version: 66.13
glider: 196
mission: 14
dive: 357
start: 9 17 117 5 51 13
data:
$ID,196
$MISSION,14
$DIVE,357
$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,62
$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,998.0
$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
$GPS1,170917,053521,7441.0483,-15126.2793,40,0.8,40,20.4,0.6,81.5,10,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.2
$GPS2,170917,055036,7441.0576,-15126.3594,7,0.8,10,20.4,0.6,272.3,9,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,217.3,82308,-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,-145.9,179,2236,505,485,0.0,0.0,0,144,0.00,0.00,-91.68,0.000,16386,0.000,0.000,183,2235,2164,2090,2239,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,178,2236,2095,2239,4.2,-6.0,9,201,13.05,2.80,-33.75,0.000,18980,0.454,2.167,2385,831,3963,3944,3982,1,0,0,0,0,0,13.24,13.02,14.04
$GC,346,-0.72,-145.9,2385,831,3950,3977,47.9,-12.9,48,354,0.12,2.38,0.00,0.000,5254,0.124,0.085,2331,2164,3962,3949,3976,0,0,0,0,0,0,14.19,14.09,14.28
$GC,651,-0.76,-145.9,2331,2165,3950,3977,99.8,-13.5,79,656,0.00,2.58,0.00,0.000,388,0.000,0.086,2323,3614,3963,3950,3976,0,0,0,0,0,0,14.57,14.09,14.59
$GC,774,-0.91,-145.9,2322,3615,3951,3977,113.6,-10.6,103,779,0.12,2.35,0.00,0.000,5254,0.129,0.054,2267,2225,3963,3950,3976,0,0,0,0,0,0,14.19,14.16,14.29
$GC,1104,-0.91,-145.9,2267,2224,3952,3976,167.3,-15.7,119,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2224,3961,3946,3976,0,0,0,0,0,0,14.62,14.62,14.62
$GC,1405,-0.94,-145.9,2267,2224,3952,3976,210.2,-13.6,129,1406,0.00,0.00,0.00,0.000,134,0.000,0.000,2266,2224,3963,3950,3976,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1705,-0.99,-145.9,2267,2224,3952,3976,248.8,-12.5,139,1705,0.00,0.00,0.00,0.000,134,0.000,0.000,2267,2224,3963,3950,3976,0,0,0,0,0,0,14.65,14.66,14.66
$GC,2005,-1.07,-145.9,2267,2224,3951,3976,281.2,-10.3,149,2006,0.00,0.00,0.00,0.000,134,0.000,0.000,2267,2224,3963,3950,3976,0,0,0,0,0,0,14.68,14.69,14.69
$GC,2305,-1.16,-145.9,2267,2223,3951,3976,310.8,-9.7,159,2306,0.20,0.00,0.00,0.000,4262,0.106,0.000,2194,2224,3963,3950,3976,0,0,0,0,0,0,14.21,14.32,14.31
$GC,2605,-1.12,-145.9,2195,2224,3952,3976,356.0,-15.1,169,2610,0.00,2.47,0.00,0.000,388,0.000,0.086,2184,3614,3963,3950,3976,0,0,0,0,0,0,14.68,14.07,14.69
$GC,2705,-1.12,-145.9,2185,3616,3951,3975,370.8,-14.2,189,2711,0.15,2.42,0.00,0.000,3078,0.239,0.059,2214,2203,3963,3950,3976,0,0,0,0,0,0,13.86,14.14,14.12
$GC,3026,-1.12,-145.9,2215,2202,3951,3976,411.1,-12.3,203,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2202,3963,3950,3976,0,0,0,0,0,0,14.72,14.71,14.71
$GC,3326,-1.12,-145.9,2214,2203,3950,3977,447.2,-12.0,213,3331,0.00,2.50,0.00,0.000,260,0.000,0.086,2210,3610,3963,3950,3977,0,0,0,0,0,0,14.69,14.07,14.71
$GC,3406,-1.21,-145.9,2210,3611,3950,3976,456.4,-10.3,229,3411,0.00,2.40,0.00,0.000,1158,0.000,0.057,2210,2199,3962,3949,3976,0,0,0,0,0,0,14.26,14.13,14.31
$STATE,3624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3624,begin apogee
$GC,3630,-0.13,0.0,2209,2056,3949,3977,483.4,-12.4,238,3862,1.25,0.10,227.40,1.411,10246,0.225,0.158,2528,2119,3362,3370,3355,0,0,0,0,0,0,13.74,13.51,12.66
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3916,0.57,145.9,2528,2120,3359,3340,495.5,0.0,245,4138,0.75,2.62,215.55,1.362,11012,0.060,0.072,2788,3500,2759,2786,2732,0,0,0,0,0,0,13.85,12.96,12.34
$GC,4307,0.07,145.9,2786,3504,2770,2724,489.6,15.5,339,4312,0.93,2.38,0.00,0.000,5254,0.345,0.057,2610,2131,2749,2773,2725,0,0,0,0,0,0,13.39,13.81,13.80
$GC,4618,-0.02,196.8,2610,2130,2770,2723,464.5,7.7,351,4698,0.15,2.58,74.22,1.385,12964,0.278,0.086,2579,694,2557,2602,2513,0,0,0,0,0,0,13.87,13.66,13.04
$GC,4708,0.03,257.4,2583,694,2595,2507,458.1,7.2,364,4809,0.00,2.47,93.95,1.322,9254,0.000,0.080,2579,2088,2311,2359,2264,0,0,0,0,0,0,14.06,13.95,12.86
$GC,5130,0.10,289.3,2580,2088,2342,2241,422.4,8.5,398,5184,0.10,2.53,46.80,1.366,10916,0.161,0.088,2630,705,2179,2223,2135,0,0,0,0,0,0,14.25,13.97,13.14
$GC,5200,0.10,289.3,2630,703,2214,2133,414.6,11.4,412,5204,0.00,2.47,0.00,0.000,1030,0.000,0.079,2630,2108,2172,2213,2131,0,0,0,0,0,0,14.16,14.04,14.21
$GC,5520,0.08,289.3,2631,2110,2213,2122,376.1,12.0,426,5526,0.00,2.50,0.00,0.000,644,0.000,0.087,2630,691,2166,2212,2121,0,0,0,0,0,0,14.59,14.11,14.60
$GC,5556,0.08,289.3,2631,690,2212,2121,371.8,11.8,433,5561,0.00,2.47,0.00,0.000,1030,0.000,0.078,2630,2109,2165,2210,2121,0,0,0,0,0,0,14.31,14.17,14.36
$GC,5881,0.08,289.3,2631,2111,2211,2120,334.4,11.3,448,5886,0.00,2.50,0.00,0.000,516,0.000,0.087,2630,694,2165,2210,2120,0,0,0,0,0,0,14.64,14.14,14.66
$GC,5917,0.10,289.3,2631,694,2205,2121,330.5,10.9,455,5921,0.00,2.45,0.00,0.000,1158,0.000,0.078,2630,2101,2164,2209,2120,0,0,0,0,0,0,14.26,14.11,14.32
$GC,6242,0.10,289.3,2630,2102,2211,2119,294.9,10.8,470,6247,0.00,2.47,0.00,0.000,516,0.000,0.086,2630,697,2164,2209,2120,0,0,0,0,0,0,14.65,14.14,14.67
$GC,6263,0.10,289.3,2630,698,2210,2120,292.7,10.7,474,6269,0.00,2.47,0.00,0.000,1030,0.000,0.077,2630,2105,2164,2209,2120,0,0,0,0,0,0,14.19,14.08,14.25
$GC,6574,0.11,294.7,2631,2105,2209,2120,261.0,9.7,486,6575,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2106,2163,2209,2117,0,0,0,0,0,0,14.64,14.67,14.68
$GC,6875,0.14,338.4,2630,2106,2209,2120,236.0,8.0,496,6965,0.00,2.53,83.47,1.271,8740,0.000,0.085,2630,696,1979,2017,1942,0,0,0,0,0,0,14.64,13.74,13.15
$GC,7021,0.29,385.6,2631,696,2003,1940,224.2,7.8,525,7112,0.15,2.50,81.60,1.215,11430,0.109,0.078,2690,2101,1787,1807,1768,0,0,0,0,0,0,13.92,14.03,13.06
$GC,7417,0.29,385.6,2691,2101,1796,1750,178.3,11.4,554,7423,0.00,2.50,0.00,0.000,516,0.000,0.086,2698,690,1771,1794,1749,0,0,0,0,0,0,14.56,14.11,14.57
$GC,7453,0.31,385.6,2698,689,1792,1750,174.2,11.3,561,7458,0.00,2.47,0.00,0.000,1158,0.000,0.077,2698,2100,1770,1792,1749,0,0,0,0,0,0,14.10,13.96,14.14
$GC,7781,0.31,385.6,2699,2101,1791,1746,138.8,10.6,576,7785,0.00,2.50,0.00,0.000,516,0.000,0.086,2698,694,1768,1791,1746,0,0,0,0,0,0,14.45,14.02,14.47
$GC,7826,0.36,386.7,2699,694,1789,1747,134.1,9.9,585,7831,0.00,2.47,0.00,0.000,1190,0.000,0.076,2699,2096,1768,1789,1747,0,0,0,0,0,0,14.18,14.03,14.21
$GC,8141,0.38,403.9,2699,2101,1788,1746,104.1,9.2,598,8168,0.00,2.58,22.05,1.320,8740,0.000,0.087,2698,692,1717,1737,1697,0,0,0,0,0,0,14.41,13.69,13.06
$GC,8198,0.47,429.0,2699,694,1726,1691,98.9,8.8,609,8216,0.00,2.50,12.93,0.464,9382,0.000,0.079,2697,2109,1614,1632,1596,0,0,0,0,0,0,14.04,13.93,13.57
$GC,8513,0.59,516.9,2699,2107,1651,1598,75.4,5.9,642,8570,0.20,2.58,48.85,0.418,10916,0.095,0.089,2787,695,1259,1306,1213,0,0,0,0,0,0,14.14,13.91,13.59
$GC,8595,0.59,516.9,2791,694,1310,1215,66.5,12.5,658,8601,0.00,2.50,0.00,0.000,1030,0.000,0.078,2790,2099,1262,1309,1216,0,0,0,0,0,0,14.12,13.97,14.15
$GC,8907,0.62,560.6,2791,2100,1309,1214,37.3,8.0,690,8937,0.00,0.00,25.33,0.305,8230,0.000,0.000,2790,2100,1077,1134,1020,0,0,0,0,0,0,14.38,13.89,13.68
$GC,9237,0.78,675.2,2791,2097,1144,1029,17.7,4.7,723,9310,0.12,2.58,63.88,0.252,10916,0.128,0.088,2856,703,614,652,576,0,0,0,0,0,0,14.06,13.95,13.69
$STATE,9398,end climb,SURFACE_DEPTH_REACHED
$STATE,9398,begin surface coast
$FINISH,0.9,1.021256
$STATE,9408,end surface coast,CONTROL_FINISHED_OK
$STATE,9408,begin surface
$SM_CCo,9432,18.15,0.202,0,0,499,702.78
$SM_GC,0.87,8.18,2.72,18.15,0.063,0.075,0.202,201,2216,499,-7.38,-0.37,702.78,0,0,0,0,0,0,14.13,14.06,13.86
$RAFOS_CLK,87
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.98,-15125.97,170917,054008
$TT8_MAMPS,0.085386,0.901047
$HUMID,43.73
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15919185920.000000
$PM_FREEKB_00,46176896
$24V_AH,12.34,215.863
$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,25.475,80.525,996.025,18.150,0.000,0.000,0.000,564.525,3.250,0.000,11.054,0.000,6888.082,865.983,2257.496,367.801,0.000,2276.928,0.000,1085.943,2201.000,0.540,0.000
$DEVICE_MAMPS,453.645,2167.245,1410.660,201.960,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9364.000,9413.000,9382.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.310,20.000,10.546,0.000
$MEM,323488
$DATA_FILE_SIZE,26758,757
$CAP_FILE_SIZE,101816,0
$CFSIZE,2097872896,1986232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.017,354.24,1
$GPS,170917,083002,7440.604,-15130.945,32,0.8,33,20.4,0.3,181.5,9,9.2