version: 66.13
glider: 196
mission: 14
dive: 248
start: 9 4 117 18 48 38
data:
$ID,196
$MISSION,14
$DIVE,248
$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,696.0
$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
$GPS1,040917,184222,7454.1016,-15217.0137,16,0.8,17,20.1,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.9
$GPS2,040917,184805,7454.1279,-15217.0205,5,0.8,20,20.1,0.0,355.5,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.5,95639,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,192,2206,506,494,0.0,0.0,0,144,0.00,0.00,-91.97,0.000,16386,0.000,0.000,190,2207,2198,2136,2261,0,0,0,0,0,0,14.58,28.83,14.60
$GC,147,-0.57,-145.9,191,2206,2138,2262,4.1,-6.2,9,200,12.80,2.80,-34.12,0.000,18724,0.454,2.139,2377,3609,3963,3947,3980,0,0,0,0,0,0,13.64,12.86,14.15
$GC,426,-0.70,-145.9,2378,3610,3954,3980,54.1,-13.4,64,433,0.00,2.40,0.00,0.000,1158,0.000,0.060,2377,2196,3966,3953,3980,0,0,0,0,0,0,14.37,14.23,14.40
$GC,733,-0.82,-145.9,2377,2195,3956,3980,88.5,-9.9,95,738,0.17,2.50,0.00,0.000,4516,0.115,0.086,2306,3609,3967,3954,3980,0,0,0,0,0,0,14.28,14.20,14.32
$GC,753,-0.89,-145.9,2306,3609,3955,3981,91.2,-12.3,99,758,0.00,2.38,0.00,0.000,1158,0.000,0.056,2306,2199,3967,3954,3980,0,0,0,0,0,0,14.39,14.28,14.45
$GC,1083,-0.93,-145.9,2306,2198,3955,3980,137.9,-13.2,115,1088,0.00,2.47,0.00,0.000,388,0.000,0.087,2297,3614,3967,3954,3980,0,0,0,0,0,0,14.75,14.23,14.76
$GC,1113,-1.01,-145.9,2297,3615,3954,3981,141.7,-12.9,121,1118,0.12,2.38,0.00,0.000,5254,0.129,0.058,2244,2199,3967,3954,3980,0,0,0,0,0,0,14.33,14.29,14.44
$GC,1444,-0.97,-145.9,2245,2198,3955,3980,198.1,-16.8,137,1449,0.00,2.47,0.00,0.000,388,0.000,0.087,2236,3614,3967,3954,3980,0,0,0,0,0,0,14.76,14.23,14.76
$GC,1591,-1.00,-145.9,2236,3615,3954,3981,220.3,-14.5,166,1597,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2189,3966,3953,3980,0,0,0,0,0,0,14.42,14.29,14.46
$GC,1894,-0.98,-145.9,2237,2188,3955,3979,266.8,-14.6,177,1899,0.12,2.47,0.00,0.000,2436,0.287,0.085,2256,3607,3966,3953,3980,0,0,0,0,0,0,14.02,14.23,14.17
$GC,1964,-1.08,-145.9,2256,3609,3954,3981,275.2,-10.8,191,1969,0.00,2.38,0.00,0.000,1158,0.000,0.057,2256,2201,3967,3954,3980,0,0,0,0,0,0,14.33,14.21,14.38
$GC,2285,-1.13,-145.9,2256,2200,3954,3981,312.2,-11.3,205,2290,0.12,2.47,0.00,0.000,4484,0.145,0.085,2196,3613,3966,3953,3980,0,0,0,0,0,0,14.35,14.23,14.40
$GC,2330,-1.09,-145.9,2196,3613,3954,3980,318.7,-15.3,214,2335,0.00,2.38,0.00,0.000,1158,0.000,0.057,2196,2197,3966,3953,3980,0,0,0,0,0,0,14.42,14.28,14.46
$GC,2645,-1.03,-145.9,2196,2198,3953,3981,367.5,-15.1,227,2650,0.20,2.47,0.00,0.000,2436,0.291,0.085,2235,3611,3966,3953,3980,0,0,0,0,0,0,13.89,14.21,14.08
$GC,2747,-1.14,-145.9,2236,3609,3954,3980,378.7,-10.2,247,2752,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2197,3966,3953,3980,0,0,0,0,0,0,14.41,14.28,14.45
$GC,3067,-1.17,-145.9,2236,2196,3954,3981,414.8,-11.2,261,3072,0.00,2.47,0.00,0.000,388,0.000,0.088,2235,3607,3966,3953,3979,0,0,0,0,0,0,14.73,14.21,14.76
$GC,3107,-1.27,-145.9,2236,3606,3953,3980,419.2,-10.7,269,3112,0.20,2.38,0.00,0.000,5254,0.112,0.056,2158,2195,3966,3952,3980,0,0,0,0,0,0,14.33,14.28,14.43
$GC,3428,-1.14,-145.9,2159,2195,3952,3981,476.2,-18.2,283,3433,0.22,2.47,0.00,0.000,2436,0.309,0.083,2198,3613,3965,3951,3980,0,0,0,0,0,0,13.82,14.19,14.04
$STATE,3450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3450,begin apogee
$GC,3459,-0.13,0.0,2199,2102,3952,3981,480.5,-15.7,288,3694,1.33,0.00,228.93,1.444,10246,0.243,0.000,2532,2101,3356,3373,3340,0,0,0,0,0,0,13.90,13.22,12.59
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3700,0.57,145.9,2532,2102,3371,3336,493.2,0.0,296,4094,0.73,2.72,210.82,1.392,10756,0.063,0.079,2787,688,2752,2789,2716,0,0,0,0,0,0,13.62,12.89,12.27
$GC,4306,0.20,145.9,2782,688,2788,2717,445.6,14.6,337,4314,0.60,2.53,0.00,0.000,5254,0.322,0.076,2653,2105,2750,2787,2714,0,0,0,0,0,0,13.59,13.95,13.97
$GC,4612,0.03,157.3,2653,2105,2788,2710,415.6,9.5,348,4617,0.25,0.00,4.00,1.531,12454,0.268,0.000,2598,2105,2723,2763,2684,0,0,0,0,0,0,13.83,14.08,12.90
$GC,4912,0.03,225.9,2597,2106,2780,2697,394.6,6.8,358,5038,0.00,0.00,121.70,1.346,8870,0.000,0.000,2596,2105,2441,2496,2386,0,0,0,0,0,0,14.47,13.73,12.95
$GC,5363,0.07,259.1,2597,2105,2484,2369,357.6,8.5,393,5424,0.00,2.60,51.60,1.363,8868,0.000,0.085,2602,687,2301,2351,2252,0,0,0,0,0,0,14.43,13.90,13.12
$GC,5490,0.20,291.4,2603,682,2346,2246,346.8,8.5,418,5546,0.15,2.50,50.15,1.354,11430,0.115,0.080,2667,2098,2175,2225,2126,0,0,0,0,0,0,14.03,13.93,13.02
$GC,5844,0.15,291.4,2667,2097,2212,2106,300.7,13.0,439,5846,0.17,0.00,0.00,0.000,4230,0.244,0.000,2630,2098,2158,2211,2105,0,0,0,0,0,0,13.87,14.16,14.11
$GC,6145,0.20,309.8,2630,2098,2210,2103,272.0,9.2,449,6176,0.00,2.50,23.98,1.406,8868,0.000,0.087,2630,688,2100,2146,2054,0,0,0,0,0,0,14.48,14.09,13.26
$GC,6226,0.33,344.8,2630,689,2139,2047,264.9,8.4,465,6292,0.17,2.47,58.00,1.317,11430,0.105,0.079,2698,2099,1957,2002,1912,0,0,0,0,0,0,14.16,14.09,13.12
$GC,6598,0.29,344.8,2698,2099,1994,1896,218.5,12.2,489,6603,0.00,2.47,0.00,0.000,644,0.000,0.085,2699,685,1942,1992,1892,0,0,0,0,0,0,14.42,14.02,14.47
$GC,6689,0.29,344.8,2699,686,1989,1897,208.2,10.8,507,6694,0.00,2.45,0.00,0.000,1030,0.000,0.077,2699,2102,1943,1991,1895,0,0,0,0,0,0,14.20,14.07,14.24
$GC,7019,0.26,344.8,2699,2106,1989,1894,172.4,10.5,523,7024,0.12,2.47,0.00,0.000,4740,0.226,0.082,2672,687,1941,1988,1894,0,0,0,0,0,0,14.08,14.19,14.23
$GC,7099,0.37,385.0,2673,687,1987,1894,165.5,8.1,539,7176,0.00,2.47,69.75,1.281,9382,0.000,0.079,2673,2111,1794,1825,1763,0,0,0,0,0,0,14.29,14.14,13.21
$GC,7501,0.48,428.2,2673,2111,1814,1747,132.4,8.0,569,7582,0.20,0.00,78.60,1.238,10406,0.103,0.000,2757,2111,1620,1650,1590,0,0,0,0,0,0,14.31,13.94,13.19
$GC,7863,0.44,428.2,2757,2110,1641,1563,86.0,12.3,587,7868,0.12,2.50,0.00,0.000,4740,0.246,0.083,2733,691,1606,1645,1567,0,0,0,0,0,0,13.90,14.10,14.03
$GC,7965,0.52,442.9,2734,691,1637,1567,75.7,9.3,607,7976,0.00,2.47,6.40,0.390,9382,0.000,0.080,2733,2108,1559,1595,1523,0,0,0,0,0,0,14.16,14.04,13.70
$GC,8273,0.64,533.5,2734,2108,1602,1529,51.3,5.8,639,8327,0.12,2.58,48.38,0.352,10916,0.127,0.087,2794,691,1190,1249,1131,0,0,0,0,0,0,14.19,14.07,13.64
$GC,8422,0.73,578.0,2795,691,1251,1133,39.2,7.9,668,8455,0.00,2.50,24.73,0.315,9382,0.000,0.078,2795,2108,1005,1072,939,0,0,0,0,0,0,14.20,14.08,13.78
$GC,8760,0.90,663.8,2795,2109,1075,945,15.1,6.0,705,8814,0.20,2.53,46.12,0.250,10916,0.103,0.088,2890,691,658,711,605,0,0,0,0,0,0,14.26,14.09,13.87
$STATE,8882,end climb,SURFACE_DEPTH_REACHED
$STATE,8882,begin surface coast
$FINISH,0.2,1.021338
$STATE,8892,end surface coast,CONTROL_FINISHED_OK
$STATE,8892,begin surface
$SM_CCo,8915,21.75,0.213,0,0,500,702.78
$SM_GC,1.00,8.30,2.70,21.75,0.080,0.079,0.213,199,2205,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.31,14.18,13.98
$RAFOS_CLK,216
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7454.96,-15230.65,040917,160840
$TT8_MAMPS,0.038948,1.44108
$HUMID,46.06
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,15966339072.000000
$PM_FREEKB_00,50623808
$24V_AH,12.27,161.704
$10V_AH,12.15,0.000
$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,26.450,84.750,1023.150,21.750,0.000,0.000,0.000,143.850,4.750,0.000,21.403,0.000,6098.276,915.879,2051.853,229.451,0.000,2089.280,0.000,1046.430,2215.000,0.539,0.000
$DEVICE_MAMPS,454.410,2138.940,1530.765,212.670,0.000,0.000,0.000,139.995,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4994.000,8881.000,8867.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.533,20.000,9.891,0.000
$MEM,323404
$DATA_FILE_SIZE,26693,731
$CAP_FILE_SIZE,99120,0
$CFSIZE,2097872896,2013396992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1438.6
$CURRENT,0.071,250.34,1
$GPS,040917,211858,7454.838,-15214.844,36,1.3,38,20.1,0.0,0.0,5,8.5