version: 66.13
glider: 196
mission: 14
dive: 253
start: 9 5 117 8 31 32
data:
$ID,196
$MISSION,14
$DIVE,253
$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,27
$R_STBD_OVSHOOT,48
$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,709.0
$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
$GPS1,050917,081957,7458.7773,-15205.3311,38,0.8,39,20.2,0.6,303.5,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.1
$GPS2,050917,083056,7458.8091,-15205.2451,8,0.7,9,20.2,0.0,121.2,12,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,5.0,85743,-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,-145.9,191,2195,505,489,0.0,0.0,0,143,0.00,0.00,-91.72,0.000,16386,0.000,0.000,190,2195,2174,2104,2244,0,0,0,0,0,0,14.33,28.83,14.38
$GC,146,-0.57,-145.9,190,2195,2110,2244,3.8,-5.5,9,202,13.00,2.80,-36.17,0.000,18724,0.459,2.135,2375,3581,3962,3946,3978,1,0,0,0,0,0,13.47,12.57,14.03
$GC,353,-0.72,-145.9,2376,3582,3952,3978,43.1,-13.2,50,359,0.00,2.38,0.00,0.000,1158,0.000,0.059,2375,2204,3962,3947,3977,0,0,0,0,0,0,14.11,14.00,14.14
$GC,658,-0.83,-145.9,2375,2204,3953,3979,83.1,-10.6,81,663,0.17,2.45,0.00,0.000,4740,0.121,0.083,2302,790,3967,3957,3978,0,0,0,0,0,0,13.97,14.04,14.03
$GC,679,-0.88,-145.9,2302,791,3953,3978,85.9,-13.1,85,684,0.00,2.42,0.00,0.000,1158,0.000,0.086,2302,2175,3965,3953,3977,0,0,0,0,0,0,14.12,13.97,14.15
$GC,1011,-0.91,-145.9,2301,2177,3954,3978,135.3,-13.9,103,1015,0.00,2.55,0.00,0.000,388,0.000,0.091,2301,3611,3964,3952,3977,0,0,0,0,0,0,14.60,14.12,14.62
$GC,1132,-1.06,-145.9,2301,3619,3961,3978,149.6,-10.9,127,1138,0.20,2.42,0.00,0.000,5254,0.101,0.057,2228,2190,3965,3953,3977,0,0,0,0,0,0,14.27,14.18,14.35
$GC,1463,-0.99,-145.9,2229,2189,3954,3977,211.4,-18.2,143,1468,0.12,2.50,0.00,0.000,2436,0.284,0.083,2246,3614,3965,3953,3977,0,0,0,0,0,0,13.93,14.14,14.09
$GC,1565,-1.06,-145.9,2247,3615,3953,3978,225.9,-13.0,163,1570,0.00,2.40,0.00,0.000,1158,0.000,0.058,2247,2196,3965,3954,3977,0,0,0,0,0,0,14.31,14.12,14.34
$GC,1885,-1.06,-145.9,2247,2196,3953,3978,270.8,-13.2,177,1890,0.00,2.50,0.00,0.000,260,0.000,0.088,2239,3613,3967,3957,3977,0,0,0,0,0,0,14.67,14.19,14.69
$GC,1980,-1.14,-145.9,2239,3615,3954,3978,282.4,-11.4,196,1986,0.00,2.40,0.00,0.000,1158,0.000,0.057,2240,2198,3965,3953,3977,0,0,0,0,0,0,14.20,14.07,14.24
$GC,2306,-1.17,-145.9,2239,2198,3955,3978,322.4,-11.9,211,2311,0.12,2.50,0.00,0.000,4484,0.145,0.084,2173,3620,3965,3953,3977,0,0,0,0,0,0,14.27,14.18,14.31
$GC,2371,-1.10,-145.9,2174,3621,3953,3978,332.7,-16.7,224,2377,0.22,2.42,0.00,0.000,3206,0.265,0.058,2222,2200,3964,3952,3977,0,0,0,0,0,0,13.89,14.22,14.20
$GC,2697,-1.10,-145.9,2222,2200,3953,3978,374.3,-12.3,239,2702,0.00,2.50,0.00,0.000,260,0.000,0.089,2222,3617,3964,3952,3977,0,0,0,0,0,0,14.66,14.16,14.66
$GC,2814,-1.19,-145.9,2222,3619,3952,3978,387.3,-10.6,262,2820,0.00,2.40,0.00,0.000,1158,0.000,0.057,2221,2200,3964,3952,3977,0,0,0,0,0,0,14.31,14.19,14.36
$GC,3117,-1.19,-145.9,2222,2201,3953,3976,424.1,-12.1,273,3122,0.00,2.47,0.00,0.000,260,0.000,0.089,2221,3627,3964,3952,3976,0,0,0,0,0,0,14.64,14.13,14.70
$GC,3167,-1.27,-145.9,2222,3626,3953,3976,430.0,-11.2,283,3172,0.17,2.42,0.00,0.000,5254,0.112,0.057,2154,2194,3964,3952,3976,0,0,0,0,0,0,14.29,14.23,14.39
$STATE,3445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3445,begin apogee
$GC,3451,-0.13,0.0,2157,2062,3953,3975,481.0,-18.8,294,3675,1.58,0.08,219.85,1.447,10246,0.280,0.178,2526,2110,3361,3384,3339,0,0,0,0,0,0,13.71,13.46,12.65
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3683,0.57,145.9,2527,2112,3378,3330,492.9,0.0,301,4242,0.75,2.65,210.68,1.384,10500,0.063,0.072,2781,3500,2748,2784,2713,0,0,0,0,0,0,13.63,12.91,12.30
$GC,4462,0.10,145.9,2781,3500,2780,2712,415.0,15.9,341,4467,0.80,2.30,0.00,0.000,5254,0.347,0.059,2620,2134,2746,2781,2712,0,0,0,0,0,0,13.78,14.19,14.18
$GC,4772,0.03,195.1,2621,2134,2782,2711,389.4,7.7,353,4848,0.12,2.62,70.78,1.373,12964,0.299,0.086,2600,694,2568,2619,2517,0,0,0,0,0,0,14.02,13.99,13.17
$GC,4914,0.09,240.3,2601,694,2611,2506,379.0,7.9,381,4994,0.00,2.47,72.75,1.329,9382,0.000,0.079,2600,2103,2379,2435,2324,0,0,0,0,0,0,14.19,14.07,13.03
$GC,5315,0.15,272.9,2603,2104,2423,2309,344.8,8.5,411,5366,0.00,0.00,49.05,1.353,8358,0.000,0.000,2600,2102,2256,2315,2197,0,0,0,0,0,0,14.54,14.00,13.20
$GC,5645,0.23,303.5,2601,2104,2290,2178,316.4,8.6,422,5700,0.15,2.55,46.95,1.333,10916,0.115,0.087,2683,698,2120,2172,2069,0,0,0,0,0,0,14.14,14.00,13.24
$GC,5737,0.19,303.5,2680,699,2161,2068,304.7,13.6,440,5742,0.15,2.45,0.00,0.000,5254,0.236,0.078,2652,2099,2114,2162,2066,0,0,0,0,0,0,13.91,14.07,14.16
$GC,6067,0.19,303.5,2651,2099,2162,2056,267.4,10.7,456,6072,0.00,2.47,0.00,0.000,516,0.000,0.088,2653,693,2109,2162,2056,0,0,0,0,0,0,14.61,14.16,14.62
$GC,6112,0.24,305.3,2654,693,2161,2057,262.9,9.9,465,6117,0.00,2.45,0.00,0.000,1190,0.000,0.078,2653,2105,2108,2160,2056,0,0,0,0,0,0,14.36,14.25,14.40
$GC,6427,0.25,316.2,2654,2106,2161,2055,231.8,9.5,478,6443,0.00,0.00,14.43,1.471,8230,0.000,0.000,2653,2106,2076,2128,2024,0,0,0,0,0,0,14.66,14.23,13.33
$GC,6727,0.30,350.5,2653,2107,2116,2011,205.8,8.4,488,6794,0.00,2.53,61.30,1.303,8868,0.000,0.086,2654,691,1932,1979,1885,0,0,0,0,0,0,14.62,13.82,13.23
$GC,6846,0.44,394.2,2655,692,1961,1884,196.2,8.0,511,6929,0.22,2.50,76.85,1.242,11430,0.097,0.080,2743,2109,1755,1782,1728,0,0,0,0,0,0,14.12,14.04,13.07
$GC,7240,0.37,394.2,2745,2109,1771,1710,140.8,13.9,540,7245,0.15,2.47,0.00,0.000,4740,0.233,0.084,2713,698,1739,1769,1709,0,0,0,0,0,0,13.93,14.14,14.08
$GC,7332,0.43,406.3,2713,698,1768,1709,131.3,9.4,558,7350,0.00,2.45,13.07,1.392,9382,0.000,0.078,2712,2107,1706,1736,1677,0,0,0,0,0,0,14.33,14.19,13.27
$GC,7661,0.46,412.8,2713,2109,1731,1663,98.3,9.7,574,7664,0.00,0.00,2.25,0.337,8358,0.000,0.000,2713,2108,1680,1714,1647,0,0,0,0,0,0,14.60,14.17,13.59
$GC,7961,0.54,464.8,2713,2109,1720,1656,72.7,7.6,604,7999,0.12,2.55,28.75,0.415,10916,0.129,0.087,2781,699,1471,1506,1436,0,0,0,0,0,0,14.22,14.09,13.62
$GC,8079,0.54,464.8,2786,703,1508,1437,60.1,10.2,627,8085,0.00,2.47,0.00,0.000,1030,0.000,0.078,2781,2107,1472,1508,1437,0,0,0,0,0,0,14.23,14.10,14.26
$GC,8384,0.59,543.7,2781,2107,1509,1434,36.5,6.4,658,8431,0.00,2.58,42.08,0.310,8740,0.000,0.086,2781,695,1147,1208,1086,0,0,0,0,0,0,14.60,13.42,13.73
$GC,8489,0.74,606.9,2780,696,1208,1089,29.4,7.1,678,8531,0.12,2.47,34.15,0.285,11430,0.135,0.077,2835,2103,887,956,819,0,0,0,0,0,0,14.18,14.04,13.65
$STATE,8804,end climb,SURFACE_DEPTH_REACHED
$STATE,8804,begin surface coast
$FINISH,0.2,1.021482
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8845,54.78,0.206,0,0,501,702.78
$SM_GC,1.33,8.07,0.17,54.78,0.073,0.122,0.206,205,2219,501,-7.36,-0.62,702.78,0,0,0,0,0,0,14.33,14.31,13.99
$RAFOS_CLK,387
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7457.27,-15208.32,050917,054113
$TT8_MAMPS,0.038948,0.903294
$HUMID,47.59
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,15964176384.000000
$PM_FREEKB_00,50477376
$24V_AH,12.30,164.100
$10V_AH,12.18,0.000
$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,26.275,80.000,942.925,54.775,0.000,0.000,0.000,398.850,2.500,0.000,10.691,0.000,5942.442,868.247,2468.178,297.623,0.000,2443.476,0.000,1026.936,0.000,0.540,0.000
$DEVICE_MAMPS,459.000,2135.115,1471.095,205.785,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8285.000,8802.000,8797.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.342,20.000,9.871,0.000
$MEM,323664
$DATA_FILE_SIZE,23418,716
$CAP_FILE_SIZE,101621,0
$CFSIZE,2097872896,2012086272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.3
$CURRENT,0.057,298.95,1
$GPS,050917,110120,7459.862,-15203.254,38,0.8,38,20.2,0.0,0.0,10,7.4