version: 66.13
glider: 196
mission: 14
dive: 369
start: 9 18 117 15 9 40
data:
$ID,196
$MISSION,14
$DIVE,369
$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,35
$R_STBD_OVSHOOT,54
$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,1027.0
$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
$GPS1,180917,150232,7435.8047,-15217.2783,40,0.7,40,20.0,0.0,0.0,11,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.5
$GPS2,180917,150909,7435.8267,-15217.3037,8,0.7,9,20.0,0.0,209.2,12,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,205.6,55660,-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,-145.9,200,2187,502,494,0.0,0.0,0,134,0.00,0.00,-80.40,0.000,16386,0.000,0.000,199,2187,1958,1888,2029,0,0,0,0,0,0,14.50,28.83,14.52
$GC,137,-0.57,-145.9,200,2187,1890,2032,3.5,-4.3,8,201,12.75,2.78,-40.72,0.000,18980,0.451,2.168,2385,809,3963,3948,3979,0,0,0,0,0,0,13.62,12.59,14.09
$GC,346,-0.71,-145.9,2386,809,3954,3979,44.6,-12.7,49,353,0.12,2.42,0.00,0.000,5254,0.119,0.085,2334,2169,3966,3952,3980,0,0,0,0,0,0,14.17,14.12,14.28
$GC,652,-0.77,-145.9,2334,2170,3954,3980,95.4,-13.1,80,656,0.00,2.58,0.00,0.000,388,0.000,0.088,2333,3616,3966,3954,3979,0,0,0,0,0,0,14.56,14.09,14.58
$GC,754,-0.95,-145.9,2332,3617,3954,3979,106.4,-9.8,100,759,0.20,2.40,0.00,0.000,5286,0.104,0.057,2252,2210,3966,3954,3979,0,0,0,0,0,0,14.23,14.16,14.31
$GC,1075,-0.91,-145.9,2253,2208,3954,3980,163.4,-17.3,114,1080,0.12,2.47,0.00,0.000,2436,0.288,0.082,2272,3612,3966,3954,3978,0,0,0,0,0,0,13.88,14.09,14.02
$GC,1121,-1.03,-145.9,2272,3613,3955,3986,170.1,-12.7,123,1127,0.00,2.42,0.00,0.000,1158,0.000,0.060,2271,2190,3966,3954,3979,0,0,0,0,0,0,14.28,14.15,14.33
$GC,1437,-1.07,-145.9,2272,2191,3955,3979,212.7,-13.1,136,1438,0.12,0.00,0.00,0.000,4230,0.136,0.000,2227,2190,3964,3949,3979,0,0,0,0,0,0,14.24,14.35,14.30
$GC,1737,-1.04,-145.9,2228,2191,3954,3979,259.9,-15.5,146,1742,0.00,2.55,0.00,0.000,388,0.000,0.088,2223,3620,3966,3954,3979,0,0,0,0,0,0,14.57,14.03,14.57
$GC,1888,-1.10,-145.9,2224,3620,3955,3979,279.3,-12.0,176,1893,0.00,2.42,0.00,0.000,1158,0.000,0.058,2223,2198,3966,3954,3979,0,0,0,0,0,0,14.23,14.12,14.28
$GC,2218,-1.10,-145.9,2223,2197,3954,3980,323.7,-13.2,192,2223,0.00,2.53,0.00,0.000,260,0.000,0.089,2223,3613,3965,3952,3979,0,0,0,0,0,0,14.59,14.02,14.64
$GC,2299,-1.21,-145.9,2223,3614,3956,3980,333.2,-10.9,208,2303,0.00,2.42,0.00,0.000,1158,0.000,0.057,2221,2199,3964,3950,3979,0,0,0,0,0,0,14.23,14.10,14.25
$GC,2609,-1.23,-145.9,2223,2198,3954,3978,371.6,-12.3,220,2615,0.12,2.53,0.00,0.000,4484,0.148,0.085,2158,3608,3966,3954,3978,0,0,0,0,0,0,14.19,14.00,14.22
$GC,2660,-1.17,-145.9,2157,3611,3954,3979,379.6,-17.0,230,2666,0.20,2.42,0.00,0.000,3206,0.262,0.060,2198,2196,3965,3953,3978,0,0,0,0,0,0,13.71,14.07,14.02
$GC,2991,-1.17,-145.9,2198,2195,3955,3978,423.7,-13.8,242,2996,0.00,2.55,0.00,0.000,260,0.000,0.086,2191,3618,3965,3953,3978,0,0,0,0,0,0,14.41,13.93,14.43
$GC,3062,-1.21,-145.9,2192,3619,3955,3978,436.0,-12.9,256,3066,0.00,2.47,0.00,0.000,1158,0.000,0.058,2191,2191,3967,3954,3981,0,0,0,0,0,0,14.03,13.91,14.07
$STATE,3379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3379,begin apogee
$GC,3386,-0.13,0.0,2192,2063,3954,3977,481.6,-14.2,270,3614,1.38,0.08,224.82,1.400,10246,0.237,0.177,2532,2108,3365,3385,3346,0,0,0,0,0,0,13.63,13.42,12.63
$STATE,3618,end apogee,CONTROL_FINISHED_OK
$STATE,3618,begin climb
$GC,3623,0.57,145.9,2533,2108,3378,3333,493.7,0.0,277,4018,0.75,2.67,210.80,1.365,11012,0.060,0.076,2792,734,2758,2789,2728,0,0,0,0,0,0,13.62,12.79,12.17
$GC,4030,0.57,145.9,2794,733,2788,2724,486.3,2.3,280,4035,0.00,2.50,0.00,0.000,1030,0.000,0.074,2794,2101,2755,2787,2723,0,0,0,0,0,0,13.70,13.59,13.71
$GC,4345,0.11,145.9,2795,2103,2788,2717,440.8,14.1,293,4351,0.77,2.47,0.00,0.000,4484,0.312,0.076,2629,3512,2750,2787,2714,0,0,0,0,0,0,13.03,13.71,13.38
$GC,4491,-0.09,167.4,2624,3513,2786,2717,426.7,9.0,322,4528,0.35,2.38,28.33,1.469,13478,0.271,0.059,2553,2133,2678,2719,2638,0,0,0,0,0,0,13.72,14.00,13.12
$GC,4828,-0.00,260.3,2553,2134,2714,2627,407.5,5.7,339,4987,0.00,0.00,155.57,1.289,8870,0.000,0.000,2553,2136,2305,2358,2252,0,0,0,0,0,0,14.45,13.64,12.93
$GC,5308,0.16,333.6,2553,2134,2341,2233,375.8,6.6,370,5436,0.22,2.67,118.18,1.274,10916,0.091,0.093,2653,703,1998,2047,1949,0,0,0,0,0,0,14.07,13.74,12.99
$GC,5511,0.16,333.6,2653,703,2034,1945,350.3,12.4,410,5516,0.00,2.45,0.00,0.000,1030,0.000,0.078,2653,2099,1988,2032,1945,0,0,0,0,0,0,14.03,13.92,14.06
$GC,5822,0.13,333.6,2653,2099,2033,1934,310.0,12.8,422,5827,0.00,2.50,0.00,0.000,644,0.000,0.089,2654,695,1982,2030,1934,0,0,0,0,0,0,14.57,13.91,14.59
$GC,5847,0.13,333.6,2655,694,2031,1934,306.7,13.3,427,5855,0.12,2.47,0.00,0.000,5126,0.237,0.078,2627,2099,1982,2030,1934,0,0,0,0,0,0,13.95,14.11,14.20
$GC,6153,0.16,333.6,2628,2107,2037,1934,274.5,10.2,438,6157,0.00,2.50,0.00,0.000,644,0.000,0.090,2627,696,1981,2030,1933,0,0,0,0,0,0,14.63,14.00,14.64
$GC,6173,0.22,347.5,2627,696,2030,1934,272.5,9.4,442,6193,0.00,2.45,14.05,1.476,9382,0.000,0.078,2627,2106,1946,1994,1899,0,0,0,0,0,0,14.31,14.16,13.30
$GC,6516,0.29,379.4,2628,2105,1986,1889,241.8,8.5,460,6581,0.12,2.58,56.83,1.289,10916,0.122,0.089,2692,691,1813,1842,1784,0,0,0,0,0,0,14.34,13.98,13.22
$GC,6598,0.25,379.4,2693,691,1833,1782,232.0,12.6,476,6603,0.00,2.47,0.00,0.000,1158,0.000,0.077,2691,2098,1807,1832,1782,0,0,0,0,0,0,14.20,14.08,14.25
$GC,6909,0.22,379.4,2693,2100,1832,1775,193.6,11.8,488,6910,0.15,0.00,0.00,0.000,4230,0.216,0.000,2658,2099,1802,1831,1774,0,0,0,0,0,0,13.96,14.24,14.19
$GC,7209,0.30,410.3,2658,2100,1832,1772,167.0,8.6,498,7269,0.00,2.55,52.58,1.279,8868,0.000,0.092,2659,675,1687,1713,1662,0,0,0,0,0,0,14.62,13.98,13.22
$GC,7327,0.47,454.7,2659,674,1704,1659,157.4,7.9,521,7415,0.22,2.53,81.90,1.190,11430,0.091,0.080,2750,2106,1512,1548,1477,0,0,0,0,0,0,14.14,14.05,13.14
$GC,7721,0.43,454.7,2751,2106,1541,1448,102.1,13.4,550,7726,0.12,2.50,0.00,0.000,4740,0.234,0.084,2727,689,1493,1539,1448,0,0,0,0,0,0,13.83,14.10,14.02
$GC,7781,0.49,454.7,2728,690,1534,1451,95.5,10.1,562,7786,0.00,2.47,0.00,0.000,1158,0.000,0.076,2727,2101,1492,1536,1448,0,0,0,0,0,0,14.22,14.08,14.28
$GC,8092,0.56,507.1,2728,2101,1537,1445,66.3,7.6,594,8125,0.00,2.58,28.45,0.393,8868,0.000,0.087,2729,688,1295,1348,1242,0,0,0,0,0,0,14.56,14.04,13.69
$GC,8170,0.74,567.2,2729,689,1350,1247,60.5,7.2,609,8213,0.28,2.50,36.62,0.377,11430,0.083,0.076,2833,2109,1050,1115,986,0,0,0,0,0,0,14.09,14.09,13.65
$GC,8519,0.77,612.3,2836,2110,1117,993,20.2,7.9,648,8551,0.00,2.60,27.20,0.261,8740,0.000,0.086,2836,689,864,928,801,0,0,0,0,0,0,14.56,13.91,13.78
$GC,8672,0.90,706.7,2836,689,930,807,9.8,5.6,678,8735,0.10,2.50,55.35,0.220,11430,0.141,0.075,2881,2110,495,513,478,0,0,0,0,0,0,13.97,13.95,13.77
$STATE,8749,end climb,SURFACE_DEPTH_REACHED
$STATE,8749,begin surface coast
$FINISH,0.3,1.020947
$STATE,8761,end surface coast,CONTROL_FINISHED_OK
$STATE,8761,begin surface
$SM_CCo,8843,0.00,0.000,0,0,496,703.77
$SM_GC,1.08,8.27,0.17,0.00,0.074,0.103,0.000,205,2254,496,-7.36,-0.40,703.77,0,0,0,0,0,0,14.25,14.28,14.33
$RAFOS_CLK,254
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7436.14,-15220.90,180917,122326
$TT8_MAMPS,0.038948,0.942242
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15913222144.000000
$PM_FREEKB_00,45733888
$24V_AH,12.17,221.839
$10V_AH,12.03,0.000
$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,26.525,85.800,1090.675,0.000,0.000,0.000,0.000,187.275,1.750,0.000,10.708,0.000,6031.937,918.950,2017.434,279.282,0.000,2138.624,0.000,994.824,2212.000,0.539,0.000
$DEVICE_MAMPS,451.350,2168.010,1476.450,0.000,0.000,0.000,0.000,133.875,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8369.000,8748.000,8737.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.584,20.000,13.350,0.000
$MEM,323652
$DATA_FILE_SIZE,23431,693
$CAP_FILE_SIZE,99252,0
$CFSIZE,2097872896,1983283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.8
$CURRENT,0.046,11.16,1
$GPS,180917,173805,7435.352,-15221.081,18,0.8,19,20.0,0.0,0.0,10,8.3