version: 66.13
glider: 196
mission: 14
dive: 224
start: 9 2 117 0 15 23
data:
$ID,196
$MISSION,14
$DIVE,224
$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,29
$R_STBD_OVSHOOT,25
$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,630.0
$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
$GPS1,010917,235307,7435.3057,-15307.1064,17,0.8,21,19.6,0.3,73.2,12,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.1
$GPS2,020917,001450,7435.3174,-15307.0693,7,0.8,39,19.6,0.3,116.2,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,8.3,136346,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,190,2209,492,494,0.0,0.0,0,140,0.00,0.00,-88.60,0.000,16386,0.000,0.000,189,2209,2056,1980,2132,0,0,0,0,0,0,14.58,28.83,14.59
$GC,143,-0.57,-145.9,189,2209,1986,2133,3.1,-3.7,9,205,12.80,2.78,-42.28,0.000,18724,0.454,2.141,2378,3605,3961,3944,3979,0,0,0,0,0,0,13.61,12.85,14.09
$GC,330,-0.69,-145.9,2374,3608,3951,3979,40.1,-13.9,46,337,0.00,2.40,0.00,0.000,1158,0.000,0.059,2378,2205,3964,3950,3978,0,0,0,0,0,0,14.23,14.11,14.26
$GC,637,-0.78,-145.9,2378,2204,3952,3979,82.2,-11.1,77,643,0.12,2.47,0.00,0.000,4740,0.144,0.082,2329,792,3965,3951,3979,0,0,0,0,0,0,14.15,14.09,14.20
$GC,658,-0.84,-145.9,2329,792,3952,3979,85.2,-13.4,81,663,0.00,2.50,0.00,0.000,1158,0.000,0.086,2327,2195,3964,3951,3978,0,0,0,0,0,0,14.23,14.09,14.27
$GC,968,-0.89,-145.9,2329,2197,3952,3979,128.6,-13.0,99,973,0.12,2.50,0.00,0.000,4484,0.143,0.086,2267,3610,3964,3951,3978,0,0,0,0,0,0,14.20,14.01,14.23
$GC,1085,-0.93,-145.9,2267,3611,3952,3978,145.7,-14.6,122,1091,0.00,2.40,0.00,0.000,1158,0.000,0.058,2267,2201,3964,3951,3978,0,0,0,0,0,0,14.25,14.13,14.31
$GC,1388,-0.93,-145.9,2269,2200,3952,3978,195.0,-15.7,133,1393,0.00,2.47,0.00,0.000,260,0.000,0.086,2257,3619,3964,3951,3978,0,0,0,0,0,0,14.49,14.04,14.50
$GC,1460,-0.99,-145.9,2260,3620,3951,3978,205.3,-13.7,147,1465,0.00,2.40,0.00,0.000,1158,0.000,0.057,2257,2189,3964,3950,3979,0,0,0,0,0,0,14.19,14.07,14.23
$GC,1780,-0.99,-145.9,2258,2189,3951,3978,253.7,-14.5,161,1785,0.00,2.50,0.00,0.000,260,0.000,0.086,2249,3613,3964,3951,3978,0,0,0,0,0,0,14.69,14.15,14.70
$GC,1897,-1.06,-145.9,2249,3615,3952,3978,268.6,-12.2,184,1904,0.00,2.40,0.00,0.000,1158,0.000,0.057,2249,2185,3964,3951,3978,0,0,0,0,0,0,14.40,14.26,14.42
$GC,2200,-1.06,-145.9,2249,2186,3952,3979,307.9,-12.5,195,2205,0.00,2.50,0.00,0.000,260,0.000,0.086,2240,3610,3964,3951,3978,0,0,0,0,0,0,14.72,14.17,14.74
$GC,2265,-1.13,-145.9,2240,3612,3951,3979,315.8,-11.6,208,2271,0.00,2.38,0.00,0.000,1158,0.000,0.057,2240,2201,3964,3951,3978,0,0,0,0,0,0,14.40,14.28,14.45
$GC,2591,-1.13,-145.9,2241,2199,3952,3976,356.2,-12.2,223,2596,0.00,2.50,0.00,0.000,260,0.000,0.088,2236,3613,3963,3950,3977,0,0,0,0,0,0,14.75,13.33,14.74
$GC,2641,-1.21,-145.9,2236,3615,3951,3978,362.1,-11.4,233,2646,0.15,2.38,0.00,0.000,5254,0.125,0.058,2176,2202,3963,3950,3977,0,0,0,0,0,0,14.31,14.27,14.42
$GC,2952,-1.09,-145.9,2177,2201,3952,3976,415.7,-17.4,245,2957,0.20,2.50,0.00,0.000,2436,0.297,0.083,2211,3620,3962,3950,3975,0,0,0,0,0,0,13.83,14.17,14.03
$GC,3074,-1.12,-145.9,2212,3620,3952,3976,431.9,-12.4,269,3078,0.00,2.40,0.00,0.000,1158,0.000,0.057,2211,2199,3962,3950,3975,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3404,-1.09,-145.9,2211,2198,3952,3975,476.4,-13.4,285,3409,0.00,2.47,0.00,0.000,388,0.000,0.087,2205,3612,3962,3950,3975,0,0,0,0,0,0,14.73,14.21,14.73
$STATE,3431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3431,begin apogee
$GC,3439,-0.13,0.0,2206,2096,3952,3975,480.6,-14.4,291,3664,1.30,0.00,221.52,1.408,10246,0.247,0.000,2532,2094,3366,3389,3343,0,0,0,0,0,0,13.91,13.52,12.69
$STATE,3667,end apogee,CONTROL_FINISHED_OK
$STATE,3667,begin climb
$GC,3670,0.57,145.9,2532,2096,3381,3334,492.2,0.0,298,4229,0.73,2.70,210.88,1.363,10756,0.065,0.080,2781,693,2752,2792,2712,0,0,0,0,0,0,13.63,12.94,12.33
$GC,4245,0.57,145.9,2781,694,2791,2713,450.3,8.5,301,4250,0.00,2.50,0.00,0.000,1030,0.000,0.075,2781,2108,2751,2791,2711,0,0,0,0,0,0,14.08,13.96,14.12
$GC,4566,0.16,145.9,2781,2109,2791,2708,399.6,15.2,315,4571,0.62,2.45,0.00,0.000,4484,0.321,0.075,2640,3519,2748,2791,2706,0,0,0,0,0,0,13.78,14.15,14.02
$GC,4721,-0.03,150.6,2640,3520,2788,2707,383.0,9.8,346,4726,0.32,2.40,0.00,0.000,5286,0.279,0.058,2576,2093,2746,2787,2706,0,0,0,0,0,0,13.88,14.21,14.19
$GC,5046,0.04,249.4,2576,2093,2789,2705,363.8,5.4,361,5210,0.00,2.55,154.30,1.307,8740,0.000,0.085,2583,687,2343,2400,2287,0,0,0,0,0,0,14.66,13.54,12.97
$GC,5275,0.23,317.2,2576,687,2391,2282,349.2,6.9,406,5386,0.25,2.55,103.05,1.291,11430,0.093,0.080,2673,2103,2067,2121,2013,0,0,0,0,0,0,13.95,13.87,12.79
$GC,5713,0.20,317.2,2673,2105,2109,1994,292.7,12.9,443,5718,0.00,2.50,0.00,0.000,644,0.000,0.088,2673,695,2052,2108,1997,0,0,0,0,0,0,14.44,14.07,14.46
$GC,5768,0.22,317.2,2673,695,2105,1997,285.9,11.6,454,5774,0.00,2.47,0.00,0.000,1158,0.000,0.078,2673,2106,2050,2104,1997,0,0,0,0,0,0,14.22,14.09,14.29
$GC,6073,0.20,317.2,2673,2107,2105,1997,249.9,11.4,465,6074,0.00,0.00,0.00,0.000,134,0.000,0.000,2673,2107,2050,2104,1997,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6373,0.20,317.2,2673,2108,2103,1997,218.2,10.3,475,6378,0.12,2.45,0.00,0.000,4612,0.263,0.085,2655,695,2049,2103,1995,0,0,0,0,0,0,14.12,14.23,14.35
$GC,6470,0.32,349.5,2654,695,2102,1996,210.0,8.5,494,6526,0.00,2.47,47.60,1.323,9382,0.000,0.080,2656,2102,1935,1986,1884,0,0,0,0,0,0,14.04,13.41,13.28
$GC,6825,0.42,391.2,2654,2103,1982,1880,180.1,8.1,515,6898,0.20,0.00,70.85,1.261,10406,0.102,0.000,2737,2102,1771,1804,1738,0,0,0,0,0,0,14.31,13.93,13.19
$GC,7183,0.37,391.2,2737,2103,1794,1725,133.6,12.8,527,7188,0.12,2.47,0.00,0.000,4740,0.243,0.084,2713,690,1759,1793,1725,0,0,0,0,0,0,14.02,14.16,14.19
$GC,7259,0.44,399.9,2713,690,1789,1726,125.8,9.6,542,7269,0.00,2.47,4.15,1.541,9382,0.000,0.078,2713,2112,1735,1768,1703,0,0,0,0,0,0,14.30,14.14,13.09
$GC,7576,0.48,414.6,2713,2113,1769,1705,95.1,9.3,557,7591,0.00,2.50,9.00,0.488,8868,0.000,0.085,2712,695,1673,1707,1640,0,0,0,0,0,0,14.58,14.16,13.62
$GC,7626,0.58,439.4,2713,696,1708,1642,90.5,8.9,567,7648,0.17,2.47,14.15,0.476,11430,0.105,0.078,2782,2108,1573,1604,1542,0,0,0,0,0,0,14.26,14.16,13.61
$GC,7946,0.53,451.8,2784,2109,1605,1537,51.4,9.4,601,7958,0.00,2.58,7.10,0.355,8868,0.000,0.083,2792,687,1519,1553,1486,0,0,0,0,0,0,14.57,14.12,13.71
$GC,8083,0.57,504.4,2792,688,1558,1487,40.0,7.6,628,8116,0.00,2.47,27.88,0.321,9254,0.000,0.079,2792,2100,1308,1355,1261,0,0,0,0,0,0,14.25,14.12,13.79
$GC,8421,0.70,615.7,2792,2101,1355,1254,17.3,4.9,665,8485,0.00,2.58,58.25,0.261,8868,0.000,0.087,2792,689,851,920,783,0,0,0,0,0,0,14.56,14.10,13.87
$GC,8521,0.95,701.7,2794,689,921,780,12.1,6.0,681,8584,0.30,2.47,58.70,0.227,11430,0.087,0.076,2900,2101,506,526,487,0,0,0,0,0,0,14.17,14.13,13.92
$STATE,8607,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$FINISH,0.5,1.021297
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8640,1.92,0.210,0,0,503,702.78
$SM_GC,1.52,8.27,0.17,1.92,0.073,0.122,0.210,198,2215,503,-7.38,-0.71,702.78,0,0,0,0,0,0,14.26,14.23,14.00
$RAFOS_CLK,396
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7438.15,-15311.58,020917,000833
$TT8_MAMPS,0.038948,0.892059
$HUMID,45.94
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,11.10
$XPDR_PINGS,17
$CP_FREE,15976529920.000000
$PM_FREEKB_00,51316544
$24V_AH,12.33,150.350
$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,25.825,89.825,987.425,1.925,0.000,0.000,0.000,774.175,4.250,0.000,40.535,0.000,6005.842,796.924,2826.011,332.292,0.000,2811.434,0.000,998.409,1177.000,0.540,0.000
$DEVICE_MAMPS,453.645,2141.235,1541.475,210.375,0.000,0.000,0.000,162.180,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4449.000,8595.000,8591.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.847,20.000,9.890,0.000
$MEM,323676
$DATA_FILE_SIZE,23404,697
$CAP_FILE_SIZE,106165,0
$CFSIZE,2097872896,2019196928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.8
$CURRENT,0.025,255.51,1
$GPS,020917,024038,7436.234,-15304.876,16,0.7,27,19.6,0.0,277.1,12,10.0