version: 66.13
glider: 196
mission: 14
dive: 234
start: 9 3 117 4 1 35
data:
$ID,196
$MISSION,14
$DIVE,234
$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,61
$R_STBD_OVSHOOT,54
$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,659.0
$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
$GPS1,030917,035146,7444.3809,-15244.2080,18,0.8,28,19.8,0.0,259.8,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.0
$GPS2,030917,040102,7444.3579,-15244.2578,8,0.8,28,19.8,0.0,0.0,10,5.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.1,116903,-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,-145.9,202,2233,489,492,0.0,0.0,0,148,0.00,0.00,-97.40,0.000,16386,0.000,0.000,202,2234,2253,2194,2312,0,0,0,0,0,0,14.52,28.83,14.57
$GC,151,-0.57,-145.9,202,2235,2197,2314,4.8,-7.5,10,203,12.82,2.67,-33.12,0.000,18724,0.457,2.140,2376,3576,3961,3942,3981,0,0,0,0,0,0,13.59,12.83,14.07
$GC,265,-0.72,-145.9,2376,3578,3950,3982,32.3,-13.4,32,270,0.00,2.30,0.00,0.000,1158,0.000,0.059,2376,2234,3965,3949,3981,0,0,0,0,0,0,14.22,14.10,14.23
$GC,576,-0.82,-145.9,2376,2238,3952,3982,75.3,-11.2,64,581,0.17,2.53,0.00,0.000,4740,0.119,0.083,2301,793,3966,3951,3981,0,0,0,0,0,0,14.14,14.09,14.20
$GC,616,-0.85,-145.9,2301,794,3954,3982,81.3,-15.5,72,621,0.00,2.42,0.00,0.000,1158,0.000,0.087,2295,2165,3966,3951,3981,0,0,0,0,0,0,14.23,14.08,14.26
$GC,946,-0.85,-145.9,2295,2167,3951,3982,133.2,-14.6,92,951,0.00,2.58,0.00,0.000,260,0.000,0.090,2292,3619,3966,3951,3981,0,0,0,0,0,0,14.50,14.07,14.52
$GC,1093,-0.95,-145.9,2292,3621,3947,3982,151.3,-12.2,121,1100,0.00,2.42,0.00,0.000,1158,0.000,0.058,2292,2199,3966,3951,3981,0,0,0,0,0,0,14.24,14.12,14.28
$GC,1396,-1.00,-145.9,2292,2199,3953,3982,189.9,-12.3,132,1401,0.00,2.50,0.00,0.000,388,0.000,0.087,2285,3613,3966,3951,3981,0,0,0,0,0,0,14.50,14.07,14.52
$GC,1431,-1.09,-145.9,2285,3614,3950,3982,194.1,-12.0,139,1436,0.17,2.40,0.00,0.000,5254,0.106,0.058,2220,2201,3966,3951,3981,0,0,0,0,0,0,14.18,14.12,14.27
$GC,1757,-1.01,-145.9,2221,2201,3952,3981,253.5,-18.3,154,1762,0.12,2.50,0.00,0.000,2436,0.295,0.084,2238,3614,3964,3951,3977,0,0,0,0,0,0,13.83,14.07,14.00
$GC,1892,-1.05,-145.9,2239,3615,3952,3982,272.2,-12.6,181,1898,0.00,2.42,0.00,0.000,1158,0.000,0.056,2238,2196,3966,3951,3981,0,0,0,0,0,0,14.24,14.12,14.27
$GC,2208,-1.05,-145.9,2239,2197,3951,3982,313.6,-12.9,194,2213,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3611,3970,3959,3981,0,0,0,0,0,0,14.47,14.01,14.50
$GC,2285,-1.12,-145.9,2236,3613,3951,3982,322.7,-11.4,209,2291,0.00,2.40,0.00,0.000,1158,0.000,0.056,2235,2201,3966,3951,3981,0,0,0,0,0,0,14.21,14.04,14.23
$GC,2604,-1.15,-145.9,2236,2201,3951,3982,360.9,-11.8,222,2608,0.00,2.50,0.00,0.000,388,0.000,0.088,2235,3616,3964,3948,3981,0,0,0,0,0,0,14.64,14.09,14.65
$GC,2684,-1.23,-145.9,2236,3617,3952,3981,370.0,-10.6,238,2689,0.17,2.40,0.00,0.000,5254,0.116,0.057,2164,2197,3966,3951,3981,0,0,0,0,0,0,14.27,14.23,14.38
$GC,2994,-1.10,-145.9,2164,2195,3949,3981,425.9,-18.4,250,2999,0.25,2.47,0.00,0.000,2436,0.302,0.083,2210,3614,3965,3949,3981,0,0,0,0,0,0,13.83,14.14,14.04
$GC,3101,-1.13,-145.9,2211,3614,3950,3980,440.3,-12.4,271,3106,0.00,2.40,0.00,0.000,1158,0.000,0.057,2210,2194,3965,3949,3981,0,0,0,0,0,0,13.85,13.88,13.86
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3420,-0.13,0.0,2210,2067,3949,3982,481.8,-13.0,284,3646,1.25,0.08,222.12,1.416,10246,0.240,0.177,2528,2112,3364,3383,3345,0,0,0,0,0,0,13.92,13.09,12.66
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3651,0.57,145.9,2529,2113,3377,3338,492.2,0.0,291,3911,0.75,2.67,207.98,1.372,10756,0.063,0.079,2781,726,2756,2797,2715,0,0,0,0,0,0,13.63,12.92,12.31
$GC,3923,0.57,145.9,2781,726,2797,2716,493.4,0.7,294,3927,0.00,2.53,0.00,0.000,1030,0.000,0.074,2781,2092,2756,2799,2714,0,0,0,0,0,0,13.49,13.38,13.52
$GC,4238,0.16,145.9,2781,2093,2793,2708,442.0,16.0,307,4240,0.65,0.00,0.00,0.000,4230,0.313,0.000,2642,2092,2751,2793,2709,0,0,0,0,0,0,13.59,14.09,14.00
$GC,4538,0.03,166.1,2641,2092,2794,2708,413.5,9.1,317,4564,0.17,0.00,24.42,1.509,12966,0.274,0.000,2599,2092,2688,2733,2644,0,0,0,0,0,0,13.89,14.11,13.24
$GC,4869,0.04,221.2,2598,2093,2725,2633,388.6,7.5,333,4961,0.00,2.50,82.75,1.379,8868,0.000,0.084,2602,726,2457,2513,2402,0,0,0,0,0,0,14.60,13.90,13.12
$GC,5046,0.14,265.4,2603,726,2509,2399,374.6,8.0,368,5118,0.00,2.42,65.68,1.358,9382,0.000,0.077,2602,2102,2282,2337,2227,0,0,0,0,0,0,14.08,14.00,13.00
$GC,5443,0.22,302.6,2603,2102,2330,2212,341.3,8.3,397,5504,0.15,0.00,55.55,1.359,10406,0.116,0.000,2674,2102,2129,2180,2079,0,0,0,0,0,0,14.28,13.74,13.16
$GC,5803,0.18,302.6,2671,2102,2173,2069,294.8,13.0,409,5809,0.12,2.40,0.00,0.000,4740,0.251,0.082,2647,727,2123,2178,2069,0,0,0,0,0,0,14.02,14.19,14.16
$GC,5884,0.24,302.6,2647,727,2170,2070,286.0,10.2,425,5890,0.00,2.40,0.00,0.000,1158,0.000,0.078,2647,2111,2119,2169,2069,0,0,0,0,0,0,14.35,14.22,14.40
$GC,6195,0.24,302.6,2648,2111,2170,2067,253.7,10.1,437,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2111,2117,2169,2066,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6495,0.29,338.4,2647,2112,2169,2067,227.3,8.3,447,6557,0.00,2.53,57.50,1.328,8868,0.000,0.085,2647,726,1982,2030,1934,0,0,0,0,0,0,14.66,14.04,13.24
$GC,6614,0.44,386.5,2647,726,2020,1932,217.9,7.8,470,6698,0.25,2.42,78.05,1.255,11430,0.091,0.080,2747,2102,1789,1814,1764,0,0,0,0,0,0,14.15,14.07,13.08
$GC,7008,0.37,386.5,2747,2104,1810,1747,161.3,14.2,499,7013,0.17,2.42,0.00,0.000,4740,0.226,0.082,2711,727,1777,1809,1746,0,0,0,0,0,0,13.66,13.64,13.62
$GC,7089,0.42,386.5,2711,727,1806,1748,152.3,10.4,515,7093,0.00,2.38,0.00,0.000,1158,0.000,0.078,2711,2099,1775,1805,1746,0,0,0,0,0,0,14.32,14.19,14.36
$GC,7399,0.42,386.5,2712,2101,1806,1745,120.2,10.2,527,7403,0.00,2.40,0.00,0.000,516,0.000,0.086,2713,724,1774,1805,1744,0,0,0,0,0,0,14.62,14.23,14.63
$GC,7454,0.51,415.5,2713,725,1803,1744,114.9,8.7,538,7504,0.00,2.40,42.60,1.281,9382,0.000,0.078,2709,2102,1669,1699,1640,0,0,0,0,0,0,14.32,14.19,13.30
$GC,7809,0.58,437.7,2713,2103,1697,1629,80.7,9.0,574,7825,0.15,2.42,11.40,0.438,10916,0.115,0.083,2792,730,1579,1611,1548,0,0,0,0,0,0,14.18,13.96,13.66
$GC,7887,0.53,437.7,2792,729,1612,1549,70.8,13.1,589,7894,0.17,2.42,0.00,0.000,5254,0.246,0.077,2757,2103,1579,1611,1547,0,0,0,0,0,0,13.84,14.06,14.11
$GC,8190,0.58,507.2,2756,2103,1612,1545,43.8,6.8,620,8234,0.00,2.42,36.80,0.334,8740,0.000,0.084,2755,729,1295,1344,1246,0,0,0,0,0,0,14.59,14.01,13.76
$GC,8264,0.76,583.1,2756,729,1344,1247,39.0,6.5,632,8311,0.22,2.40,39.95,0.316,11430,0.099,0.077,2842,2100,985,1053,918,0,0,0,0,0,0,14.16,14.07,13.78
$GC,8617,0.78,606.8,2842,2102,1053,907,3.8,8.9,672,8633,0.00,2.42,12.23,0.220,8740,0.000,0.084,2850,724,887,956,818,0,0,0,0,0,0,14.56,13.96,13.81
$STATE,8641,end climb,SURFACE_DEPTH_REACHED
$STATE,8641,begin surface coast
$FINISH,0.3,1.015127
$STATE,8661,end surface coast,CONTROL_FINISHED_OK
$STATE,8661,begin surface
$SM_CCo,8685,52.20,0.210,0,0,499,702.78
$SM_GC,1.30,8.07,2.60,52.20,0.072,0.071,0.210,205,2201,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.33,14.23,13.97
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7442.38,-15246.00,030917,011724
$TT8_MAMPS,0.038199,0.934003
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,11
$CP_FREE,15972433920.000000
$PM_FREEKB_00,51030144
$24V_AH,12.31,155.066
$10V_AH,12.19,0.000
$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,25.875,83.800,937.025,52.200,0.000,0.000,0.000,313.400,2.750,0.000,29.954,0.000,6181.223,807.042,2062.173,258.230,0.000,2044.450,0.000,976.367,2006.000,0.539,0.000
$DEVICE_MAMPS,456.705,2139.705,1509.345,209.610,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5038.000,8649.000,8638.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.583,20.000,9.913,0.000
$MEM,323536
$DATA_FILE_SIZE,23462,681
$CAP_FILE_SIZE,97847,0
$CFSIZE,2097872896,2016935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1445.9
$CURRENT,0.099,260.50,1
$GPS,030917,062820,7445.123,-15242.352,18,0.8,22,19.8,0.3,236.1,11,9.4