version: 66.13
glider: 196
mission: 14
dive: 348
start: 9 16 117 5 2 48
data:
$ID,196
$MISSION,14
$DIVE,348
$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,64
$R_STBD_OVSHOOT,47
$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,973.0
$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
$GPS1,160917,045104,7445.1138,-15043.9473,32,0.8,33,20.8,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.2
$GPS2,160917,050212,7445.0947,-15044.0928,6,0.7,7,20.8,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,209.5,104403,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,200,2238,514,485,0.0,0.0,0,143,0.00,0.00,-91.62,0.000,16386,0.000,0.000,199,2238,2151,2076,2226,0,0,0,0,0,0,14.49,28.83,14.51
$GC,147,-0.57,-145.9,200,2238,2081,2226,3.7,-5.0,9,200,13.00,2.85,-34.97,0.000,18980,0.455,2.156,2385,836,3964,3949,3979,1,0,0,0,0,0,13.29,12.59,14.07
$GC,331,-0.71,-145.9,2386,831,3955,3979,43.6,-13.0,45,336,0.00,2.40,0.00,0.000,1158,0.000,0.086,2379,2174,3967,3954,3980,0,0,0,0,0,0,14.15,14.00,14.19
$GC,641,-0.84,-145.9,2383,2176,3956,3981,83.4,-10.6,77,646,0.20,2.58,0.00,0.000,4484,0.106,0.087,2293,3614,3967,3955,3979,0,0,0,0,0,0,14.14,14.05,14.19
$GC,817,-0.95,-145.9,2293,3617,3957,3980,107.0,-12.2,112,824,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2229,3967,3955,3979,0,0,0,0,0,0,14.19,14.03,14.19
$GC,1122,-1.00,-145.9,2293,2228,3957,3980,148.1,-12.8,123,1127,0.00,2.47,0.00,0.000,388,0.000,0.086,2284,3615,3967,3956,3979,0,0,0,0,0,0,14.63,14.02,14.65
$GC,1182,-1.15,-145.9,2285,3617,3956,3981,155.3,-11.0,135,1187,0.22,2.42,0.00,0.000,5254,0.096,0.057,2198,2201,3967,3956,3979,0,0,0,0,0,0,14.22,14.14,14.31
$GC,1513,-1.04,-145.9,2202,2200,3956,3980,223.6,-20.7,151,1518,0.17,2.53,0.00,0.000,2436,0.291,0.085,2229,3617,3967,3955,3979,0,0,0,0,0,0,13.66,14.04,13.92
$GC,1638,-1.09,-145.9,2229,3619,3955,3979,242.2,-13.2,176,1644,0.00,2.45,0.00,0.000,1158,0.000,0.058,2230,2201,3966,3953,3979,0,0,0,0,0,0,14.23,14.10,14.28
$GC,1965,-1.09,-145.9,2230,2199,3957,3979,286.5,-12.9,191,1969,0.00,2.53,0.00,0.000,260,0.000,0.087,2223,3617,3966,3953,3979,0,0,0,0,0,0,14.66,14.00,14.66
$GC,2030,-1.18,-145.9,2224,3617,3956,3979,294.5,-11.5,204,2036,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2193,3967,3955,3979,0,0,0,0,0,0,14.28,14.14,14.32
$GC,2356,-1.21,-145.9,2224,2194,3956,3979,335.6,-12.3,219,2361,0.00,2.55,0.00,0.000,388,0.000,0.089,2223,3613,3967,3955,3979,0,0,0,0,0,0,14.59,14.00,14.61
$GC,2432,-1.31,-145.9,2222,3614,3956,3980,344.2,-10.7,234,2437,0.20,2.40,0.00,0.000,5254,0.101,0.056,2149,2199,3967,3955,3979,0,0,0,0,0,0,14.16,14.06,14.26
$GC,2748,-1.17,-145.9,2149,2199,3955,3981,402.6,-18.7,247,2753,0.20,2.50,0.00,0.000,2436,0.314,0.082,2181,3614,3966,3954,3979,0,0,0,0,0,0,13.60,13.97,13.83
$GC,2848,-1.17,-145.9,2183,3615,3955,3979,417.5,-13.5,267,2853,0.00,2.40,0.00,0.000,1030,0.000,0.056,2182,2201,3966,3954,3979,0,0,0,0,0,0,14.25,14.11,14.28
$GC,3168,-1.13,-145.9,2183,2200,3955,3979,464.4,-14.6,281,3173,0.12,2.50,0.00,0.000,2436,0.315,0.083,2200,3613,3967,3954,3980,0,0,0,0,0,0,13.79,14.04,13.95
$GC,3249,-1.20,-145.9,2200,3615,3954,3980,474.5,-11.6,297,3254,0.00,2.42,0.00,0.000,1158,0.000,0.055,2200,2191,3966,3954,3979,0,0,0,0,0,0,14.26,14.12,14.29
$STATE,3316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3316,begin apogee
$GC,3323,-0.13,0.0,2200,2062,3953,3979,483.3,-12.5,301,3805,1.30,0.08,478.45,1.164,10246,0.230,0.179,2527,2114,3366,3383,3349,0,0,0,0,0,0,13.64,13.28,12.53
$STATE,3811,end apogee,CONTROL_FINISHED_OK
$STATE,3811,begin climb
$GC,3814,0.57,145.9,2528,2115,3377,3344,511.7,0.0,317,4036,0.75,2.65,211.38,1.320,11012,0.058,0.079,2778,728,2766,2804,2728,0,0,0,0,0,0,13.50,12.78,12.17
$GC,4262,0.18,145.9,2781,730,2782,2710,492.5,14.3,395,4267,0.65,2.45,0.00,0.000,5254,0.320,0.074,2646,2090,2744,2781,2708,0,0,0,0,0,0,13.40,13.82,13.81
$GC,4595,0.01,165.5,2646,2091,2781,2704,461.1,9.1,411,4625,0.22,2.40,21.88,1.423,12964,0.276,0.083,2599,729,2685,2725,2645,0,0,0,0,0,0,13.78,14.07,13.21
$GC,4835,0.02,222.7,2599,730,2720,2632,442.8,7.4,459,4956,0.00,2.38,113.03,1.231,9382,0.000,0.078,2595,2100,2453,2511,2396,0,0,0,0,0,0,14.28,14.15,13.05
$GC,5255,0.04,242.8,2599,2101,2496,2379,405.8,9.1,493,5291,0.00,2.47,29.12,1.341,8740,0.000,0.085,2599,729,2373,2427,2319,0,0,0,0,0,0,14.57,14.08,13.22
$GC,5312,0.09,262.2,2600,729,2417,2313,400.7,9.1,499,5348,0.00,2.40,30.80,1.307,9382,0.000,0.078,2599,2099,2299,2354,2244,0,0,0,0,0,0,14.23,14.12,13.16
$GC,5646,0.10,278.3,2600,2099,2334,2225,369.4,9.3,516,5673,0.00,2.47,22.00,1.375,8740,0.000,0.084,2599,730,2228,2281,2176,0,0,0,0,0,0,14.56,14.12,13.25
$GC,5693,0.17,304.8,2599,731,2268,2172,365.1,8.8,525,5740,0.12,2.40,41.50,1.298,11430,0.125,0.079,2659,2108,2123,2171,2076,0,0,0,0,0,0,14.21,14.15,13.17
$GC,6040,0.10,304.8,2659,2104,2154,2054,318.7,13.5,544,6041,0.17,0.00,0.00,0.000,4230,0.240,0.000,2620,2103,2103,2153,2053,0,0,0,0,0,0,13.96,14.32,14.26
$GC,6338,0.13,313.2,2620,2104,2153,2052,288.2,9.6,554,6344,0.00,2.50,1.60,0.243,8868,0.000,0.085,2620,730,2087,2137,2038,0,0,0,0,0,0,14.64,14.13,13.93
$GC,6399,0.24,337.0,2620,731,2140,2045,282.6,8.9,566,6455,0.12,2.40,49.97,1.319,11430,0.120,0.079,2678,2096,1989,2033,1945,0,0,0,0,0,0,14.12,14.02,13.22
$GC,6761,0.19,337.0,2679,2097,2023,1927,236.3,12.1,588,6767,0.12,2.42,0.00,0.000,4740,0.255,0.081,2652,724,1974,2022,1926,0,0,0,0,0,0,13.87,14.07,13.97
$GC,6778,0.16,337.0,2655,724,2022,1927,234.5,11.6,591,6783,0.00,2.40,0.00,0.000,1158,0.000,0.078,2654,2099,1973,2020,1926,0,0,0,0,0,0,14.29,14.14,14.33
$GC,7093,0.18,357.7,2650,2100,2019,1925,204.9,9.0,604,7124,0.00,0.00,29.73,1.368,8742,0.000,0.000,2652,2100,1907,1947,1868,0,0,0,0,0,0,14.63,14.07,13.26
$GC,7423,0.24,391.2,2654,2101,1929,1858,176.0,8.5,620,7490,0.00,2.47,59.03,1.278,8868,0.000,0.087,2654,721,1765,1788,1742,0,0,0,0,0,0,14.61,14.04,13.20
$GC,7532,0.40,430.8,2655,721,1779,1741,167.0,8.2,641,7612,0.17,2.42,71.28,1.217,11430,0.104,0.079,2723,2099,1605,1633,1578,0,0,0,0,0,0,14.14,14.07,13.11
$GC,7937,0.40,430.8,2724,2100,1629,1557,116.1,12.1,672,7943,0.00,2.42,0.00,0.000,516,0.000,0.086,2726,727,1592,1628,1556,0,0,0,0,0,0,14.56,14.11,14.57
$GC,7983,0.44,430.8,2726,728,1623,1558,110.7,11.3,681,7988,0.00,2.40,0.00,0.000,1158,0.000,0.078,2726,2099,1590,1625,1556,0,0,0,0,0,0,14.26,14.13,14.32
$GC,8291,0.45,447.6,2727,2100,1626,1553,79.0,9.2,707,8302,0.00,2.50,7.22,0.400,8740,0.000,0.084,2726,726,1538,1575,1502,0,0,0,0,0,0,14.54,14.04,13.58
$GC,8353,0.55,478.4,2727,726,1583,1510,73.3,8.6,719,8375,0.00,2.42,17.90,0.411,9382,0.000,0.078,2726,2103,1415,1455,1375,0,0,0,0,0,0,14.28,14.14,13.62
$GC,8673,0.71,586.9,2726,2104,1458,1377,51.5,5.0,753,8734,0.25,0.00,59.12,0.348,10406,0.085,0.000,2821,2102,972,1039,905,0,0,0,0,0,0,14.28,14.09,13.71
$GC,9033,0.80,671.7,2821,2103,1037,910,18.4,6.1,789,9086,0.00,2.45,46.92,0.259,8868,0.000,0.086,2822,728,623,670,577,0,0,0,0,0,0,14.55,13.94,13.73
$GC,9159,0.98,722.6,2822,728,672,577,9.6,7.6,813,9181,0.22,2.42,17.67,0.232,11430,0.088,0.076,2903,2107,501,524,478,0,0,0,0,0,0,14.09,13.98,13.83
$STATE,9214,end climb,SURFACE_DEPTH_REACHED
$STATE,9214,begin surface coast
$FINISH,0.7,1.021216
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9308,0.00,0.000,0,0,499,703.03
$SM_GC,1.18,8.40,0.17,0.00,0.079,0.119,0.000,200,2223,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.24,14.25,14.33
$RAFOS_CLK,416
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7446.81,-15055.93,160917,021634
$TT8_MAMPS,0.040446,0.896553
$HUMID,47.28
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15923707904.000000
$PM_FREEKB_00,46544704
$24V_AH,12.17,211.416
$10V_AH,12.04,0.000
$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,26.650,89.075,1308.600,0.000,0.000,0.000,0.000,382.625,3.750,0.000,10.918,0.000,6312.462,1243.668,2077.504,353.152,0.000,2440.306,0.000,1177.384,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,2155.770,1422.900,0.000,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9257.000,9223.000,9203.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.063,20.000,12.228,0.000
$MEM,323496
$DATA_FILE_SIZE,30014,822
$CAP_FILE_SIZE,106475,0
$CFSIZE,2097872896,1988591616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1449.1
$CURRENT,0.036,6.99,1
$GPS,160917,073854,7444.722,-15048.390,13,0.8,14,20.8,0.4,200.3,9,8.2