version: 66.13
glider: 196
mission: 14
dive: 231
start: 9 2 117 19 39 15
data:
$ID,196
$MISSION,14
$DIVE,231
$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,58
$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,48
$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,651.0
$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
$GPS1,020917,192003,7441.9946,-15250.5898,38,0.8,38,19.8,0.0,0.0,10,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.2
$GPS2,020917,193839,7441.9771,-15250.6846,7,0.7,9,19.8,0.0,61.9,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.0,122087,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,197,2241,495,490,0.0,0.0,0,150,0.00,0.00,-100.72,0.000,16386,0.000,0.000,196,2246,2319,2262,2376,0,0,0,0,0,0,14.53,28.83,14.55
$GC,153,-0.57,-145.9,197,2240,2262,2376,3.9,-5.1,10,206,12.85,2.65,-31.98,0.000,18724,0.455,2.139,2377,3572,3965,3949,3981,0,0,0,0,0,0,13.60,12.59,14.11
$GC,326,-0.69,-145.9,2377,3573,3954,3981,40.9,-14.1,44,331,0.00,2.38,0.00,0.000,1158,0.000,0.060,2376,2205,3966,3952,3981,0,0,0,0,0,0,14.28,14.15,14.32
$GC,638,-0.80,-145.9,2377,2206,3955,3982,81.0,-10.4,76,639,0.17,0.00,0.00,0.000,4230,0.116,0.000,2309,2204,3967,3954,3981,0,0,0,0,0,0,14.24,14.38,14.33
$GC,946,-0.83,-145.9,2309,2204,3955,3981,127.1,-14.2,95,951,0.00,2.42,0.00,0.000,388,0.000,0.086,2305,3579,3967,3954,3981,0,0,0,0,0,0,14.62,14.16,14.64
$GC,986,-0.94,-145.9,2306,3579,3955,3980,132.1,-11.6,103,991,0.00,2.35,0.00,0.000,1158,0.000,0.057,2305,2197,3967,3954,3981,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1308,-0.99,-145.9,2306,2198,3955,3982,172.2,-12.2,117,1314,0.12,2.45,0.00,0.000,4484,0.135,0.083,2243,3580,3965,3950,3981,0,0,0,0,0,0,14.19,14.07,14.23
$GC,1344,-0.99,-145.9,2243,3581,3954,3982,177.9,-16.0,124,1349,0.00,2.38,0.00,0.000,1030,0.000,0.058,2242,2199,3967,3954,3981,0,0,0,0,0,0,14.19,14.09,14.23
$GC,1669,-0.95,-145.9,2243,2198,3955,3982,232.5,-16.4,139,1674,0.12,2.45,0.00,0.000,2436,0.290,0.084,2262,3575,3967,3954,3981,0,0,0,0,0,0,13.80,14.02,13.96
$GC,1766,-1.05,-145.9,2267,3576,3955,3980,244.9,-12.1,158,1771,0.00,2.38,0.00,0.000,1158,0.000,0.057,2262,2193,3967,3954,3981,0,0,0,0,0,0,14.20,14.08,14.23
$GC,2091,-1.07,-145.9,2269,2192,3952,3981,286.8,-12.1,173,2097,0.00,2.45,0.00,0.000,388,0.000,0.086,2253,3572,3967,3954,3981,0,0,0,0,0,0,14.45,14.02,14.47
$GC,2152,-1.16,-145.9,2253,3574,3955,3982,293.9,-11.1,185,2158,0.15,2.35,0.00,0.000,5254,0.127,0.057,2197,2199,3967,3954,3981,0,0,0,0,0,0,14.04,14.00,14.15
$GC,2483,-1.09,-145.9,2197,2198,3954,3982,347.1,-15.8,201,2489,0.12,2.45,0.00,0.000,2436,0.298,0.086,2221,3573,3967,3954,3980,0,0,0,0,0,0,13.72,13.97,13.90
$GC,2620,-1.12,-145.9,2222,3573,3954,3981,364.5,-12.1,228,2624,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2194,3968,3957,3980,0,0,0,0,0,0,14.16,14.03,14.19
$GC,2935,-1.12,-145.9,2222,2193,3955,3980,406.2,-13.1,241,2940,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3573,3966,3953,3980,0,0,0,0,0,0,14.44,13.97,14.46
$GC,3035,-1.19,-145.9,2222,3574,3960,3981,418.6,-11.6,261,3041,0.00,2.35,0.00,0.000,1158,0.000,0.057,2221,2199,3964,3949,3980,0,0,0,0,0,0,14.19,14.07,14.26
$GC,3356,-1.19,-145.9,2222,2199,3953,3979,459.8,-12.9,275,3360,0.00,2.47,0.00,0.000,260,0.000,0.087,2222,3580,3966,3953,3979,0,0,0,0,0,0,14.45,14.00,14.46
$GC,3431,-1.26,-145.9,2222,3581,3954,3979,469.0,-11.9,290,3436,0.15,2.38,0.00,0.000,5254,0.125,0.056,2163,2195,3965,3952,3979,0,0,0,0,0,0,14.10,14.07,14.21
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3510,-0.13,0.0,2164,2067,3953,3981,481.5,-17.2,295,3729,1.55,0.00,215.70,1.428,10246,0.276,0.000,2528,2065,3366,3388,3344,0,0,0,0,0,0,13.66,13.39,12.59
$STATE,3733,end apogee,CONTROL_FINISHED_OK
$STATE,3735,begin climb
$GC,3737,0.57,145.9,2529,2065,3383,3336,493.6,0.0,302,4130,0.75,0.00,208.55,1.379,10502,0.064,0.000,2779,2065,2756,2801,2712,0,0,0,0,0,0,13.50,12.88,12.30
$GC,4450,0.17,145.9,2780,2065,2798,2711,428.2,15.0,318,4452,0.62,0.00,0.00,0.000,4230,0.318,0.000,2644,2065,2754,2797,2711,0,0,0,0,0,0,13.73,14.21,14.14
$GC,4750,0.03,167.3,2643,2066,2798,2711,400.2,9.0,328,4782,0.17,0.00,27.27,1.487,12966,0.278,0.000,2601,2065,2681,2725,2637,0,0,0,0,0,0,13.94,14.11,13.28
$GC,5080,0.03,218.3,2601,2066,2723,2625,375.0,7.6,344,5165,0.00,2.53,78.40,1.379,8612,0.000,0.084,2601,3472,2468,2526,2410,0,0,0,0,0,0,14.59,13.93,13.14
$GC,5190,0.03,218.3,2601,3472,2518,2411,365.7,10.0,356,5195,0.00,2.33,0.00,0.000,1030,0.000,0.060,2602,2129,2465,2519,2411,0,0,0,0,0,0,14.08,14.00,14.13
$GC,5500,0.05,245.6,2602,2129,2516,2407,338.4,8.7,368,5545,0.00,2.55,39.67,1.399,8740,0.000,0.086,2603,686,2360,2408,2312,0,0,0,0,0,0,14.56,13.85,13.22
$GC,5613,0.18,279.4,2602,686,2401,2310,328.9,8.4,390,5671,0.12,2.42,52.12,1.353,11430,0.129,0.079,2661,2063,2220,2267,2173,0,0,0,0,0,0,14.15,14.07,13.12
$GC,5981,0.13,279.4,2661,2062,2267,2158,283.8,12.1,414,5983,0.15,0.00,0.00,0.000,4230,0.239,0.000,2628,2063,2214,2266,2162,0,0,0,0,0,0,14.04,14.34,14.28
$GC,6282,0.20,319.9,2628,2064,2265,2156,257.5,8.1,424,6346,0.00,0.00,62.92,1.310,8358,0.000,0.000,2625,2063,2059,2109,2009,0,0,0,0,0,0,14.63,14.00,13.24
$GC,6642,0.31,371.8,2628,2065,2102,1998,229.1,7.6,436,6733,0.12,2.47,84.50,1.259,10916,0.126,0.086,2697,687,1844,1878,1811,0,0,0,0,0,0,14.31,13.72,13.17
$GC,6783,0.37,371.8,2698,687,1869,1811,213.6,11.0,464,6788,0.00,2.50,0.00,0.000,1158,0.000,0.078,2697,2099,1838,1866,1810,0,0,0,0,0,0,14.12,14.00,14.14
$GC,7093,0.37,371.8,2697,2101,1867,1804,179.4,10.7,476,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2099,1835,1868,1803,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7393,0.37,371.8,2698,2100,1867,1800,148.3,10.2,486,7398,0.00,2.47,0.00,0.000,516,0.000,0.088,2699,682,1833,1866,1800,0,0,0,0,0,0,14.62,14.25,14.66
$GC,7488,0.44,383.7,2699,682,1863,1800,139.2,9.5,505,7509,0.00,2.45,14.18,1.458,9382,0.000,0.079,2699,2101,1798,1829,1768,0,0,0,0,0,0,14.39,14.26,13.32
$GC,7814,0.49,409.6,2699,2101,1827,1763,109.3,8.8,520,7860,0.12,0.00,40.88,1.296,10662,0.134,0.000,2758,2101,1692,1718,1666,0,0,0,0,0,0,14.34,14.05,13.31
$GC,8165,0.45,409.6,2759,2101,1715,1655,67.2,11.7,554,8170,0.12,2.47,0.00,0.000,4740,0.247,0.083,2732,689,1684,1714,1655,0,0,0,0,0,0,13.92,14.14,14.07
$GC,8267,0.56,457.7,2732,690,1711,1656,58.6,7.8,574,8299,0.00,2.47,24.65,0.378,9382,0.000,0.080,2728,2108,1497,1531,1464,0,0,0,0,0,0,14.23,14.10,13.66
$GC,8595,0.74,573.0,2732,2108,1532,1458,38.0,4.7,610,8660,0.22,2.58,59.88,0.311,10916,0.093,0.088,2822,691,1026,1094,958,0,0,0,0,0,0,13.87,14.09,13.83
$GC,8707,0.79,573.0,2822,689,1094,957,27.8,10.0,631,8714,0.00,2.47,0.00,0.000,1158,0.000,0.076,2822,2103,1025,1093,957,0,0,0,0,0,0,14.14,14.02,14.17
$GC,9011,0.86,608.7,2822,2105,1093,950,2.1,8.4,662,9016,0.12,0.00,3.92,0.223,10914,0.127,0.000,2883,2105,991,1064,919,0,0,0,0,0,0,14.18,28.83,14.23
$STATE,9017,end climb,SURFACE_DEPTH_REACHED
$STATE,9017,begin surface coast
$FINISH,0.1,1.021511
$STATE,9039,end surface coast,CONTROL_FINISHED_OK
$STATE,9039,begin surface
$SM_CCo,9060,68.00,0.208,0,0,499,702.78
$SM_GC,1.26,8.25,0.17,68.00,0.076,0.125,0.208,198,2215,499,-7.39,-0.62,702.78,0,0,0,0,0,0,14.33,14.30,14.00
$RAFOS_CLK,362
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.48,-15256.96,020917,192958
$TT8_MAMPS,0.039697,0.961716
$HUMID,47.08
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15973711872.000000
$PM_FREEKB_00,51115776
$24V_AH,12.30,153.651
$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,26.050,68.800,912.650,68.000,0.000,0.000,0.000,608.700,2.250,0.000,11.686,0.000,6681.136,891.277,2389.894,299.757,0.000,2454.235,0.000,956.880,2192.000,0.539,0.000
$DEVICE_MAMPS,455.175,2138.940,1487.160,208.080,0.000,0.000,0.000,157.590,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9070.000,9033.000,9015.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.667,20.000,9.915,0.000
$MEM,323612
$DATA_FILE_SIZE,23399,666
$CAP_FILE_SIZE,100424,0
$CFSIZE,2097872896,2017460224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.2
$CURRENT,0.066,265.84,1
$GPS,020917,221233,7442.840,-15248.444,18,0.7,24,19.8,0.0,0.0,10,9.8