version: 66.13
glider: 196
mission: 14
dive: 355
start: 9 17 117 0 19 37
data:
$ID,196
$MISSION,14
$DIVE,355
$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,29
$R_STBD_OVSHOOT,34
$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,992.0
$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
$GPS1,170917,000351,7441.9492,-15117.2432,16,0.8,22,20.5,0.3,255.2,9,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.1
$GPS2,170917,001901,7441.9600,-15117.4971,27,0.8,39,20.5,0.3,189.3,9,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,211.8,86978,-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,-145.9,162,2224,508,493,0.0,0.0,0,143,0.00,0.00,-91.25,0.000,16386,0.000,0.000,161,2224,2177,2107,2247,0,0,0,0,0,0,14.34,28.83,14.36
$GC,147,-0.57,-145.9,162,2226,2112,2247,4.3,-6.7,9,199,13.10,2.92,-33.60,0.000,18980,0.451,2.157,2384,791,3963,3946,3980,1,0,0,0,0,0,13.24,12.59,14.07
$GC,345,-0.70,-145.9,2385,793,3952,3978,46.8,-13.6,48,351,0.00,2.50,0.00,0.000,1158,0.000,0.086,2382,2184,3965,3950,3980,0,0,0,0,0,0,13.95,13.83,14.00
$GC,650,-0.83,-145.9,2383,2186,3953,3980,86.6,-10.0,79,655,0.20,2.58,0.00,0.000,4516,0.101,0.088,2292,3616,3966,3953,3979,0,0,0,0,0,0,14.09,13.83,14.18
$GC,786,-0.92,-145.9,2293,3616,3954,3981,105.3,-13.1,106,790,0.00,2.45,0.00,0.000,1158,0.000,0.059,2292,2198,3968,3956,3980,0,0,0,0,0,0,14.15,14.02,14.20
$GC,1101,-0.96,-145.9,2292,2200,3961,3981,150.7,-13.6,119,1102,0.00,0.00,0.00,0.000,134,0.000,0.000,2292,2199,3966,3953,3980,0,0,0,0,0,0,14.42,14.43,14.44
$GC,1401,-1.02,-145.9,2295,2201,3954,3981,187.7,-11.8,129,1402,0.12,0.00,0.00,0.000,4230,0.131,0.000,2244,2199,3966,3952,3980,0,0,0,0,0,0,14.06,14.16,14.13
$GC,1701,-1.02,-145.9,2244,2200,3954,3981,234.1,-15.1,139,1705,0.00,2.53,0.00,0.000,260,0.000,0.087,2236,3614,3967,3953,3981,0,0,0,0,0,0,14.62,14.04,14.63
$GC,1766,-1.10,-145.9,2236,3614,3954,3980,243.3,-13.0,152,1772,0.00,2.40,0.00,0.000,1158,0.000,0.058,2236,2202,3966,3953,3980,0,0,0,0,0,0,14.18,14.04,14.22
$GC,2092,-1.10,-145.9,2237,2199,3954,3980,288.3,-13.2,167,2097,0.00,2.53,0.00,0.000,260,0.000,0.088,2235,3614,3966,3953,3980,0,0,0,0,0,0,14.66,14.06,14.64
$GC,2162,-1.20,-145.9,2236,3616,3953,3980,296.6,-11.0,181,2168,0.15,2.45,0.00,0.000,5254,0.122,0.057,2176,2191,3966,3952,3980,0,0,0,0,0,0,14.16,14.10,14.26
$GC,2483,-1.11,-145.9,2177,2191,3953,3981,351.9,-17.3,195,2489,0.15,2.55,0.00,0.000,2436,0.295,0.083,2200,3624,3966,3952,3980,0,0,0,0,0,0,13.73,14.04,13.90
$GC,2559,-1.15,-145.9,2201,3626,3954,3980,362.7,-13.1,210,2564,0.00,2.42,0.00,0.000,1158,0.000,0.058,2201,2201,3966,3952,3980,0,0,0,0,0,0,14.27,14.13,14.31
$GC,2874,-1.13,-145.9,2200,2199,3953,3980,407.3,-13.9,223,2879,0.00,2.50,0.00,0.000,388,0.000,0.086,2192,3615,3965,3951,3980,0,0,0,0,0,0,14.62,14.04,14.64
$GC,2920,-1.15,-145.9,2193,3617,3952,3981,413.5,-13.4,232,2925,0.00,2.42,0.00,0.000,1158,0.000,0.059,2192,2194,3965,3951,3980,0,0,0,0,0,0,14.23,14.09,14.28
$GC,3236,-1.12,-145.9,2193,2193,3953,3979,458.7,-14.3,245,3241,0.00,2.53,0.00,0.000,388,0.000,0.085,2184,3616,3963,3947,3979,0,0,0,0,0,0,14.62,14.04,14.63
$GC,3301,-1.12,-145.9,2184,3618,3952,3980,467.9,-13.9,258,3306,0.15,2.45,0.00,0.000,3078,0.236,0.058,2213,2194,3965,3951,3980,0,0,0,0,0,0,13.33,13.31,14.00
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3420,-0.13,0.0,2213,2065,3952,3980,482.3,-12.3,266,3657,1.23,0.08,227.48,1.403,10246,0.223,0.178,2527,2107,3362,3370,3355,0,0,0,0,0,0,13.71,13.50,12.69
$STATE,3661,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3666,0.57,145.9,2528,2113,3368,3344,496.0,0.0,274,4077,0.75,2.65,211.40,1.359,10756,0.060,0.079,2794,732,2751,2782,2720,0,0,0,0,0,0,13.74,12.90,12.28
$GC,4089,0.57,145.9,2794,731,2784,2720,484.2,3.8,277,4094,0.00,2.45,0.00,0.000,1030,0.000,0.075,2794,2104,2750,2783,2718,0,0,0,0,0,0,13.94,13.82,13.98
$GC,4404,0.12,145.9,2794,2105,2782,2715,437.3,14.5,290,4409,0.73,2.45,0.00,0.000,4484,0.310,0.075,2629,3512,2747,2781,2714,0,0,0,0,0,0,13.64,14.04,13.88
$GC,4570,-0.09,158.0,2630,3513,2778,2714,420.7,9.4,323,4581,0.32,2.35,3.47,1.264,13478,0.276,0.060,2560,2123,2722,2755,2689,0,0,0,0,0,0,13.81,14.19,12.93
$GC,4886,-0.02,258.5,2561,2126,2775,2698,403.1,5.4,336,5067,0.00,0.00,178.40,1.297,8230,0.000,0.000,2560,2126,2311,2359,2263,0,0,0,0,0,0,14.65,13.70,12.90
$GC,5366,0.12,325.2,2560,2127,2341,2240,370.9,6.9,352,5481,0.17,2.60,107.97,1.270,10916,0.103,0.092,2641,696,2032,2075,1989,0,0,0,0,0,0,14.21,13.85,13.03
$GC,5544,0.16,325.2,2641,696,2058,1987,350.3,11.4,387,5551,0.00,2.50,0.00,0.000,1158,0.000,0.079,2641,2102,2021,2057,1985,0,0,0,0,0,0,14.08,13.96,14.12
$GC,5849,0.16,325.2,2641,2103,2058,1975,314.0,11.8,398,5854,0.00,2.50,0.00,0.000,516,0.000,0.090,2640,695,2014,2057,1972,0,0,0,0,0,0,14.58,14.13,14.62
$GC,5894,0.21,325.2,2641,694,2056,1975,308.8,11.0,407,5899,0.00,2.45,0.00,0.000,1158,0.000,0.079,2640,2100,2015,2056,1975,0,0,0,0,0,0,14.31,14.16,14.35
$GC,6209,0.21,325.2,2641,2100,2056,1974,273.4,10.9,420,6215,0.00,2.47,0.00,0.000,516,0.000,0.088,2640,701,2014,2055,1974,0,0,0,0,0,0,14.63,14.15,14.65
$GC,6256,0.29,325.3,2641,701,2056,1974,268.7,10.0,429,6260,0.00,2.45,0.00,0.000,1190,0.000,0.079,2641,2106,2014,2054,1974,0,0,0,0,0,0,14.32,14.17,14.37
$GC,6571,0.30,343.5,2641,2107,2055,1973,237.8,9.2,442,6595,0.12,0.00,23.08,1.402,10278,0.125,0.000,2696,2106,1964,2004,1924,0,0,0,0,0,0,14.35,14.09,13.25
$GC,6871,0.23,343.5,2696,2107,1991,1908,202.0,11.9,452,6877,0.15,2.45,0.00,0.000,4740,0.240,0.086,2660,692,1948,1990,1907,0,0,0,0,0,0,13.99,14.15,14.13
$GC,6918,0.32,374.0,2661,693,1988,1907,197.6,8.6,461,6979,0.00,2.47,51.15,1.301,9382,0.000,0.080,2660,2108,1834,1861,1808,0,0,0,0,0,0,14.33,14.19,13.21
$GC,7297,0.39,402.1,2660,2111,1849,1797,163.7,8.7,486,7350,0.12,2.53,46.35,1.284,10916,0.127,0.089,2726,692,1720,1740,1700,0,0,0,0,0,0,14.28,14.07,13.22
$GC,7405,0.39,402.1,2727,692,1729,1696,150.5,12.0,508,7411,0.00,2.50,0.00,0.000,1030,0.000,0.079,2726,2100,1711,1728,1695,0,0,0,0,0,0,14.11,13.98,14.16
$GC,7717,0.35,402.1,2726,2102,1729,1690,113.0,11.9,520,7723,0.12,2.50,0.00,0.000,4740,0.239,0.085,2699,695,1706,1728,1685,0,0,0,0,0,0,14.02,14.11,14.14
$GC,7744,0.38,418.1,2699,696,1728,1690,110.5,9.3,525,7769,0.00,2.47,21.35,1.328,9382,0.000,0.077,2698,2106,1660,1685,1636,0,0,0,0,0,0,14.26,14.14,13.26
$GC,8070,0.46,463.2,2699,2106,1676,1616,81.4,7.9,555,8102,0.00,2.53,23.27,0.435,8868,0.000,0.087,2699,708,1476,1508,1445,0,0,0,0,0,0,14.57,14.08,13.64
$GC,8160,0.66,527.2,2699,708,1513,1448,75.2,7.0,572,8202,0.30,2.47,36.60,0.417,11430,0.079,0.080,2810,2101,1214,1268,1161,0,0,0,0,0,0,14.17,14.06,13.67
$GC,8508,0.63,543.2,2809,2105,1270,1166,36.4,9.3,611,8524,0.00,2.55,9.90,0.301,8868,0.000,0.088,2812,708,1148,1206,1090,0,0,0,0,0,0,14.55,13.41,13.24
$GC,8632,0.71,571.2,2812,708,1209,1101,25.5,8.7,635,8654,0.00,2.47,17.15,0.282,9382,0.000,0.079,2808,2105,1034,1094,974,0,0,0,0,0,0,14.25,14.12,13.74
$GC,8950,0.82,662.8,2812,2106,1096,983,4.4,5.8,669,8998,0.00,0.00,45.60,0.210,8866,0.000,0.000,2812,2106,706,759,653,0,0,0,0,0,0,14.59,28.83,14.57
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.1,1.019997
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9099,33.70,0.202,0,0,499,702.78
$SM_GC,1.27,7.95,0.17,33.70,0.064,0.105,0.202,200,2243,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.29,14.31,13.91
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.80,-15114.92,170917,000841
$TT8_MAMPS,0.039697,0.948983
$HUMID,47.08
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,19
$CP_FREE,0.000000
$PM_FREEKB_00,46236096
$24V_AH,12.28,214.875
$10V_AH,12.13,0.000
$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,25.850,85.450,1003.175,33.700,0.000,0.000,0.000,531.300,4.750,0.000,42.613,0.000,6342.387,943.605,2401.444,369.209,0.000,2472.729,0.000,979.581,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2157.300,1403.010,201.960,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9065.000,9063.000,9053.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.556,20.000,12.077,0.000
$MEM,323596
$DATA_FILE_SIZE,23418,682
$CAP_FILE_SIZE,102713,0
$CFSIZE,2097872896,1986789376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.1
$CURRENT,0.005,16.94,1
$GPS,170917,025301,7441.421,-15121.678,18,0.8,26,20.5,0.3,294.0,11,5.0