version: 66.13
glider: 196
mission: 14
dive: 297
start: 9 10 117 7 17 2
data:
$ID,196
$MISSION,14
$DIVE,297
$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,62
$R_STBD_OVSHOOT,34
$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,824.0
$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
$GPS1,100917,070932,7540.9033,-15109.6631,26,0.9,26,20.8,0.0,0.0,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,100917,071628,7540.8877,-15109.6660,6,0.8,12,20.8,0.0,77.7,9,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.4,4119,-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,-145.9,187,2223,513,491,0.0,0.0,0,144,0.00,0.00,-91.93,0.000,16386,0.000,0.000,184,2222,2137,2073,2202,0,0,0,0,0,0,14.53,28.83,14.54
$GC,147,-0.57,-145.9,187,2221,2070,2204,3.6,-4.5,9,205,13.27,2.83,-36.95,0.000,18980,0.461,2.139,2385,828,3964,3950,3979,0,0,0,0,0,0,13.56,12.59,14.07
$GC,227,-0.51,-145.9,2385,830,3954,3979,27.1,-28.5,24,234,0.15,2.42,0.00,0.000,3206,0.257,0.087,2410,2194,3966,3953,3979,0,0,0,0,0,0,13.92,14.08,14.16
$GC,530,-0.66,-145.9,2410,2194,3956,3979,66.6,-9.7,55,535,0.12,2.55,0.00,0.000,4516,0.134,0.090,2350,3608,3967,3955,3979,0,0,0,0,0,0,14.09,13.94,14.10
$GC,611,-0.83,-145.9,2350,3609,3956,3979,75.3,-10.7,71,616,0.12,2.35,0.00,0.000,5254,0.134,0.057,2300,2237,3967,3955,3979,0,0,0,0,0,0,14.09,14.05,14.21
$GC,923,-0.86,-145.9,2300,2236,3956,3979,122.9,-14.1,93,928,0.00,2.42,0.00,0.000,388,0.000,0.086,2293,3609,3965,3955,3976,0,0,0,0,0,0,14.58,14.10,14.59
$GC,973,-1.00,-145.9,2294,3610,3956,3979,129.5,-11.7,103,978,0.12,2.45,0.00,0.000,5254,0.126,0.058,2243,2190,3966,3955,3978,0,0,0,0,0,0,14.09,14.04,14.19
$GC,1283,-0.96,-145.9,2244,2189,3956,3979,184.2,-17.5,115,1288,0.00,2.50,0.00,0.000,388,0.000,0.087,2236,3610,3967,3955,3979,0,0,0,0,0,0,14.63,14.14,14.64
$GC,1363,-1.01,-145.9,2237,3610,3956,3979,196.5,-13.7,131,1368,0.00,2.42,0.00,0.000,1158,0.000,0.059,2236,2196,3967,3955,3979,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1673,-1.01,-145.9,2237,2194,3956,3979,244.8,-15.3,143,1678,0.00,2.50,0.00,0.000,260,0.000,0.089,2236,3608,3967,3955,3979,0,0,0,0,0,0,14.66,14.14,14.66
$GC,1785,-1.09,-145.9,2236,3609,3956,3974,259.3,-12.3,165,1790,0.00,2.40,0.00,0.000,1158,0.000,0.058,2235,2190,3967,3955,3979,0,0,0,0,0,0,14.33,14.20,14.37
$GC,2096,-1.11,-145.9,2236,2189,3956,3979,299.4,-12.6,177,2100,0.00,2.53,0.00,0.000,388,0.000,0.089,2235,3614,3966,3954,3979,0,0,0,0,0,0,14.70,14.09,14.69
$GC,2156,-1.23,-145.9,2236,3615,3956,3979,306.4,-10.9,189,2161,0.17,2.40,0.00,0.000,5254,0.116,0.057,2168,2199,3967,3955,3979,0,0,0,0,0,0,14.26,14.14,14.34
$GC,2486,-1.13,-145.9,2169,2198,3956,3975,364.9,-18.0,205,2491,0.17,2.50,0.00,0.000,2436,0.292,0.083,2199,3614,3966,3955,3978,0,0,0,0,0,0,13.79,14.11,14.00
$GC,2595,-1.17,-145.9,2199,3614,3956,3979,380.1,-12.9,224,2601,0.00,2.42,0.00,0.000,1158,0.000,0.057,2198,2192,3967,3955,3979,0,0,0,0,0,0,14.21,14.09,14.25
$GC,2922,-1.15,-145.9,2199,2191,3956,3980,425.9,-14.1,239,2926,0.00,2.55,0.00,0.000,388,0.000,0.086,2189,3616,3967,3955,3979,0,0,0,0,0,0,14.47,13.91,14.49
$GC,3001,-1.17,-145.9,2190,3616,3956,3979,437.0,-13.5,255,3006,0.00,2.42,0.00,0.000,1158,0.000,0.057,2189,2199,3966,3954,3979,0,0,0,0,0,0,14.12,14.01,14.21
$STATE,3309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3309,begin apogee
$GC,3315,-0.13,0.0,2190,2056,3956,3979,482.1,-14.6,267,3555,1.38,0.10,236.07,1.391,10246,0.242,0.158,2530,2122,3363,3375,3352,0,0,0,0,0,0,13.72,13.33,12.55
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3563,0.57,145.9,2531,2124,3367,3340,495.7,0.0,275,4123,0.75,2.72,214.45,1.361,10756,0.061,0.077,2792,727,2751,2784,2719,0,0,0,0,0,0,13.52,12.76,12.17
$GC,4151,0.14,145.9,2792,727,2786,2719,460.4,13.0,281,4156,0.75,2.45,0.00,0.000,5254,0.328,0.074,2635,2093,2750,2783,2717,0,0,0,0,0,0,13.43,13.74,13.77
$GC,4484,0.01,186.6,2635,2094,2784,2713,432.1,8.1,297,4548,0.20,2.45,58.72,1.388,12964,0.269,0.083,2589,722,2599,2646,2553,0,0,0,0,0,0,13.81,13.70,13.09
$GC,4594,0.08,246.3,2588,723,2640,2544,424.3,7.2,319,4695,0.00,2.45,93.45,1.317,9382,0.000,0.079,2588,2101,2358,2409,2307,0,0,0,0,0,0,14.09,13.98,12.88
$GC,4994,0.14,283.4,2588,2101,2393,2288,391.6,8.3,349,5055,0.12,0.00,56.28,1.340,10406,0.130,0.000,2648,2100,2205,2254,2156,0,0,0,0,0,0,14.02,13.82,13.07
$GC,5356,0.09,283.4,2648,2101,2241,2139,347.5,12.4,361,5361,0.12,2.45,0.00,0.000,4740,0.251,0.085,2620,723,2192,2240,2144,0,0,0,0,0,0,13.88,14.09,14.02
$GC,5401,0.16,288.0,2619,724,2240,2139,342.5,9.8,370,5406,0.00,2.42,0.00,0.000,1190,0.000,0.078,2620,2109,2188,2239,2138,0,0,0,0,0,0,14.31,14.17,14.33
$GC,5716,0.16,288.0,2620,2112,2240,2137,310.6,10.1,383,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2111,2188,2239,2137,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6016,0.19,300.5,2620,2112,2238,2137,281.6,9.4,393,6046,0.00,2.50,21.00,1.413,8868,0.000,0.085,2620,726,2132,2178,2086,0,0,0,0,0,0,14.56,14.17,13.31
$GC,6103,0.31,329.0,2619,727,2171,2084,274.0,8.7,410,6158,0.17,2.40,48.05,1.303,11430,0.099,0.076,2691,2108,2021,2062,1980,0,0,0,0,0,0,14.24,14.16,13.20
$GC,6468,0.23,329.0,2691,2110,2050,1962,226.3,12.4,433,6473,0.12,2.42,0.00,0.000,4740,0.236,0.082,2669,731,2005,2050,1961,0,0,0,0,0,0,14.05,14.17,14.15
$GC,6523,0.27,338.1,2669,731,2048,1961,220.8,9.6,444,6531,0.00,2.38,2.83,0.910,9382,0.000,0.079,2669,2100,1986,2030,1942,0,0,0,0,0,0,14.35,14.19,12.80
$GC,6828,0.27,346.9,2669,2101,2044,1948,191.4,9.6,455,6851,0.00,0.00,21.42,1.369,8230,0.000,0.000,2669,2101,1952,1997,1908,0,0,0,0,0,0,14.66,14.13,13.29
$GC,7128,0.29,368.0,2669,2101,1984,1895,163.7,9.0,465,7170,0.00,2.42,35.60,1.324,8740,0.000,0.086,2669,724,1859,1892,1827,0,0,0,0,0,0,14.62,13.87,13.26
$GC,7227,0.41,402.1,2668,725,1879,1825,155.2,8.4,484,7295,0.15,2.42,61.03,1.229,11430,0.119,0.080,2732,2101,1721,1743,1699,0,0,0,0,0,0,14.14,14.08,13.14
$GC,7611,0.36,402.1,2733,2101,1735,1678,107.7,11.6,511,7612,0.15,0.00,0.00,0.000,4230,0.232,0.000,2699,2100,1705,1734,1677,0,0,0,0,0,0,14.05,14.35,14.29
$GC,7913,0.44,459.1,2699,2101,1736,1673,83.0,7.4,535,7950,0.00,2.50,30.70,0.440,8868,0.000,0.089,2699,699,1494,1525,1464,0,0,0,0,0,0,14.57,14.07,13.58
$GC,7995,0.63,517.0,2699,699,1533,1463,76.8,7.3,551,8038,0.25,2.45,35.30,0.421,11430,0.088,0.079,2792,2103,1255,1310,1200,0,0,0,0,0,0,14.28,14.16,13.59
$GC,8335,0.66,561.1,2792,2104,1311,1207,40.3,8.0,589,8367,0.00,2.45,26.62,0.316,8740,0.000,0.086,2794,723,1076,1138,1015,0,0,0,0,0,0,14.54,13.94,13.72
$GC,8444,0.78,618.5,2794,724,1139,1023,31.9,7.4,610,8487,0.12,2.42,35.25,0.289,11430,0.131,0.076,2850,2105,840,905,775,0,0,0,0,0,0,14.12,14.07,13.74
$STATE,8750,end climb,SURFACE_DEPTH_REACHED
$STATE,8750,begin surface coast
$FINISH,0.1,1.021589
$STATE,8760,end surface coast,CONTROL_FINISHED_OK
$STATE,8760,begin surface
$SM_CCo,8780,53.70,0.203,0,0,500,702.78
$SM_GC,1.22,8.02,0.17,53.70,0.063,0.104,0.203,205,2242,500,-7.36,-0.51,702.78,0,0,0,0,0,0,14.33,14.35,13.97
$RAFOS_CLK,274
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7542.41,-15113.64,100917,043047
$TT8_MAMPS,0.040446,0.986433
$HUMID,46.45
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15945433088.000000
$PM_FREEKB_00,48739456
$24V_AH,12.17,185.863
$10V_AH,12.02,0.000
$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,26.475,79.450,976.775,53.700,0.000,0.000,0.000,219.300,2.250,0.000,12.545,0.000,5981.956,897.370,2133.574,250.541,0.000,2255.284,0.000,928.384,2219.000,0.539,0.000
$DEVICE_MAMPS,461.295,2138.940,1412.955,202.725,0.000,0.000,0.000,131.580,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8200.000,8735.000,8735.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.060,20.000,26.099,0.000
$MEM,323632
$DATA_FILE_SIZE,23355,646
$CAP_FILE_SIZE,96552,0
$CFSIZE,2097872896,2002386944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.2
$CURRENT,0.054,225.41,1
$GPS,100917,094633,7542.037,-15110.323,91,0.7,92,20.8,0.0,113.2,12,7.2