version: 66.13
glider: 196
mission: 14
dive: 300
start: 9 10 117 15 28 38
data:
$ID,196
$MISSION,14
$DIVE,300
$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,31
$R_STBD_OVSHOOT,55
$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,836.0
$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
$GPS1,100917,151622,7542.0566,-15109.6250,14,0.8,33,20.8,0.7,95.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.1
$GPS2,100917,152801,7542.0371,-15109.4941,5,0.7,29,20.8,0.4,0.5,11,5.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.0,2033,-23.8,-10.000,-26.66,1307
$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,-0.68,-85.3,184,2234,502,484,0.0,0.0,0,143,0.00,0.00,-91.55,0.000,16386,0.000,0.000,181,2236,2166,2093,2239,0,0,0,0,0,0,14.50,28.83,14.55
$GC,146,-0.72,-129.3,182,2234,2095,2236,4.2,-6.5,9,200,12.62,2.85,-32.95,0.000,18980,0.452,2.140,2339,801,3898,3882,3914,0,0,0,0,0,0,13.56,12.60,14.09
$GC,252,-0.88,-129.3,2341,803,3888,3915,36.4,-19.3,29,257,0.12,2.45,0.00,0.000,5254,0.135,0.087,2282,2170,3900,3887,3914,0,0,0,0,0,0,14.17,14.09,14.24
$GC,562,-0.94,-129.3,2282,2172,3889,3915,106.7,-17.5,59,567,0.00,2.55,0.00,0.000,388,0.000,0.087,2272,3614,3901,3888,3914,0,0,0,0,0,0,14.57,14.07,14.59
$GC,792,-1.14,-129.3,2272,3615,3889,3914,140.6,-13.1,105,797,0.20,2.40,0.00,0.000,5254,0.111,0.058,2197,2205,3901,3888,3914,0,0,0,0,0,0,14.24,14.20,14.35
$GC,1103,-1.11,-129.3,2197,2204,3888,3915,209.6,-22.0,117,1107,0.00,2.47,0.00,0.000,388,0.000,0.084,2185,3616,3901,3888,3914,0,0,0,0,0,0,14.66,14.17,14.67
$GC,1234,-1.16,-129.3,2186,3617,3889,3915,235.7,-18.5,143,1239,0.00,2.40,0.00,0.000,1158,0.000,0.059,2185,2201,3901,3888,3914,0,0,0,0,0,0,14.21,14.08,14.24
$GC,1554,-1.16,-129.3,2185,2200,3889,3914,296.6,-18.1,157,1559,0.00,2.50,0.00,0.000,260,0.000,0.086,2175,3614,3901,3888,3914,0,0,0,0,0,0,14.64,14.08,14.66
$GC,1686,-1.22,-129.3,2175,3615,3889,3914,318.9,-16.3,183,1692,0.00,2.40,0.00,0.000,1158,0.000,0.057,2174,2198,3900,3888,3913,0,0,0,0,0,0,14.35,14.21,14.41
$GC,2008,-1.22,-129.3,2173,2199,3889,3922,374.5,-17.1,197,2013,0.00,2.53,0.00,0.000,260,0.000,0.085,2164,3617,3900,3887,3914,0,0,0,0,0,0,14.46,14.02,14.50
$GC,2089,-1.27,-129.3,2165,3619,3889,3915,388.3,-16.4,213,2093,0.00,2.42,0.00,0.000,1158,0.000,0.057,2165,2198,3899,3886,3913,0,0,0,0,0,0,14.20,14.08,14.23
$GC,2398,-1.27,-129.3,2165,2197,3888,3913,442.3,-17.4,225,2403,0.00,2.53,0.00,0.000,260,0.000,0.085,2155,3616,3900,3887,3914,0,0,0,0,0,0,14.45,14.01,14.50
$GC,2545,-1.31,-129.3,2157,3616,3889,3914,467.2,-16.7,254,2551,0.00,2.45,0.00,0.000,1158,0.000,0.056,2155,2193,3901,3889,3914,0,0,0,0,0,0,14.12,13.99,14.15
$STATE,2636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2636,begin apogee
$GC,2642,-0.13,0.0,2156,2063,3888,3914,484.0,-17.7,258,2841,1.58,0.08,195.55,1.434,10246,0.274,0.180,2525,2110,3365,3374,3357,0,0,0,0,0,0,13.66,13.46,12.68
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin climb
$GC,2847,0.72,129.3,2527,2109,3370,3351,494.0,0.0,264,3060,0.88,2.65,187.95,1.378,10756,0.058,0.073,2822,736,2828,2867,2790,0,0,0,0,0,0,13.60,12.63,12.02
$GC,3253,0.36,129.3,2823,737,2860,2791,489.5,12.0,303,3258,0.62,2.45,0.00,0.000,5254,0.341,0.073,2699,2101,2823,2858,2789,0,0,0,0,0,0,13.34,13.70,13.72
$GC,3569,0.17,141.8,2699,2102,2859,2789,460.0,9.0,316,3589,0.22,2.42,13.95,1.591,12964,0.303,0.082,2655,723,2783,2818,2749,0,0,0,0,0,0,13.65,14.01,13.09
$GC,3661,0.13,161.7,2652,724,2816,2749,452.8,8.4,334,3695,0.00,2.42,27.70,1.520,9382,0.000,0.078,2652,2098,2706,2742,2670,0,0,0,0,0,0,14.12,13.97,13.08
$GC,4022,0.07,164.7,2651,2098,2740,2661,418.2,9.8,356,4023,0.20,0.00,0.00,0.000,4262,0.260,0.000,2609,2098,2699,2737,2661,0,0,0,0,0,0,13.89,14.22,14.15
$GC,4322,0.11,194.9,2609,2099,2739,2660,395.0,7.6,366,4380,0.00,0.00,51.00,1.435,8358,0.000,0.000,2609,2097,2566,2614,2518,0,0,0,0,0,0,14.48,13.92,13.12
$GC,4682,0.19,212.8,2609,2098,2613,2512,364.3,8.6,378,4711,0.00,2.45,24.62,1.487,8868,0.000,0.082,2615,727,2497,2552,2442,0,0,0,0,0,0,14.56,14.13,13.21
$GC,4798,0.31,228.3,2616,729,2542,2443,354.1,8.8,401,4828,0.20,2.40,23.23,1.483,11430,0.092,0.078,2694,2106,2430,2478,2382,0,0,0,0,0,0,14.23,14.14,13.19
$GC,5136,0.22,228.3,2695,2106,2473,2373,306.7,14.3,418,5141,0.15,2.40,0.00,0.000,4740,0.256,0.080,2663,727,2424,2476,2373,0,0,0,0,0,0,13.89,14.15,14.04
$GC,5191,0.26,228.3,2662,728,2472,2374,299.7,11.5,429,5198,0.00,2.40,0.00,0.000,1158,0.000,0.077,2663,2101,2422,2471,2373,0,0,0,0,0,0,14.21,14.09,14.25
$GC,5496,0.26,228.3,2664,2101,2472,2373,265.6,10.8,440,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2100,2421,2471,2372,0,0,0,0,0,0,14.54,14.57,14.57
$GC,5796,0.27,243.5,2663,2102,2471,2372,237.8,8.8,450,5822,0.00,2.47,21.35,1.460,8740,0.000,0.081,2671,722,2368,2413,2324,0,0,0,0,0,0,14.66,13.76,13.28
$GC,5877,0.33,264.8,2672,723,2410,2324,231.0,8.3,466,5919,0.00,2.40,34.30,1.379,9382,0.000,0.079,2671,2100,2285,2332,2239,0,0,0,0,0,0,14.33,14.20,13.21
$GC,6219,0.37,285.4,2672,2101,2322,2229,201.8,8.4,484,6253,0.00,0.00,32.83,1.368,8358,0.000,0.000,2670,2100,2203,2246,2160,0,0,0,0,0,0,14.59,14.08,13.27
$GC,6547,0.46,309.6,2672,2101,2239,2144,174.3,8.1,495,6593,0.15,2.42,40.22,1.319,10916,0.120,0.080,2752,723,2098,2136,2060,0,0,0,0,0,0,14.29,13.88,13.26
$GC,6663,0.42,309.6,2752,724,2130,2060,160.9,12.2,518,6669,0.15,2.42,0.00,0.000,5254,0.272,0.078,2723,2101,2094,2130,2058,0,0,0,0,0,0,13.82,14.02,14.09
$GC,6968,0.42,309.6,2723,2103,2130,2047,129.0,10.1,529,6973,0.00,2.40,0.00,0.000,516,0.000,0.083,2729,729,2090,2130,2050,0,0,0,0,0,0,14.63,14.19,14.68
$GC,7049,0.46,318.5,2730,730,2128,2052,121.3,9.3,545,7060,0.00,2.40,4.12,1.519,9382,0.000,0.078,2729,2111,2064,2102,2027,0,0,0,0,0,0,14.36,14.23,13.12
$GC,7360,0.48,347.9,2730,2111,2107,2027,94.5,7.7,561,7382,0.00,2.53,17.65,0.489,8484,0.000,0.081,2729,3517,1944,1982,1907,0,0,0,0,0,0,14.61,14.15,13.62
$GC,7428,0.48,347.9,2730,3512,1982,1908,87.9,10.1,574,7434,0.00,2.38,0.00,0.000,1030,0.000,0.062,2733,2128,1944,1981,1907,0,0,0,0,0,0,14.13,14.02,14.16
$GC,7733,0.57,419.3,2733,2128,1982,1903,65.9,4.4,605,7781,0.00,2.58,40.12,0.399,8868,0.000,0.086,2740,690,1654,1682,1627,0,0,0,0,0,0,14.60,13.47,13.60
$GC,7921,0.77,477.3,2740,690,1678,1626,55.1,5.4,642,7959,0.28,2.47,32.47,0.362,11430,0.084,0.077,2839,2102,1417,1456,1378,0,0,0,0,0,0,14.13,13.97,13.71
$GC,8256,0.80,517.2,2839,2103,1457,1369,26.2,6.9,679,8283,0.00,2.47,22.23,0.283,8484,0.000,0.077,2839,3511,1254,1308,1201,0,0,0,0,0,0,14.59,13.97,13.74
$GC,8498,0.85,553.0,2840,3511,1308,1198,9.7,7.2,727,8525,0.00,2.42,20.45,0.231,9382,0.000,0.063,2849,2101,1108,1168,1048,0,0,0,0,0,0,14.21,14.04,13.81
$STATE,8598,end climb,SURFACE_DEPTH_REACHED
$STATE,8598,begin surface coast
$FINISH,0.1,1.011360
$STATE,8620,end surface coast,CONTROL_FINISHED_OK
$STATE,8620,begin surface
$SM_CCo,8640,92.62,0.202,0,0,497,702.78
$SM_GC,1.07,8.15,0.17,92.62,0.074,0.105,0.202,196,2248,497,-7.38,-0.71,702.78,0,0,0,0,0,0,14.29,14.32,13.93
$RAFOS_CLK,312
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7542.41,-15113.64,100917,123829
$TT8_MAMPS,0.040446,0.989429
$HUMID,45.98
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,15944155136.000000
$PM_FREEKB_00,48596352
$24V_AH,12.02,187.363
$10V_AH,12.09,0.000
$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,25.525,79.325,789.750,92.625,0.000,0.000,0.000,410.275,2.500,0.000,32.644,0.000,6142.854,817.785,2156.660,331.290,0.000,2049.149,0.000,1063.807,2218.000,0.539,0.000
$DEVICE_MAMPS,452.115,2139.705,1591.200,201.960,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8654.000,8616.000,8595.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.638,20.000,18.910,0.000
$MEM,323660
$DATA_FILE_SIZE,26746,742
$CAP_FILE_SIZE,101104,0
$CFSIZE,2097872896,2001567744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.5
$CURRENT,0.015,240.72,1
$GPS,100917,175521,7543.000,-15108.854,13,0.8,25,20.8,0.0,137.4,9,10.0