version: 66.13
glider: 196
mission: 14
dive: 281
start: 9 8 117 12 8 42
data:
$ID,196
$MISSION,14
$DIVE,281
$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,66
$R_STBD_OVSHOOT,50
$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,783.0
$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
$GPS1,080917,120231,7531.4531,-15111.2412,22,0.7,38,20.7,0.6,332.8,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.0
$GPS2,080917,120806,7531.4526,-15111.1816,7,0.7,7,20.7,1.2,187.2,11,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,350.7,21573,-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,-145.9,190,2230,507,495,0.0,0.0,0,144,0.00,0.00,-91.93,0.000,16386,0.000,0.000,188,2229,2157,2089,2226,0,0,0,0,0,0,14.40,28.83,14.41
$GC,147,-0.57,-145.9,197,2230,2092,2227,3.7,-4.3,9,204,12.95,2.72,-36.12,0.000,18724,0.454,2.134,2375,3575,3964,3947,3981,0,0,0,0,0,0,13.57,12.59,14.00
$GC,270,-0.77,-145.9,2376,3575,3952,3981,34.0,-12.4,33,275,0.15,2.30,0.00,0.000,5254,0.114,0.057,2317,2234,3966,3951,3981,0,0,0,0,0,0,14.09,14.02,14.19
$GC,580,-0.77,-145.9,2317,2233,3952,3981,95.6,-15.6,65,584,0.00,2.40,0.00,0.000,260,0.000,0.086,2309,3583,3966,3952,3981,0,0,0,0,0,0,14.39,13.98,14.41
$GC,615,-0.84,-145.9,2309,3581,3953,3980,100.8,-14.5,72,621,0.00,2.38,0.00,0.000,1158,0.000,0.059,2308,2198,3964,3952,3976,0,0,0,0,0,0,14.12,14.06,14.12
$GC,941,-0.90,-145.9,2308,2196,3954,3981,143.4,-12.4,87,946,0.00,2.47,0.00,0.000,388,0.000,0.087,2307,3581,3966,3953,3980,0,0,0,0,0,0,14.44,14.02,14.45
$GC,991,-1.07,-145.9,2307,3582,3949,3982,149.0,-10.4,97,996,0.22,2.38,0.00,0.000,5254,0.095,0.057,2226,2197,3966,3952,3980,0,0,0,0,0,0,14.09,14.02,14.17
$GC,1302,-1.00,-145.9,2227,2197,3953,3980,207.7,-18.6,109,1307,0.12,2.47,0.00,0.000,2436,0.290,0.083,2244,3579,3967,3952,3983,0,0,0,0,0,0,13.77,14.01,13.95
$GC,1447,-1.06,-145.9,2244,3581,3953,3981,228.1,-12.9,138,1453,0.00,2.40,0.00,0.000,1158,0.000,0.059,2245,2198,3967,3954,3980,0,0,0,0,0,0,14.15,14.02,14.18
$GC,1752,-1.06,-145.9,2245,2200,3953,3978,269.8,-13.0,149,1757,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3585,3966,3953,3980,0,0,0,0,0,0,14.47,13.97,14.46
$GC,1814,-1.14,-145.9,2236,3586,3953,3981,277.2,-11.7,161,1819,0.00,2.40,0.00,0.000,1158,0.000,0.058,2236,2197,3966,3952,3980,0,0,0,0,0,0,14.12,13.97,14.14
$GC,2147,-1.17,-145.9,2236,2197,3953,3981,318.6,-12.1,177,2152,0.00,2.47,0.00,0.000,388,0.000,0.089,2236,3585,3967,3953,3981,0,0,0,0,0,0,14.53,14.07,14.54
$GC,2247,-1.27,-145.9,2236,3588,3953,3981,330.0,-10.8,197,2253,0.20,2.38,0.00,0.000,5254,0.108,0.057,2161,2185,3966,3953,3980,0,0,0,0,0,0,14.22,14.16,14.32
$GC,2568,-1.15,-145.9,2161,2185,3953,3980,388.8,-18.5,211,2573,0.20,2.50,0.00,0.000,2436,0.300,0.082,2195,3586,3966,3953,3980,0,0,0,0,0,0,13.73,14.07,13.93
$GC,2708,-1.18,-145.9,2196,3587,3953,3980,408.3,-13.1,239,2713,0.00,2.35,0.00,0.000,1158,0.000,0.057,2195,2197,3966,3952,3980,0,0,0,0,0,0,14.34,14.20,14.37
$GC,3019,-1.15,-145.9,2195,2195,3953,3981,452.6,-14.2,251,3023,0.00,2.45,0.00,0.000,388,0.000,0.086,2185,3581,3966,3953,3980,0,0,0,0,0,0,14.66,14.11,14.69
$GC,3103,-1.15,-145.9,2186,3582,3952,3981,464.8,-13.9,268,3111,0.00,2.35,0.00,0.000,1030,0.000,0.057,2185,2194,3966,3952,3980,0,0,0,0,0,0,14.27,14.18,14.33
$STATE,3226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3226,begin apogee
$GC,3232,-0.13,0.0,2186,2066,3952,3980,483.6,-15.2,273,3460,1.38,0.00,224.60,1.408,10246,0.246,0.000,2528,2065,3367,3383,3351,0,0,0,0,0,0,13.84,13.51,12.68
$STATE,3464,end apogee,CONTROL_FINISHED_OK
$STATE,3464,begin climb
$GC,3466,0.57,145.9,2529,2066,3374,3341,495.9,0.0,280,3860,0.75,2.58,214.77,1.349,10756,0.061,0.077,2792,729,2755,2789,2722,0,0,0,0,0,0,13.66,12.92,12.32
$GC,4069,0.16,145.9,2793,730,2787,2716,459.5,13.8,322,4075,0.73,2.38,0.00,0.000,5254,0.325,0.075,2638,2078,2749,2786,2713,0,0,0,0,0,0,13.62,14.00,14.01
$GC,4402,0.02,180.4,2639,2078,2787,2709,430.6,8.4,338,4453,0.20,0.00,48.90,1.395,12454,0.267,0.000,2594,2078,2629,2677,2582,0,0,0,0,0,0,13.89,14.03,13.19
$GC,4730,0.03,232.4,2594,2079,2668,2561,405.6,7.6,349,4814,0.00,0.00,81.70,1.340,8358,0.000,0.000,2594,2078,2418,2476,2361,0,0,0,0,0,0,14.59,13.91,13.12
$GC,5090,0.08,268.6,2594,2078,2457,2341,376.1,8.3,361,5151,0.00,0.00,55.55,1.338,8870,0.000,0.000,2594,2078,2266,2319,2213,0,0,0,0,0,0,14.56,13.97,13.19
$GC,5452,0.16,304.3,2594,2079,2309,2197,345.9,8.4,383,5512,0.12,2.45,56.22,1.326,10916,0.130,0.086,2653,723,2123,2170,2077,0,0,0,0,0,0,14.31,14.04,13.19
$GC,5552,0.16,304.3,2655,726,2156,2067,333.9,12.8,393,5558,0.00,2.42,0.00,0.000,1030,0.000,0.079,2654,2098,2110,2154,2067,0,0,0,0,0,0,14.16,14.04,14.20
$GC,5874,0.12,304.3,2654,2100,2155,2059,294.5,12.0,407,5879,0.12,2.40,0.00,0.000,4740,0.243,0.082,2627,723,2106,2154,2058,0,0,0,0,0,0,14.08,14.21,14.20
$GC,5924,0.21,318.0,2627,723,2153,2059,289.4,9.4,417,5945,0.00,2.40,15.77,1.461,9382,0.000,0.078,2627,2106,2068,2115,2021,0,0,0,0,0,0,14.33,14.16,13.29
$GC,6267,0.27,339.6,2628,2106,2104,2005,257.6,9.0,435,6306,0.12,2.42,33.67,1.366,10916,0.129,0.084,2696,730,1976,2023,1930,0,0,0,0,0,0,14.38,13.90,13.28
$GC,6338,0.23,339.6,2697,729,2012,1928,248.9,12.9,449,6344,0.17,2.40,0.00,0.000,5254,0.223,0.077,2657,2105,1968,2010,1927,0,0,0,0,0,0,14.00,14.16,14.25
$GC,6660,0.23,349.9,2658,2105,2011,1919,216.6,9.5,463,6670,0.00,2.40,4.75,1.523,8740,0.000,0.086,2658,726,1941,1988,1895,0,0,0,0,0,0,14.62,14.21,13.07
$GC,6705,0.32,373.3,2658,725,1990,1899,212.5,8.9,472,6757,0.00,2.40,46.55,1.343,9382,0.000,0.079,2658,2109,1844,1876,1812,0,0,0,0,0,0,14.37,14.19,13.24
$GC,7084,0.40,404.2,2658,2107,1864,1801,179.2,8.6,497,7143,0.12,2.47,50.72,1.299,10916,0.131,0.086,2723,726,1714,1737,1691,0,0,0,0,0,0,14.30,14.02,13.23
$GC,7218,0.40,404.2,2724,725,1731,1688,162.7,11.8,524,7223,0.00,2.40,0.00,0.000,1030,0.000,0.076,2723,2099,1707,1729,1686,0,0,0,0,0,0,14.25,14.12,14.28
$GC,7534,0.37,404.2,2724,2100,1730,1683,124.5,11.8,537,7534,0.00,0.00,0.00,0.000,134,0.000,0.000,2724,2099,1705,1729,1681,0,0,0,0,0,0,14.61,14.63,14.62
$GC,7833,0.38,411.7,2724,2099,1731,1678,92.4,9.7,551,7844,0.00,2.45,2.97,0.417,8740,0.000,0.085,2724,727,1684,1712,1657,0,0,0,0,0,0,14.61,14.09,13.54
$GC,7905,0.44,444.5,2725,727,1715,1660,86.1,8.5,565,7931,0.00,2.40,19.62,0.458,9382,0.000,0.076,2724,2097,1552,1581,1523,0,0,0,0,0,0,13.78,13.37,13.63
$GC,8237,0.55,512.6,2725,2097,1583,1522,59.0,6.9,601,8278,0.12,0.00,37.80,0.374,10918,0.125,0.000,2786,2097,1273,1322,1225,0,0,0,0,0,0,14.21,14.10,13.68
$GC,8577,0.59,569.8,2787,2098,1323,1221,32.1,7.4,637,8613,0.00,2.42,31.83,0.295,8740,0.000,0.084,2793,727,1039,1105,974,0,0,0,0,0,0,14.59,13.96,13.74
$GC,8769,0.79,666.8,2794,726,1104,974,19.9,5.5,675,8828,0.12,2.42,54.08,0.261,11430,0.132,0.078,2851,2113,645,698,592,0,0,0,0,0,0,14.21,14.16,13.81
$STATE,8961,end climb,SURFACE_DEPTH_REACHED
$STATE,8961,begin surface coast
$FINISH,0.2,1.021565
$STATE,8971,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,8992,21.30,0.210,0,0,496,703.28
$SM_GC,1.09,8.18,0.15,21.30,0.075,0.117,0.210,199,2226,496,-7.39,-0.82,703.28,0,0,0,0,0,0,14.28,14.30,13.94
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7530.74,-15119.26,080917,092236
$TT8_MAMPS,0.038948,0.923517
$HUMID,46.88
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,11
$CP_FREE,15952248832.000000
$PM_FREEKB_00,49666368
$24V_AH,12.32,177.085
$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,26.000,78.000,979.525,21.300,0.000,0.000,0.000,148.175,2.750,0.000,7.814,0.000,6241.795,895.460,1996.874,231.213,0.000,2034.410,0.000,1005.650,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2134.350,1523.115,209.610,0.000,0.000,0.000,140.760,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8581.000,8960.000,8946.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.649,20.000,9.891,0.000
$MEM,323444
$DATA_FILE_SIZE,23383,701
$CAP_FILE_SIZE,97599,0
$CFSIZE,2097872896,2005925888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.4
$CURRENT,0.045,291.14,1
$GPS,080917,144003,7532.655,-15109.736,15,0.7,21,20.7,0.9,123.0,12,9.5