version: 66.13
glider: 196
mission: 14
dive: 225
start: 9 2 117 2 55 38
data:
$ID,196
$MISSION,14
$DIVE,225
$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,28
$R_STBD_OVSHOOT,36
$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,634.0
$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
$GPS1,020917,024038,7436.2339,-15304.8760,16,0.7,27,19.6,0.0,277.1,12,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.9
$GPS2,020917,025503,7436.2485,-15304.8984,38,0.7,39,19.6,0.0,0.0,12,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,7.7,134371,-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,-145.9,190,2218,517,488,0.0,0.0,0,142,0.00,0.00,-91.05,0.000,16386,0.000,0.000,188,2217,2126,2054,2199,0,0,0,0,0,0,14.53,28.83,14.55
$GC,145,-0.57,-145.9,189,2218,2057,2201,3.1,-3.6,9,202,12.70,2.75,-37.78,0.000,18724,0.454,2.147,2377,3597,3963,3946,3981,0,0,0,0,0,0,13.66,12.57,14.16
$GC,348,-0.69,-145.9,2377,3599,3952,3982,44.8,-14.1,49,352,0.00,2.38,0.00,0.000,1158,0.000,0.060,2377,2195,3966,3951,3981,0,0,0,0,0,0,14.35,14.22,14.38
$GC,658,-0.79,-145.9,2375,2196,3954,3982,85.5,-10.8,81,659,0.17,0.00,0.00,0.000,4230,0.119,0.000,2308,2194,3967,3953,3981,0,0,0,0,0,0,14.30,14.41,14.38
$GC,967,-0.79,-145.9,2308,2195,3953,3982,133.4,-14.7,98,972,0.00,2.45,0.00,0.000,260,0.000,0.087,2307,3598,3965,3953,3978,0,0,0,0,0,0,14.73,14.23,14.74
$GC,1017,-0.91,-145.9,2304,3600,3954,3981,140.0,-12.2,108,1023,0.00,2.38,0.00,0.000,1158,0.000,0.057,2304,2188,3967,3953,3981,0,0,0,0,0,0,14.34,14.20,14.38
$GC,1329,-0.95,-145.9,2303,2187,3953,3982,181.5,-12.9,120,1335,0.00,2.45,0.00,0.000,388,0.000,0.086,2295,3595,3967,3953,3981,0,0,0,0,0,0,14.74,14.19,14.76
$GC,1390,-1.08,-145.9,2296,3596,3954,3981,188.7,-11.0,132,1396,0.20,2.35,0.00,0.000,5254,0.105,0.056,2224,2201,3966,3952,3981,0,0,0,0,0,0,13.73,13.55,14.38
$GC,1721,-1.01,-145.9,2225,2202,3953,3982,248.8,-17.7,148,1727,0.12,2.45,0.00,0.000,2436,0.298,0.083,2244,3595,3967,3953,3981,0,0,0,0,0,0,13.97,14.23,14.12
$GC,1867,-1.05,-145.9,2244,3596,3954,3981,269.1,-12.9,177,1873,0.00,2.35,0.00,0.000,1158,0.000,0.058,2244,2198,3967,3953,3981,0,0,0,0,0,0,14.42,14.29,14.46
$GC,2172,-1.05,-145.9,2244,2197,3953,3982,309.8,-13.0,188,2178,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3595,3967,3953,3981,0,0,0,0,0,0,14.76,14.13,14.77
$GC,2228,-1.11,-145.9,2237,3595,3953,3981,316.8,-12.1,199,2234,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2194,3967,3953,3981,0,0,0,0,0,0,14.43,14.29,14.47
$GC,2533,-1.11,-145.9,2236,2194,3953,3981,355.9,-12.5,210,2538,0.00,2.47,0.00,0.000,260,0.000,0.089,2236,3600,3966,3952,3980,0,0,0,0,0,0,14.75,14.14,14.77
$GC,2603,-1.18,-145.9,2236,3601,3953,3980,364.2,-11.3,224,2609,0.12,2.35,0.00,0.000,5254,0.142,0.057,2184,2199,3966,3952,3980,0,0,0,0,0,0,14.31,14.30,14.42
$GC,2924,-1.09,-145.9,2185,2198,3953,3980,417.0,-16.5,238,2929,0.17,2.45,0.00,0.000,2436,0.292,0.085,2218,3595,3965,3951,3980,0,0,0,0,0,0,13.90,14.16,14.07
$GC,3031,-1.13,-145.9,2218,3596,3952,3981,430.7,-12.0,259,3036,0.00,2.35,0.00,0.000,1158,0.000,0.056,2218,2194,3966,3952,3980,0,0,0,0,0,0,14.42,14.33,14.45
$GC,3346,-1.13,-145.9,2218,2194,3952,3980,472.4,-13.1,272,3351,0.00,2.45,0.00,0.000,260,0.000,0.087,2210,3595,3964,3950,3979,0,0,0,0,0,0,14.76,14.21,14.78
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3412,-0.13,0.0,2211,2097,3952,3979,480.4,-12.7,284,3911,1.27,0.00,494.58,1.148,10246,0.243,0.000,2533,2095,3367,3388,3347,0,0,0,0,0,0,13.91,13.01,12.50
$STATE,3916,end apogee,CONTROL_FINISHED_OK
$STATE,3917,begin climb
$GC,3919,0.57,145.9,2533,2096,3381,3338,508.6,0.0,300,4311,0.75,2.72,216.30,1.305,10756,0.061,0.080,2782,701,2745,2786,2704,0,0,0,0,0,0,13.31,12.86,12.28
$GC,4339,0.20,145.9,2782,696,2786,2703,488.6,15.3,307,4344,0.62,2.55,0.00,0.000,5254,0.318,0.075,2652,2086,2744,2786,2702,0,0,0,0,0,0,13.26,13.58,13.59
$GC,4664,0.04,152.1,2652,2087,2787,2697,455.6,9.7,322,4666,0.25,0.00,0.00,0.000,4262,0.266,0.000,2596,2087,2741,2786,2696,0,0,0,0,0,0,13.79,14.12,14.05
$GC,4965,0.04,213.3,2596,2087,2786,2702,433.8,7.2,332,5095,0.00,0.00,128.15,1.225,8870,0.000,0.000,2596,2086,2496,2556,2436,0,0,0,0,0,0,14.46,13.74,13.02
$GC,5384,0.06,242.1,2597,2088,2538,2413,398.5,8.7,361,5439,0.00,2.55,47.90,1.273,8740,0.000,0.085,2602,690,2374,2431,2317,0,0,0,0,0,0,14.37,13.90,13.16
$GC,5471,0.15,265.8,2608,690,2422,2310,391.0,8.9,378,5519,0.00,2.53,40.05,1.263,9382,0.000,0.079,2602,2108,2277,2334,2220,0,0,0,0,0,0,14.04,13.93,13.09
$GC,5836,0.22,290.0,2602,2109,2323,2204,358.1,8.9,401,5879,0.15,0.00,38.33,1.300,10662,0.115,0.000,2670,2109,2178,2232,2125,0,0,0,0,0,0,14.15,13.78,13.22
$GC,6196,0.16,290.0,2670,2110,2218,2111,310.4,13.1,418,6202,0.12,2.45,0.00,0.000,4740,0.262,0.083,2648,692,2164,2218,2110,0,0,0,0,0,0,13.92,14.07,14.06
$GC,6272,0.21,296.9,2648,691,2217,2109,302.1,9.7,433,6278,0.00,2.42,0.00,0.000,1190,0.000,0.079,2647,2100,2162,2215,2110,0,0,0,0,0,0,14.25,14.12,14.28
$GC,6588,0.21,296.9,2648,2101,2216,2108,269.0,10.2,446,6593,0.00,2.45,0.00,0.000,516,0.000,0.085,2648,692,2161,2215,2107,0,0,0,0,0,0,14.62,14.16,14.61
$GC,6648,0.29,317.1,2648,692,2214,2109,263.4,9.1,458,6703,0.00,2.45,48.28,1.255,9382,0.000,0.079,2654,2106,2069,2120,2018,0,0,0,0,0,0,14.36,14.21,13.30
$GC,7010,0.33,341.0,2649,2106,2109,2003,231.0,8.9,480,7050,0.12,0.00,38.35,1.284,10406,0.129,0.000,2702,2107,1974,2023,1926,0,0,0,0,0,0,14.33,14.08,13.30
$GC,7338,0.29,341.0,2703,2106,2004,1905,191.7,11.7,491,7343,0.00,2.50,0.00,0.000,644,0.000,0.086,2706,691,1954,2003,1905,0,0,0,0,0,0,14.58,14.17,14.59
$GC,7453,0.29,341.0,2706,692,2002,1906,179.2,10.6,514,7460,0.12,2.45,0.00,0.000,5126,0.225,0.079,2679,2104,1952,2001,1904,0,0,0,0,0,0,14.08,14.20,14.31
$GC,7759,0.33,371.0,2680,2101,2002,1903,152.0,8.6,525,7820,0.00,0.00,57.03,1.219,8358,0.000,0.000,2679,2100,1857,1894,1820,0,0,0,0,0,0,14.64,14.05,13.33
$GC,8119,0.42,413.4,2679,2101,1876,1803,122.1,8.0,537,8198,0.12,0.00,76.28,1.188,10918,0.139,0.000,2740,2100,1677,1707,1648,0,0,0,0,0,0,14.28,13.95,13.23
$GC,8479,0.42,413.4,2740,2101,1698,1623,81.9,10.7,569,8484,0.00,2.47,0.00,0.000,516,0.000,0.086,2745,691,1658,1696,1621,0,0,0,0,0,0,14.50,14.12,14.52
$GC,8626,0.47,433.7,2745,692,1691,1623,67.8,9.1,598,8642,0.00,2.47,8.62,0.367,9382,0.000,0.080,2745,2103,1595,1631,1560,0,0,0,0,0,0,14.32,14.19,13.64
$GC,8940,0.57,532.6,2745,2104,1638,1570,44.5,5.4,631,8994,0.00,0.00,53.05,0.332,8870,0.000,0.000,2745,2103,1192,1257,1128,0,0,0,0,0,0,14.57,14.05,13.69
$GC,9290,0.81,648.2,2745,2103,1258,1137,25.3,4.7,668,9359,0.28,2.50,63.62,0.282,10916,0.091,0.089,2856,692,719,781,658,0,0,0,0,0,0,14.26,14.02,13.81
$GC,9444,0.89,648.2,2861,692,784,650,10.0,10.0,698,9449,0.00,2.47,0.00,0.000,1158,0.000,0.079,2861,2105,715,781,650,0,0,0,0,0,0,14.22,14.09,14.27
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9521,begin surface coast
$FINISH,0.6,1.021333
$STATE,9532,end surface coast,CONTROL_FINISHED_OK
$STATE,9532,begin surface
$SM_CCo,9553,29.23,0.213,0,0,500,703.03
$SM_GC,1.41,7.97,0.17,29.23,0.059,0.119,0.213,203,2225,500,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.28,14.00
$RAFOS_CLK,264
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7435.36,-15308.00,020917,024427
$TT8_MAMPS,0.040446,0.910035
$HUMID,46.45
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,15976071168.000000
$PM_FREEKB_00,51283968
$24V_AH,12.28,150.915
$10V_AH,12.14,0.000
$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,25.300,74.175,1310.525,29.225,0.000,0.000,0.000,546.900,5.000,0.000,41.206,0.000,6573.119,1121.692,2471.602,297.669,0.000,2758.281,0.000,1013.826,2197.000,0.540,0.000
$DEVICE_MAMPS,453.645,2147.355,1305.090,212.670,0.000,0.000,0.000,165.240,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5253.000,9524.000,9506.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.051,20.000,9.896,0.000
$MEM,323356
$DATA_FILE_SIZE,23425,708
$CAP_FILE_SIZE,101224,0
$CFSIZE,2097872896,2019098624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1445.7
$CURRENT,0.046,267.24,1
$GPS,020917,053625,7437.239,-15302.672,17,0.8,20,19.7,0.4,63.6,11,9.5