version: 66.13
glider: 196
mission: 14
dive: 364
start: 9 18 117 1 34 54
data:
$ID,196
$MISSION,14
$DIVE,364
$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,31
$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,1014.0
$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
$GPS1,180917,012539,7437.8149,-15156.2100,17,0.7,23,20.2,0.0,0.0,11,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.7
$GPS2,180917,013420,7437.8428,-15156.2920,39,0.7,39,20.2,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,215.4,66442,-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,-145.9,182,2191,503,487,0.0,0.0,0,144,0.00,0.00,-91.03,0.000,16386,0.000,0.000,181,2190,2176,2107,2245,0,0,0,0,0,0,14.57,28.83,14.59
$GC,148,-0.57,-145.9,180,2191,2111,2247,4.5,-6.9,9,201,12.98,2.78,-31.58,0.000,18980,0.455,2.173,2384,793,3963,3947,3979,1,0,0,0,0,0,13.39,12.58,14.11
$GC,331,-0.71,-145.9,2384,793,3954,3979,45.4,-12.8,45,336,0.00,2.42,0.00,0.000,1158,0.000,0.086,2384,2161,3965,3952,3979,0,0,0,0,0,0,14.35,14.16,14.35
$GC,642,-0.85,-145.9,2384,2162,3955,3979,85.3,-9.8,77,647,0.22,2.55,0.00,0.000,4516,0.099,0.087,2282,3613,3966,3954,3979,0,0,0,0,0,0,14.29,14.07,14.33
$GC,777,-0.93,-145.9,2282,3615,3954,3980,104.5,-13.7,104,783,0.00,2.40,0.00,0.000,1158,0.000,0.059,2281,2202,3966,3953,3979,0,0,0,0,0,0,14.27,14.14,14.31
$GC,1094,-0.93,-145.9,2282,2202,3954,3980,153.9,-14.8,117,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2201,3966,3953,3979,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1394,-0.98,-145.9,2282,2201,3955,3979,193.4,-12.6,127,1399,0.00,2.53,0.00,0.000,388,0.000,0.085,2274,3620,3966,3954,3979,0,0,0,0,0,0,14.73,14.02,14.75
$GC,1450,-1.13,-145.9,2274,3621,3954,3980,199.9,-10.8,138,1456,0.20,2.40,0.00,0.000,5254,0.102,0.057,2201,2200,3966,3954,3979,0,0,0,0,0,0,14.26,14.19,14.35
$GC,1755,-1.04,-145.9,2202,2200,3954,3980,257.9,-18.7,149,1760,0.15,2.53,0.00,0.000,2436,0.296,0.081,2225,3617,3966,3954,3979,0,0,0,0,0,0,13.76,14.07,13.94
$GC,1840,-1.11,-145.9,2226,3619,3954,3979,269.9,-12.0,166,1846,0.00,2.42,0.00,0.000,1158,0.000,0.059,2225,2192,3966,3954,3979,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2145,-1.11,-145.9,2225,2192,3954,3980,311.2,-13.4,177,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2190,3966,3954,3979,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2446,-1.13,-145.9,2226,2190,3955,3979,348.9,-12.3,187,2450,0.00,2.53,0.00,0.000,388,0.000,0.086,2222,3613,3966,3954,3979,0,0,0,0,0,0,14.74,14.00,14.76
$GC,2531,-1.24,-145.9,2223,3613,3954,3979,358.5,-10.6,204,2538,0.15,2.40,0.00,0.000,5254,0.123,0.057,2161,2196,3966,3953,3979,0,0,0,0,0,0,14.21,14.17,14.33
$GC,2836,-1.13,-145.9,2161,2197,3953,3980,412.3,-17.9,215,2841,0.20,2.53,0.00,0.000,2436,0.294,0.083,2196,3615,3966,3953,3979,0,0,0,0,0,0,13.71,14.05,13.90
$GC,2962,-1.19,-145.9,2197,3614,3954,3979,429.3,-12.3,240,2967,0.00,2.40,0.00,0.000,1158,0.000,0.057,2196,2199,3966,3953,3979,0,0,0,0,0,0,14.30,14.16,14.34
$GC,3288,-1.19,-145.9,2197,2198,3954,3977,474.2,-13.8,255,3293,0.00,2.50,0.00,0.000,260,0.000,0.085,2188,3614,3965,3952,3979,0,0,0,0,0,0,14.75,14.08,14.77
$STATE,3330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3330,begin apogee
$GC,3339,-0.13,0.0,2190,2100,3953,3980,480.4,-13.5,264,3565,1.35,0.00,222.23,1.409,10246,0.230,0.000,2529,2097,3366,3379,3354,0,0,0,0,0,0,13.75,13.58,12.73
$STATE,3568,end apogee,CONTROL_FINISHED_OK
$STATE,3568,begin climb
$GC,3571,0.57,145.9,2530,2098,3375,3347,492.9,0.0,271,3794,0.75,2.70,217.82,1.356,10756,0.067,0.079,2781,697,2766,2800,2733,0,0,0,0,0,0,13.73,12.90,12.26
$GC,3966,0.16,145.9,2782,696,2787,2726,489.7,13.0,305,3971,0.68,2.53,0.00,0.000,5254,0.321,0.075,2641,2104,2755,2786,2724,0,0,0,0,0,0,13.35,13.76,13.78
$GC,4277,-0.01,177.6,2641,2105,2786,2720,462.3,8.5,317,4327,0.22,2.53,44.17,1.437,12964,0.265,0.084,2588,690,2636,2679,2594,0,0,0,0,0,0,13.71,13.69,13.07
$GC,4360,0.03,232.5,2589,690,2676,2586,456.5,7.5,333,4452,0.00,2.50,85.82,1.343,9254,0.000,0.080,2588,2103,2416,2470,2362,0,0,0,0,0,0,14.17,14.02,12.96
$GC,4758,0.05,257.3,2589,2104,2457,2346,421.6,8.9,363,4796,0.00,0.00,37.12,1.408,8230,0.000,0.000,2588,2104,2320,2373,2267,0,0,0,0,0,0,14.55,13.99,13.16
$GC,5088,0.09,275.1,2589,2104,2352,2248,391.6,9.2,374,5119,0.00,2.53,25.00,1.466,8868,0.000,0.086,2589,688,2236,2286,2187,0,0,0,0,0,0,14.59,13.83,13.19
$GC,5150,0.20,296.6,2588,688,2279,2185,385.9,9.0,386,5186,0.20,2.47,31.48,1.406,11430,0.098,0.079,2672,2099,2156,2200,2112,0,0,0,0,0,0,14.24,14.14,13.15
$GC,5512,0.10,296.6,2672,2099,2186,2092,332.7,14.5,408,5518,0.22,2.50,0.00,0.000,4740,0.257,0.086,2616,681,2138,2185,2092,0,0,0,0,0,0,13.88,14.14,14.07
$GC,5538,0.10,296.6,2623,682,2184,2092,329.5,11.7,413,5544,0.00,2.50,0.00,0.000,1030,0.000,0.078,2620,2107,2137,2183,2092,0,0,0,0,0,0,14.26,14.12,14.30
$GC,5844,0.10,298.1,2620,2108,2184,2090,298.5,9.9,424,5850,0.00,2.53,0.00,0.000,548,0.000,0.086,2619,682,2136,2183,2090,0,0,0,0,0,0,14.64,14.14,14.66
$GC,5881,0.17,311.6,2619,684,2182,2092,295.0,9.4,431,5906,0.00,2.50,18.33,1.459,9382,0.000,0.077,2620,2106,2092,2137,2048,0,0,0,0,0,0,14.25,14.12,13.28
$GC,6207,0.21,325.9,2620,2105,2131,2037,264.3,9.3,446,6236,0.00,2.53,21.40,1.433,8868,0.000,0.087,2619,689,2030,2073,1987,0,0,0,0,0,0,14.62,14.12,13.28
$GC,6282,0.37,364.9,2620,689,2065,1985,257.6,8.2,461,6358,0.25,2.47,68.40,1.274,11430,0.084,0.078,2712,2104,1875,1901,1850,0,0,0,0,0,0,14.28,14.18,13.15
$GC,6657,0.28,364.9,2713,2101,1886,1834,205.1,13.7,486,6658,0.17,0.00,0.00,0.000,4230,0.220,0.000,2673,2100,1858,1885,1832,0,0,0,0,0,0,13.95,14.26,14.20
$GC,6957,0.28,369.9,2674,2101,1885,1832,174.8,9.8,496,6963,0.00,2.50,0.00,0.000,548,0.000,0.090,2673,692,1854,1878,1831,0,0,0,0,0,0,14.61,14.09,14.62
$GC,7013,0.36,384.6,2673,692,1882,1832,169.4,9.3,507,7050,0.00,2.45,28.98,1.309,9382,0.000,0.079,2673,2097,1796,1815,1778,0,0,0,0,0,0,14.26,14.11,13.27
$GC,7351,0.42,408.3,2673,2094,1806,1754,139.0,8.9,524,7393,0.12,0.00,41.00,1.282,10406,0.132,0.000,2731,2094,1701,1721,1682,0,0,0,0,0,0,14.31,14.04,13.24
$GC,7678,0.37,408.3,2732,2094,1709,1659,100.0,11.3,535,7684,0.00,2.50,0.00,0.000,644,0.000,0.086,2733,691,1686,1709,1664,0,0,0,0,0,0,14.58,14.06,14.59
$GC,7779,0.38,417.4,2733,691,1707,1663,89.8,9.6,555,7791,0.00,2.47,3.58,0.343,9254,0.000,0.077,2733,2103,1664,1688,1640,0,0,0,0,0,0,14.16,14.03,13.54
$GC,8089,0.44,509.1,2733,2106,1699,1645,64.0,5.8,587,8151,0.00,0.00,57.60,0.386,8230,0.000,0.000,2733,2103,1288,1339,1237,0,0,0,0,0,0,14.57,14.04,13.66
$GC,8449,0.62,611.4,2733,2103,1340,1237,43.4,5.3,623,8518,0.12,2.53,63.15,0.321,10916,0.125,0.089,2794,687,870,938,802,0,0,0,0,0,0,14.18,13.97,13.74
$GC,8589,0.76,637.3,2794,687,940,809,31.3,8.8,650,8611,0.00,2.50,17.12,0.285,9382,0.000,0.076,2794,2101,765,832,698,0,0,0,0,0,0,14.12,13.98,13.75
$GC,8926,0.96,730.2,2795,2102,833,705,9.6,5.7,685,8974,0.28,2.55,42.20,0.220,10916,0.085,0.089,2902,683,498,520,476,0,0,0,0,0,0,14.09,13.87,13.76
$STATE,8991,end climb,SURFACE_DEPTH_REACHED
$STATE,8991,begin surface coast
$FINISH,0.1,1.021096
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9004,begin surface
$SM_CCo,9028,-0.03,0.000,0,0,500,702.54
$SM_CCo,9032,0.00,0.000,0,0,500,702.78
$SM_GC,2.21,8.45,2.75,0.00,0.076,0.076,0.000,203,2214,500,-7.37,-0.42,702.78,0,0,0,0,0,0,14.12,14.04,14.43
$RAFOS_CLK,23
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7438.73,-15148.01,170917,224321
$TT8_MAMPS,0.084637,0.961716
$HUMID,46.25
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,21
$CP_FREE,15915810816.000000
$PM_FREEKB_00,45966144
$24V_AH,12.26,219.419
$10V_AH,12.15,0.000
$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,26.725,85.625,1025.400,0.000,0.000,0.000,0.000,224.525,5.250,0.000,41.141,0.000,6463.147,889.740,1942.769,275.882,0.000,1957.975,0.000,1003.520,2213.000,0.539,0.000
$DEVICE_MAMPS,455.175,2172.600,1465.740,0.000,0.000,0.000,0.000,129.285,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5221.000,8994.000,8982.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.428,20.000,9.871,0.000
$MEM,323520
$DATA_FILE_SIZE,23377,700
$CAP_FILE_SIZE,98464,0
$CFSIZE,2097872896,1984430080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$SOUNDSPEED,1445.6
$CURRENT,0.018,5.39,1
$GPS,180917,040635,7437.432,-15200.640,15,0.7,22,20.1,0.6,353.3,12,9.5