version: 66.13
glider: 196
mission: 14
dive: 136
start: 8 22 117 13 49 6
data:
$ID,196
$MISSION,14
$DIVE,136
$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,52
$R_STBD_OVSHOOT,22
$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
$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,383.0
$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
$GPS1,220817,132947,7317.3345,-15005.3398,17,0.7,31,20.7,0.0,29.2,11,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.6
$GPS2,220817,134831,7317.4556,-15005.1895,33,1.2,33,20.7,0.0,0.0,7,6.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,291.9,161578,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,187,2207,500,486,0.0,0.0,0,130,0.00,0.00,-81.80,0.000,16386,0.000,0.000,186,2206,1994,1921,2067,0,0,0,0,0,0,14.46,28.83,14.48
$GC,133,-0.57,-145.9,188,2206,1925,2071,3.3,-3.8,8,197,12.82,2.78,-40.28,0.000,19236,0.463,2.145,2385,821,3964,3950,3979,1,0,0,0,0,0,13.59,12.60,14.18
$GC,402,-0.62,-145.9,2385,820,3956,3981,58.8,-15.5,61,408,0.00,2.45,0.00,0.000,1158,0.000,0.090,2378,2194,3968,3955,3981,0,0,0,0,0,0,14.25,14.12,14.28
$GC,727,-0.66,-145.9,2378,2195,3956,3982,107.6,-12.7,90,732,0.00,2.50,0.00,0.000,388,0.000,0.093,2376,3609,3968,3956,3981,0,0,0,0,0,0,14.55,14.13,14.57
$GC,887,-0.85,-145.9,2376,3611,3957,3982,123.1,-9.0,122,893,0.22,2.33,0.00,0.000,5286,0.097,0.054,2283,2221,3968,3956,3981,0,0,0,0,0,0,14.26,14.26,14.35
$GC,1208,-0.78,-145.9,2284,2220,3957,3980,181.1,-17.8,136,1213,0.15,2.45,0.00,0.000,2436,0.275,0.085,2312,3616,3968,3956,3981,0,0,0,0,0,0,13.92,14.17,14.07
$GC,1348,-0.89,-145.9,2312,3618,3956,3982,198.7,-11.2,164,1353,0.00,2.38,0.00,0.000,1158,0.000,0.057,2312,2202,3968,3956,3981,0,0,0,0,0,0,14.37,14.26,14.40
$GC,1658,-0.92,-145.9,2308,2206,3956,3982,238.4,-12.5,176,1663,0.00,2.50,0.00,0.000,388,0.000,0.090,2307,3622,3968,3956,3980,0,0,0,0,0,0,14.63,14.23,14.64
$GC,1743,-1.04,-145.9,2308,3622,3957,3981,247.9,-10.3,193,1750,0.20,2.40,0.00,0.000,5254,0.106,0.058,2235,2201,3967,3955,3980,0,0,0,0,0,0,14.29,14.26,14.39
$GC,2049,-0.95,-145.9,2236,2202,3956,3981,299.4,-16.4,204,2054,0.12,2.50,0.00,0.000,2436,0.297,0.085,2254,3624,3968,3956,3980,0,0,0,0,0,0,13.97,14.21,14.16
$GC,2223,-0.95,-145.9,2254,3626,3956,3980,322.7,-12.8,239,2231,0.00,2.40,0.00,0.000,1030,0.000,0.058,2254,2201,3966,3954,3979,0,0,0,0,0,0,14.38,14.26,14.41
$GC,2529,-0.92,-145.9,2254,2202,3956,3979,363.8,-13.3,250,2534,0.00,2.50,0.00,0.000,388,0.000,0.089,2247,3624,3965,3954,3977,0,0,0,0,0,0,14.65,14.22,14.67
$GC,2619,-0.95,-145.9,2248,3626,3956,3978,375.4,-12.3,268,2624,0.00,2.40,0.00,0.000,1158,0.000,0.058,2246,2196,3966,3955,3977,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2950,-0.91,-145.9,2247,2198,3962,3977,419.6,-13.4,284,2955,0.12,2.47,0.00,0.000,2436,0.294,0.086,2267,3616,3966,3955,3977,0,0,0,0,0,0,14.00,14.25,14.16
$GC,3072,-0.99,-145.9,2267,3616,3955,3977,432.8,-10.4,308,3076,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2202,3966,3955,3977,0,0,0,0,0,0,14.42,14.30,14.45
$GC,3402,-0.99,-145.9,2267,2202,3955,3977,471.5,-11.7,324,3406,0.00,2.47,0.00,0.000,260,0.000,0.090,2260,3616,3970,3955,3985,0,0,0,0,0,0,14.66,14.24,14.68
$STATE,3479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3479,begin apogee
$GC,3487,-0.13,0.0,2261,2092,3955,3977,480.5,-10.3,340,3704,1.05,0.00,213.52,1.437,10246,0.227,0.000,2531,2099,3364,3390,3338,0,0,0,0,0,0,13.93,13.49,12.73
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3708,begin climb
$GC,3710,0.57,145.9,2531,2092,3385,3332,491.4,0.0,347,4253,0.73,2.70,204.82,1.391,10756,0.067,0.080,2781,671,2758,2800,2716,0,0,0,0,0,0,13.58,13.17,12.43
$GC,4264,0.57,145.9,2782,670,2801,2716,447.3,9.0,350,4269,0.00,2.55,0.00,0.000,1030,0.000,0.075,2781,2109,2757,2800,2714,0,0,0,0,0,0,14.00,13.88,14.02
$GC,4579,0.18,145.9,2780,2110,2800,2715,397.3,15.5,363,4584,0.57,2.45,0.00,0.000,4484,0.314,0.076,2649,3520,2756,2799,2713,0,0,0,0,0,0,13.83,14.14,14.04
$GC,4610,-0.02,145.9,2650,3520,2797,2713,393.3,12.2,369,4615,0.35,2.42,0.00,0.000,5254,0.283,0.058,2578,2089,2754,2796,2712,0,0,0,0,0,0,13.89,14.17,14.21
$GC,4942,0.07,238.2,2578,2089,2797,2713,373.1,5.7,385,5088,0.00,2.53,138.05,1.334,8868,0.000,0.083,2578,693,2389,2450,2328,0,0,0,0,0,0,14.57,13.56,12.99
$GC,5128,0.27,305.8,2579,693,2443,2325,361.2,6.9,422,5238,0.28,2.53,100.93,1.310,11430,0.089,0.080,2681,2099,2113,2171,2056,0,0,0,0,0,0,13.87,13.80,12.79
$GC,5545,0.23,305.8,2681,2100,2158,2045,304.9,13.6,455,5550,0.00,2.50,0.00,0.000,644,0.000,0.086,2683,693,2100,2157,2044,0,0,0,0,0,0,14.28,13.88,14.30
$GC,5610,0.23,305.8,2684,693,2157,2044,296.4,12.6,468,5616,0.00,2.47,0.00,0.000,1030,0.000,0.076,2683,2099,2100,2156,2044,0,0,0,0,0,0,14.17,14.06,14.21
$GC,5936,0.20,305.8,2684,2099,2156,2043,254.8,12.4,483,5938,0.15,0.00,0.00,0.000,4230,0.246,0.000,2651,2100,2098,2155,2042,0,0,0,0,0,0,14.05,14.35,14.31
$GC,6237,0.26,340.2,2652,2100,2155,2040,228.0,8.4,493,6298,0.00,2.55,51.08,1.336,8868,0.000,0.085,2658,698,1970,2021,1920,0,0,0,0,0,0,14.60,14.04,13.29
$GC,6373,0.40,372.8,2659,689,2017,1920,216.6,8.5,520,6433,0.15,2.47,52.90,1.308,11430,0.125,0.080,2718,2103,1840,1874,1807,0,0,0,0,0,0,14.14,14.10,13.14
$GC,6749,0.40,372.8,2718,2102,1867,1798,170.6,12.0,545,6753,0.00,2.50,0.00,0.000,516,0.000,0.087,2724,685,1831,1865,1797,0,0,0,0,0,0,14.46,14.15,14.48
$GC,6794,0.43,372.8,2724,681,1859,1797,165.3,11.5,554,6798,0.00,2.47,0.00,0.000,1158,0.000,0.077,2724,2102,1829,1862,1797,0,0,0,0,0,0,14.33,14.19,14.34
$GC,7109,0.43,372.8,2724,2104,1863,1796,129.0,11.2,567,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2103,1828,1862,1795,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7409,0.43,372.8,2724,2104,1863,1793,97.6,10.1,577,7414,0.00,2.50,0.00,0.000,516,0.000,0.086,2729,694,1831,1868,1794,0,0,0,0,0,0,14.59,14.18,14.62
$GC,7570,0.51,411.4,2729,695,1858,1794,83.5,8.2,609,7593,0.00,2.45,18.73,0.461,9382,0.000,0.079,2729,2106,1685,1713,1657,0,0,0,0,0,0,14.35,14.21,13.76
$GC,7899,0.64,489.8,2729,2107,1714,1654,58.2,6.4,643,7946,0.15,2.50,40.58,0.377,10660,0.119,0.083,2795,3512,1366,1414,1318,0,0,0,0,0,0,14.11,14.06,13.71
$GC,7988,0.64,489.8,2796,3514,1415,1319,49.6,11.3,660,7995,0.00,2.45,0.00,0.000,1030,0.000,0.068,2801,2103,1366,1414,1318,0,0,0,0,0,0,14.17,14.04,14.17
$GC,8291,0.68,547.1,2804,2104,1419,1312,24.1,7.4,691,8328,0.00,2.58,29.42,0.286,8740,0.000,0.088,2806,680,1131,1194,1069,0,0,0,0,0,0,14.38,13.99,13.80
$GC,8549,0.95,692.5,2804,682,1193,1065,11.0,3.3,742,8632,0.25,2.50,76.03,0.236,11430,0.095,0.078,2898,2104,536,569,503,0,0,0,0,0,0,14.12,14.05,13.76
$STATE,8667,end climb,SURFACE_DEPTH_REACHED
$STATE,8667,begin surface coast
$FINISH,0.2,1.020528
$STATE,8675,end surface coast,CONTROL_FINISHED_OK
$STATE,8675,begin surface
$SM_CCo,8696,6.20,0.212,0,0,498,703.03
$SM_GC,2.35,8.35,0.17,6.20,0.080,0.110,0.212,199,2229,498,-7.38,-0.59,703.03,0,0,0,0,0,0,14.12,14.13,13.88
$RAFOS_CLK,48
$RAFOS_FIX,7316.027344,-15002.902344,220817,121216,4,255,0.12
$IRIDIUM_FIX,7317.42,-14958.61,220817,134041
$TT8_MAMPS,0.083888,0.984935
$HUMID,44.09
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,23
$CP_FREE,15996321792.000000
$PM_FREEKB_00,53964288
$24V_AH,12.43,107.780
$10V_AH,12.28,0.000
$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,25.675,84.825,926.050,6.200,0.000,0.000,0.000,702.375,5.750,0.000,34.649,0.000,5912.097,810.795,2796.287,321.213,0.000,2703.957,0.000,1093.493,2217.000,0.539,0.000
$DEVICE_MAMPS,462.825,2145.060,1436.670,211.905,0.000,0.000,0.000,165.240,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8703.000,8683.000,8652.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.173,20.000,9.990,0.000
$MEM,323520
$DATA_FILE_SIZE,26744,763
$CAP_FILE_SIZE,104201,0
$CFSIZE,2097872896,2046361600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.5
$CURRENT,0.018,99.49,1
$GPS,220817,161534,7318.337,-15006.958,40,0.8,42,20.7,0.4,221.6,11,8.3