version: 66.13
glider: 196
mission: 14
dive: 280
start: 9 8 117 9 29 4
data:
$ID,196
$MISSION,14
$DIVE,280
$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,61
$R_STBD_OVSHOOT,53
$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,781.0
$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
$GPS1,080917,091819,7530.2935,-15112.7275,14,0.7,36,20.7,0.7,280.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.3
$GPS2,080917,092830,7530.2998,-15112.7285,5,0.8,10,20.7,0.0,0.0,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,351.8,23726,-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,49,begin dive
$GC,52,-0.57,-145.9,181,2238,504,495,0.0,0.0,0,144,0.00,0.00,-91.12,0.000,16386,0.000,0.000,173,2236,2145,2075,2216,0,0,0,0,0,0,14.51,28.83,14.52
$GC,147,-0.57,-145.9,178,2237,2077,2218,3.6,-4.8,9,205,13.02,2.72,-36.60,0.000,18724,0.455,2.133,2373,3575,3961,3945,3978,1,0,0,0,0,0,13.37,12.60,14.09
$GC,305,-0.73,-145.9,2376,3578,3950,3977,38.2,-13.3,40,312,0.00,2.30,0.00,0.000,1158,0.000,0.059,2380,2228,3964,3950,3978,0,0,0,0,0,0,14.26,14.11,14.28
$GC,610,-0.83,-145.9,2376,2228,3952,3978,81.7,-11.5,71,615,0.17,2.53,0.00,0.000,4740,0.118,0.082,2301,795,3964,3950,3978,0,0,0,0,0,0,14.16,14.02,14.23
$GC,645,-0.83,-145.9,2301,795,3951,3978,87.1,-16.4,78,651,0.00,2.45,0.00,0.000,1030,0.000,0.087,2293,2172,3964,3951,3978,0,0,0,0,0,0,14.08,13.94,14.10
$GC,970,-0.86,-145.9,2295,2173,3952,3978,137.8,-14.4,95,975,0.00,2.55,0.00,0.000,388,0.000,0.091,2293,3614,3964,3951,3978,0,0,0,0,0,0,14.66,14.09,14.66
$GC,1107,-0.99,-145.9,2293,3614,3952,3978,153.9,-11.3,122,1112,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2199,3964,3951,3978,0,0,0,0,0,0,14.34,14.21,14.38
$GC,1422,-1.05,-145.9,2293,2198,3950,3978,193.1,-12.0,135,1427,0.15,2.50,0.00,0.000,4484,0.122,0.085,2222,3616,3964,3950,3978,0,0,0,0,0,0,14.21,14.11,14.24
$GC,1498,-1.05,-145.9,2223,3614,3952,3978,204.7,-15.8,150,1502,0.00,2.40,0.00,0.000,1030,0.000,0.058,2222,2195,3964,3951,3978,0,0,0,0,0,0,14.33,14.20,14.37
$GC,1813,-1.01,-145.9,2222,2199,3951,3980,258.7,-16.4,163,1818,0.12,2.50,0.00,0.000,2436,0.297,0.085,2242,3614,3964,3951,3978,0,0,0,0,0,0,13.87,14.14,14.02
$GC,1878,-1.09,-145.9,2241,3615,3952,3978,267.3,-11.9,176,1884,0.00,2.40,0.00,0.000,1158,0.000,0.057,2241,2203,3964,3951,3978,0,0,0,0,0,0,14.33,14.20,14.37
$GC,2204,-1.13,-145.9,2242,2202,3951,3979,308.2,-12.1,191,2209,0.00,2.50,0.00,0.000,388,0.000,0.089,2236,3619,3964,3950,3978,0,0,0,0,0,0,14.66,14.14,14.67
$GC,2269,-1.24,-145.9,2236,3621,3951,3979,315.5,-10.6,204,2275,0.17,2.40,0.00,0.000,5254,0.114,0.058,2166,2201,3963,3950,3977,0,0,0,0,0,0,14.26,14.16,14.35
$GC,2596,-1.12,-145.9,2166,2199,3952,3978,374.1,-18.0,219,2601,0.20,2.50,0.00,0.000,2436,0.304,0.083,2201,3620,3963,3950,3977,0,0,0,0,0,0,13.78,14.16,14.00
$GC,2693,-1.16,-145.9,2202,3622,3952,3978,387.3,-12.5,238,2698,0.00,2.42,0.00,0.000,1158,0.000,0.057,2201,2202,3964,3950,3978,0,0,0,0,0,0,13.40,13.41,13.74
$GC,3018,-1.14,-145.9,2201,2202,3951,3979,432.8,-13.9,253,3023,0.00,2.50,0.00,0.000,388,0.000,0.086,2192,3622,3964,3950,3978,0,0,0,0,0,0,14.66,14.15,14.69
$GC,3123,-1.17,-145.9,2192,3622,3951,3978,447.0,-12.9,274,3128,0.00,2.42,0.00,0.000,1158,0.000,0.058,2192,2188,3963,3949,3978,0,0,0,0,0,0,14.33,14.21,14.38
$STATE,3376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3376,begin apogee
$GC,3382,-0.13,0.0,2193,2055,3950,3978,483.4,-14.3,285,3620,1.35,0.08,229.80,1.407,10246,0.239,0.110,2527,2123,3357,3376,3338,0,0,0,0,0,0,13.67,13.26,12.66
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3627,0.57,145.9,2528,2120,3375,3335,496.7,0.0,293,3846,0.75,2.67,213.32,1.359,10756,0.060,0.080,2781,736,2764,2803,2725,0,0,0,0,0,0,13.65,12.90,12.28
$GC,4073,0.18,145.9,2782,736,2791,2715,480.0,13.7,384,4079,0.65,2.45,0.00,0.000,5254,0.324,0.075,2647,2092,2751,2788,2714,0,0,0,0,0,0,13.42,13.80,13.81
$GC,4400,0.02,169.8,2647,2093,2792,2709,449.9,8.9,399,4436,0.20,2.38,30.50,1.464,12964,0.264,0.082,2602,733,2668,2711,2625,0,0,0,0,0,0,13.86,14.02,13.19
$GC,4504,0.06,223.5,2603,733,2708,2614,442.2,7.5,419,4593,0.00,2.40,83.20,1.349,9254,0.000,0.078,2602,2103,2452,2509,2395,0,0,0,0,0,0,14.26,14.13,13.02
$GC,4913,0.07,245.8,2603,2107,2495,2374,406.0,9.0,451,4950,0.00,2.42,31.05,1.424,8740,0.000,0.085,2602,726,2358,2411,2305,0,0,0,0,0,0,14.55,14.09,13.22
$GC,4986,0.16,273.8,2602,721,2411,2301,399.6,8.7,460,5037,0.00,2.40,43.40,1.372,9382,0.000,0.078,2602,2103,2242,2298,2187,0,0,0,0,0,0,14.23,14.11,13.10
$GC,5338,0.21,295.5,2602,2104,2289,2172,368.0,9.0,480,5368,0.15,0.00,29.10,1.418,10406,0.116,0.000,2671,2102,2161,2212,2111,0,0,0,0,0,0,14.28,13.70,13.19
$GC,5666,0.13,295.5,2672,2103,2197,2094,323.1,13.7,491,5671,0.17,2.40,0.00,0.000,4740,0.249,0.082,2633,733,2145,2196,2094,0,0,0,0,0,0,14.00,14.21,14.12
$GC,5721,0.19,295.5,2634,733,2197,2095,317.0,10.0,502,5727,0.00,2.38,0.00,0.000,1158,0.000,0.079,2634,2099,2144,2195,2094,0,0,0,0,0,0,14.18,14.02,14.19
$GC,6026,0.19,295.5,2634,2100,2195,2093,285.6,10.1,513,6031,0.00,2.40,0.00,0.000,516,0.000,0.084,2636,732,2143,2193,2093,0,0,0,0,0,0,14.66,14.23,14.69
$GC,6076,0.26,302.0,2634,732,2194,2094,280.7,9.7,523,6081,0.00,2.38,1.35,0.254,9382,0.000,0.078,2633,2104,2132,2182,2083,0,0,0,0,0,0,14.38,14.25,14.00
$GC,6386,0.27,317.2,2634,2105,2191,2087,250.7,9.3,535,6421,0.00,0.00,33.70,1.376,8230,0.000,0.000,2633,2105,2072,2121,2023,0,0,0,0,0,0,14.69,14.14,13.30
$GC,6717,0.34,357.8,2634,2105,2107,2008,223.0,8.1,546,6797,0.15,2.47,72.57,1.268,10916,0.114,0.086,2703,732,1898,1936,1860,0,0,0,0,0,0,14.28,13.95,13.21
$GC,6902,0.34,357.8,2704,733,1920,1864,201.3,11.7,583,6907,0.00,2.42,0.00,0.000,1030,0.000,0.076,2703,2103,1891,1920,1862,0,0,0,0,0,0,14.21,14.09,14.26
$GC,7227,0.29,357.8,2704,2106,1920,1856,164.9,11.1,598,7228,0.00,0.00,0.00,0.000,134,0.000,0.000,2703,2105,1887,1919,1855,0,0,0,0,0,0,14.59,14.62,14.61
$GC,7527,0.26,357.8,2703,2105,1920,1854,133.3,10.2,608,7534,0.12,2.42,0.00,0.000,4740,0.235,0.083,2672,729,1885,1918,1853,0,0,0,0,0,0,14.03,14.14,14.15
$GC,7584,0.39,407.4,2672,729,1916,1855,128.5,7.7,619,7680,0.10,2.40,87.78,1.206,11430,0.153,0.079,2714,2105,1699,1721,1677,0,0,0,0,0,0,14.20,14.17,13.21
$GC,7979,0.41,438.1,2715,2106,1719,1658,90.4,8.6,654,8000,0.00,0.00,15.82,0.454,8742,0.000,0.000,2714,2105,1579,1611,1548,0,0,0,0,0,0,14.52,13.93,13.60
$GC,8299,0.51,510.8,2715,2106,1617,1551,64.9,6.6,687,8342,0.00,0.00,41.67,0.392,8870,0.000,0.000,2712,2104,1280,1334,1226,0,0,0,0,0,0,14.57,14.13,13.71
$GC,8639,0.77,628.0,2713,2106,1335,1232,45.7,4.6,722,8713,0.32,2.47,65.18,0.329,10916,0.086,0.088,2850,730,805,875,736,0,0,0,0,0,0,14.23,13.93,13.76
$GC,8873,0.82,649.4,2850,730,877,739,21.1,9.0,768,8895,0.00,2.40,13.30,0.263,9382,0.000,0.076,2849,2105,716,780,652,0,0,0,0,0,0,14.22,14.11,13.78
$STATE,9060,end climb,SURFACE_DEPTH_REACHED
$STATE,9060,begin surface coast
$FINISH,0.6,1.021566
$STATE,9070,end surface coast,CONTROL_FINISHED_OK
$STATE,9070,begin surface
$SM_CCo,9091,32.50,0.208,0,0,500,702.78
$SM_GC,1.47,8.23,0.15,32.50,0.075,0.116,0.208,199,2227,500,-7.37,-0.90,702.78,0,0,0,0,0,0,14.21,14.20,13.88
$RAFOS_CLK,11
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7533.95,-15220.51,080917,064604
$TT8_MAMPS,0.093625,0.87633
$HUMID,46.77
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,15952674816.000000
$PM_FREEKB_00,49698944
$24V_AH,12.28,176.646
$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,26.050,78.750,991.750,32.500,0.000,0.000,0.000,350.300,2.750,0.000,11.360,0.000,6456.006,905.154,2097.953,291.292,0.000,2116.428,0.000,1130.331,2216.000,0.539,0.000
$DEVICE_MAMPS,455.175,2132.820,1464.210,208.080,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9052.000,9076.000,9043.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.615,20.000,9.858,0.000
$MEM,323680
$DATA_FILE_SIZE,26729,789
$CAP_FILE_SIZE,101214,0
$CFSIZE,2097872896,2006089728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.048,277.83,1
$GPS,080917,120231,7531.453,-15111.241,22,0.7,38,20.7,0.6,332.8,10,7.1