version: 66.13
glider: 196
mission: 14
dive: 375
start: 9 19 117 7 21 56
data:
$ID,196
$MISSION,14
$DIVE,375
$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,62
$R_STBD_OVSHOOT,31
$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,1043.0
$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
$GPS1,190917,071202,7433.2896,-15239.0166,37,0.8,37,19.8,0.0,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.9
$GPS2,190917,072120,7433.3384,-15239.0146,5,0.9,9,19.8,0.0,85.6,8,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.4,44239,-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,65,end surface,CONTROL_FINISHED_OK
$STATE,65,begin dive
$GC,69,-0.57,-145.9,196,2220,497,491,0.0,0.0,0,161,0.00,0.00,-90.93,0.000,16386,0.000,0.000,195,2220,2159,2090,2228,0,0,0,0,0,0,14.49,28.83,14.51
$GC,165,-0.57,-145.9,196,2220,2095,2227,4.0,-5.6,9,218,12.88,2.72,-33.88,0.000,19236,0.454,2.170,2383,832,3959,3939,3980,0,0,0,0,0,0,13.55,13.03,14.01
$GC,419,-0.72,-145.9,2383,833,3951,3979,53.8,-12.4,59,424,0.12,2.40,0.00,0.000,5254,0.122,0.086,2335,2190,3965,3950,3980,0,0,0,0,0,0,14.16,14.08,14.27
$GC,729,-0.79,-145.9,2336,2190,3951,3979,98.6,-12.1,91,734,0.00,2.47,0.00,0.000,388,0.000,0.088,2333,3616,3965,3950,3980,0,0,0,0,0,0,14.59,13.96,14.62
$GC,832,-0.99,-145.9,2333,3618,3951,3981,108.9,-9.4,111,837,0.22,2.35,0.00,0.000,5286,0.096,0.052,2245,2227,3965,3951,3980,0,0,0,0,0,0,14.23,14.17,14.33
$GC,1153,-0.94,-145.9,2246,2226,3952,3980,167.3,-17.5,125,1154,0.15,0.00,0.00,0.000,2182,0.277,0.000,2274,2225,3965,3950,3980,0,0,0,0,0,0,13.86,14.23,14.14
$GC,1453,-0.99,-145.9,2275,2226,3951,3981,207.2,-12.6,135,1458,0.00,2.47,0.00,0.000,388,0.000,0.086,2267,3610,3963,3951,3976,0,0,0,0,0,0,14.69,14.06,14.72
$GC,1504,-1.12,-145.9,2267,3613,3952,3980,213.2,-11.1,145,1509,0.15,2.40,0.00,0.000,5254,0.116,0.057,2210,2201,3967,3955,3979,0,0,0,0,0,0,14.20,14.14,14.31
$GC,1815,-1.06,-145.9,2211,2199,3952,3980,267.3,-17.0,157,1820,0.00,2.53,0.00,0.000,388,0.000,0.086,2201,3614,3965,3951,3980,0,0,0,0,0,0,14.69,14.06,14.72
$GC,1875,-1.06,-145.9,2202,3617,3951,3981,276.9,-15.0,169,1881,0.12,2.42,0.00,0.000,3078,0.257,0.057,2230,2196,3965,3950,3980,0,0,0,0,0,0,13.84,14.12,14.11
$GC,2206,-1.06,-145.9,2230,2196,3951,3981,319.6,-12.3,185,2211,0.00,2.53,0.00,0.000,260,0.000,0.086,2223,3617,3965,3950,3980,0,0,0,0,0,0,14.70,14.02,14.71
$GC,2265,-1.15,-145.9,2223,3620,3951,3985,326.3,-11.6,194,2270,0.00,2.45,0.00,0.000,1158,0.000,0.057,2223,2198,3965,3950,3980,0,0,0,0,0,0,14.12,13.96,14.13
$GC,2581,-1.15,-145.9,2223,2197,3952,3978,364.6,-12.1,207,2585,0.00,2.55,0.00,0.000,260,0.000,0.087,2222,3609,3965,3950,3980,0,0,0,0,0,0,14.43,13.88,14.45
$GC,2621,-1.24,-145.9,2222,3611,3951,3980,369.4,-11.4,215,2626,0.12,2.47,0.00,0.000,5254,0.132,0.057,2170,2195,3965,3950,3980,0,0,0,0,0,0,13.98,13.94,14.09
$GC,2942,-1.15,-145.9,2170,2187,3952,3980,421.7,-16.4,229,2947,0.15,2.58,0.00,0.000,2436,0.291,0.080,2192,3610,3964,3949,3979,0,0,0,0,0,0,13.50,13.83,13.69
$GC,3028,-1.18,-145.9,2192,3611,3949,3981,433.5,-12.6,246,3034,0.00,2.45,0.00,0.000,1158,0.000,0.057,2193,2192,3964,3949,3980,0,0,0,0,0,0,14.06,13.93,14.09
$GC,3333,-1.15,-145.9,2192,2192,3949,3981,475.6,-13.8,257,3338,0.00,2.55,0.00,0.000,388,0.000,0.084,2184,3610,3964,3948,3980,0,0,0,0,0,0,14.45,13.85,14.41
$STATE,3365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3365,begin apogee
$GC,3374,-0.13,0.0,2185,2100,3949,3979,480.6,-14.2,264,3593,1.40,0.00,215.52,1.422,10246,0.236,0.000,2534,2100,3365,3377,3354,0,0,0,0,0,0,13.58,13.50,12.70
$STATE,3595,end apogee,CONTROL_FINISHED_OK
$STATE,3595,begin climb
$GC,3598,0.57,145.9,2530,2101,3368,3350,492.5,0.0,271,3815,0.73,2.78,207.12,1.368,10756,0.059,0.080,2778,688,2764,2796,2732,0,0,0,0,0,0,13.65,13.05,12.22
$GC,4028,0.17,145.9,2781,687,2789,2727,478.4,13.8,355,4033,0.68,2.58,0.00,0.000,5254,0.320,0.075,2640,2110,2757,2788,2726,0,0,0,0,0,0,13.34,13.72,13.74
$GC,4361,-0.01,167.0,2641,2111,2797,2721,447.7,9.0,371,4395,0.22,2.58,26.42,1.496,12964,0.263,0.086,2589,693,2680,2720,2641,0,0,0,0,0,0,13.69,13.99,13.12
$GC,4438,0.03,218.4,2589,693,2720,2642,441.9,7.6,386,4523,0.00,2.50,77.00,1.392,9254,0.000,0.080,2589,2102,2470,2523,2418,0,0,0,0,0,0,14.15,14.03,12.96
$GC,4846,0.05,244.8,2590,2102,2517,2407,406.5,8.8,417,4891,0.00,2.58,37.28,1.426,8740,0.000,0.087,2588,689,2362,2411,2313,0,0,0,0,0,0,14.40,13.97,13.13
$GC,4907,0.10,269.8,2589,693,2415,2312,401.2,8.8,424,4953,0.00,2.45,37.75,1.403,9382,0.000,0.079,2589,2102,2260,2311,2209,0,0,0,0,0,0,14.12,14.00,13.05
$GC,5268,0.17,297.2,2589,2101,2308,2198,369.1,8.7,446,5311,0.15,0.00,40.30,1.399,10406,0.113,0.000,2660,2101,2150,2196,2105,0,0,0,0,0,0,14.28,14.01,13.17
$GC,5599,0.10,297.2,2660,2102,2188,2095,324.8,13.5,457,5604,0.15,2.47,0.00,0.000,4740,0.249,0.083,2630,692,2140,2187,2094,0,0,0,0,0,0,13.95,14.13,14.11
$GC,5659,0.15,297.2,2631,693,2186,2093,318.0,10.5,469,5664,0.00,2.47,0.00,0.000,1158,0.000,0.078,2630,2106,2139,2185,2094,0,0,0,0,0,0,14.30,14.16,14.35
$GC,5990,0.15,297.2,2631,2106,2186,2092,282.4,10.5,485,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2106,2139,2185,2093,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6290,0.16,315.5,2631,2107,2186,2090,253.5,9.2,495,6322,0.00,2.58,26.05,1.431,8740,0.000,0.086,2630,691,2075,2118,2033,0,0,0,0,0,0,14.63,14.14,13.28
$GC,6395,0.27,350.3,2629,691,2112,2033,244.5,8.4,515,6458,0.12,2.47,56.90,1.317,11430,0.120,0.079,2688,2105,1936,1974,1899,0,0,0,0,0,0,14.25,14.18,13.14
$GC,6774,0.23,350.3,2688,2105,1966,1885,199.4,11.5,541,6779,0.12,2.45,0.00,0.000,4740,0.233,0.085,2658,692,1923,1964,1883,0,0,0,0,0,0,13.95,14.11,14.09
$GC,6805,0.30,384.0,2659,693,1961,1887,196.5,8.4,547,6866,0.00,2.47,54.17,1.288,9382,0.000,0.079,2658,2100,1798,1822,1774,0,0,0,0,0,0,14.28,14.14,13.20
$GC,7167,0.37,411.7,2660,2101,1816,1764,164.4,8.7,569,7219,0.12,2.53,45.75,1.279,10916,0.129,0.089,2726,687,1684,1705,1664,0,0,0,0,0,0,14.24,14.06,13.24
$GC,7295,0.37,411.7,2726,686,1700,1662,148.3,12.2,595,7300,0.00,2.50,0.00,0.000,1030,0.000,0.077,2726,2099,1680,1698,1662,0,0,0,0,0,0,14.24,14.11,14.28
$GC,7615,0.34,411.7,2729,2100,1699,1656,108.8,12.1,609,7620,0.12,2.50,0.00,0.000,4740,0.231,0.084,2699,685,1676,1698,1655,0,0,0,0,0,0,13.88,14.09,13.99
$GC,7671,0.43,425.8,2698,686,1697,1656,103.1,9.4,620,7692,0.00,2.50,16.02,1.379,9382,0.000,0.078,2699,2108,1631,1656,1606,0,0,0,0,0,0,14.23,14.09,13.31
$GC,7997,0.52,478.4,2699,2109,1652,1593,74.7,7.6,656,8028,0.15,0.00,27.55,0.425,10406,0.112,0.000,2763,2108,1413,1448,1379,0,0,0,0,0,0,14.23,14.04,13.64
$GC,8327,0.56,533.7,2768,2109,1449,1373,41.8,7.4,689,8363,0.00,2.58,29.00,0.327,8740,0.000,0.089,2770,690,1190,1242,1138,0,0,0,0,0,0,14.58,14.01,13.77
$GC,8489,0.70,598.9,2767,690,1243,1137,30.0,7.0,721,8532,0.12,2.50,35.00,0.288,11430,0.126,0.078,2814,2098,922,983,861,0,0,0,0,0,0,14.12,14.05,13.77
$GC,8829,0.79,668.4,2818,2101,987,854,4.1,6.8,759,8864,0.00,0.00,33.50,0.214,8866,0.000,0.000,2818,2101,666,719,614,0,0,0,0,0,0,14.55,28.83,14.57
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,0.2,1.011090
$STATE,8887,end surface coast,CONTROL_FINISHED_OK
$STATE,8887,begin surface
$SM_CCo,8909,22.98,0.210,0,0,498,702.78
$SM_GC,1.07,8.10,0.17,22.98,0.073,0.136,0.210,203,2204,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.25,14.22,13.91
$RAFOS_CLK,301
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7433.42,-15235.54,190917,043043
$TT8_MAMPS,0.040446,0.927262
$HUMID,47.99
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15910207488.000000
$PM_FREEKB_00,45562560
$24V_AH,12.22,224.639
$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,26.125,85.675,965.350,22.975,0.000,0.000,0.000,299.375,2.250,0.000,10.536,0.000,6286.983,986.666,1899.318,331.583,0.000,2012.485,0.000,1098.480,2216.000,0.539,0.000
$DEVICE_MAMPS,453.645,2169.540,1495.575,209.610,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8906.000,5361.000,8847.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.646,20.000,9.918,0.000
$MEM,323636
$DATA_FILE_SIZE,26720,766
$CAP_FILE_SIZE,102569,0
$CFSIZE,2097872896,1981841408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.060,26.77,1
$GPS,190917,095202,7432.893,-15242.294,26,0.8,26,19.8,0.0,0.0,10,7.8