version: 66.13
glider: 196
mission: 14
dive: 370
start: 9 18 117 17 44 47
data:
$ID,196
$MISSION,14
$DIVE,370
$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,41
$R_STBD_OVSHOOT,21
$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,1030.0
$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
$GPS1,180917,173805,7435.3521,-15221.0811,18,0.8,19,20.0,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.5
$GPS2,180917,174411,7435.3931,-15221.0967,6,0.8,15,20.0,0.0,0.0,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.5,53653,-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,-145.9,200,2181,507,479,0.0,0.0,0,135,0.00,0.00,-81.07,0.000,16386,0.000,0.000,200,2180,1965,1897,2033,0,0,0,0,0,0,14.56,28.83,14.58
$GC,138,-0.57,-145.9,201,2181,1900,2035,3.2,-4.2,8,202,12.85,2.75,-40.20,0.000,18980,0.453,2.172,2386,808,3965,3950,3980,0,0,0,0,0,0,13.59,12.56,14.04
$GC,323,-0.71,-145.9,2386,809,3953,3981,41.0,-12.8,44,328,0.12,2.45,0.00,0.000,5254,0.120,0.085,2337,2199,3966,3953,3980,0,0,0,0,0,0,14.25,14.16,14.35
$GC,634,-0.77,-145.9,2337,2201,3955,3981,94.0,-13.0,76,639,0.00,2.47,0.00,0.000,388,0.000,0.089,2333,3609,3967,3954,3980,0,0,0,0,0,0,14.69,14.14,14.71
$GC,724,-0.95,-145.9,2333,3609,3955,3980,103.8,-9.9,94,730,0.20,2.38,0.00,0.000,5286,0.098,0.057,2252,2210,3967,3954,3980,0,0,0,0,0,0,14.30,14.21,14.38
$GC,1055,-0.91,-145.9,2252,2210,3955,3980,163.7,-17.2,110,1060,0.12,2.47,0.00,0.000,2436,0.286,0.082,2271,3619,3966,3954,3979,0,0,0,0,0,0,13.93,14.14,14.08
$GC,1091,-0.98,-145.9,2271,3621,3955,3981,169.1,-13.8,117,1096,0.00,2.40,0.00,0.000,1158,0.000,0.060,2271,2204,3966,3954,3979,0,0,0,0,0,0,14.33,14.20,14.37
$GC,1416,-1.02,-145.9,2269,2204,3955,3981,213.2,-13.1,132,1417,0.00,0.00,0.00,0.000,134,0.000,0.000,2270,2204,3967,3954,3980,0,0,0,0,0,0,14.73,14.75,14.75
$GC,1716,-1.08,-145.9,2271,2204,3956,3981,249.5,-11.7,142,1721,0.00,2.50,0.00,0.000,388,0.000,0.088,2267,3613,3967,3954,3980,0,0,0,0,0,0,14.73,14.12,14.75
$GC,1772,-1.25,-145.9,2266,3612,3955,3981,255.4,-9.6,153,1779,0.28,2.42,0.00,0.000,5286,0.090,0.058,2163,2188,3966,3954,3979,0,0,0,0,0,0,14.27,14.19,14.35
$GC,2077,-1.12,-145.9,2163,2189,3955,3981,315.3,-19.7,164,2082,0.22,2.53,0.00,0.000,2436,0.285,0.082,2205,3615,3967,3954,3980,0,0,0,0,0,0,13.77,14.09,13.95
$GC,2185,-1.16,-145.9,2205,3617,3955,3979,330.4,-12.8,185,2190,0.00,2.42,0.00,0.000,1158,0.000,0.059,2205,2194,3966,3954,3979,0,0,0,0,0,0,14.31,14.16,14.33
$GC,2501,-1.16,-145.9,2205,2194,3954,3981,374.2,-13.5,198,2505,0.00,2.50,0.00,0.000,260,0.000,0.085,2197,3610,3966,3954,3979,0,0,0,0,0,0,14.74,14.08,14.73
$GC,2541,-1.18,-145.9,2198,3611,3952,3979,379.7,-13.2,206,2546,0.00,2.40,0.00,0.000,1158,0.000,0.058,2197,2198,3966,3954,3979,0,0,0,0,0,0,14.30,14.16,14.33
$GC,2861,-1.18,-145.9,2198,2196,3955,3980,424.2,-13.9,220,2866,0.00,2.50,0.00,0.000,260,0.000,0.085,2188,3614,3966,3954,3979,0,0,0,0,0,0,14.73,14.09,14.73
$GC,2927,-1.21,-145.9,2188,3616,3953,3981,433.3,-13.4,233,2931,0.00,2.42,0.00,0.000,1158,0.000,0.058,2188,2194,3966,3953,3979,0,0,0,0,0,0,14.31,14.15,14.33
$STATE,3249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3249,begin apogee
$GC,3256,-0.13,0.0,2189,2062,3953,3981,480.6,-14.5,248,3494,1.35,0.08,232.02,1.382,10246,0.239,0.183,2527,2108,3363,3377,3349,0,0,0,0,0,0,13.76,13.55,12.74
$STATE,3497,end apogee,CONTROL_FINISHED_OK
$STATE,3497,begin climb
$GC,3500,0.57,145.9,2528,2109,3372,3343,494.6,0.0,256,3899,0.75,2.65,212.45,1.342,10500,0.059,0.073,2783,3500,2747,2774,2721,0,0,0,0,0,0,13.76,12.93,12.31
$GC,3911,0.57,145.9,2784,3501,2775,2721,483.0,4.0,259,3917,0.00,2.38,0.00,0.000,1030,0.000,0.057,2793,2131,2747,2774,2720,0,0,0,0,0,0,13.95,13.83,13.98
$GC,4228,0.11,145.9,2792,2132,2775,2719,436.1,14.3,272,4233,0.75,2.53,0.00,0.000,4740,0.315,0.080,2634,697,2746,2774,2719,0,0,0,0,0,0,13.51,13.88,13.77
$GC,4341,-0.00,182.3,2635,698,2775,2720,426.1,8.3,294,4399,0.22,2.47,51.60,1.391,13478,0.265,0.080,2586,2099,2618,2660,2577,0,0,0,0,0,0,13.72,14.03,13.12
$GC,4709,0.00,230.6,2586,2099,2652,2555,397.6,7.8,318,4785,0.00,0.00,73.78,1.343,8358,0.000,0.000,2586,2099,2425,2476,2374,0,0,0,0,0,0,14.59,13.93,13.14
$GC,5069,0.03,266.9,2586,2100,2460,2355,367.5,8.3,330,5131,0.00,0.00,56.58,1.338,8230,0.000,0.000,2586,2099,2270,2316,2224,0,0,0,0,0,0,14.57,13.97,13.17
$GC,5429,0.11,306.0,2586,2101,2311,2208,337.5,8.2,342,5500,0.00,2.55,62.03,1.314,8868,0.000,0.090,2588,704,2110,2156,2065,0,0,0,0,0,0,14.59,13.99,13.16
$GC,5538,0.27,343.0,2589,704,2146,2063,328.7,8.3,363,5602,0.25,2.45,58.20,1.292,11430,0.083,0.079,2685,2098,1965,2009,1922,0,0,0,0,0,0,13.74,14.04,13.09
$GC,5913,0.20,343.0,2685,2098,1994,1900,272.8,14.7,388,5914,0.17,0.00,0.00,0.000,4230,0.234,0.000,2646,2099,1946,1993,1900,0,0,0,0,0,0,13.94,14.29,14.23
$GC,6213,0.20,343.0,2646,2100,1992,1900,241.0,10.1,398,6217,0.00,2.50,0.00,0.000,516,0.000,0.090,2645,692,1946,1993,1899,0,0,0,0,0,0,14.62,14.13,14.63
$GC,6293,0.29,359.4,2647,693,1989,1899,233.5,9.2,414,6318,0.00,2.47,20.02,1.412,9382,0.000,0.078,2646,2101,1899,1938,1860,0,0,0,0,0,0,14.23,14.09,13.30
$GC,6636,0.35,383.7,2647,2102,1921,1850,202.4,8.9,432,6679,0.15,0.00,41.08,1.306,10406,0.112,0.000,2710,2101,1801,1826,1776,0,0,0,0,0,0,14.31,14.04,13.26
$GC,6964,0.31,383.7,2712,2101,1811,1761,161.6,12.3,443,6970,0.00,2.47,0.00,0.000,644,0.000,0.090,2712,698,1788,1810,1767,0,0,0,0,0,0,14.58,14.12,14.58
$GC,7060,0.31,383.7,2712,699,1809,1762,150.5,11.0,462,7065,0.12,2.45,0.00,0.000,5126,0.220,0.077,2687,2103,1784,1807,1761,0,0,0,0,0,0,14.02,14.16,14.26
$GC,7387,0.34,408.1,2685,2106,1808,1759,119.9,8.9,477,7427,0.00,0.00,36.80,1.304,8870,0.000,0.000,2685,2104,1703,1726,1681,0,0,0,0,0,0,14.63,14.00,13.22
$GC,7730,0.44,460.4,2685,2106,1717,1667,92.4,7.6,500,7766,0.12,2.55,28.00,0.469,10916,0.128,0.089,2751,702,1488,1519,1458,0,0,0,0,0,0,14.23,14.09,13.66
$GC,7818,0.44,460.4,2752,701,1525,1462,82.5,11.0,517,7824,0.00,2.47,0.00,0.000,1030,0.000,0.078,2752,2105,1493,1524,1462,0,0,0,0,0,0,14.19,14.06,14.23
$GC,8138,0.49,531.3,2752,2107,1525,1460,53.0,6.7,548,8185,0.00,2.58,39.90,0.353,8740,0.000,0.087,2754,703,1199,1255,1144,0,0,0,0,0,0,14.41,13.99,13.62
$GC,8263,0.64,596.5,2755,702,1257,1147,44.9,7.0,572,8305,0.12,2.50,37.50,0.327,11430,0.123,0.078,2802,2107,931,997,865,0,0,0,0,0,0,14.07,13.98,13.67
$GC,8601,0.78,682.3,2803,2108,998,871,16.1,6.0,610,8658,0.00,2.60,49.40,0.249,8868,0.000,0.087,2805,695,582,624,541,0,0,0,0,0,0,14.38,13.90,13.74
$GC,8698,1.03,764.8,2806,694,628,542,10.4,6.2,625,8717,0.35,2.53,12.85,0.236,11430,0.079,0.076,2930,2106,497,522,473,0,0,0,0,0,0,14.00,13.92,13.67
$STATE,8760,end climb,SURFACE_DEPTH_REACHED
$STATE,8760,begin surface coast
$FINISH,0.3,1.020903
$STATE,8771,end surface coast,CONTROL_FINISHED_OK
$STATE,8771,begin surface
$SM_CCo,8855,0.00,0.000,0,0,502,702.78
$SM_GC,1.00,8.52,0.17,0.00,0.075,0.101,0.000,205,2240,502,-7.37,-0.37,702.78,0,0,0,0,0,0,14.13,14.15,14.20
$RAFOS_CLK,41
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7435.18,-15213.73,180917,150600
$TT8_MAMPS,0.087633,0.961716
$HUMID,45.66
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15912697856.000000
$PM_FREEKB_00,45710400
$24V_AH,12.31,222.294
$10V_AH,12.17,0.000
$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,26.700,75.275,1012.200,0.000,0.000,0.000,0.000,150.225,5.250,0.000,15.540,0.000,6172.229,907.190,1884.374,267.085,0.000,2004.266,0.000,910.028,2215.000,0.540,0.000
$DEVICE_MAMPS,452.880,2171.835,1412.190,0.000,0.000,0.000,0.000,137.700,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5274.000,8754.000,8750.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.066,20.000,9.870,0.000
$MEM,323584
$DATA_FILE_SIZE,23389,634
$CAP_FILE_SIZE,92396,0
$CFSIZE,2097872896,1983119360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.6
$CURRENT,0.062,1.06,1
$GPS,180917,201332,7434.981,-15224.853,27,0.8,27,19.9,0.0,0.0,10,8.2