version: 66.13
glider: 196
mission: 14
dive: 380
start: 9 19 117 20 56 10
data:
$ID,196
$MISSION,14
$DIVE,380
$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,27
$R_STBD_OVSHOOT,17
$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,1057.0
$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
$GPS1,190917,204303,7431.0942,-15255.8252,30,0.7,31,19.7,0.6,86.8,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.3
$GPS2,190917,205534,7431.1196,-15255.5635,9,0.8,12,19.7,0.6,338.2,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.3,35295,-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,-145.9,179,2205,502,483,0.0,0.0,0,145,0.00,0.00,-91.47,0.000,16386,0.000,0.000,177,2205,2218,2156,2280,0,0,0,0,0,0,14.36,28.83,14.38
$GC,149,-0.57,-145.9,177,2205,2157,2281,4.6,-7.2,9,202,12.85,2.80,-30.77,0.000,18724,0.451,2.157,2374,3616,3965,3949,3982,1,0,0,0,0,0,13.35,12.57,14.08
$GC,272,-0.75,-145.9,2374,3616,3954,3982,36.8,-11.8,33,277,0.12,2.40,0.00,0.000,5254,0.124,0.054,2324,2199,3967,3953,3982,0,0,0,0,0,0,14.18,14.16,14.27
$GC,583,-0.78,-145.9,2324,2201,3956,3982,91.8,-14.3,65,588,0.00,2.50,0.00,0.000,388,0.000,0.084,2319,3619,3968,3954,3982,0,0,0,0,0,0,14.64,14.12,14.66
$GC,639,-0.94,-145.9,2320,3620,3956,3982,98.9,-11.2,76,646,0.15,2.40,0.00,0.000,5254,0.112,0.057,2255,2202,3968,3954,3982,0,0,0,0,0,0,14.25,14.17,14.37
$GC,954,-0.89,-145.9,2255,2202,3955,3983,156.3,-17.6,88,960,0.12,2.47,0.00,0.000,2436,0.301,0.080,2273,3616,3968,3954,3982,0,0,0,0,0,0,13.88,14.11,14.04
$GC,986,-0.94,-145.9,2274,3616,3956,3982,161.1,-14.1,94,991,0.00,2.42,0.00,0.000,1158,0.000,0.060,2273,2198,3968,3954,3982,0,0,0,0,0,0,14.29,14.15,14.32
$GC,1317,-0.98,-145.9,2274,2198,3956,3982,206.2,-13.2,110,1322,0.00,2.50,0.00,0.000,388,0.000,0.085,2266,3614,3968,3954,3982,0,0,0,0,0,0,14.68,14.08,14.70
$GC,1357,-1.09,-145.9,2267,3616,3956,3982,211.3,-11.8,118,1363,0.12,2.40,0.00,0.000,5254,0.127,0.057,2218,2199,3968,3954,3982,0,0,0,0,0,0,14.20,14.15,14.30
$GC,1678,-1.05,-145.9,2219,2198,3956,3982,264.7,-16.1,132,1684,0.00,2.53,0.00,0.000,388,0.000,0.084,2210,3618,3968,3955,3982,0,0,0,0,0,0,14.69,14.07,14.68
$GC,1745,-1.07,-145.9,2210,3619,3956,3982,274.9,-14.6,145,1750,0.00,2.42,0.00,0.000,1158,0.000,0.059,2210,2199,3968,3955,3982,0,0,0,0,0,0,14.30,14.12,14.31
$GC,2070,-1.04,-145.9,2210,2198,3956,3982,323.7,-14.5,160,2076,0.12,2.53,0.00,0.000,2436,0.295,0.083,2232,3620,3968,3954,3982,0,0,0,0,0,0,13.85,14.09,14.00
$GC,2127,-1.15,-145.9,2232,3621,3955,3982,330.5,-10.8,171,2133,0.00,2.42,0.00,0.000,1158,0.000,0.057,2231,2195,3967,3954,3981,0,0,0,0,0,0,14.26,14.12,14.33
$GC,2432,-1.19,-145.9,2232,2195,3955,3981,365.7,-11.5,182,2437,0.00,2.53,0.00,0.000,388,0.000,0.085,2222,3614,3967,3955,3980,0,0,0,0,0,0,14.70,13.98,14.71
$GC,2493,-1.29,-145.9,2223,3615,3955,3981,372.5,-10.6,194,2498,0.20,2.42,0.00,0.000,5254,0.099,0.056,2149,2193,3967,3954,3980,0,0,0,0,0,0,14.13,14.05,14.12
$GC,2824,-1.17,-145.9,2149,2193,3955,3980,433.5,-18.8,210,2829,0.22,2.55,0.00,0.000,2436,0.312,0.080,2187,3620,3965,3954,3976,0,0,0,0,0,0,13.50,13.90,13.74
$GC,2941,-1.19,-145.9,2187,3621,3955,3980,450.1,-13.3,233,2947,0.00,2.42,0.00,0.000,1158,0.000,0.057,2187,2201,3966,3954,3979,0,0,0,0,0,0,14.15,14.02,14.23
$STATE,3151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3151,begin apogee
$GC,3158,-0.13,0.0,2188,2059,3955,3979,481.4,-14.7,241,3396,1.38,0.10,234.35,1.377,10246,0.242,0.157,2528,2126,3364,3389,3340,0,0,0,0,0,0,13.70,13.57,12.76
$STATE,3400,end apogee,CONTROL_FINISHED_OK
$STATE,3400,begin climb
$GC,3403,0.57,145.9,2529,2127,3380,3331,495.2,0.0,249,3622,0.75,2.58,208.75,1.330,10500,0.059,0.070,2784,3501,2764,2810,2719,0,0,0,0,0,0,13.75,12.95,12.33
$GC,3743,0.07,145.9,2785,3502,2786,2713,491.5,15.6,306,3748,0.93,2.42,0.00,0.000,5254,0.348,0.054,2612,2129,2749,2785,2713,0,0,0,0,0,0,13.26,13.66,13.65
$GC,4064,-0.02,194.8,2613,2127,2787,2710,465.1,7.7,320,4144,0.15,2.58,73.18,1.343,12964,0.283,0.087,2588,691,2565,2624,2507,0,0,0,0,0,0,13.83,13.93,13.05
$GC,4154,0.03,262.6,2586,692,2616,2502,458.7,6.9,333,4269,0.00,2.50,105.43,1.300,9254,0.000,0.079,2588,2092,2288,2349,2227,0,0,0,0,0,0,14.06,13.94,12.86
$GC,4577,0.08,281.9,2589,2097,2333,2210,421.1,9.1,367,4607,0.00,0.00,23.40,1.444,8358,0.000,0.000,2589,2092,2208,2267,2150,0,0,0,0,0,0,14.52,14.00,13.17
$GC,4907,0.14,305.7,2589,2093,2257,2139,391.3,8.9,378,4948,0.12,2.53,33.78,1.400,10916,0.127,0.090,2658,701,2112,2167,2058,0,0,0,0,0,0,14.21,14.08,13.22
$GC,4988,0.14,305.7,2658,701,2155,2055,380.8,13.5,394,4993,0.12,2.45,0.00,0.000,5126,0.253,0.078,2632,2103,2104,2155,2054,0,0,0,0,0,0,13.97,14.14,14.23
$GC,5299,0.14,305.7,2633,2105,2155,2047,344.2,11.6,406,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2105,2100,2154,2047,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5599,0.14,305.7,2633,2105,2155,2045,310.5,11.1,416,5604,0.00,2.53,0.00,0.000,516,0.000,0.090,2634,687,2098,2153,2044,0,0,0,0,0,0,14.65,14.13,14.64
$GC,5670,0.19,305.7,2634,689,2157,2046,302.9,10.3,430,5675,0.00,2.50,0.00,0.000,1158,0.000,0.077,2633,2103,2098,2151,2045,0,0,0,0,0,0,14.13,13.78,14.23
$GC,5991,0.19,306.8,2633,2106,2152,2046,269.1,9.9,444,5992,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2105,2098,2151,2045,0,0,0,0,0,0,14.65,14.67,14.67
$GC,6291,0.21,332.1,2635,2105,2152,2044,241.7,8.8,454,6340,0.00,2.58,41.40,1.320,8740,0.000,0.089,2634,686,2005,2052,1958,0,0,0,0,0,0,14.64,14.10,13.25
$GC,6398,0.33,369.8,2634,686,2042,1954,232.7,8.3,475,6472,0.17,2.50,64.22,1.244,11430,0.102,0.078,2702,2107,1852,1883,1822,0,0,0,0,0,0,14.23,14.15,13.15
$GC,6771,0.28,369.8,2703,2107,1870,1810,185.4,12.1,500,6772,0.00,0.00,0.00,0.000,134,0.000,0.000,2701,2107,1839,1868,1810,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7071,0.24,369.8,2702,2108,1866,1809,150.6,11.5,510,7076,0.15,2.55,0.00,0.000,4740,0.218,0.085,2671,688,1836,1865,1808,0,0,0,0,0,0,13.94,14.04,14.05
$GC,7179,0.35,407.6,2671,688,1863,1809,141.4,8.3,531,7248,0.00,2.50,64.07,1.214,9382,0.000,0.079,2671,2101,1706,1730,1682,0,0,0,0,0,0,14.20,14.06,13.20
$GC,7556,0.45,446.4,2671,2102,1716,1657,109.9,8.2,556,7629,0.15,2.53,67.15,1.180,10916,0.117,0.089,2748,692,1541,1572,1510,0,0,0,0,0,0,14.19,13.76,13.21
$GC,7674,0.45,446.4,2748,692,1559,1502,95.3,12.3,580,7680,0.00,2.47,0.00,0.000,1030,0.000,0.077,2747,2099,1528,1557,1500,0,0,0,0,0,0,14.09,13.98,14.13
$GC,7986,0.46,454.2,2748,2101,1558,1494,60.2,9.6,612,7992,0.00,2.58,1.98,0.239,8740,0.000,0.087,2747,686,1508,1546,1471,0,0,0,0,0,0,14.54,14.05,13.74
$GC,8023,0.51,486.8,2748,688,1547,1483,57.0,8.5,619,8050,0.00,2.50,20.20,0.369,9382,0.000,0.078,2747,2106,1377,1421,1334,0,0,0,0,0,0,14.22,14.08,13.70
$GC,8348,0.63,581.6,2748,2107,1425,1344,34.9,5.6,654,8412,0.12,2.58,55.08,0.296,10916,0.125,0.090,2807,689,989,1053,925,0,0,0,0,0,0,14.16,14.04,13.77
$GC,8455,0.71,602.2,2807,689,1060,932,25.7,9.0,674,8476,0.00,2.50,13.35,0.272,9382,0.000,0.077,2807,2110,905,973,838,0,0,0,0,0,0,14.11,13.98,13.76
$GC,8772,0.83,673.6,2808,2110,976,850,4.0,6.7,708,8804,0.12,0.00,29.60,0.210,10402,0.128,0.000,2866,2110,712,769,655,0,0,0,0,0,0,14.16,28.83,14.21
$STATE,8804,end climb,SURFACE_DEPTH_REACHED
$STATE,8804,begin surface coast
$FINISH,0.3,1.011063
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8886,33.03,0.207,0,0,501,702.78
$SM_GC,1.56,8.07,0.17,33.03,0.058,0.128,0.207,200,2219,501,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.23,13.90
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7432.58,-15304.45,190917,175950
$TT8_MAMPS,0.039697,0.87633
$HUMID,48.30
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,28
$CP_FREE,0.000000
$PM_FREEKB_00,45418816
$24V_AH,12.33,226.975
$10V_AH,12.42,0.000
$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,26.175,85.525,1035.925,33.025,0.000,0.000,0.000,447.825,7.000,0.000,13.697,0.000,6278.311,1051.620,1985.941,366.831,0.000,2218.027,0.000,1021.833,0.000,0.539,0.000
$DEVICE_MAMPS,450.585,2156.535,1444.320,206.550,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5452.000,8852.000,8823.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.492,20.000,9.843,0.000
$MEM,323324
$DATA_FILE_SIZE,23391,713
$CAP_FILE_SIZE,100385,0
$CFSIZE,2097872896,1980694528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1448.0
$CURRENT,0.044,37.06,1
$GPS,190917,232554,7430.523,-15259.076,17,0.7,19,19.7,0.0,4.4,11,9.5