version: 66.13
glider: 196
mission: 14
dive: 277
start: 9 8 117 1 22 35
data:
$ID,196
$MISSION,14
$DIVE,277
$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,46
$R_STBD_OVSHOOT,49
$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,773.0
$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
$GPS1,080917,011604,7526.8296,-15115.7949,36,0.7,38,20.7,1.0,306.2,12,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.5
$GPS2,080917,012201,7526.8154,-15115.8271,5,0.8,10,20.7,0.0,262.4,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,349.5,30254,-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,-145.9,185,2176,506,490,0.0,0.0,0,143,0.00,0.00,-91.25,0.000,16386,0.000,0.000,181,2176,2148,2082,2215,0,0,0,0,0,0,14.57,28.83,14.59
$GC,146,-0.57,-145.9,182,2176,2086,2215,3.7,-5.1,9,204,12.98,2.85,-36.58,0.000,18724,0.456,2.141,2375,3575,3965,3949,3982,1,0,0,0,0,0,13.48,12.55,14.14
$GC,324,-0.71,-145.9,2375,3578,3954,3984,41.6,-13.5,44,330,0.00,2.30,0.00,0.000,1158,0.000,0.059,2375,2217,3967,3953,3982,0,0,0,0,0,0,14.34,14.21,14.38
$GC,629,-0.82,-145.9,2376,2216,3956,3983,83.0,-11.0,75,630,0.20,0.00,0.00,0.000,4230,0.108,0.000,2297,2216,3966,3954,3978,0,0,0,0,0,0,14.34,14.46,14.43
$GC,949,-0.84,-145.9,2296,2217,3954,3983,132.7,-14.4,93,954,0.00,2.40,0.00,0.000,388,0.000,0.086,2288,3586,3968,3954,3982,0,0,0,0,0,0,14.74,14.21,14.76
$GC,1009,-0.97,-145.9,2289,3588,3955,3983,140.7,-12.1,105,1014,0.00,2.33,0.00,0.000,1158,0.000,0.057,2288,2202,3968,3954,3982,0,0,0,0,0,0,14.40,14.27,14.44
$GC,1339,-1.02,-145.9,2288,2202,3956,3983,183.8,-12.6,121,1344,0.12,2.42,0.00,0.000,4484,0.138,0.083,2224,3587,3968,3954,3982,0,0,0,0,0,0,14.38,14.21,14.41
$GC,1389,-1.02,-145.9,2225,3588,3955,3981,191.6,-15.9,131,1394,0.00,2.35,0.00,0.000,1030,0.000,0.059,2224,2190,3968,3954,3982,0,0,0,0,0,0,14.40,14.27,14.45
$GC,1700,-0.97,-145.9,2224,2190,3955,3982,246.0,-16.6,143,1705,0.15,2.45,0.00,0.000,2436,0.292,0.082,2250,3593,3968,3954,3982,0,0,0,0,0,0,13.93,14.21,14.10
$GC,1797,-1.07,-145.9,2250,3595,3955,3983,258.3,-11.6,162,1801,0.00,2.35,0.00,0.000,1158,0.000,0.057,2250,2196,3968,3954,3982,0,0,0,0,0,0,14.40,14.26,14.45
$GC,2122,-1.11,-145.9,2250,2196,3955,3983,297.4,-11.4,177,2126,0.00,2.42,0.00,0.000,388,0.000,0.087,2241,3581,3968,3955,3982,0,0,0,0,0,0,14.73,14.19,14.76
$GC,2162,-1.20,-145.9,2241,3583,3955,3983,302.0,-11.1,185,2167,0.15,2.35,0.00,0.000,5254,0.125,0.057,2182,2192,3968,3954,3982,0,0,0,0,0,0,14.26,14.18,14.39
$GC,2482,-1.12,-145.9,2183,2190,3955,3982,356.3,-17.1,199,2487,0.12,2.45,0.00,0.000,2436,0.308,0.083,2201,3592,3968,3954,3982,0,0,0,0,0,0,13.93,14.20,14.11
$GC,2590,-1.15,-145.9,2202,3593,3955,3983,371.1,-13.0,220,2595,0.00,2.35,0.00,0.000,1158,0.000,0.057,2201,2194,3968,3954,3982,0,0,0,0,0,0,14.39,14.26,14.43
$GC,2905,-1.12,-145.9,2201,2194,3955,3982,416.4,-14.2,233,2910,0.00,2.45,0.00,0.000,388,0.000,0.086,2194,3587,3968,3954,3982,0,0,0,0,0,0,14.73,14.19,14.75
$GC,2971,-1.15,-145.9,2194,3588,3955,3982,425.5,-13.3,246,2975,0.00,2.35,0.00,0.000,1158,0.000,0.055,2194,2199,3968,3954,3982,0,0,0,0,0,0,14.33,14.17,14.33
$GC,3296,-1.12,-145.9,2195,2199,3952,3983,472.7,-14.5,261,3301,0.00,2.42,0.00,0.000,388,0.000,0.085,2185,3586,3968,3954,3982,0,0,0,0,0,0,14.75,14.19,14.76
$STATE,3344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3344,begin apogee
$GC,3352,-0.13,0.0,2186,2089,3955,3982,480.1,-14.4,271,3597,1.38,0.00,241.60,1.386,10246,0.243,0.000,2530,2088,3365,3381,3350,0,0,0,0,0,0,13.85,13.50,12.68
$STATE,3601,end apogee,CONTROL_FINISHED_OK
$STATE,3601,begin climb
$GC,3603,0.57,145.9,2531,2088,3377,3344,494.1,0.0,279,3824,0.75,2.67,214.10,1.356,10500,0.060,0.071,2784,3485,2763,2799,2727,0,0,0,0,0,0,13.64,12.90,12.26
$GC,4026,0.08,145.9,2784,3485,2778,2720,479.0,15.5,367,4032,0.90,2.42,0.00,0.000,5254,0.347,0.057,2613,2097,2748,2777,2719,0,0,0,0,0,0,13.38,13.78,13.76
$GC,4337,0.01,201.8,2613,2097,2779,2718,454.6,7.4,379,4429,0.12,2.53,84.15,1.360,12964,0.290,0.084,2589,685,2533,2584,2482,0,0,0,0,0,0,13.87,13.65,13.03
$GC,4479,0.09,248.0,2589,686,2580,2477,444.4,7.9,407,4556,0.00,2.47,72.18,1.336,9382,0.000,0.080,2596,2081,2353,2406,2300,0,0,0,0,0,0,14.09,13.96,12.93
$GC,4882,0.15,279.3,2589,2081,2387,2276,410.4,8.6,437,4930,0.12,0.00,46.17,1.369,10406,0.134,0.000,2649,2081,2225,2276,2174,0,0,0,0,0,0,14.26,13.99,13.16
$GC,5212,0.10,279.3,2649,2081,2260,2155,368.8,12.7,448,5213,0.15,0.00,0.00,0.000,4230,0.239,0.000,2616,2081,2206,2258,2154,0,0,0,0,0,0,14.01,14.31,14.26
$GC,5512,0.10,280.7,2616,2086,2258,2154,338.5,9.9,458,5516,0.00,2.45,0.00,0.000,548,0.000,0.088,2615,687,2205,2258,2152,0,0,0,0,0,0,14.65,14.21,14.66
$GC,5582,0.19,298.3,2617,685,2257,2153,331.9,9.2,472,5612,0.00,2.45,24.60,1.419,9382,0.000,0.078,2616,2101,2147,2196,2098,0,0,0,0,0,0,14.32,14.19,13.29
$GC,5935,0.23,312.4,2616,2103,2186,2084,298.4,9.3,492,5956,0.12,0.00,19.52,1.455,10406,0.128,0.000,2677,2103,2091,2139,2044,0,0,0,0,0,0,14.35,14.16,13.31
$GC,6233,0.17,312.4,2677,2104,2126,2030,258.8,13.2,502,6238,0.15,2.47,0.00,0.000,4740,0.248,0.084,2644,687,2076,2125,2028,0,0,0,0,0,0,14.02,14.19,14.18
$GC,6330,0.24,328.3,2644,688,2123,2029,249.2,9.3,521,6359,0.00,2.45,22.60,1.413,9382,0.000,0.079,2644,2101,2023,2070,1977,0,0,0,0,0,0,14.36,14.21,13.29
$GC,6686,0.30,362.6,2645,2102,2060,1965,217.8,8.4,542,6750,0.00,2.50,58.88,1.306,8612,0.000,0.081,2644,3511,1881,1915,1847,0,0,0,0,0,0,14.62,13.80,13.21
$GC,6778,0.36,366.5,2645,3511,1903,1845,209.9,9.8,560,6784,0.17,2.42,0.00,0.000,3238,0.103,0.064,2708,2102,1872,1901,1844,0,0,0,0,0,0,14.07,14.07,14.14
$GC,7109,0.31,366.5,2709,2102,1900,1837,169.4,11.8,576,7115,0.00,2.47,0.00,0.000,644,0.000,0.089,2710,692,1867,1898,1837,0,0,0,0,0,0,14.59,14.17,14.61
$GC,7275,0.31,366.5,2708,693,1895,1837,151.8,10.5,609,7280,0.00,2.45,0.00,0.000,1030,0.000,0.078,2710,2101,1865,1894,1837,0,0,0,0,0,0,14.35,14.21,14.38
$GC,7590,0.28,366.8,2709,2102,1894,1835,119.3,10.0,622,7595,0.12,2.47,0.00,0.000,4516,0.231,0.080,2677,3519,1864,1894,1834,0,0,0,0,0,0,14.03,14.16,14.12
$GC,7646,0.34,391.7,2678,3519,1894,1834,114.3,8.8,633,7696,0.00,2.42,45.75,1.284,9382,0.000,0.062,2681,2098,1768,1793,1744,0,0,0,0,0,0,14.34,14.22,13.30
$GC,8001,0.46,465.1,2680,2099,1778,1726,87.7,6.6,667,8049,0.12,2.53,40.10,0.455,10916,0.132,0.089,2742,694,1467,1504,1430,0,0,0,0,0,0,14.21,14.06,13.65
$GC,8249,0.57,517.8,2743,694,1507,1432,65.0,7.6,716,8288,0.00,2.47,30.60,0.386,9382,0.000,0.077,2742,2102,1254,1310,1199,0,0,0,0,0,0,14.22,14.09,13.66
$GC,8584,0.75,617.4,2743,2101,1311,1206,42.4,5.4,753,8649,0.22,2.55,57.38,0.319,10660,0.098,0.080,2833,3513,848,917,780,0,0,0,0,0,0,14.20,13.97,13.73
$GC,8699,0.75,617.4,2833,3514,918,786,29.7,12.4,775,8704,0.00,2.45,0.00,0.000,1030,0.000,0.066,2840,2096,851,917,786,0,0,0,0,0,0,14.16,14.03,14.21
$STATE,8987,end climb,SURFACE_DEPTH_REACHED
$STATE,8987,begin surface coast
$FINISH,0.1,1.021565
$STATE,8997,end surface coast,CONTROL_FINISHED_OK
$STATE,8997,begin surface
$SM_CCo,9017,52.45,0.207,0,0,497,702.78
$SM_GC,1.34,8.00,0.20,52.45,0.063,0.116,0.207,198,2228,497,-7.38,-0.42,702.78,0,0,0,0,0,0,14.33,14.29,13.94
$RAFOS_CLK,416
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7525.54,-15119.96,070917,223938
$TT8_MAMPS,0.039697,0.956473
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,24
$CP_FREE,15953985536.000000
$PM_FREEKB_00,49780544
$24V_AH,12.26,175.209
$10V_AH,12.14,0.000
$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,26.075,83.750,957.625,52.450,0.000,0.000,0.000,163.600,6.000,0.000,11.382,0.000,6408.565,884.009,1917.473,230.839,0.000,1914.292,0.000,1152.754,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2141.235,1455.030,207.315,0.000,0.000,0.000,135.405,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5361.000,9000.000,8972.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.819,20.000,9.841,0.000
$MEM,323588
$DATA_FILE_SIZE,26719,806
$CAP_FILE_SIZE,100406,0
$CFSIZE,2097872896,2006777856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.033,273.07,1
$GPS,080917,035511,7528.018,-15114.754,40,0.7,41,20.7,0.5,268.1,12,10.0