version: 66.13
glider: 196
mission: 14
dive: 249
start: 9 4 117 21 29 31
data:
$ID,196
$MISSION,14
$DIVE,249
$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,24
$R_STBD_OVSHOOT,18
$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,699.0
$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
$GPS1,040917,211858,7454.8379,-15214.8438,36,1.3,38,20.1,0.0,0.0,5,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.6
$GPS2,040917,212857,7454.8613,-15214.7803,5,0.8,13,20.1,0.0,0.0,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,10.7,94028,-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,48,begin dive
$GC,51,-0.57,-145.9,193,2207,506,490,0.0,0.0,0,143,0.00,0.00,-91.18,0.000,16386,0.000,0.000,192,2208,2174,2107,2242,0,0,0,0,0,0,14.52,28.83,14.54
$GC,146,-0.57,-145.9,193,2208,2110,2243,3.8,-5.5,9,200,12.80,2.88,-34.70,0.000,18724,0.454,2.139,2375,3614,3962,3945,3980,0,0,0,0,0,0,13.65,12.55,14.09
$GC,375,-0.73,-145.9,2375,3612,3953,3980,48.4,-11.9,54,381,0.00,2.42,0.00,0.000,1158,0.000,0.060,2374,2196,3965,3951,3980,0,0,0,0,0,0,14.26,14.16,14.26
$GC,682,-0.84,-145.9,2374,2191,3953,3981,86.8,-10.8,85,683,0.22,0.00,0.00,0.000,4230,0.107,0.000,2287,2189,3966,3953,3980,0,0,0,0,0,0,14.16,14.26,14.26
$GC,980,-0.84,-145.9,2288,2190,3953,3981,134.7,-15.2,101,985,0.00,2.53,0.00,0.000,260,0.000,0.088,2280,3620,3966,3953,3980,0,0,0,0,0,0,14.64,14.07,14.64
$GC,1080,-0.94,-145.9,2280,3621,3954,3980,148.0,-12.4,121,1085,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2194,3966,3953,3980,0,0,0,0,0,0,14.19,14.08,14.22
$GC,1400,-0.97,-145.9,2280,2194,3954,3980,192.8,-13.6,135,1405,0.00,2.50,0.00,0.000,388,0.000,0.087,2271,3614,3966,3953,3980,0,0,0,0,0,0,14.64,14.08,14.70
$GC,1465,-1.08,-145.9,2272,3614,3953,3980,200.9,-11.7,148,1471,0.12,2.40,0.00,0.000,5254,0.132,0.057,2226,2193,3965,3951,3980,0,0,0,0,0,0,14.23,14.18,14.32
$GC,1791,-1.03,-145.9,2226,2192,3953,3981,256.5,-16.6,163,1796,0.00,2.50,0.00,0.000,388,0.000,0.088,2222,3614,3966,3952,3980,0,0,0,0,0,0,14.69,14.14,14.69
$GC,1866,-1.03,-145.9,2223,3615,3953,3980,268.0,-14.3,178,1871,0.00,2.40,0.00,0.000,1030,0.000,0.056,2222,2198,3966,3952,3980,0,0,0,0,0,0,14.33,14.21,14.36
$GC,2181,-1.03,-145.9,2222,2197,3954,3980,313.8,-13.9,191,2186,0.00,2.53,0.00,0.000,260,0.000,0.090,2222,3614,3966,3953,3980,0,0,0,0,0,0,14.67,14.13,14.69
$GC,2246,-1.08,-145.9,2222,3615,3954,3980,322.6,-12.1,204,2252,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2192,3966,3952,3980,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2572,-1.08,-145.9,2223,2190,3953,3979,364.7,-12.8,219,2577,0.00,2.55,0.00,0.000,260,0.000,0.090,2222,3622,3965,3952,3979,0,0,0,0,0,0,14.68,14.09,14.68
$GC,2699,-1.16,-145.9,2222,3623,3953,3980,379.4,-10.8,244,2704,0.00,2.40,0.00,0.000,1158,0.000,0.056,2222,2198,3965,3952,3978,0,0,0,0,0,0,14.37,14.25,14.40
$GC,3024,-1.16,-145.9,2222,2197,3953,3979,419.5,-12.2,259,3029,0.00,2.50,0.00,0.000,260,0.000,0.089,2222,3615,3965,3952,3979,0,0,0,0,0,0,14.68,14.17,14.69
$GC,3109,-1.25,-145.9,2223,3614,3953,3978,429.3,-10.8,276,3116,0.15,2.40,0.00,0.000,5254,0.122,0.056,2162,2193,3965,3952,3978,0,0,0,0,0,0,14.19,14.16,14.29
$STATE,3412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3412,begin apogee
$GC,3418,-0.13,0.0,2163,2063,3953,3977,483.1,-18.0,287,3685,1.52,0.08,258.20,1.392,10246,0.276,0.176,2527,2111,3360,3383,3337,0,0,0,0,0,0,13.82,13.38,12.62
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3693,0.57,145.9,2528,2113,3380,3335,498.4,0.0,296,4087,0.75,2.03,209.52,1.393,10500,0.062,0.073,2778,3517,2748,2784,2713,0,0,0,0,0,0,13.57,13.12,12.28
$GC,4228,0.11,145.9,2778,3518,2783,2714,456.8,16.5,326,4233,0.80,2.38,0.00,0.000,5254,0.347,0.058,2626,2131,2747,2782,2713,0,0,0,0,0,0,13.57,13.90,13.96
$GC,4560,0.02,182.7,2624,2130,2784,2711,428.1,8.3,342,4620,0.12,2.53,52.67,1.414,12964,0.295,0.083,2602,697,2611,2659,2564,0,0,0,0,0,0,13.93,13.78,13.15
$GC,4662,0.05,223.2,2601,698,2654,2558,420.2,8.1,362,4736,0.00,2.47,65.03,1.343,9254,0.000,0.080,2602,2100,2451,2510,2393,0,0,0,0,0,0,14.16,14.03,13.02
$GC,5041,0.06,243.7,2602,2101,2501,2379,386.0,9.1,388,5072,0.00,0.00,29.27,1.435,8230,0.000,0.000,2602,2099,2371,2427,2316,0,0,0,0,0,0,14.52,14.02,13.20
$GC,5371,0.11,271.1,2602,2100,2413,2298,356.7,8.7,399,5420,0.00,2.55,41.22,1.410,8868,0.000,0.085,2602,698,2254,2306,2202,0,0,0,0,0,0,14.59,14.07,13.23
$GC,5463,0.24,305.0,2602,698,2300,2199,348.9,8.4,417,5522,0.17,2.47,52.70,1.356,11430,0.107,0.080,2675,2111,2120,2172,2069,0,0,0,0,0,0,14.19,14.11,13.10
$GC,5821,0.18,305.0,2675,2111,2158,2050,300.6,13.4,439,5826,0.12,2.47,0.00,0.000,4740,0.267,0.081,2660,697,2104,2158,2050,0,0,0,0,0,0,14.02,14.17,14.16
$GC,5846,0.18,305.0,2653,698,2157,2051,297.5,12.5,444,5852,0.00,2.45,0.00,0.000,1030,0.000,0.080,2652,2098,2103,2156,2050,0,0,0,0,0,0,14.30,14.16,14.34
$GC,6151,0.18,305.0,2654,2098,2158,2048,264.1,10.4,455,6156,0.00,2.47,0.00,0.000,516,0.000,0.086,2654,688,2102,2156,2048,0,0,0,0,0,0,14.64,14.19,14.66
$GC,6216,0.24,316.9,2654,688,2157,2048,257.7,9.4,468,6232,0.00,2.47,11.38,1.549,9382,0.000,0.079,2654,2105,2075,2127,2023,0,0,0,0,0,0,14.39,14.26,13.28
$GC,6542,0.25,338.9,2655,2105,2116,2011,227.0,9.0,483,6582,0.00,0.00,38.88,1.362,8230,0.000,0.000,2654,2105,1983,2033,1934,0,0,0,0,0,0,14.64,14.05,13.26
$GC,6872,0.32,370.1,2654,2107,2020,1917,198.4,8.6,494,6934,0.00,2.55,52.42,1.315,8868,0.000,0.087,2653,707,1850,1884,1817,0,0,0,0,0,0,14.59,14.01,13.20
$GC,6999,0.49,412.2,2654,706,1875,1817,188.1,8.1,519,7080,0.28,2.47,75.30,1.250,11430,0.089,0.080,2762,2102,1684,1712,1657,0,0,0,0,0,0,14.17,14.09,13.09
$GC,7385,0.40,412.2,2762,2103,1703,1633,130.0,14.8,546,7390,0.17,2.47,0.00,0.000,4740,0.252,0.083,2723,692,1667,1702,1632,0,0,0,0,0,0,13.90,14.15,14.07
$GC,7461,0.46,412.2,2723,693,1700,1633,121.4,10.3,561,7466,0.00,2.45,0.00,0.000,1158,0.000,0.077,2723,2104,1665,1698,1632,0,0,0,0,0,0,14.35,14.20,14.36
$GC,7766,0.47,418.4,2724,2105,1700,1630,89.7,9.7,579,7771,0.00,2.47,0.00,0.000,548,0.000,0.086,2722,692,1665,1700,1630,0,0,0,0,0,0,14.59,14.10,14.58
$GC,7821,0.56,442.8,2723,695,1697,1631,84.7,8.9,590,7843,0.12,2.45,14.40,0.441,11430,0.128,0.076,2778,2105,1558,1590,1527,0,0,0,0,0,0,14.26,14.20,13.66
$GC,8149,0.55,483.1,2778,2106,1597,1529,49.5,8.1,625,8176,0.00,2.55,22.15,0.347,8868,0.000,0.084,2781,694,1394,1436,1353,0,0,0,0,0,0,14.61,14.12,13.73
$GC,8206,0.62,550.2,2782,693,1438,1356,45.7,6.9,636,8248,0.00,2.45,36.17,0.337,9382,0.000,0.078,2781,2099,1119,1184,1055,0,0,0,0,0,0,14.28,14.15,13.67
$GC,8554,0.78,645.5,2782,2100,1185,1058,22.1,5.6,675,8612,0.12,2.50,50.80,0.271,10916,0.137,0.090,2852,694,731,792,670,0,0,0,0,0,0,14.28,14.04,13.71
$GC,8687,0.89,666.3,2846,694,792,672,9.9,9.0,701,8703,0.00,2.47,12.00,0.239,9382,0.000,0.078,2846,2107,647,702,592,0,0,0,0,0,0,14.12,13.97,13.88
$STATE,8776,end climb,SURFACE_DEPTH_REACHED
$STATE,8776,begin surface coast
$FINISH,0.1,1.021372
$STATE,8797,end surface coast,CONTROL_FINISHED_OK
$STATE,8797,begin surface
$SM_CCo,8819,20.98,0.212,0,0,498,702.78
$SM_GC,1.19,8.07,0.17,20.98,0.070,0.148,0.212,198,2201,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.29,14.21,13.96
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7455.52,-15230.65,040917,184530
$TT8_MAMPS,0.038199,0.915278
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,15965913088.000000
$PM_FREEKB_00,50598016
$24V_AH,12.28,162.174
$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,25.575,84.350,1022.125,20.975,0.000,0.000,0.000,307.800,4.000,0.000,14.960,0.000,6119.361,919.822,2147.961,269.273,0.000,2244.161,0.000,1024.275,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2138.940,1549.125,211.905,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8808.000,8791.000,8770.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.567,20.000,9.858,0.000
$MEM,323536
$DATA_FILE_SIZE,23413,714
$CAP_FILE_SIZE,97396,0
$CFSIZE,2097872896,2013200384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.6
$CURRENT,0.056,258.11,1
$GPS,040917,235804,7455.722,-15212.480,25,0.8,27,20.1,0.3,18.1,10,8.5