version: 66.13
glider: 196
mission: 14
dive: 367
start: 9 18 117 9 47 49
data:
$ID,196
$MISSION,14
$DIVE,367
$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,38
$R_STBD_OVSHOOT,22
$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,1022.0
$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
$GPS1,180917,093620,7436.6255,-15209.0234,36,0.8,36,20.1,0.5,66.6,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.2
$GPS2,180917,094713,7436.6382,-15209.0371,8,0.8,9,20.1,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,210.9,59904,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,192,2182,506,492,0.0,0.0,0,135,0.00,0.00,-81.30,0.000,16386,0.000,0.000,191,2180,1974,1899,2049,0,0,0,0,0,0,14.52,28.83,14.54
$GC,138,-0.57,-145.9,191,2183,1902,2050,3.3,-4.1,8,202,12.88,2.78,-40.17,0.000,18980,0.451,2.170,2384,810,3966,3952,3980,0,0,0,0,0,0,13.54,12.56,14.03
$GC,318,-0.72,-145.9,2384,811,3957,3982,41.4,-12.5,43,324,0.00,2.45,0.00,0.000,1158,0.000,0.085,2380,2199,3968,3956,3980,0,0,0,0,0,0,14.27,14.14,14.34
$GC,625,-0.85,-145.9,2381,2199,3959,3981,82.4,-10.1,74,630,0.20,2.50,0.00,0.000,4484,0.103,0.088,2292,3614,3969,3958,3980,0,0,0,0,0,0,14.28,14.12,14.31
$GC,748,-0.94,-145.9,2292,3616,3960,3980,99.2,-13.2,98,753,0.00,2.40,0.00,0.000,1158,0.000,0.061,2292,2216,3969,3958,3981,0,0,0,0,0,0,14.09,13.69,14.18
$GC,1058,-0.97,-145.9,2293,2215,3958,3980,144.3,-13.8,110,1063,0.00,2.45,0.00,0.000,388,0.000,0.083,2283,3610,3969,3958,3981,0,0,0,0,0,0,14.69,14.12,14.72
$GC,1109,-1.12,-145.9,2284,3613,3958,3980,150.4,-11.1,120,1114,0.20,2.42,0.00,0.000,5254,0.097,0.057,2209,2189,3969,3958,3980,0,0,0,0,0,0,14.16,14.13,14.28
$GC,1420,-1.02,-145.9,2210,2189,3960,3980,213.9,-20.3,132,1425,0.12,2.50,0.00,0.000,2436,0.304,0.082,2228,3609,3969,3958,3981,0,0,0,0,0,0,13.53,13.99,13.78
$GC,1527,-1.07,-145.9,2229,3609,3959,3981,230.2,-13.6,153,1532,0.00,2.40,0.00,0.000,1158,0.000,0.057,2228,2196,3969,3958,3981,0,0,0,0,0,0,14.23,14.09,14.28
$GC,1843,-1.07,-145.9,2228,2194,3959,3980,277.2,-14.1,166,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2195,3969,3958,3980,0,0,0,0,0,0,14.72,14.74,14.72
$GC,2143,-1.07,-145.9,2228,2196,3958,3982,316.7,-12.7,176,2147,0.00,2.53,0.00,0.000,260,0.000,0.086,2222,3610,3969,3958,3980,0,0,0,0,0,0,14.73,13.38,14.75
$GC,2265,-1.16,-145.9,2223,3611,3958,3981,330.5,-11.2,200,2270,0.00,2.42,0.00,0.000,1158,0.000,0.055,2223,2195,3969,3958,3980,0,0,0,0,0,0,14.16,14.02,14.21
$GC,2596,-1.18,-145.9,2223,2194,3958,3981,370.8,-11.9,216,2601,0.00,2.53,0.00,0.000,388,0.000,0.087,2223,3610,3968,3958,3979,0,0,0,0,0,0,14.73,13.99,14.75
$GC,2651,-1.29,-145.9,2224,3610,3958,3980,377.1,-10.7,227,2659,0.20,2.40,0.00,0.000,5254,0.102,0.055,2149,2193,3968,3957,3980,0,0,0,0,0,0,14.23,14.16,14.33
$GC,2956,-1.17,-145.9,2150,2192,3958,3980,433.1,-18.8,238,2961,0.22,2.53,0.00,0.000,2436,0.311,0.080,2189,3614,3968,3957,3979,0,0,0,0,0,0,13.54,14.00,13.79
$GC,3064,-1.19,-145.9,2188,3615,3957,3980,448.1,-13.0,259,3070,0.00,2.40,0.00,0.000,1158,0.000,0.055,2188,2199,3968,3957,3979,0,0,0,0,0,0,14.26,14.14,14.30
$STATE,3287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3287,begin apogee
$GC,3294,-0.13,0.0,2189,2056,3957,3980,480.6,-14.2,269,3522,1.38,0.10,223.35,1.405,10246,0.238,0.161,2531,2119,3367,3387,3347,0,0,0,0,0,0,13.71,13.57,12.75
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3528,0.57,145.9,2533,2119,3380,3338,492.4,0.0,276,3751,0.73,2.67,213.35,1.356,11012,0.059,0.078,2780,728,2759,2796,2723,0,0,0,0,0,0,13.76,12.93,12.30
$GC,3810,0.16,145.9,2782,727,2789,2720,501.3,12.1,289,3816,0.70,2.53,0.00,0.000,5254,0.320,0.073,2641,2090,2752,2788,2717,0,0,0,0,0,0,13.09,13.39,13.45
$GC,4137,-0.00,174.4,2641,2091,2787,2711,472.2,8.7,304,4182,0.22,2.42,40.03,1.429,12964,0.265,0.083,2589,730,2649,2695,2603,0,0,0,0,0,0,13.73,13.65,13.03
$GC,4234,0.03,217.8,2589,731,2688,2593,465.1,8.0,323,4308,0.00,2.42,66.25,1.369,9254,0.000,0.080,2589,2106,2472,2533,2412,0,0,0,0,0,0,14.21,14.07,13.00
$GC,4618,0.05,249.1,2590,2106,2522,2394,432.1,8.6,350,4665,0.00,0.00,45.25,1.405,8230,0.000,0.000,2589,2105,2350,2405,2295,0,0,0,0,0,0,14.56,13.99,13.14
$GC,4949,0.09,274.8,2589,2105,2388,2278,403.3,8.8,361,4994,0.00,2.50,37.60,1.418,8868,0.000,0.087,2589,736,2237,2289,2186,0,0,0,0,0,0,14.57,14.05,13.18
$GC,5009,0.16,298.6,2585,737,2283,2185,398.0,8.9,368,5050,0.15,2.42,34.62,1.394,11430,0.116,0.079,2658,2106,2145,2195,2095,0,0,0,0,0,0,14.16,14.08,13.09
$GC,5371,0.10,298.6,2658,2107,2181,2076,349.3,13.4,390,5372,0.17,0.00,0.00,0.000,4230,0.249,0.000,2616,2107,2128,2181,2075,0,0,0,0,0,0,13.93,14.28,14.22
$GC,5671,0.10,298.6,2619,2108,2180,2074,317.5,10.4,400,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2107,2126,2180,2073,0,0,0,0,0,0,14.61,14.63,14.62
$GC,5971,0.10,302.1,2620,2108,2180,2074,287.5,9.8,410,5976,0.00,2.42,0.00,0.000,548,0.000,0.087,2619,732,2126,2180,2073,0,0,0,0,0,0,14.66,14.13,14.67
$GC,6047,0.19,329.9,2620,731,2179,2072,280.7,8.7,425,6102,0.00,2.42,49.67,1.327,9382,0.000,0.078,2619,2109,2018,2066,1971,0,0,0,0,0,0,14.27,14.13,13.21
$GC,6425,0.28,360.4,2619,2110,2055,1956,247.5,8.6,450,6485,0.12,2.45,51.75,1.301,10916,0.123,0.086,2685,734,1888,1922,1855,0,0,0,0,0,0,14.28,13.78,13.18
$GC,6565,0.28,360.4,2686,734,1909,1854,231.0,11.2,478,6570,0.00,2.40,0.00,0.000,1030,0.000,0.077,2685,2101,1881,1909,1854,0,0,0,0,0,0,14.18,14.07,14.23
$GC,6876,0.25,360.4,2685,2102,1909,1844,195.7,11.1,490,6881,0.00,2.45,0.00,0.000,644,0.000,0.086,2685,731,1878,1908,1848,0,0,0,0,0,0,14.57,14.00,14.59
$GC,6936,0.28,368.3,2686,732,1907,1849,189.6,9.6,502,6946,0.00,2.42,2.30,0.618,9382,0.000,0.077,2685,2101,1864,1895,1833,0,0,0,0,0,0,14.28,14.14,12.76
$GC,7266,0.28,369.9,2686,2102,1906,1838,156.1,9.9,518,7270,0.00,0.00,2.70,0.951,8230,0.000,0.000,2685,2101,1857,1889,1825,0,0,0,0,0,0,14.64,14.17,12.99
$GC,7566,0.29,390.2,2686,2101,1902,1833,127.2,9.1,528,7617,0.00,2.50,46.53,1.299,8740,0.000,0.088,2685,731,1770,1795,1746,0,0,0,0,0,0,14.62,14.07,13.22
$GC,7670,0.40,435.8,2686,732,1783,1743,118.8,7.9,548,7759,0.00,2.42,82.15,1.190,9382,0.000,0.078,2685,2100,1587,1617,1557,0,0,0,0,0,0,14.11,13.99,13.11
$GC,8070,0.53,490.5,2686,2096,1610,1533,85.8,7.5,590,8106,0.17,2.50,28.90,0.448,10916,0.108,0.090,2771,734,1364,1410,1319,0,0,0,0,0,0,14.10,13.93,13.56
$GC,8175,0.53,490.5,2769,734,1412,1322,74.5,11.1,610,8179,0.00,2.42,0.00,0.000,1030,0.000,0.079,2768,2100,1366,1411,1322,0,0,0,0,0,0,14.14,14.01,14.17
$GC,8485,0.59,567.6,2768,2101,1412,1323,46.8,6.4,642,8537,0.00,2.45,44.55,0.336,8740,0.000,0.088,2768,730,1050,1114,987,0,0,0,0,0,0,14.36,13.93,13.66
$GC,8585,0.74,624.0,2768,732,1116,993,40.2,7.4,661,8623,0.17,2.45,33.08,0.311,11430,0.107,0.077,2839,2106,821,888,754,0,0,0,0,0,0,14.03,13.97,13.69
$GC,8919,0.79,659.8,2840,2106,890,761,6.8,8.3,698,8942,0.00,0.00,22.00,0.219,8358,0.000,0.000,2839,2105,674,734,615,0,0,0,0,0,0,14.35,14.03,13.78
$STATE,8975,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$FINISH,0.1,1.021101
$STATE,8996,end surface coast,CONTROL_FINISHED_OK
$STATE,8996,begin surface
$SM_CCo,9018,27.10,0.207,0,0,497,702.78
$SM_GC,1.27,8.30,0.17,27.10,0.081,0.103,0.207,198,2242,497,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.16,13.82
$RAFOS_CLK,57
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.01,-15209.96,180917,065854
$TT8_MAMPS,0.084637,0.869589
$HUMID,44.52
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,26
$CP_FREE,15914237952.000000
$PM_FREEKB_00,45822272
$24V_AH,12.30,220.872
$10V_AH,12.16,0.000
$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,25.950,79.550,1024.075,27.100,0.000,0.000,0.000,364.875,6.500,0.000,10.746,0.000,6405.821,899.217,2053.606,357.017,0.000,2115.817,0.000,1011.992,2195.000,0.539,0.000
$DEVICE_MAMPS,451.350,2169.540,1429.020,207.315,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5294.000,8989.000,8973.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.687,20.000,13.661,0.000
$MEM,323484
$DATA_FILE_SIZE,23426,706
$CAP_FILE_SIZE,99419,0
$CFSIZE,2097872896,1983676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.0
$CURRENT,0.019,15.85,1
$GPS,180917,122000,7436.163,-15213.230,17,0.7,38,20.0,0.0,250.0,11,9.9