,0,0,0,14.64,14.64,14.64
$GC,7631,0.46,398.8,2700,2109,1852,1793,99.8,9.0,548,7648,0.00,2.50,11.77,0.509,8868,0.000,0.086,2700,687,1738,1765,1711,0,0,0,0,0,0,14.64,13.93,13.52
$GC,7688,0.59,436.0,2700,687,1766,1712,95.1,8.3,559,7716,0.22,2.47,20.70,0.494,11430,0.094,0.078,2786,2105,1585,1609,1561,0,0,0,0,0,0,14.26,14.17,13.64
$GC,8013,0.54,456.5,2786,2105,1611,1556,54.1,9.1,594,8029,0.12,2.50,10.73,0.363,12964,0.262,0.086,2757,689,1503,1535,1471,0,0,0,0,0,0,13.99,13.95,13.67
$GC,8081,0.67,537.7,2758,688,1537,1472,49.3,6.2,607,8130,0.12,2.47,42.83,0.349,11430,0.128,0.080,2805,2103,1173,1229,1118,0,0,0,0,0,0,14.12,14.07,13.76
$GC,8426,0.78,625.8,2807,2103,1230,1101,20.2,5.9,646,8476,0.00,0.00,46.05,0.272,8358,0.000,0.000,2805,2102,810,877,743,0,0,0,0,0,0,14.55,14.01,13.81
$STATE,8725,end climb,SURFACE_DEPTH_REACHED
$STATE,8725,begin surface coast
$FINISH,0.2,1.015208
$STATE,8753,end surface coast,CONTROL_FINISHED_OK
$STATE,8753,begin surface
$SM_CCo,8773,41.60,0.212,0,0,498,702.78
$SM_GC,1.07,8.07,0.17,41.60,0.085,0.115,0.212,198,2234,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.32,14.33,13.98
$RAFOS_CLK,331
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7427.38,-15340.45,310817,205103
$TT8_MAMPS,0.039697,0.916776
$HUMID,46.65
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,15979511808.000000
$PM_FREEKB_00,51574720
$24V_AH,12.30,146.174
$10V_AH,12.18,0.000
$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,25.750,84.225,901.350,41.600,0.000,0.000,0.000,367.675,2.750,0.000,11.004,0.000,6133.810,840.328,2207.935,303.558,0.000,2184.644,0.000,974.681,2155.000,0.539,0.000
$DEVICE_MAMPS,455.940,2142.765,1548.360,211.905,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8406.000,8768.000,8727.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.690,20.000,9.926,0.000
$MEM,323468
$DATA_FILE_SIZE,23337,679
$CAP_FILE_SIZE,99663,0
$CFSIZE,2097872896,2021588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.038,285.62,1
$GPS,010917,020451,7427.773,-15328.490,39,0.8,40,19.4,0.0,0.0,10,7.5