version: 66.13
glider: 196
mission: 14
dive: 352
start: 9 16 117 16 9 17
data:
$ID,196
$MISSION,14
$DIVE,352
$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,28
$R_STBD_OVSHOOT,25
$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,984.0
$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
$GPS1,160917,155732,7443.4229,-15102.8320,35,0.7,35,20.6,0.0,0.0,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.4
$GPS2,160917,160841,7443.4512,-15103.0244,6,0.7,8,20.6,0.0,352.6,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,212.1,94636,-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,-145.9,185,2214,498,494,0.0,0.0,0,141,0.00,0.00,-88.20,0.000,16386,0.000,0.000,183,2215,2089,2018,2161,0,0,0,0,0,0,14.49,28.83,14.51
$GC,144,-0.57,-145.9,183,2215,2019,2164,4.5,-6.5,9,200,13.07,2.83,-37.12,0.000,19236,0.454,2.157,2385,799,3964,3951,3977,1,0,0,0,0,0,13.33,12.59,13.92
$GC,366,-0.72,-145.9,2387,800,3954,3979,48.4,-12.9,53,371,0.12,2.50,0.00,0.000,5254,0.120,0.086,2338,2195,3965,3954,3977,0,0,0,0,0,0,14.08,13.97,14.17
$GC,676,-0.78,-145.9,2338,2197,3954,3978,97.8,-12.9,85,681,0.00,2.55,0.00,0.000,388,0.000,0.086,2333,3616,3965,3954,3977,0,0,0,0,0,0,14.38,13.92,14.42
$GC,779,-0.97,-145.9,2334,3618,3955,3978,108.7,-10.0,105,784,0.20,2.42,0.00,0.000,5286,0.099,0.053,2255,2201,3965,3954,3977,0,0,0,0,0,0,14.13,14.02,14.19
$GC,1099,-0.93,-145.9,2255,2201,3954,3978,165.0,-17.1,119,1104,0.00,2.53,0.00,0.000,388,0.000,0.085,2241,3614,3965,3954,3977,0,0,0,0,0,0,14.42,13.97,14.44
$GC,1150,-0.98,-145.9,2246,3615,3955,3977,173.0,-14.9,129,1154,0.00,2.45,0.00,0.000,1158,0.000,0.060,2245,2195,3965,3954,3976,0,0,0,0,0,0,14.15,14.00,14.16
$GC,1460,-0.98,-145.9,2245,2194,3954,3978,223.0,-15.7,141,1465,0.00,2.55,0.00,0.000,260,0.000,0.086,2236,3616,3965,3954,3977,0,0,0,0,0,0,14.40,13.94,14.42
$GC,1520,-1.04,-145.9,2236,3617,3955,3979,231.6,-13.4,153,1525,0.00,2.45,0.00,0.000,1158,0.000,0.058,2236,2195,3965,3954,3977,0,0,0,0,0,0,14.12,13.99,14.16
$GC,1852,-1.04,-145.9,2236,2194,3955,3977,278.1,-13.3,169,1857,0.00,2.50,0.00,0.000,260,0.000,0.086,2235,3610,3965,3954,3977,0,0,0,0,0,0,14.38,13.88,14.39
$GC,1908,-1.13,-145.9,2236,3610,3955,3977,285.2,-11.5,180,1915,0.00,2.45,0.00,0.000,1158,0.000,0.056,2236,2196,3965,3954,3977,0,0,0,0,0,0,14.03,13.88,14.07
$GC,2213,-1.16,-145.9,2236,2197,3954,3978,322.2,-11.8,191,2214,0.00,0.00,0.00,0.000,134,0.000,0.000,2235,2196,3965,3954,3977,0,0,0,0,0,0,14.56,14.58,14.57
$GC,2513,-1.21,-145.9,2236,2196,3955,3977,356.4,-11.3,201,2518,0.12,2.53,0.00,0.000,4484,0.148,0.084,2169,3618,3965,3954,3976,0,0,0,0,0,0,14.22,14.06,14.26
$GC,2564,-1.17,-145.9,2168,3619,3954,3977,364.0,-15.8,211,2569,0.12,2.45,0.00,0.000,3206,0.264,0.057,2194,2194,3965,3954,3976,0,0,0,0,0,0,13.80,14.05,14.09
$GC,2874,-1.15,-145.9,2194,2194,3955,3977,409.0,-14.1,223,2879,0.00,2.50,0.00,0.000,388,0.000,0.084,2186,3610,3964,3953,3976,0,0,0,0,0,0,14.61,14.06,14.63
$GC,2924,-1.15,-145.9,2186,3612,3954,3976,416.1,-13.7,233,2929,0.00,2.42,0.00,0.000,1030,0.000,0.056,2186,2195,3964,3954,3975,0,0,0,0,0,0,14.10,13.98,14.14
$GC,3235,-1.10,-145.9,2186,2195,3954,3976,462.1,-14.9,245,3240,0.12,2.53,0.00,0.000,2436,0.311,0.083,2204,3619,3964,3953,3975,0,0,0,0,0,0,13.83,13.98,13.97
$GC,3315,-1.18,-145.9,2205,3621,3955,3975,472.1,-11.4,261,3320,0.00,2.42,0.00,0.000,1158,0.000,0.056,2204,2199,3965,3954,3976,0,0,0,0,0,0,14.08,13.96,14.12
$STATE,3383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3383,begin apogee
$GC,3390,-0.13,0.0,2205,2056,3954,3976,480.8,-12.4,265,3620,1.30,0.10,226.18,1.400,10246,0.230,0.158,2529,2121,3362,3387,3338,0,0,0,0,0,0,13.74,13.48,12.66
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3629,0.57,145.9,2529,2121,3380,3330,492.7,0.0,272,4040,0.75,0.00,209.68,1.358,10758,0.060,0.000,2785,2120,2751,2795,2708,0,0,0,0,0,0,13.73,12.89,12.28
$GC,4364,0.13,145.9,2785,2119,2783,2708,432.8,14.3,288,4370,0.70,2.45,0.00,0.000,4740,0.320,0.078,2645,728,2747,2787,2708,0,0,0,0,0,0,13.65,14.03,13.90
$GC,4440,0.01,168.8,2639,727,2789,2708,425.6,8.9,303,4476,0.22,2.38,29.65,1.459,13478,0.269,0.079,2590,2088,2672,2718,2627,0,0,0,0,0,0,13.81,14.14,13.15
$GC,4789,0.01,219.7,2590,2088,2711,2612,399.3,7.7,322,4870,0.00,0.00,78.95,1.353,8358,0.000,0.000,2590,2088,2470,2529,2411,0,0,0,0,0,0,14.57,13.91,13.09
$GC,5147,0.03,251.6,2591,2088,2510,2389,369.1,8.5,334,5197,0.00,0.00,48.25,1.369,8230,0.000,0.000,2590,2088,2340,2394,2287,0,0,0,0,0,0,14.57,13.99,13.16
$GC,5477,0.09,288.5,2591,2088,2378,2268,341.3,8.3,345,5543,0.00,2.47,57.72,1.332,8868,0.000,0.088,2590,733,2180,2232,2128,0,0,0,0,0,0,14.59,13.98,13.17
$GC,5586,0.24,330.1,2591,733,2225,2124,332.4,8.1,366,5660,0.22,2.42,66.45,1.288,11430,0.089,0.080,2679,2107,2016,2064,1969,0,0,0,0,0,0,14.16,14.07,13.06
$GC,5959,0.18,330.1,2680,2108,2051,1950,278.7,14.2,391,5964,0.15,2.45,0.00,0.000,4740,0.253,0.084,2647,724,1999,2050,1949,0,0,0,0,0,0,13.88,14.13,14.04
$GC,5995,0.21,330.1,2647,725,2049,1950,274.4,11.3,398,5999,0.00,2.40,0.00,0.000,1158,0.000,0.077,2647,2098,1998,2047,1949,0,0,0,0,0,0,14.29,14.16,14.36
$GC,6320,0.22,334.4,2644,2101,2048,1947,240.3,9.8,413,6326,0.00,2.45,0.00,0.000,548,0.000,0.086,2647,721,1996,2047,1946,0,0,0,0,0,0,14.64,14.15,14.66
$GC,6361,0.29,351.2,2647,721,2047,1945,236.6,9.2,421,6396,0.00,2.42,28.98,1.353,9382,0.000,0.078,2647,2107,1932,1979,1885,0,0,0,0,0,0,14.21,14.09,13.26
$GC,6714,0.35,376.9,2648,2107,1965,1873,205.1,8.8,441,6763,0.12,2.53,43.83,1.307,10916,0.125,0.086,2710,723,1824,1856,1793,0,0,0,0,0,0,14.26,14.07,13.25
$GC,6790,0.32,376.9,2714,724,1842,1790,196.1,12.1,456,6795,0.00,2.42,0.00,0.000,1158,0.000,0.077,2709,2105,1815,1841,1790,0,0,0,0,0,0,14.23,14.11,14.26
$GC,7106,0.27,376.9,2710,2106,1839,1783,157.6,11.8,469,7111,0.15,2.42,0.00,0.000,4740,0.225,0.085,2672,736,1810,1838,1783,0,0,0,0,0,0,13.93,14.13,14.07
$GC,7162,0.39,405.0,2674,733,1837,1784,152.1,8.7,480,7214,0.12,2.40,46.35,1.277,11430,0.133,0.078,2726,2104,1714,1738,1690,0,0,0,0,0,0,14.18,14.13,13.24
$GC,7529,0.36,405.0,2725,2104,1728,1672,107.5,11.9,503,7530,0.00,0.00,0.00,0.000,134,0.000,0.000,2725,2103,1699,1727,1672,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7831,0.38,437.7,2727,2104,1728,1668,77.8,8.5,527,7853,0.00,2.42,15.88,0.420,8740,0.000,0.085,2723,731,1580,1610,1550,0,0,0,0,0,0,14.55,13.93,13.62
$GC,7945,0.50,492.3,2727,731,1618,1554,69.0,7.5,549,7982,0.00,2.42,30.35,0.401,9382,0.000,0.078,2723,2102,1356,1402,1310,0,0,0,0,0,0,14.23,14.09,13.66
$GC,8288,0.68,605.6,2726,2102,1403,1317,47.4,4.8,587,8356,0.20,2.47,60.25,0.337,10916,0.093,0.090,2808,738,895,965,826,0,0,0,0,0,0,14.18,13.95,13.71
$GC,8393,0.75,614.7,2808,739,966,829,38.5,9.6,607,8404,0.00,2.40,5.80,0.311,9382,0.000,0.076,2808,2101,858,929,788,0,0,0,0,0,0,14.09,13.97,13.59
$GC,8701,0.88,669.7,2809,2102,931,798,13.6,7.5,639,8739,0.15,2.45,31.35,0.245,10916,0.111,0.087,2886,731,631,680,582,0,0,0,0,0,0,14.12,13.90,13.76
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$FINISH,1.2,1.021302
$STATE,8802,end surface coast,CONTROL_FINISHED_OK
$STATE,8802,begin surface
$SM_CCo,8826,19.42,0.213,0,0,499,702.78
$SM_GC,1.07,8.30,2.60,19.42,0.074,0.071,0.213,197,2205,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.27,14.21,13.90
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.61,-15056.72,160917,131926
$TT8_MAMPS,0.039697,0.944489
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,11.00
$XPDR_PINGS,13
$CP_FREE,15921709056.000000
$PM_FREEKB_00,46363648
$24V_AH,12.28,213.391
$10V_AH,12.12,0.000
$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,26.175,84.350,979.650,19.425,0.000,0.000,0.000,383.650,3.250,0.000,12.125,0.000,6134.898,822.879,2219.811,354.230,0.000,2258.615,0.000,947.324,1542.000,0.539,0.000
$DEVICE_MAMPS,454.410,2156.535,1458.855,212.670,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8834.000,8785.000,8778.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.558,20.000,12.219,0.000
$MEM,323612
$DATA_FILE_SIZE,23429,659
$CAP_FILE_SIZE,100020,0
$CFSIZE,2097872896,1987510272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.042,317.83,1
$GPS,160917,183803,7442.989,-15107.622,31,0.8,32,20.6,0.6,106.8,10,6.2