version: 66.13
glider: 196
mission: 14
dive: 356
start: 9 17 117 3 4 50
data:
$ID,196
$MISSION,14
$DIVE,356
$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,43
$R_STBD_OVSHOOT,56
$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,996.0
$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
$GPS1,170917,025301,7441.4209,-15121.6777,18,0.8,26,20.5,0.3,294.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.0
$GPS2,170917,030414,7441.4385,-15121.7109,9,0.7,10,20.5,0.0,300.1,12,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,217.9,84668,-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,51,-0.57,-145.9,184,2190,501,499,0.0,0.0,0,143,0.00,0.00,-90.80,0.000,16386,0.000,0.000,183,2190,2139,2067,2211,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,183,2192,2069,2214,3.7,-4.9,9,200,12.85,2.80,-35.35,0.000,18980,0.449,2.159,2385,806,3961,3945,3977,0,0,0,0,0,0,13.57,12.60,14.04
$GC,335,-0.71,-145.9,2385,807,3950,3978,44.2,-13.2,46,341,0.00,2.42,0.00,0.000,1158,0.000,0.086,2383,2164,3963,3950,3977,0,0,0,0,0,0,14.07,13.95,14.11
$GC,641,-0.83,-145.9,2383,2164,3953,3977,84.6,-10.3,77,646,0.20,2.60,0.00,0.000,4484,0.104,0.088,2291,3617,3964,3951,3977,0,0,0,0,0,0,14.20,13.97,14.24
$GC,781,-0.95,-145.9,2292,3618,3952,3978,104.2,-13.1,105,786,0.00,2.40,0.00,0.000,1158,0.000,0.060,2292,2219,3964,3951,3977,0,0,0,0,0,0,14.27,14.13,14.31
$GC,1092,-0.98,-145.9,2291,2219,3952,3978,148.6,-13.8,117,1097,0.00,2.55,0.00,0.000,644,0.000,0.086,2291,787,3964,3951,3977,0,0,0,0,0,0,14.63,14.02,14.65
$GC,1123,-1.07,-145.9,2297,788,3952,3979,152.7,-13.0,123,1128,0.17,2.53,0.00,0.000,5254,0.111,0.087,2225,2204,3964,3951,3977,0,0,0,0,0,0,14.19,14.09,14.29
$GC,1453,-1.01,-145.9,2225,2205,3951,3983,213.4,-18.0,139,1458,0.12,2.50,0.00,0.000,2436,0.277,0.083,2245,3616,3964,3951,3977,0,0,0,0,0,0,13.81,14.07,13.98
$GC,1609,-1.10,-145.9,2245,3617,3952,3978,234.1,-12.1,170,1614,0.00,2.42,0.00,0.000,1158,0.000,0.059,2244,2201,3962,3948,3977,0,0,0,0,0,0,14.21,14.12,14.22
$GC,1934,-1.10,-145.9,2245,2202,3952,3978,277.8,-12.8,185,1939,0.00,2.50,0.00,0.000,260,0.000,0.086,2236,3619,3964,3951,3977,0,0,0,0,0,0,14.64,14.06,14.65
$GC,1989,-1.21,-145.9,2236,3621,3952,3978,284.3,-11.1,196,1997,0.15,2.42,0.00,0.000,5254,0.120,0.059,2178,2201,3964,3951,3977,0,0,0,0,0,0,14.00,14.07,14.09
$GC,2294,-1.12,-145.9,2178,2200,3952,3982,337.5,-17.4,207,2299,0.15,2.50,0.00,0.000,2436,0.292,0.083,2201,3614,3965,3951,3979,0,0,0,0,0,0,13.73,14.02,13.90
$GC,2370,-1.17,-145.9,2201,3615,3952,3977,348.4,-13.2,222,2375,0.00,2.42,0.00,0.000,1158,0.000,0.060,2201,2192,3964,3951,3977,0,0,0,0,0,0,14.26,14.12,14.31
$GC,2685,-1.15,-145.9,2201,2192,3951,3978,394.0,-14.2,235,2690,0.00,2.53,0.00,0.000,388,0.000,0.086,2195,3616,3964,3951,3977,0,0,0,0,0,0,14.63,14.05,14.65
$GC,2736,-1.18,-145.9,2195,3618,3951,3978,400.9,-13.1,245,2740,0.00,2.42,0.00,0.000,1158,0.000,0.058,2195,2199,3964,3951,3977,0,0,0,0,0,0,14.19,14.05,14.23
$GC,3046,-1.15,-145.9,2195,2199,3951,3978,445.3,-14.3,257,3051,0.00,2.50,0.00,0.000,388,0.000,0.085,2185,3613,3962,3947,3977,0,0,0,0,0,0,14.64,14.06,14.66
$GC,3091,-1.15,-145.9,2185,3615,3951,3978,451.8,-13.9,266,3096,0.00,2.42,0.00,0.000,1030,0.000,0.058,2185,2189,3963,3950,3977,0,0,0,0,0,0,14.26,14.12,14.28
$STATE,3284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3284,begin apogee
$GC,3290,-0.13,0.0,2186,2063,3951,3978,481.0,-14.9,275,3528,1.40,0.05,230.55,1.401,10246,0.243,0.120,2528,2107,3357,3366,3349,0,0,0,0,0,0,13.54,13.21,12.60
$STATE,3531,end apogee,CONTROL_FINISHED_OK
$STATE,3532,begin climb
$GC,3534,0.57,145.9,2529,2108,3367,3342,494.9,0.0,283,3756,0.75,2.67,213.60,1.357,10756,0.059,0.076,2792,732,2762,2793,2731,0,0,0,0,0,0,13.63,12.80,12.19
$GC,3934,0.15,145.9,2792,734,2783,2718,486.1,13.9,364,3940,0.75,2.47,0.00,0.000,5254,0.324,0.074,2638,2098,2748,2782,2715,0,0,0,0,0,0,13.26,13.62,13.62
$GC,4251,-0.00,175.5,2638,2099,2783,2712,457.4,8.6,377,4296,0.20,2.45,39.05,1.437,12964,0.265,0.082,2590,727,2648,2694,2603,0,0,0,0,0,0,13.58,13.84,13.07
$GC,4338,0.03,218.9,2590,728,2689,2597,451.0,8.0,394,4412,0.00,2.42,65.85,1.367,9254,0.000,0.079,2590,2098,2468,2520,2416,0,0,0,0,0,0,14.03,13.87,12.97
$GC,4732,0.04,245.0,2591,2099,2504,2397,416.7,8.8,423,4772,0.00,0.00,37.42,1.408,8230,0.000,0.000,2590,2099,2366,2417,2316,0,0,0,0,0,0,14.40,13.97,13.13
$GC,5062,0.06,266.5,2589,2099,2401,2299,387.1,9.0,434,5094,0.00,0.00,30.45,1.443,8742,0.000,0.000,2590,2098,2279,2328,2231,0,0,0,0,0,0,14.44,14.00,13.16
$GC,5393,0.12,292.6,2590,2099,2313,2214,357.7,8.8,450,5437,0.00,2.45,39.53,1.398,8868,0.000,0.085,2590,725,2168,2213,2124,0,0,0,0,0,0,14.45,13.76,13.14
$GC,5485,0.26,328.9,2591,726,2203,2120,349.9,8.3,468,5554,0.25,2.45,58.80,1.325,11430,0.085,0.079,2686,2106,2019,2058,1980,0,0,0,0,0,0,14.12,14.06,13.09
$GC,5880,0.17,328.9,2686,2107,2047,1961,290.0,14.9,496,5886,0.17,2.40,0.00,0.000,4740,0.244,0.084,2652,733,2007,2051,1964,0,0,0,0,0,0,13.78,13.99,13.94
$GC,5934,0.21,328.9,2651,733,2045,1957,283.5,11.6,506,5939,0.00,2.40,0.00,0.000,1158,0.000,0.078,2653,2119,2002,2044,1960,0,0,0,0,0,0,14.16,14.03,14.23
$GC,6244,0.21,328.9,2658,2120,2045,1959,248.6,10.5,518,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2120,2001,2044,1959,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6544,0.22,343.2,2651,2121,2044,1959,219.6,9.3,528,6564,0.00,2.47,15.50,1.470,8740,0.000,0.085,2651,719,1961,2004,1919,0,0,0,0,0,0,14.66,13.93,13.30
$GC,6632,0.32,373.5,2651,719,1993,1918,212.1,8.6,545,6691,0.00,2.45,52.72,1.300,9382,0.000,0.080,2651,2111,1844,1867,1821,0,0,0,0,0,0,14.30,14.16,13.21
$GC,6998,0.40,403.7,2651,2112,1852,1800,179.8,8.6,568,7057,0.15,2.50,50.70,1.275,10916,0.112,0.088,2725,734,1711,1731,1691,0,0,0,0,0,0,14.25,14.01,13.21
$GC,7108,0.40,403.7,2725,737,1722,1690,166.0,12.6,590,7113,0.00,2.40,0.00,0.000,1030,0.000,0.077,2725,2101,1705,1722,1689,0,0,0,0,0,0,14.23,14.10,14.26
$GC,7418,0.35,403.7,2732,2104,1722,1683,126.7,12.3,602,7423,0.00,2.42,0.00,0.000,644,0.000,0.088,2726,727,1702,1721,1683,0,0,0,0,0,0,14.61,14.09,14.63
$GC,7448,0.35,403.7,2726,727,1721,1683,123.0,11.6,608,7454,0.12,2.40,0.00,0.000,5126,0.233,0.077,2700,2103,1701,1720,1682,0,0,0,0,0,0,13.96,14.12,14.20
$GC,7762,0.40,437.7,2700,2104,1721,1681,93.6,8.4,628,7784,0.00,2.50,17.33,0.464,8868,0.000,0.086,2700,732,1581,1605,1558,0,0,0,0,0,0,14.57,14.07,13.63
$GC,7857,0.55,487.6,2700,732,1613,1561,86.0,7.7,646,7895,0.17,2.40,30.02,0.448,11430,0.104,0.077,2772,2106,1377,1414,1340,0,0,0,0,0,0,14.26,14.16,13.58
$GC,8200,0.57,526.9,2773,2107,1418,1345,50.3,8.2,684,8232,0.00,2.53,23.35,0.343,8740,0.000,0.086,2781,730,1219,1268,1170,0,0,0,0,0,0,14.56,13.97,13.67
$GC,8258,0.65,574.8,2781,730,1268,1172,45.8,7.8,695,8291,0.00,2.42,29.08,0.332,9382,0.000,0.079,2781,2107,1018,1080,957,0,0,0,0,0,0,14.05,13.93,13.71
$GC,8597,0.85,707.0,2781,2108,1082,967,23.4,3.9,732,8681,0.20,2.50,74.82,0.260,10916,0.102,0.089,2870,736,498,512,484,0,0,0,0,0,0,14.21,13.90,13.80
$GC,8752,0.88,707.0,2870,737,519,486,9.5,10.4,762,8757,0.00,2.40,0.03,2.549,9350,0.000,0.072,2870,2110,500,517,483,0,0,0,0,0,0,14.18,14.09,13.30
$STATE,8810,end climb,SURFACE_DEPTH_REACHED
$STATE,8810,begin surface coast
$FINISH,0.2,1.021364
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8949,0.00,0.000,0,0,500,703.28
$SM_GC,1.11,8.40,0.15,0.00,0.090,0.114,0.000,200,2233,500,-7.37,-0.76,703.28,0,0,0,0,0,0,14.28,14.29,14.35
$RAFOS_CLK,252
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.80,-15114.92,170917,001439
$TT8_MAMPS,0.040446,0.937748
$HUMID,47.75
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,46206272
$24V_AH,12.19,215.364
$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,26.225,89.475,1008.800,0.000,0.000,0.000,0.000,384.300,3.750,0.000,13.987,0.000,6260.880,861.322,2156.865,354.318,0.000,2118.007,0.000,1110.188,2217.000,0.540,0.000
$DEVICE_MAMPS,449.055,2158.830,2548.980,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8837.000,8874.000,8843.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.450,20.000,10.158,0.000
$MEM,323520
$DATA_FILE_SIZE,26669,770
$CAP_FILE_SIZE,104377,0
$CFSIZE,2097872896,1986527232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.2
$CURRENT,0.010,26.51,1
$GPS,170917,053521,7441.048,-15126.279,40,0.8,40,20.4,0.6,81.5,10,8.2