version: 66.13
glider: 196
mission: 14
dive: 363
start: 9 17 117 22 51 7
data:
$ID,196
$MISSION,14
$DIVE,363
$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,34
$R_STBD_OVSHOOT,58
$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,1011.0
$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
$GPS1,170917,223833,7438.3252,-15152.3174,30,0.8,32,20.2,0.3,358.9,11,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.2
$GPS2,170917,225031,7438.3179,-15152.3037,3,0.8,9,20.2,0.0,0.0,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,215.7,68595,-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,52,-0.57,-145.9,188,2192,514,489,0.0,0.0,0,134,0.00,0.00,-80.93,0.000,16386,0.000,0.000,186,2192,1956,1884,2028,0,0,0,0,0,0,14.47,28.83,14.51
$GC,137,-0.57,-145.9,187,2192,1886,2030,3.3,-4.1,8,201,12.93,2.75,-42.35,0.000,18980,0.453,2.164,2384,806,3962,3947,3977,0,0,0,0,0,0,13.54,12.59,14.06
$GC,367,-0.71,-145.9,2385,805,3953,3977,49.7,-12.9,53,373,0.00,2.42,0.00,0.000,1158,0.000,0.083,2382,2164,3965,3952,3978,0,0,0,0,0,0,14.16,14.02,14.20
$GC,672,-0.85,-145.9,2382,2165,3954,3977,87.9,-9.6,84,677,0.22,2.58,0.00,0.000,4516,0.096,0.086,2280,3609,3965,3953,3977,0,0,0,0,0,0,14.09,14.03,14.13
$GC,823,-0.94,-145.9,2281,3611,3953,3978,109.4,-13.6,114,828,0.00,2.40,0.00,0.000,1158,0.000,0.059,2280,2205,3965,3953,3977,0,0,0,0,0,0,14.27,14.14,14.31
$GC,1154,-0.96,-145.9,2281,2204,3954,3977,160.4,-14.6,130,1154,0.00,0.00,0.00,0.000,134,0.000,0.000,2280,2204,3965,3953,3977,0,0,0,0,0,0,14.63,14.64,14.64
$GC,1454,-1.01,-145.9,2280,2205,3954,3978,199.7,-12.5,140,1459,0.00,2.50,0.00,0.000,388,0.000,0.086,2271,3614,3965,3953,3977,0,0,0,0,0,0,14.66,14.00,14.66
$GC,1499,-1.14,-145.9,2271,3616,3953,3978,205.1,-11.4,149,1504,0.17,2.42,0.00,0.000,5254,0.108,0.057,2205,2195,3965,3953,3977,0,0,0,0,0,0,14.14,14.08,14.23
$GC,1815,-1.06,-145.9,2206,2194,3954,3977,262.9,-17.5,162,1816,0.15,0.00,0.00,0.000,2182,0.288,0.000,2234,2194,3965,3953,3977,0,0,0,0,0,0,13.84,14.26,14.12
$GC,2115,-1.09,-145.9,2233,2195,3954,3978,302.4,-12.4,172,2120,0.00,2.53,0.00,0.000,388,0.000,0.088,2234,3611,3965,3953,3977,0,0,0,0,0,0,14.64,14.05,14.66
$GC,2228,-1.20,-145.9,2234,3613,3954,3978,314.4,-10.4,194,2233,0.12,2.42,0.00,0.000,5254,0.138,0.056,2185,2199,3965,3953,3977,0,0,0,0,0,0,14.14,14.08,14.26
$GC,2538,-1.14,-145.9,2186,2198,3954,3977,363.5,-15.8,206,2543,0.00,2.50,0.00,0.000,388,0.000,0.084,2175,3609,3965,3953,3977,0,0,0,0,0,0,14.63,14.03,14.64
$GC,2609,-1.14,-145.9,2174,3615,3949,3978,374.4,-14.8,220,2614,0.15,2.42,0.00,0.000,3078,0.245,0.058,2206,2189,3965,3953,3977,0,0,0,0,0,0,13.81,14.10,14.09
$GC,2929,-1.14,-145.9,2206,2189,3953,3978,417.3,-13.2,234,2934,0.00,2.53,0.00,0.000,260,0.000,0.083,2198,3614,3964,3948,3980,0,0,0,0,0,0,14.62,14.04,14.64
$GC,2980,-1.19,-145.9,2198,3614,3954,3977,423.9,-12.7,244,2984,0.00,2.42,0.00,0.000,1158,0.000,0.057,2197,2196,3964,3952,3977,0,0,0,0,0,0,14.12,14.02,14.13
$GC,3290,-1.19,-145.9,2198,2196,3953,3978,466.2,-13.7,256,3295,0.00,2.50,0.00,0.000,260,0.000,0.083,2189,3610,3965,3954,3977,0,0,0,0,0,0,14.64,13.97,14.64
$GC,3340,-1.22,-145.9,2189,3610,3953,3977,473.0,-13.2,266,3345,0.00,2.42,0.00,0.000,1158,0.000,0.057,2188,2192,3964,3952,3977,0,0,0,0,0,0,14.08,13.94,14.14
$STATE,3407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3408,begin apogee
$GC,3414,-0.13,0.0,2189,2062,3953,3977,482.8,-14.1,270,3713,1.38,0.08,294.27,1.299,10246,0.238,0.181,2535,2108,3365,3378,3353,0,0,0,0,0,0,13.76,13.44,12.67
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3721,0.57,145.9,2530,2108,3373,3344,500.7,0.0,280,3953,0.75,2.67,220.75,1.329,10500,0.059,0.072,2785,3503,2757,2786,2729,0,0,0,0,0,0,13.68,12.85,12.23
$GC,4196,0.07,145.9,2785,3503,2769,2719,482.3,14.7,328,4201,0.90,2.38,0.00,0.000,5254,0.347,0.054,2611,2130,2744,2769,2719,0,0,0,0,0,0,13.43,13.83,13.75
$GC,4529,-0.02,203.8,2611,2129,2771,2716,456.6,7.3,344,4623,0.12,2.55,87.95,1.316,12708,0.290,0.080,2582,3507,2531,2578,2484,0,0,0,0,0,0,13.71,13.83,13.02
$GC,4848,-0.04,219.6,2582,3510,2553,2472,428.8,9.3,408,4870,0.00,2.42,17.40,1.470,9382,0.000,0.059,2593,2102,2471,2515,2428,0,0,0,0,0,0,14.08,13.95,13.17
$GC,5190,-0.01,254.9,2589,2101,2499,2408,399.8,8.4,426,5251,0.00,2.60,56.25,1.327,8740,0.000,0.090,2589,690,2322,2363,2281,0,0,0,0,0,0,14.45,13.93,13.15
$GC,5284,0.08,289.3,2590,688,2349,2273,392.0,8.4,444,5344,0.00,2.50,53.55,1.297,9382,0.000,0.079,2589,2089,2182,2225,2140,0,0,0,0,0,0,14.10,13.99,13.05
$GC,5645,0.16,322.5,2589,2094,2210,2117,361.2,8.5,466,5697,0.15,0.00,49.67,1.300,10406,0.114,0.000,2655,2092,2050,2093,2007,0,0,0,0,0,0,14.16,13.94,13.18
$GC,5972,0.11,322.5,2659,2093,2075,1986,317.2,13.4,477,5977,0.15,2.50,0.00,0.000,4740,0.240,0.083,2630,691,2030,2075,1985,0,0,0,0,0,0,13.86,14.03,13.98
$GC,5998,0.11,322.5,2631,692,2074,1985,314.1,11.9,482,6004,0.00,2.50,0.00,0.000,1030,0.000,0.078,2630,2107,2029,2073,1985,0,0,0,0,0,0,14.14,14.03,14.21
$GC,6303,0.11,322.5,2631,2108,2073,1983,280.8,10.8,493,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2108,2027,2072,1983,0,0,0,0,0,0,14.47,14.47,14.48
$GC,6603,0.14,334.3,2631,2108,2073,1981,251.6,9.5,503,6614,0.00,2.58,4.15,1.271,8868,0.000,0.088,2630,691,2000,2046,1955,0,0,0,0,0,0,14.45,14.04,13.19
$GC,6725,0.26,373.9,2631,691,2055,1970,241.2,8.2,527,6818,0.12,2.45,84.72,1.213,11430,0.125,0.077,2685,2099,1839,1865,1813,0,0,0,0,0,0,14.12,14.04,13.15
$GC,7114,0.24,373.9,2686,2099,1845,1793,196.1,11.3,555,7120,0.00,2.50,0.00,0.000,644,0.000,0.088,2686,693,1818,1844,1793,0,0,0,0,0,0,14.56,14.07,14.57
$GC,7156,0.28,373.9,2686,692,1843,1793,191.6,10.5,563,7162,0.00,2.47,0.00,0.000,1158,0.000,0.077,2685,2105,1817,1841,1793,0,0,0,0,0,0,14.28,14.14,14.33
$GC,7477,0.28,373.9,2686,2106,1846,1790,157.9,10.2,577,7482,0.00,2.53,0.00,0.000,516,0.000,0.088,2685,691,1815,1841,1790,0,0,0,0,0,0,14.64,14.07,14.66
$GC,7517,0.33,382.8,2686,691,1840,1791,154.0,9.6,585,7527,0.00,2.47,1.98,0.233,9382,0.000,0.079,2685,2099,1801,1825,1777,0,0,0,0,0,0,14.13,14.00,13.84
$GC,7837,0.35,406.7,2686,2100,1841,1781,124.2,8.9,599,7898,0.00,2.50,53.20,1.203,8740,0.000,0.088,2686,692,1701,1721,1681,0,0,0,0,0,0,14.65,14.07,13.24
$GC,7936,0.47,440.6,2685,693,1710,1675,115.8,8.4,618,8004,0.15,2.47,59.70,1.157,11430,0.119,0.077,2754,2101,1563,1590,1537,0,0,0,0,0,0,14.15,14.09,13.16
$GC,8310,0.45,454.3,2752,2102,1584,1512,72.1,9.4,660,8321,0.00,2.50,5.60,0.334,8868,0.000,0.086,2752,692,1511,1548,1475,0,0,0,0,0,0,14.54,13.85,13.55
$GC,8402,0.48,509.3,2755,692,1557,1484,64.4,7.5,678,8445,0.00,2.50,35.45,0.386,9254,0.000,0.078,2753,2105,1286,1337,1236,0,0,0,0,0,0,13.40,13.40,13.42
$GC,8742,0.60,594.1,2756,2106,1342,1250,40.8,6.1,716,8806,0.00,2.53,55.22,0.314,8868,0.000,0.088,2754,692,942,1009,876,0,0,0,0,0,0,14.55,14.06,13.76
$GC,8864,0.82,663.9,2755,692,1010,875,33.0,6.8,739,8913,0.30,2.53,43.78,0.289,11430,0.080,0.078,2868,2101,653,709,597,0,0,0,0,0,0,13.95,13.97,13.77
$STATE,9146,end climb,SURFACE_DEPTH_REACHED
$STATE,9146,begin surface coast
$FINISH,0.8,1.021165
$STATE,9156,end surface coast,CONTROL_FINISHED_OK
$STATE,9156,begin surface
$SM_CCo,9178,24.08,0.206,0,0,502,702.78
$SM_GC,1.41,8.23,0.17,24.08,0.068,0.105,0.206,187,2240,502,-7.40,-0.65,702.78,0,0,0,0,0,0,14.25,14.30,13.94
$RAFOS_CLK,229
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.28,-15155.17,170917,195334
$TT8_MAMPS,0.040446,0.90629
$HUMID,46.85
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15916335104.000000
$PM_FREEKB_00,45990656
$24V_AH,12.23,218.956
$10V_AH,12.11,0.000
$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,26.000,85.450,1123.650,24.075,0.000,0.000,0.000,427.700,2.250,0.000,12.766,0.000,6366.044,971.715,2237.728,363.864,0.000,2315.001,0.000,1109.439,2158.000,0.540,0.000
$DEVICE_MAMPS,452.880,2164.185,1469.565,205.785,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8970.000,9148.000,9129.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.299,20.000,9.914,0.000
$MEM,323492
$DATA_FILE_SIZE,26702,773
$CAP_FILE_SIZE,105690,0
$CFSIZE,2097872896,1984626688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$CURRENT,0.014,37.43,1
$GPS,180917,012539,7437.815,-15156.210,17,0.7,23,20.2,0.0,0.0,11,9.9