version: 66.13
glider: 196
mission: 14
dive: 284
start: 9 8 117 20 15 19
data:
$ID,196
$MISSION,14
$DIVE,284
$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,29
$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,790.0
$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
$GPS1,080917,200056,7535.0684,-15107.4082,38,0.7,38,20.8,0.0,0.0,10,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.5
$GPS2,080917,201446,7535.0864,-15107.4082,9,0.9,9,20.8,0.5,344.5,9,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.6,14914,-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,-145.9,193,2194,496,491,0.0,0.0,0,141,0.00,0.00,-88.10,0.000,16386,0.000,0.000,190,2195,2043,1969,2117,0,0,0,0,0,0,14.53,28.83,14.53
$GC,144,-0.57,-145.9,191,2195,1971,2119,3.3,-4.2,9,203,13.02,0.00,-42.58,0.000,18470,0.454,0.000,2386,2195,3963,3948,3979,1,0,0,0,0,0,13.41,12.53,14.04
$GC,502,-0.67,-145.9,2386,2194,3956,3979,69.6,-12.5,45,507,0.00,2.47,0.00,0.000,388,0.000,0.086,2378,3588,3967,3955,3979,0,0,0,0,0,0,14.47,14.02,14.49
$GC,547,-0.87,-145.9,2379,3587,3957,3980,74.4,-9.8,54,554,0.25,2.35,0.00,0.000,5286,0.091,0.053,2279,2202,3967,3955,3979,0,0,0,0,0,0,14.17,14.10,14.23
$GC,874,-0.87,-145.9,2279,2202,3955,3980,132.3,-16.3,75,880,0.00,2.45,0.00,0.000,260,0.000,0.086,2268,3581,3967,3955,3979,0,0,0,0,0,0,14.49,14.03,14.50
$GC,925,-0.93,-145.9,2268,3581,3956,3979,140.1,-13.5,85,930,0.00,2.38,0.00,0.000,1158,0.000,0.057,2268,2198,3967,3955,3979,0,0,0,0,0,0,14.07,14.04,14.13
$GC,1235,-0.93,-145.9,2268,2197,3955,3980,186.3,-14.5,97,1240,0.00,2.47,0.00,0.000,260,0.000,0.087,2261,3582,3967,3955,3979,0,0,0,0,0,0,14.49,14.02,14.50
$GC,1307,-1.04,-145.9,2261,3582,3954,3979,195.8,-12.5,111,1313,0.00,2.38,0.00,0.000,1158,0.000,0.058,2261,2195,3967,3955,3979,0,0,0,0,0,0,14.15,14.00,14.19
$GC,1630,-1.07,-145.9,2261,2195,3956,3980,239.9,-13.2,125,1635,0.00,2.45,0.00,0.000,388,0.000,0.087,2253,3581,3967,3955,3980,0,0,0,0,0,0,14.64,14.07,14.66
$GC,1710,-1.20,-145.9,2254,3581,3956,3979,249.6,-10.9,141,1715,0.20,2.35,0.00,0.000,5254,0.108,0.057,2176,2199,3967,3955,3979,0,0,0,0,0,0,14.25,14.20,14.35
$GC,2021,-1.08,-145.9,2176,2199,3955,3980,307.3,-18.6,153,2026,0.20,2.45,0.00,0.000,2436,0.283,0.083,2213,3586,3967,3955,3979,0,0,0,0,0,0,13.87,14.10,14.05
$GC,2151,-1.12,-145.9,2214,3588,3956,3979,325.1,-12.6,179,2157,0.00,2.35,0.00,0.000,1158,0.000,0.057,2213,2199,3967,3955,3979,0,0,0,0,0,0,14.35,14.23,14.41
$GC,2472,-1.12,-145.9,2213,2199,3955,3980,368.2,-13.3,193,2477,0.00,2.45,0.00,0.000,260,0.000,0.089,2210,3582,3966,3954,3979,0,0,0,0,0,0,14.72,14.12,14.73
$GC,2542,-1.18,-145.9,2210,3586,3955,3980,377.1,-12.2,207,2548,0.00,2.35,0.00,0.000,1158,0.000,0.057,2210,2193,3966,3954,3979,0,0,0,0,0,0,14.39,14.23,14.40
$GC,2863,-1.18,-145.9,2210,2192,3955,3979,419.2,-13.1,221,2868,0.00,2.47,0.00,0.000,260,0.000,0.089,2209,3582,3966,3955,3978,0,0,0,0,0,0,14.73,14.05,14.74
$GC,2928,-1.25,-145.9,2209,3583,3954,3980,427.4,-11.9,234,2933,0.00,2.35,0.00,0.000,1158,0.000,0.056,2209,2193,3966,3954,3979,0,0,0,0,0,0,14.36,14.23,14.38
$GC,3253,-1.25,-145.9,2209,2192,3954,3980,468.9,-12.7,249,3258,0.00,2.47,0.00,0.000,260,0.000,0.088,2208,3586,3966,3953,3979,0,0,0,0,0,0,14.73,14.11,14.76
$STATE,3346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3346,begin apogee
$GC,3354,-0.13,0.0,2210,2098,3954,3980,480.1,-11.2,268,3579,1.25,0.00,220.95,1.434,10246,0.224,0.000,2532,2094,3366,3383,3349,0,0,0,0,0,0,13.88,13.52,12.67
$STATE,3582,end apogee,CONTROL_FINISHED_OK
$STATE,3582,begin climb
$GC,3584,0.57,145.9,2533,2095,3378,3339,491.8,0.0,275,3980,0.73,1.92,210.12,1.375,10500,0.062,0.073,2777,3484,2755,2785,2725,0,0,0,0,0,0,13.66,13.14,12.28
$GC,4165,0.10,145.9,2777,3485,2784,2723,449.5,15.5,314,4170,0.80,2.38,0.00,0.000,5254,0.343,0.058,2618,2097,2752,2783,2722,0,0,0,0,0,0,13.64,14.06,14.03
$GC,4481,0.01,195.7,2619,2096,2783,2719,423.7,7.7,327,4561,0.12,2.58,71.07,1.388,12964,0.293,0.087,2590,692,2560,2609,2512,0,0,0,0,0,0,13.94,13.97,13.10
$GC,4616,0.10,256.5,2590,693,2608,2509,413.9,7.2,354,4712,0.00,2.45,91.22,1.349,9382,0.000,0.080,2590,2075,2319,2372,2267,0,0,0,0,0,0,14.16,14.05,12.93
$GC,5023,0.19,296.6,2590,2075,2359,2249,380.6,8.2,385,5090,0.12,2.55,59.33,1.363,10660,0.132,0.082,2656,3508,2150,2197,2103,0,0,0,0,0,0,14.26,13.97,13.14
$GC,5105,0.10,296.6,2656,3511,2189,2101,370.4,14.1,396,5111,0.20,2.42,0.00,0.000,5254,0.280,0.063,2617,2104,2146,2192,2101,0,0,0,0,0,0,13.84,14.01,14.08
$GC,5417,0.14,301.0,2617,2105,2191,2092,338.9,9.8,408,5422,0.00,2.50,0.00,0.000,676,0.000,0.090,2615,683,2140,2189,2091,0,0,0,0,0,0,14.58,14.15,14.59
$GC,5525,0.25,323.9,2617,683,2188,2092,329.3,8.9,429,5570,0.15,2.47,39.83,1.382,11430,0.112,0.080,2681,2108,2043,2089,1997,0,0,0,0,0,0,14.23,14.19,13.24
$GC,5870,0.18,323.9,2682,2108,2083,1988,280.9,13.8,448,5875,0.15,2.50,0.00,0.000,4740,0.255,0.084,2647,685,2034,2082,1986,0,0,0,0,0,0,14.00,14.04,14.16
$GC,5901,0.20,323.9,2649,685,2081,1986,277.0,11.4,454,5906,0.00,2.47,0.00,0.000,1158,0.000,0.078,2647,2104,2033,2080,1986,0,0,0,0,0,0,14.35,14.21,14.39
$GC,6231,0.20,325.2,2647,2106,2080,1985,242.2,9.9,470,6232,0.00,0.00,0.00,0.000,38,0.000,0.000,2647,2105,2030,2079,1981,0,0,0,0,0,0,14.65,14.67,14.68
$GC,6531,0.25,357.2,2647,2106,2080,1985,215.4,8.5,480,6592,0.00,2.50,54.55,1.320,8868,0.000,0.085,2647,691,1903,1941,1866,0,0,0,0,0,0,14.66,13.85,13.24
$GC,6658,0.39,398.0,2647,692,1933,1866,205.0,8.1,505,6732,0.20,2.47,68.00,1.261,11430,0.103,0.080,2724,2102,1741,1765,1717,0,0,0,0,0,0,14.20,14.12,13.13
$GC,7043,0.35,398.0,2724,2103,1759,1701,154.0,13.2,532,7043,0.00,0.00,0.00,0.000,134,0.000,0.000,2724,2102,1733,1758,1709,0,0,0,0,0,0,14.57,14.58,14.56
$GC,7343,0.32,398.0,2724,2103,1758,1700,117.3,11.8,542,7348,0.15,2.50,0.00,0.000,4740,0.230,0.086,2682,679,1728,1757,1699,0,0,0,0,0,0,14.06,14.19,14.19
$GC,7440,0.46,441.5,2685,680,1755,1701,109.1,8.0,561,7519,0.15,2.50,71.95,1.214,11430,0.122,0.080,2751,2100,1562,1591,1534,0,0,0,0,0,0,14.28,14.18,13.25
$GC,7825,0.47,455.2,2752,2101,1590,1517,66.1,9.4,608,7837,0.00,2.50,6.68,0.389,8740,0.000,0.084,2754,692,1509,1546,1473,0,0,0,0,0,0,14.52,13.84,13.59
$GC,7882,0.54,489.6,2754,694,1548,1475,61.2,8.4,619,7909,0.00,2.47,20.17,0.382,9382,0.000,0.079,2758,2101,1368,1412,1324,0,0,0,0,0,0,14.26,14.13,13.70
$GC,8207,0.67,589.5,2755,2101,1413,1321,39.2,5.4,654,8271,0.12,2.53,55.83,0.313,10916,0.127,0.090,2814,693,959,1024,895,0,0,0,0,0,0,14.17,14.04,13.77
$GC,8361,0.80,639.6,2812,687,1027,894,26.4,7.7,684,8395,0.00,2.50,28.73,0.276,9382,0.000,0.079,2812,2108,756,820,693,0,0,0,0,0,0,14.25,14.12,13.83
$STATE,8689,end climb,SURFACE_DEPTH_REACHED
$STATE,8689,begin surface coast
$FINISH,0.2,1.021592
$STATE,8709,end surface coast,CONTROL_FINISHED_OK
$STATE,8709,begin surface
$SM_CCo,8730,36.85,0.206,0,0,498,703.03
$SM_GC,1.02,8.05,0.17,36.85,0.076,0.116,0.206,195,2235,498,-7.39,-0.48,703.03,0,0,0,0,0,0,14.33,14.31,13.97
$RAFOS_CLK,407
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7535.21,-15059.24,080917,200524
$TT8_MAMPS,0.040446,0.862099
$HUMID,47.59
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,21
$CP_FREE,15950970880.000000
$PM_FREEKB_00,49574144
$24V_AH,12.28,178.470
$10V_AH,12.15,0.000
$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,25.875,83.225,998.425,36.850,0.000,0.000,0.000,506.625,5.250,0.000,9.761,0.000,6047.408,840.032,2411.704,310.234,0.000,2436.391,0.000,1033.947,1180.000,0.539,0.000
$DEVICE_MAMPS,453.645,214.965,1433.610,205.785,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5171.000,8702.000,8682.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.060,20.000,9.923,0.000
$MEM,323228
$DATA_FILE_SIZE,23406,722
$CAP_FILE_SIZE,101958,0
$CFSIZE,2097872896,2005237760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1445.5
$CURRENT,0.027,244.60,1
$GPS,080917,224238,7536.283,-15107.022,22,0.7,27,20.8,0.3,121.5,11,9.6