version: 66.13
glider: 196
mission: 14
dive: 386
start: 9 20 117 13 17 7
data:
$ID,196
$MISSION,14
$DIVE,386
$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,36
$R_STBD_OVSHOOT,51
$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,1070.0
$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
$GPS1,200917,130427,7427.5352,-15315.4941,20,0.7,21,19.5,0.3,67.4,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.1
$GPS2,200917,131632,7427.5015,-15315.2881,5,0.8,35,19.5,0.5,54.8,10,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,208.3,23573,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,192,2186,489,495,0.0,0.0,0,145,0.00,0.00,-91.28,0.000,16386,0.000,0.000,191,2187,2202,2141,2263,0,0,0,0,0,0,14.47,28.83,14.48
$GC,149,-0.57,-145.9,190,2188,2142,2263,4.1,-5.5,9,202,12.80,2.72,-33.22,0.000,18724,0.448,2.160,2378,3581,3964,3950,3979,0,0,0,0,0,0,13.58,13.05,14.01
$GC,327,-0.74,-145.9,2379,3581,3956,3979,41.7,-12.1,44,335,0.12,2.38,0.00,0.000,5254,0.122,0.055,2328,2201,3967,3955,3979,0,0,0,0,0,0,14.19,14.14,14.28
$GC,632,-0.78,-145.9,2330,2202,3957,3980,91.7,-13.4,75,633,0.00,0.00,0.00,0.000,134,0.000,0.000,2329,2201,3967,3957,3978,0,0,0,0,0,0,14.57,14.58,14.58
$GC,943,-0.87,-145.9,2330,2202,3958,3979,128.2,-11.0,90,948,0.00,2.45,0.00,0.000,388,0.000,0.086,2321,3579,3967,3957,3977,0,0,0,0,0,0,14.59,14.07,14.62
$GC,988,-1.05,-145.9,2321,3581,3959,3979,132.9,-9.9,99,993,0.25,2.35,0.00,0.000,5286,0.086,0.054,2229,2195,3967,3957,3978,0,0,0,0,0,0,14.23,14.15,14.31
$GC,1304,-0.98,-145.9,2230,2194,3958,3979,191.2,-18.3,112,1310,0.12,2.47,0.00,0.000,2436,0.285,0.082,2248,3587,3968,3957,3979,0,0,0,0,0,0,13.78,14.04,13.93
$GC,1356,-1.05,-145.9,2248,3589,3958,3980,199.2,-13.9,122,1361,0.00,2.38,0.00,0.000,1158,0.000,0.058,2250,2196,3968,3957,3979,0,0,0,0,0,0,14.24,14.11,14.26
$GC,1666,-1.05,-145.9,2249,2194,3958,3979,244.1,-13.9,134,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2195,3967,3957,3978,0,0,0,0,0,0,14.59,14.62,14.63
$GC,1967,-1.08,-145.9,2249,2195,3959,3978,281.8,-12.1,144,1972,0.00,2.47,0.00,0.000,388,0.000,0.085,2240,3582,3967,3957,3978,0,0,0,0,0,0,14.62,13.95,14.64
$GC,2043,-1.20,-145.9,2240,3584,3958,3980,290.3,-10.3,159,2048,0.15,2.38,0.00,0.000,5254,0.119,0.054,2181,2194,3968,3957,3979,0,0,0,0,0,0,14.04,14.04,14.04
$GC,2359,-1.11,-145.9,2181,2193,3958,3978,342.6,-16.8,172,2365,0.15,2.50,0.00,0.000,2436,0.284,0.081,2204,3589,3967,3957,3978,0,0,0,0,0,0,13.66,13.96,13.83
$GC,2468,-1.16,-145.9,2205,3590,3957,3978,356.9,-12.4,193,2472,0.00,2.38,0.00,0.000,1158,0.000,0.055,2204,2194,3969,3956,3982,0,0,0,0,0,0,14.22,14.09,14.26
$GC,2783,-1.16,-145.9,2204,2194,3957,3978,399.5,-13.3,206,2788,0.00,2.47,0.00,0.000,260,0.000,0.084,2197,3582,3967,3956,3978,0,0,0,0,0,0,14.63,14.00,14.65
$GC,2848,-1.20,-145.9,2197,3583,3956,3978,408.3,-12.7,219,2853,0.00,2.38,0.00,0.000,1158,0.000,0.055,2196,2190,3966,3955,3978,0,0,0,0,0,0,14.21,14.09,14.26
$GC,3174,-1.18,-145.9,2197,2190,3956,3977,452.7,-13.7,234,3179,0.00,2.47,0.00,0.000,388,0.000,0.084,2194,3581,3966,3956,3976,0,0,0,0,0,0,14.62,14.01,14.64
$GC,3229,-1.22,-145.9,2195,3582,3957,3976,460.1,-12.8,245,3235,0.00,2.38,0.00,0.000,1158,0.000,0.055,2194,2199,3966,3956,3976,0,0,0,0,0,0,14.15,14.03,14.20
$STATE,3381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3381,begin apogee
$GC,3388,-0.13,0.0,2195,2059,3957,3977,481.3,-13.8,251,3608,1.35,0.00,216.15,1.418,10246,0.237,0.000,2531,2058,3364,3390,3339,0,0,0,0,0,0,13.67,13.57,12.76
$STATE,3612,end apogee,CONTROL_FINISHED_OK
$STATE,3612,begin climb
$GC,3615,0.57,145.9,2531,2058,3382,3334,493.2,0.0,258,3834,0.73,2.72,207.35,1.378,10500,0.059,0.072,2782,3478,2760,2805,2715,0,0,0,0,0,0,13.76,12.93,12.31
$GC,4064,0.08,145.9,2782,3478,2790,2715,469.2,16.6,304,4070,0.88,2.33,0.00,0.000,5254,0.343,0.054,2615,2126,2751,2788,2715,0,0,0,0,0,0,12.88,13.95,13.17
$GC,4381,-0.02,183.8,2616,2125,2790,2714,441.1,8.3,317,4436,0.17,0.00,52.92,1.426,12454,0.278,0.000,2579,2125,2615,2666,2565,0,0,0,0,0,0,13.83,13.94,13.12
$GC,4711,0.01,230.5,2579,2125,2661,2549,415.9,7.8,328,4786,0.00,2.62,68.60,1.384,8740,0.000,0.090,2578,700,2421,2480,2363,0,0,0,0,0,0,14.55,13.93,13.09
$GC,4819,0.12,262.3,2579,699,2470,2362,407.1,8.5,344,4873,0.15,2.42,47.08,1.388,11430,0.118,0.079,2647,2073,2291,2343,2239,0,0,0,0,0,0,14.10,14.03,13.03
$GC,5194,0.05,262.3,2648,2073,2335,2227,358.7,12.8,369,5195,0.20,0.00,0.00,0.000,4230,0.235,0.000,2602,2074,2281,2335,2227,0,0,0,0,0,0,13.93,14.28,14.21
$GC,5495,0.09,286.8,2602,2074,2333,2226,331.2,8.9,379,5531,0.00,0.00,34.53,1.413,8358,0.000,0.000,2602,2073,2196,2251,2141,0,0,0,0,0,0,14.61,14.07,13.26
$GC,5824,0.16,309.2,2602,2074,2242,2131,302.0,9.0,390,5865,0.00,2.50,33.45,1.395,8868,0.000,0.088,2602,693,2101,2153,2049,0,0,0,0,0,0,14.59,14.09,13.24
$GC,5908,0.30,337.2,2603,691,2148,2049,294.7,8.7,406,5956,0.22,2.47,43.60,1.344,11430,0.089,0.078,2691,2105,1992,2038,1946,0,0,0,0,0,0,14.23,14.12,13.16
$GC,6277,0.23,337.2,2692,2104,2030,1930,242.1,13.6,430,6282,0.12,2.50,0.00,0.000,4740,0.234,0.084,2669,690,1979,2029,1930,0,0,0,0,0,0,13.97,14.10,14.10
$GC,6323,0.26,337.2,2669,692,2027,1931,236.6,11.3,439,6328,0.00,2.47,0.00,0.000,1158,0.000,0.078,2669,2105,1977,2025,1930,0,0,0,0,0,0,14.22,14.07,14.28
$GC,6638,0.26,337.2,2669,2106,2026,1929,202.7,10.3,452,6644,0.00,2.50,0.00,0.000,516,0.000,0.088,2669,700,1976,2025,1928,0,0,0,0,0,0,14.62,14.04,14.64
$GC,6679,0.31,347.3,2669,702,2025,1929,198.7,9.5,460,6700,0.00,2.45,11.82,1.506,9382,0.000,0.077,2669,2104,1946,1993,1900,0,0,0,0,0,0,14.23,14.09,13.32
$GC,6999,0.32,363.0,2670,2101,1992,1896,168.4,9.3,474,7031,0.00,2.47,25.83,1.385,8740,0.000,0.087,2669,700,1882,1920,1845,0,0,0,0,0,0,14.62,13.90,13.28
$GC,7071,0.41,379.5,2670,700,1915,1845,161.9,9.2,488,7106,0.15,2.45,28.17,1.341,11430,0.116,0.078,2734,2103,1819,1842,1796,0,0,0,0,0,0,14.22,14.18,13.24
$GC,7424,0.33,379.5,2735,2104,1833,1781,117.7,12.1,508,7426,0.20,0.00,0.00,0.000,4230,0.228,0.000,2688,2105,1806,1832,1781,0,0,0,0,0,0,13.95,14.28,14.22
$GC,7722,0.40,424.7,2689,2104,1833,1777,92.2,7.9,524,7749,0.00,2.58,23.17,0.482,8868,0.000,0.090,2689,701,1632,1659,1605,0,0,0,0,0,0,14.57,14.15,13.65
$GC,7818,0.54,472.2,2690,702,1657,1607,84.7,7.8,542,7850,0.20,2.47,25.42,0.454,11430,0.096,0.078,2773,2106,1436,1470,1402,0,0,0,0,0,0,14.23,14.07,13.65
$GC,8146,0.53,495.8,2773,2106,1475,1393,46.4,8.9,578,8162,0.00,2.58,12.43,0.340,8868,0.000,0.087,2780,695,1341,1388,1294,0,0,0,0,0,0,14.57,14.12,13.72
$GC,8368,0.61,560.2,2781,695,1386,1293,29.4,7.0,622,8410,0.00,2.47,34.38,0.288,9382,0.000,0.079,2781,2100,1079,1140,1018,0,0,0,0,0,0,14.23,14.08,13.73
$GC,8708,0.80,674.3,2781,2100,1142,1007,12.1,4.7,660,8771,0.17,0.00,60.85,0.236,10662,0.105,0.000,2856,2100,613,656,570,0,0,0,0,0,0,14.21,14.06,13.80
$STATE,8825,end climb,SURFACE_DEPTH_REACHED
$STATE,8825,begin surface coast
$FINISH,0.5,1.021173
$STATE,8837,end surface coast,CONTROL_FINISHED_OK
$STATE,8837,begin surface
$SM_CCo,8860,15.80,0.209,0,0,502,702.78
$SM_GC,0.95,8.18,0.17,15.80,0.069,0.116,0.209,205,2220,502,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,13.88
$RAFOS_CLK,402
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7429.21,-15300.93,200917,102544
$TT8_MAMPS,0.040446,0.888314
$HUMID,47.75
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,15904407552.000000
$PM_FREEKB_00,45271552
$24V_AH,12.31,229.805
$10V_AH,12.17,0.000
$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,26.325,74.600,925.750,15.800,0.000,0.000,0.000,397.275,2.500,0.000,36.842,0.000,6374.617,840.534,2032.687,366.056,0.000,2031.380,0.000,971.160,0.000,0.539,0.000
$DEVICE_MAMPS,448.290,2160.360,1505.520,208.845,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8869.000,8825.000,8808.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.742,20.000,9.845,0.000
$MEM,323432
$DATA_FILE_SIZE,23449,676
$CAP_FILE_SIZE,97304,0
$CFSIZE,2097872896,1979187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.053,63.74,1
$GPS,200917,154608,7426.884,-15318.518,14,0.7,18,19.5,0.4,213.6,12,9.6