version: 66.13
glider: 196
mission: 14
dive: 376
start: 9 19 117 9 58 39
data:
$ID,196
$MISSION,14
$DIVE,376
$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,25
$R_STBD_OVSHOOT,23
$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,1045.0
$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
$GPS1,190917,095202,7432.8926,-15242.2939,26,0.8,26,19.8,0.0,0.0,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.7
$GPS2,190917,095805,7432.9028,-15242.2451,8,0.8,9,19.8,0.0,111.8,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.7,42479,-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,-145.9,195,2208,497,487,0.0,0.0,0,144,0.00,0.00,-90.82,0.000,16386,0.000,0.000,193,2208,2173,2107,2240,0,0,0,0,0,0,14.55,28.83,14.57
$GC,148,-0.57,-145.9,193,2208,2111,2241,4.3,-6.4,9,201,12.68,2.75,-32.55,0.000,18724,0.449,2.168,2376,3614,3964,3947,3981,0,0,0,0,0,0,13.60,12.63,14.12
$GC,332,-0.74,-145.9,2376,3616,3954,3982,43.4,-12.0,45,337,0.12,2.42,0.00,0.000,5254,0.128,0.059,2325,2193,3967,3953,3981,0,0,0,0,0,0,14.24,14.20,14.35
$GC,642,-0.78,-145.9,2325,2191,3956,3981,95.8,-14.0,77,647,0.00,2.53,0.00,0.000,388,0.000,0.084,2319,3616,3968,3955,3981,0,0,0,0,0,0,14.69,14.12,14.72
$GC,683,-0.91,-145.9,2320,3617,3956,3982,100.9,-12.0,85,688,0.00,2.40,0.00,0.000,1158,0.000,0.057,2319,2199,3966,3954,3978,0,0,0,0,0,0,14.33,14.20,14.37
$GC,1004,-1.00,-145.9,2320,2200,3955,3982,138.6,-11.2,99,1005,0.20,0.00,0.00,0.000,4230,0.100,0.000,2245,2198,3968,3955,3982,0,0,0,0,0,0,14.35,14.44,14.41
$GC,1304,-0.96,-145.9,2246,2199,3955,3982,190.0,-17.1,109,1309,0.00,2.50,0.00,0.000,388,0.000,0.086,2236,3616,3968,3955,3981,0,0,0,0,0,0,14.73,14.09,14.77
$GC,1385,-1.03,-145.9,2236,3618,3956,3982,202.0,-13.9,125,1389,0.00,2.42,0.00,0.000,1158,0.000,0.059,2236,2193,3968,3955,3981,0,0,0,0,0,0,14.18,14.09,14.18
$GC,1695,-1.03,-145.9,2237,2192,3956,3981,250.6,-15.2,137,1700,0.00,2.50,0.00,0.000,260,0.000,0.087,2235,3609,3967,3954,3980,0,0,0,0,0,0,14.72,14.08,14.73
$GC,1770,-1.10,-145.9,2235,3609,3955,3982,261.1,-13.0,152,1776,0.00,2.40,0.00,0.000,1158,0.000,0.056,2235,2192,3967,3954,3981,0,0,0,0,0,0,14.30,14.16,14.34
$GC,2087,-1.12,-145.9,2235,2192,3955,3982,301.7,-12.3,165,2092,0.00,2.53,0.00,0.000,388,0.000,0.088,2236,3609,3968,3955,3981,0,0,0,0,0,0,14.71,14.07,14.71
$GC,2132,-1.22,-145.9,2236,3610,3955,3982,307.0,-10.9,174,2138,0.15,2.40,0.00,0.000,5254,0.123,0.056,2175,2198,3967,3954,3981,0,0,0,0,0,0,14.20,14.15,14.31
$GC,2449,-1.13,-145.9,2176,2197,3955,3982,359.8,-16.8,187,2454,0.15,2.50,0.00,0.000,2436,0.295,0.082,2199,3613,3967,3954,3981,0,0,0,0,0,0,13.78,14.03,13.96
$GC,2561,-1.18,-145.9,2199,3615,3954,3982,374.6,-12.3,209,2566,0.00,2.40,0.00,0.000,1158,0.000,0.057,2200,2199,3967,3954,3981,0,0,0,0,0,0,14.28,14.14,14.32
$GC,2872,-1.18,-145.9,2199,2198,3955,3980,417.6,-13.6,221,2877,0.00,2.53,0.00,0.000,260,0.000,0.085,2190,3615,3967,3954,3980,0,0,0,0,0,0,14.74,13.98,14.77
$GC,2942,-1.20,-145.9,2190,3616,3954,3980,427.0,-13.0,235,2947,0.00,2.42,0.00,0.000,1158,0.000,0.057,2190,2189,3967,3954,3980,0,0,0,0,0,0,14.27,14.14,14.31
$GC,3263,-1.16,-145.9,2190,2189,3953,3980,472.3,-14.0,249,3267,0.00,2.53,0.00,0.000,388,0.000,0.084,2181,3609,3966,3953,3980,0,0,0,0,0,0,14.73,13.97,14.73
$STATE,3315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3315,begin apogee
$GC,3324,-0.13,0.0,2182,2102,3954,3980,480.0,-13.5,260,3568,1.40,0.00,240.18,1.363,10246,0.243,0.000,2526,2100,3365,3385,3346,0,0,0,0,0,0,13.67,13.57,12.77
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3574,0.57,145.9,2528,2101,3377,3336,493.1,0.0,268,3973,0.75,2.67,210.23,1.333,10500,0.059,0.072,2784,3506,2746,2779,2714,0,0,0,0,0,0,13.75,12.93,12.31
$GC,4038,0.08,145.9,2784,3506,2778,2715,466.9,15.8,282,4043,0.88,2.42,0.00,0.000,5254,0.343,0.057,2614,2095,2745,2778,2713,0,0,0,0,0,0,13.48,13.97,13.88
$GC,4359,-0.02,185.4,2614,2096,2779,2712,439.2,8.2,296,4420,0.17,0.00,56.58,1.370,12966,0.280,0.000,2574,2095,2606,2652,2561,0,0,0,0,0,0,13.78,13.93,13.12
$GC,4719,0.02,238.0,2577,2096,2646,2538,412.4,7.6,313,4805,0.00,2.58,80.20,1.337,8740,0.000,0.090,2577,695,2391,2445,2338,0,0,0,0,0,0,14.57,13.92,13.10
$GC,4828,0.12,287.4,2577,696,2440,2333,404.1,7.7,334,4911,0.15,2.50,76.07,1.304,11430,0.117,0.080,2642,2107,2189,2241,2138,0,0,0,0,0,0,14.05,13.99,12.96
$GC,5232,0.07,287.4,2643,2106,2225,2116,353.2,12.6,365,5233,0.15,0.00,0.00,0.000,4230,0.231,0.000,2609,2107,2170,2224,2116,0,0,0,0,0,0,14.00,14.23,14.20
$GC,5532,0.10,292.2,2609,2107,2224,2114,323.2,9.8,375,5537,0.00,2.55,0.00,0.000,676,0.000,0.090,2610,691,2168,2223,2113,0,0,0,0,0,0,14.61,14.02,14.64
$GC,5578,0.21,309.7,2610,691,2222,2114,319.0,9.2,384,5613,0.12,2.47,28.55,1.371,11430,0.125,0.078,2668,2101,2100,2151,2049,0,0,0,0,0,0,14.21,14.12,13.26
$GC,5926,0.14,309.7,2667,2101,2134,2037,272.9,13.2,403,5931,0.15,2.47,0.00,0.000,4740,0.258,0.083,2640,692,2086,2138,2035,0,0,0,0,0,0,13.93,14.09,14.09
$GC,6013,0.20,309.9,2641,692,2137,2034,263.5,10.0,420,6019,0.00,2.47,0.00,0.000,1190,0.000,0.080,2640,2103,2085,2136,2035,0,0,0,0,0,0,14.25,14.11,14.31
$GC,6317,0.21,325.2,2640,2104,2136,2035,234.4,9.3,431,6339,0.00,0.00,20.70,1.401,8230,0.000,0.000,2640,2103,2045,2098,1992,0,0,0,0,0,0,14.64,14.09,13.28
$GC,6616,0.26,356.7,2641,2103,2077,1977,208.3,8.5,441,6677,0.00,0.00,54.78,1.299,8358,0.000,0.000,2641,2103,1906,1945,1867,0,0,0,0,0,0,14.62,13.78,13.19
$GC,6976,0.36,403.9,2640,2103,1932,1858,179.6,7.8,453,7068,0.15,2.60,85.00,1.217,10916,0.109,0.089,2709,700,1713,1737,1689,0,0,0,0,0,0,14.31,13.90,13.12
$GC,7134,0.40,403.9,2710,700,1724,1684,161.5,11.4,484,7139,0.00,2.47,0.00,0.000,1158,0.000,0.077,2709,2106,1703,1724,1682,0,0,0,0,0,0,14.18,14.05,14.23
$GC,7461,0.40,403.9,2709,2107,1724,1677,124.2,11.1,499,7466,0.00,2.55,0.00,0.000,516,0.000,0.088,2709,688,1699,1723,1676,0,0,0,0,0,0,14.42,14.02,14.44
$GC,7502,0.45,403.9,2710,688,1725,1676,119.8,10.3,507,7507,0.00,2.53,0.00,0.000,1158,0.000,0.078,2709,2106,1698,1721,1676,0,0,0,0,0,0,14.17,14.04,14.22
$GC,7815,0.46,422.8,2709,2108,1722,1674,88.8,9.1,528,7830,0.00,2.58,8.38,0.425,8740,0.000,0.087,2709,697,1642,1670,1614,0,0,0,0,0,0,14.41,13.98,13.48
$GC,7871,0.55,451.8,2709,698,1675,1619,83.5,8.7,539,7894,0.15,2.50,17.92,0.441,11430,0.112,0.076,2773,2107,1522,1548,1496,0,0,0,0,0,0,13.97,13.89,13.58
$GC,8200,0.53,483.4,2772,2108,1556,1498,47.2,8.5,574,8226,0.00,2.58,18.55,0.332,8868,0.000,0.085,2780,695,1394,1430,1358,0,0,0,0,0,0,14.37,13.90,13.57
$GC,8376,0.60,553.5,2780,695,1436,1360,34.4,6.8,609,8425,0.00,2.53,39.85,0.295,9382,0.000,0.077,2781,2112,1108,1168,1048,0,0,0,0,0,0,13.95,13.81,13.67
$GC,8721,0.77,668.9,2781,2112,1170,1051,13.5,4.7,648,8795,0.12,2.55,65.05,0.238,10916,0.132,0.090,2849,693,638,684,592,0,0,0,0,0,0,14.07,13.95,13.72
$GC,8823,0.88,714.1,2850,695,687,589,6.4,7.9,667,8851,0.00,2.50,22.55,0.216,9382,0.000,0.077,2849,2098,500,515,485,0,0,0,0,0,0,14.07,13.93,13.67
$STATE,8873,end climb,SURFACE_DEPTH_REACHED
$STATE,8873,begin surface coast
$FINISH,0.2,1.021095
$STATE,8894,end surface coast,CONTROL_FINISHED_OK
$STATE,8894,begin surface
$SM_CCo,8978,0.00,0.000,0,0,493,704.50
$SM_GC,1.07,8.35,0.20,0.00,0.082,0.105,0.000,202,2230,493,-7.38,-0.28,704.50,0,0,0,0,0,0,14.12,14.12,14.19
$RAFOS_CLK,85
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7433.42,-15235.54,190917,071620
$TT8_MAMPS,0.086135,0.934752
$HUMID,44.17
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15909650432.000000
$PM_FREEKB_00,45529536
$24V_AH,12.31,225.093
$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,25.850,85.575,1024.575,0.000,0.000,0.000,0.000,165.825,5.250,0.000,10.548,0.000,6222.257,903.848,1950.071,275.684,0.000,2063.756,0.000,970.777,2195.000,0.540,0.000
$DEVICE_MAMPS,449.055,2168.010,1401.480,0.000,0.000,0.000,0.000,132.345,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5328.000,8867.000,8870.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.009,20.000,9.874,0.000
$MEM,323476
$DATA_FILE_SIZE,23415,677
$CAP_FILE_SIZE,95949,0
$CFSIZE,2097872896,1981677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1440.1
$CURRENT,0.049,33.16,1
$GPS,190917,122957,7432.389,-15245.598,54,0.8,55,19.8,0.0,0.0,9,9.2