version: 66.13
glider: 196
mission: 14
dive: 226
start: 9 2 117 5 49 38
data:
$ID,196
$MISSION,14
$DIVE,226
$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,41
$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,637.0
$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
$GPS1,020917,053625,7437.2393,-15302.6719,17,0.8,20,19.7,0.4,63.6,11,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.1
$GPS2,020917,054903,7437.2534,-15302.6055,7,0.9,20,19.7,0.0,76.0,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,12.4,132250,-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,-145.9,194,2228,496,486,0.0,0.0,0,142,0.00,0.00,-91.35,0.000,16386,0.000,0.000,193,2227,2119,2045,2193,0,0,0,0,0,0,14.55,28.83,14.56
$GC,145,-0.57,-145.9,192,2228,2048,2194,3.1,-3.6,9,203,12.73,2.72,-38.25,0.000,18724,0.457,2.145,2376,3589,3964,3947,3982,0,0,0,0,0,0,13.64,12.55,14.16
$GC,338,-0.72,-145.9,2376,3590,3954,3982,42.4,-13.3,47,343,0.00,2.35,0.00,0.000,1158,0.000,0.059,2375,2199,3967,3952,3982,0,0,0,0,0,0,14.35,14.23,14.39
$GC,650,-0.82,-145.9,2375,2199,3955,3982,83.8,-10.9,79,651,0.20,0.00,0.00,0.000,4230,0.121,0.000,2301,2198,3968,3954,3982,0,0,0,0,0,0,14.33,14.46,14.42
$GC,958,-0.82,-145.9,2298,2202,3954,3983,132.8,-15.0,96,964,0.00,2.45,0.00,0.000,260,0.000,0.087,2293,3595,3968,3954,3982,0,0,0,0,0,0,14.73,14.17,14.76
$GC,1024,-0.93,-145.9,2293,3596,3955,3983,141.3,-11.7,109,1028,0.00,2.35,0.00,0.000,1158,0.000,0.058,2295,2196,3968,3954,3982,0,0,0,0,0,0,14.43,14.31,14.47
$GC,1349,-0.96,-145.9,2293,2195,3955,3982,185.7,-13.3,124,1354,0.00,2.45,0.00,0.000,388,0.000,0.086,2284,3598,3967,3953,3982,0,0,0,0,0,0,14.76,14.26,14.77
$GC,1390,-1.08,-145.9,2284,3600,3955,3983,190.8,-11.9,132,1396,0.17,2.35,0.00,0.000,5254,0.103,0.058,2220,2201,3968,3954,3983,0,0,0,0,0,0,13.77,14.25,13.76
$GC,1711,-1.00,-145.9,2221,2200,3954,3983,249.8,-18.2,146,1716,0.12,2.42,0.00,0.000,2436,0.301,0.084,2239,3589,3968,3954,3982,0,0,0,0,0,0,14.00,14.25,14.18
$GC,1803,-1.05,-145.9,2240,3590,3954,3982,262.9,-13.1,164,1808,0.00,2.35,0.00,0.000,1158,0.000,0.057,2240,2194,3968,3954,3982,0,0,0,0,0,0,14.44,14.31,14.47
$GC,2133,-1.05,-145.9,2240,2192,3955,3982,308.8,-13.4,180,2139,0.00,2.42,0.00,0.000,260,0.000,0.088,2236,3594,3968,3954,3982,0,0,0,0,0,0,14.76,14.21,14.77
$GC,2205,-1.11,-145.9,2236,3594,3955,3982,317.9,-12.2,194,2209,0.00,2.35,0.00,0.000,1158,0.000,0.056,2236,2191,3968,3954,3982,0,0,0,0,0,0,14.44,14.31,14.47
$GC,2524,-1.11,-145.9,2236,2191,3954,3982,358.1,-12.3,208,2530,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3589,3967,3954,3981,0,0,0,0,0,0,14.75,14.23,14.77
$GC,2615,-1.21,-145.9,2236,3590,3954,3982,368.3,-10.6,226,2620,0.15,2.35,0.00,0.000,5254,0.130,0.055,2174,2190,3967,3953,3981,0,0,0,0,0,0,14.33,14.31,14.46
$GC,2946,-1.10,-145.9,2177,2190,3954,3981,424.8,-17.4,242,2951,0.17,2.45,0.00,0.000,2436,0.303,0.083,2206,3594,3966,3953,3980,0,0,0,0,0,0,13.80,14.21,14.04
$GC,3086,-1.12,-145.9,2206,3596,3954,3982,444.1,-12.9,270,3091,0.00,2.35,0.00,0.000,1158,0.000,0.055,2205,2199,3966,3953,3980,0,0,0,0,0,0,14.38,14.27,14.38
$STATE,3363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3363,begin apogee
$GC,3369,-0.13,0.0,2205,2067,3954,3980,483.3,-14.0,281,3590,1.27,0.00,217.07,1.443,10246,0.246,0.000,2528,2066,3364,3389,3340,0,0,0,0,0,0,13.93,13.52,12.69
$STATE,3593,end apogee,CONTROL_FINISHED_OK
$STATE,3593,begin climb
$GC,3596,0.57,145.9,2529,2066,3385,3335,494.6,0.0,288,3989,0.75,1.90,209.40,1.385,10756,0.063,0.079,2791,733,2759,2802,2716,0,0,0,0,0,0,13.64,13.12,12.31
$GC,3994,0.57,145.9,2791,734,2803,2716,479.9,3.9,291,3999,0.00,2.45,0.00,0.000,1030,0.000,0.075,2791,2087,2758,2802,2715,0,0,0,0,0,0,13.78,13.66,13.81
$GC,4309,0.13,145.9,2791,2089,2801,2713,431.1,15.4,304,4315,0.70,2.40,0.00,0.000,4740,0.308,0.075,2640,720,2755,2800,2711,0,0,0,0,0,0,13.70,14.08,13.95
$GC,4422,0.04,177.3,2641,719,2802,2712,420.5,8.6,326,4471,0.17,2.42,43.53,1.444,13478,0.265,0.079,2602,2102,2640,2691,2589,0,0,0,0,0,0,13.85,14.16,13.19
$GC,4791,0.04,217.1,2604,2102,2689,2575,390.6,8.2,350,4852,0.00,0.00,59.08,1.405,8358,0.000,0.000,2604,2102,2479,2542,2417,0,0,0,0,0,0,14.57,13.97,13.17
$GC,5151,0.06,249.8,2604,2102,2535,2403,359.9,8.5,362,5206,0.00,0.00,49.00,1.392,8742,0.000,0.000,2603,2103,2345,2406,2284,0,0,0,0,0,0,14.55,13.99,13.20
$GC,5513,0.13,287.2,2603,2103,2392,2277,329.6,8.3,384,5573,0.00,0.00,57.25,1.362,8358,0.000,0.000,2606,2099,2196,2250,2143,0,0,0,0,0,0,14.56,13.98,13.19
$GC,5871,0.22,326.0,2603,2104,2241,2127,300.0,8.2,396,5938,0.12,2.47,60.35,1.336,10916,0.130,0.085,2669,718,2030,2082,1979,0,0,0,0,0,0,14.30,13.78,13.20
$GC,5974,0.25,326.0,2668,719,2075,1978,287.9,12.1,416,5979,0.00,2.45,0.00,0.000,1158,0.000,0.079,2671,2106,2026,2074,1978,0,0,0,0,0,0,14.14,14.02,14.18
$GC,6294,0.25,326.0,2670,2108,2074,1971,250.5,11.1,430,6299,0.00,2.42,0.00,0.000,516,0.000,0.086,2669,726,2021,2073,1970,0,0,0,0,0,0,14.58,14.21,14.60
$GC,6344,0.29,326.0,2670,727,2072,1971,245.2,10.2,440,6349,0.00,2.40,0.00,0.000,1158,0.000,0.079,2669,2103,2020,2070,1970,0,0,0,0,0,0,14.33,14.20,14.39
$GC,6654,0.29,326.1,2670,2105,2076,1969,213.2,10.0,452,6659,0.00,2.40,0.00,0.000,548,0.000,0.086,2670,727,2020,2071,1969,0,0,0,0,0,0,14.64,14.25,14.65
$GC,6709,0.36,345.3,2670,728,2069,1970,208.0,9.1,463,6746,0.00,2.40,27.83,1.395,9382,0.000,0.080,2669,2113,1953,2002,1905,0,0,0,0,0,0,14.35,14.22,13.32
$GC,7046,0.41,369.6,2670,2111,1998,1899,177.2,8.9,480,7089,0.12,0.00,40.45,1.332,10918,0.134,0.000,2731,2111,1858,1894,1823,0,0,0,0,0,0,14.32,14.08,13.28
$GC,7375,0.35,369.6,2731,2112,1885,1815,137.4,12.0,496,7380,0.12,2.42,0.00,0.000,4740,0.249,0.081,2709,720,1849,1884,1814,0,0,0,0,0,0,14.04,14.16,14.17
$GC,7482,0.40,381.7,2710,720,1882,1814,126.8,9.4,517,7501,0.00,2.40,13.85,1.447,9382,0.000,0.078,2710,2100,1806,1837,1775,0,0,0,0,0,0,14.33,14.19,13.31
$GC,7818,0.41,405.1,2714,2100,1830,1766,95.1,8.9,538,7832,0.00,0.00,12.40,0.491,8230,0.000,0.000,2710,2100,1712,1742,1682,0,0,0,0,0,0,14.45,14.05,13.59
$GC,8128,0.49,447.3,2710,2100,1743,1681,68.6,8.1,569,8155,0.00,2.50,22.85,0.408,8868,0.000,0.085,2709,727,1543,1582,1505,0,0,0,0,0,0,14.47,13.98,13.65
$GC,8242,0.68,513.6,2710,728,1573,1506,60.1,6.9,591,8284,0.28,2.42,35.12,0.380,11430,0.086,0.078,2803,2103,1269,1323,1215,0,0,0,0,0,0,14.13,13.96,13.64
$GC,8580,0.72,561.0,2808,2106,1325,1202,26.4,7.8,629,8612,0.00,2.45,24.92,0.293,8740,0.000,0.086,2806,727,1074,1141,1007,0,0,0,0,0,0,14.45,14.02,13.76
$GC,8699,0.85,632.1,2808,727,1142,1007,18.6,6.7,652,8741,0.15,2.42,37.78,0.263,11430,0.116,0.077,2870,2101,788,853,723,0,0,0,0,0,0,14.08,13.98,13.79
$STATE,8856,end climb,SURFACE_DEPTH_REACHED
$STATE,8856,begin surface coast
$FINISH,0.7,1.021383
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8864,begin surface
$SM_CCo,8885,38.85,0.210,0,0,500,702.78
$SM_GC,1.15,8.32,0.17,38.85,0.078,0.122,0.210,196,2214,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.18,14.14,13.88
$RAFOS_CLK,57
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.21,-15304.34,020917,054009
$TT8_MAMPS,0.092876,0.929509
$HUMID,44.05
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,22
$CP_FREE,15975645184.000000
$PM_FREEKB_00,51258304
$24V_AH,12.31,151.374
$10V_AH,12.16,0.000
$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,25.575,72.500,910.875,38.850,0.000,0.000,0.000,464.075,5.500,0.000,21.198,0.000,6329.287,855.714,2234.484,280.029,0.000,2279.070,0.000,964.502,2218.000,0.540,0.000
$DEVICE_MAMPS,456.705,2145.060,1447.380,209.610,0.000,0.000,0.000,158.355,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5297.000,8861.000,8838.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.623,20.000,9.873,0.000
$MEM,323748
$DATA_FILE_SIZE,23361,673
$CAP_FILE_SIZE,96033,0
$CFSIZE,2097872896,2018902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.6
$CURRENT,0.054,275.47,1
$GPS,020917,081932,7438.231,-15300.224,26,0.8,26,19.7,0.0,0.0,10,9.5