version: 66.13
glider: 196
mission: 14
dive: 254
start: 9 5 117 11 12 16
data:
$ID,196
$MISSION,14
$DIVE,254
$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,30
$R_STBD_OVSHOOT,37
$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,713.0
$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
$GPS1,050917,110120,7459.8618,-15203.2539,38,0.8,38,20.2,0.0,0.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.7
$GPS2,050917,111141,7459.8916,-15203.1807,8,0.9,11,20.2,0.0,0.0,9,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.2,83550,-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,-145.9,197,2222,499,497,0.0,0.0,0,145,0.00,0.00,-91.93,0.000,16386,0.000,0.000,196,2222,2177,2113,2241,0,0,0,0,0,0,14.55,28.83,14.57
$GC,147,-0.57,-145.9,196,2223,2114,2243,3.6,-5.1,9,205,12.93,2.80,-35.80,0.000,18724,0.460,2.140,2377,3592,3961,3945,3977,0,0,0,0,0,0,13.62,12.59,14.14
$GC,355,-0.70,-145.9,2377,3594,3951,3977,43.2,-13.2,50,361,0.00,2.35,0.00,0.000,1158,0.000,0.059,2377,2207,3963,3950,3976,0,0,0,0,0,0,14.34,14.24,14.36
$GC,662,-0.82,-145.9,2377,2205,3952,3977,83.4,-10.7,81,663,0.20,0.00,0.00,0.000,4230,0.109,0.000,2298,2205,3964,3951,3977,0,0,0,0,0,0,14.27,14.38,14.35
$GC,980,-0.85,-145.9,2298,2205,3952,3977,131.7,-14.2,99,985,0.00,2.45,0.00,0.000,388,0.000,0.089,2292,3602,3963,3950,3976,0,0,0,0,0,0,14.71,14.22,14.74
$GC,1045,-0.98,-145.9,2293,3604,3952,3977,139.9,-11.6,112,1051,0.00,2.38,0.00,0.000,1158,0.000,0.059,2293,2198,3964,3951,3977,0,0,0,0,0,0,14.35,14.22,14.39
$GC,1371,-1.04,-145.9,2294,2196,3952,3977,182.1,-12.4,127,1376,0.12,2.45,0.00,0.000,4484,0.138,0.086,2236,3599,3963,3950,3977,0,0,0,0,0,0,14.39,14.23,14.42
$GC,1416,-1.04,-145.9,2237,3598,3952,3977,188.9,-15.3,136,1422,0.00,2.35,0.00,0.000,1030,0.000,0.059,2236,2199,3963,3951,3976,0,0,0,0,0,0,14.45,14.28,14.45
$GC,1732,-1.00,-145.9,2236,2199,3950,3978,240.8,-15.9,149,1737,0.00,2.45,0.00,0.000,388,0.000,0.090,2235,3595,3964,3951,3977,0,0,0,0,0,0,14.73,14.22,14.76
$GC,1842,-1.06,-145.9,2236,3595,3952,3977,256.1,-13.1,171,1847,0.00,2.38,0.00,0.000,1158,0.000,0.058,2236,2193,3964,3951,3977,0,0,0,0,0,0,14.40,14.25,14.43
$GC,2152,-1.06,-145.9,2236,2192,3952,3977,298.1,-13.1,183,2157,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3595,3964,3951,3977,0,0,0,0,0,0,14.74,14.22,14.77
$GC,2218,-1.15,-145.9,2236,3596,3952,3982,305.9,-11.2,196,2223,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2190,3964,3951,3977,0,0,0,0,0,0,14.40,14.30,14.43
$GC,2544,-1.17,-145.9,2236,2190,3951,3978,345.0,-11.9,211,2548,0.00,2.47,0.00,0.000,388,0.000,0.089,2236,3601,3964,3951,3977,0,0,0,0,0,0,14.76,14.21,14.77
$GC,2618,-1.28,-145.9,2236,3602,3951,3978,353.3,-10.4,226,2624,0.22,2.38,0.00,0.000,5254,0.105,0.057,2152,2191,3963,3950,3976,0,0,0,0,0,0,14.35,14.28,14.44
$GC,2936,-1.13,-145.9,2153,2188,3950,3977,413.7,-19.6,239,2941,0.25,2.50,0.00,0.000,2436,0.315,0.082,2197,3595,3962,3949,3976,0,0,0,0,0,0,13.69,14.04,13.92
$GC,3071,-1.13,-145.9,2197,3598,3950,3977,433.3,-13.0,266,3076,0.00,2.40,0.00,0.000,1030,0.000,0.057,2196,2196,3962,3949,3976,0,0,0,0,0,0,14.19,14.07,14.21
$GC,3386,-1.10,-145.9,2197,2201,3950,3977,477.6,-14.1,279,3391,0.00,2.50,0.00,0.000,388,0.000,0.085,2187,3596,3962,3949,3976,0,0,0,0,0,0,14.52,14.00,14.54
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3412,-0.13,0.0,2188,2099,3950,3976,480.6,-15.1,283,3647,1.38,0.00,228.02,1.433,10246,0.247,0.000,2526,2098,3356,3377,3336,0,0,0,0,0,0,13.78,13.19,12.58
$STATE,3650,end apogee,CONTROL_FINISHED_OK
$STATE,3650,begin climb
$GC,3653,0.57,145.9,2526,2099,3375,3334,494.3,0.0,291,4047,0.75,2.67,211.27,1.379,10500,0.062,0.073,2777,3490,2748,2782,2715,0,0,0,0,0,0,13.52,12.85,12.24
$GC,4274,0.11,145.9,2778,3491,2775,2716,443.3,15.7,338,4281,0.80,2.40,0.00,0.000,5254,0.344,0.058,2621,2099,2746,2778,2714,0,0,0,0,0,0,13.61,14.00,13.97
$GC,4580,0.02,192.2,2621,2099,2780,2714,417.9,7.9,349,4655,0.12,2.55,67.40,1.388,12708,0.292,0.081,2592,3493,2576,2627,2525,0,0,0,0,0,0,13.90,13.88,13.10
$GC,4755,0.00,208.7,2592,3493,2608,2518,403.2,9.2,384,4781,0.00,2.40,19.90,1.487,9382,0.000,0.059,2599,2105,2513,2563,2464,0,0,0,0,0,0,14.07,13.97,13.10
$GC,5093,0.03,245.2,2598,2100,2554,2448,375.1,8.3,401,5158,0.00,2.60,56.15,1.381,8740,0.000,0.088,2602,685,2357,2404,2311,0,0,0,0,0,0,14.42,13.90,13.14
$GC,5231,0.13,279.9,2603,685,2396,2308,363.3,8.4,428,5291,0.00,2.42,53.85,1.357,9382,0.000,0.077,2602,2084,2221,2272,2171,0,0,0,0,0,0,14.07,13.96,13.02
$GC,5606,0.20,304.1,2603,2085,2259,2149,330.2,8.9,453,5643,0.15,0.00,35.08,1.376,10406,0.119,0.000,2672,2085,2124,2175,2074,0,0,0,0,0,0,14.26,14.04,13.21
$GC,5936,0.15,304.1,2672,2086,2161,2058,286.0,13.2,464,5942,0.15,2.45,0.00,0.000,4740,0.254,0.083,2643,684,2108,2160,2056,0,0,0,0,0,0,14.00,14.16,14.14
$GC,5997,0.21,304.1,2644,684,2158,2057,279.5,10.5,476,6003,0.00,2.47,0.00,0.000,1158,0.000,0.078,2644,2100,2106,2157,2056,0,0,0,0,0,0,14.31,14.19,14.35
$GC,6328,0.22,323.3,2644,2102,2157,2056,247.5,9.1,492,6360,0.00,2.55,27.10,1.395,8740,0.000,0.086,2644,687,2046,2096,1996,0,0,0,0,0,0,14.64,14.14,13.30
$GC,6410,0.35,360.0,2644,688,2082,1992,240.4,8.3,508,6482,0.15,2.47,63.67,1.290,11430,0.115,0.079,2703,2107,1893,1930,1857,0,0,0,0,0,0,14.21,14.19,13.16
$GC,6780,0.31,360.0,2704,2107,1915,1846,195.5,12.1,532,6781,0.00,0.00,0.00,0.000,134,0.000,0.000,2704,2107,1879,1914,1845,0,0,0,0,0,0,14.56,14.57,14.57
$GC,7080,0.28,360.0,2703,2109,1913,1845,162.3,10.7,542,7085,0.12,2.47,0.00,0.000,4740,0.230,0.085,2672,688,1877,1911,1844,0,0,0,0,0,0,13.84,14.07,14.00
$GC,7187,0.40,399.3,2673,688,1909,1843,153.4,8.2,563,7262,0.12,2.47,68.28,1.260,11430,0.138,0.080,2725,2101,1735,1760,1710,0,0,0,0,0,0,14.23,14.19,13.25
$GC,7560,0.38,399.3,2727,2100,1752,1693,110.4,11.0,588,7566,0.00,2.50,0.00,0.000,644,0.000,0.087,2726,684,1721,1750,1693,0,0,0,0,0,0,14.56,14.04,14.57
$GC,7611,0.41,399.3,2727,684,1747,1693,105.1,10.1,598,7616,0.00,2.47,0.00,0.000,1158,0.000,0.078,2726,2100,1719,1746,1693,0,0,0,0,0,0,14.21,14.09,14.27
$GC,7923,0.44,439.0,2727,2101,1747,1690,75.4,8.2,626,7948,0.00,2.53,19.55,0.418,8740,0.000,0.086,2726,680,1574,1603,1545,0,0,0,0,0,0,14.57,14.08,13.61
$GC,8016,0.57,489.9,2727,681,1609,1547,68.0,7.7,644,8052,0.12,2.47,28.80,0.400,11430,0.126,0.078,2781,2100,1369,1413,1325,0,0,0,0,0,0,14.14,14.08,13.69
$GC,8358,0.62,563.9,2781,2101,1409,1326,38.4,6.6,682,8400,0.00,0.00,40.70,0.311,8486,0.000,0.000,2781,2100,1063,1128,999,0,0,0,0,0,0,14.58,14.04,13.70
$GC,8698,0.79,656.9,2781,2101,1128,1005,16.0,5.7,717,8756,0.15,2.53,51.00,0.249,10916,0.118,0.091,2858,679,682,740,625,0,0,0,0,0,0,14.17,14.12,13.88
$GC,8803,0.86,659.6,2859,679,742,626,5.7,9.9,737,8808,0.00,2.50,1.55,0.264,9382,0.000,0.076,2858,2104,675,732,619,0,0,0,0,0,0,14.16,14.11,13.88
$STATE,8841,end climb,SURFACE_DEPTH_REACHED
$STATE,8841,begin surface coast
$FINISH,0.2,1.021484
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8917,26.20,0.210,0,0,498,703.28
$SM_GC,1.45,8.15,0.17,26.20,0.074,0.124,0.210,201,2216,498,-7.37,-0.62,703.28,0,0,0,0,0,0,14.31,14.30,13.97
$RAFOS_CLK,270
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7500.94,-15200.54,050917,082417
$TT8_MAMPS,0.038199,0.924266
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,0.000000
$PM_FREEKB_00,50445632
$24V_AH,12.24,164.572
$10V_AH,12.12,0.000
$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,25.900,84.425,972.325,26.200,0.000,0.000,0.000,357.450,4.500,0.000,12.645,0.000,6083.633,866.721,2329.957,298.826,0.000,2264.778,0.000,1063.410,2213.000,0.539,0.000
$DEVICE_MAMPS,459.765,2140.470,1487.160,209.610,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4863.000,8889.000,8870.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.186,20.000,9.899,0.000
$MEM,323680
$DATA_FILE_SIZE,26702,743
$CAP_FILE_SIZE,102881,0
$CFSIZE,2097872896,2011824128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.8
$CURRENT,0.048,313.80,1
$GPS,050917,134232,7500.978,-15200.885,29,0.7,29,20.2,0.0,0.0,11,7.1