version: 66.13
glider: 196
mission: 14
dive: 382
start: 9 20 117 2 24 45
data:
$ID,196
$MISSION,14
$DIVE,382
$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,59
$R_STBD_OVSHOOT,50
$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,1061.0
$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
$GPS1,200917,020703,7429.9907,-15302.3730,29,0.9,30,19.6,0.0,0.0,9,7.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.1
$GPS2,200917,022412,7430.0430,-15302.2881,8,0.8,8,19.6,0.0,28.5,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,208.2,31484,-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,50,end surface,CONTROL_FINISHED_OK
$STATE,50,begin dive
$GC,54,-0.57,-145.9,190,2232,492,497,0.0,0.0,0,136,0.00,0.00,-80.70,0.000,16386,0.000,0.000,183,2233,1967,1894,2041,0,0,0,0,0,0,14.47,28.83,14.50
$GC,140,-0.57,-145.9,183,2234,1896,2044,3.1,-3.5,8,203,12.80,2.62,-42.05,0.000,18724,0.447,2.160,2375,3580,3963,3949,3978,1,0,0,0,0,0,13.39,12.58,14.04
$GC,284,-0.73,-145.9,2376,3581,3954,3979,34.6,-12.5,36,289,0.00,2.30,0.00,0.000,1158,0.000,0.057,2375,2230,3966,3953,3979,0,0,0,0,0,0,14.22,14.10,14.24
$GC,595,-0.85,-145.9,2376,2228,3956,3980,76.8,-10.1,68,600,0.20,2.53,0.00,0.000,4740,0.107,0.082,2290,793,3967,3955,3979,0,0,0,0,0,0,14.14,14.10,14.21
$GC,640,-0.88,-145.9,2290,793,3956,3980,83.4,-15.6,77,646,0.00,2.45,0.00,0.000,1158,0.000,0.086,2283,2169,3965,3955,3976,0,0,0,0,0,0,14.17,14.02,14.21
$GC,945,-0.88,-145.9,2284,2172,3956,3981,133.6,-15.2,94,950,0.00,2.55,0.00,0.000,260,0.000,0.087,2279,3613,3968,3955,3982,0,0,0,0,0,0,14.60,14.03,14.62
$GC,1088,-1.00,-145.9,2280,3611,3952,3980,151.3,-11.7,122,1093,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2201,3967,3955,3979,0,0,0,0,0,0,14.27,14.14,14.31
$GC,1398,-1.04,-145.9,2280,2199,3955,3980,193.2,-13.1,134,1399,0.00,0.00,0.00,0.000,134,0.000,0.000,2279,2199,3967,3955,3980,0,0,0,0,0,0,14.60,14.62,14.62
$GC,1699,-1.10,-145.9,2280,2199,3956,3980,229.7,-11.9,144,1704,0.15,2.50,0.00,0.000,4484,0.122,0.083,2209,3614,3967,3955,3980,0,0,0,0,0,0,14.22,14.04,14.26
$GC,1764,-1.10,-145.9,2209,3615,3956,3981,239.9,-15.9,157,1769,0.00,2.45,0.00,0.000,1030,0.000,0.060,2209,2191,3966,3955,3978,0,0,0,0,0,0,14.16,14.02,14.20
$GC,2090,-1.06,-145.9,2210,2191,3955,3980,293.1,-15.7,172,2095,0.12,2.53,0.00,0.000,2436,0.299,0.083,2229,3613,3967,3955,3979,0,0,0,0,0,0,13.83,14.04,13.97
$GC,2175,-1.16,-145.9,2230,3614,3956,3980,303.7,-11.3,189,2181,0.00,2.42,0.00,0.000,1158,0.000,0.057,2229,2194,3967,3955,3979,0,0,0,0,0,0,14.14,13.99,14.18
$GC,2480,-1.18,-145.9,2230,2194,3956,3979,340.8,-11.9,200,2486,0.00,2.58,0.00,0.000,388,0.000,0.086,2223,3614,3966,3954,3979,0,0,0,0,0,0,14.63,13.97,14.65
$GC,2556,-1.28,-145.9,2223,3615,3955,3980,349.2,-10.4,215,2562,0.17,2.45,0.00,0.000,5254,0.110,0.054,2156,2184,3966,3954,3979,0,0,0,0,0,0,14.16,14.10,14.26
$GC,2873,-1.17,-145.9,2157,2183,3955,3977,405.2,-18.0,228,2878,0.17,2.55,0.00,0.000,2436,0.316,0.082,2182,3614,3965,3954,3977,0,0,0,0,0,0,13.58,13.95,13.81
$GC,2991,-1.17,-145.9,2183,3614,3955,3977,422.1,-13.6,251,2997,0.00,2.45,0.00,0.000,1030,0.000,0.057,2182,2193,3965,3954,3977,0,0,0,0,0,0,14.18,14.02,14.23
$GC,3294,-1.11,-145.9,2182,2193,3955,3978,468.1,-15.1,262,3299,0.12,2.53,0.00,0.000,2436,0.318,0.082,2201,3614,3965,3954,3977,0,0,0,0,0,0,13.77,14.01,13.93
$STATE,3387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3387,begin apogee
$GC,3398,-0.13,0.0,2201,2101,3954,3978,480.2,-11.7,281,3618,1.30,0.00,216.35,1.424,10246,0.226,0.000,2531,2095,3362,3383,3342,0,0,0,0,0,0,13.76,13.57,12.75
$STATE,3622,end apogee,CONTROL_FINISHED_OK
$STATE,3622,begin climb
$GC,3625,0.57,145.9,2532,2096,3379,3334,492.8,0.0,288,3842,0.73,2.72,205.30,1.380,11012,0.063,0.080,2781,694,2765,2807,2723,0,0,0,0,0,0,13.74,12.88,12.28
$GC,3882,0.16,145.9,2781,695,2798,2723,502.0,11.4,332,3888,0.70,2.62,0.00,0.000,5254,0.321,0.073,2642,2107,2758,2797,2720,0,0,0,0,0,0,13.00,13.31,13.35
$GC,4204,-0.01,169.8,2642,2108,2797,2715,472.8,8.9,346,4241,0.25,2.60,31.40,1.489,12964,0.264,0.086,2589,688,2668,2713,2624,0,0,0,0,0,0,13.59,13.98,13.09
$GC,4261,0.00,221.2,2589,688,2712,2622,468.6,7.6,352,4342,0.00,2.50,75.20,1.389,9382,0.000,0.080,2589,2100,2462,2525,2399,0,0,0,0,0,0,14.02,13.90,12.95
$GC,4658,0.02,250.3,2590,2100,2516,2385,434.8,8.7,381,4701,0.00,0.00,41.85,1.430,8230,0.000,0.000,2589,2100,2343,2400,2287,0,0,0,0,0,0,14.56,13.99,13.14
$GC,4988,0.06,272.5,2588,2102,2391,2277,405.3,9.0,392,5021,0.00,0.00,31.45,1.460,8358,0.000,0.000,2589,2100,2259,2317,2201,0,0,0,0,0,0,14.59,14.03,13.21
$GC,5318,0.12,296.4,2589,2100,2302,2189,375.9,8.9,403,5363,0.00,2.58,35.80,1.440,8868,0.000,0.090,2589,687,2149,2202,2096,0,0,0,0,0,0,14.60,14.09,13.21
$GC,5389,0.25,326.7,2589,686,2197,2099,369.7,8.6,417,5440,0.22,2.47,45.45,1.386,11430,0.090,0.079,2679,2101,2034,2081,1988,0,0,0,0,0,0,14.21,14.12,13.11
$GC,5738,0.17,326.7,2680,2101,2072,1972,316.8,15.2,437,5743,0.15,2.50,0.00,0.000,4740,0.262,0.086,2647,691,2024,2074,1974,0,0,0,0,0,0,13.81,14.02,13.98
$GC,5774,0.17,326.7,2648,693,2069,1975,312.1,12.0,444,5779,0.00,2.47,0.00,0.000,1030,0.000,0.078,2647,2100,2020,2066,1974,0,0,0,0,0,0,14.18,14.04,14.23
$GC,6099,0.17,326.7,2647,2098,2069,1971,274.1,11.5,459,6105,0.00,2.53,0.00,0.000,516,0.000,0.088,2647,684,2019,2067,1971,0,0,0,0,0,0,14.45,14.02,14.46
$GC,6156,0.22,326.7,2648,687,2067,1971,267.9,10.3,470,6161,0.00,2.50,0.00,0.000,1158,0.000,0.076,2646,2101,2018,2066,1971,0,0,0,0,0,0,14.14,14.00,14.18
$GC,6461,0.22,333.0,2648,2102,2067,1971,237.1,9.7,481,6470,0.00,2.55,3.25,1.387,8740,0.000,0.087,2647,694,2005,2055,1955,0,0,0,0,0,0,14.42,14.06,13.01
$GC,6491,0.27,352.5,2647,694,2057,1962,234.3,9.1,487,6536,0.00,2.47,37.33,1.381,9382,0.000,0.078,2647,2103,1923,1964,1882,0,0,0,0,0,0,14.23,14.07,13.20
$GC,6854,0.33,378.4,2647,2104,1955,1878,201.4,8.8,509,6901,0.12,2.53,42.90,1.331,10916,0.125,0.086,2697,689,1819,1846,1792,0,0,0,0,0,0,14.17,13.77,13.19
$GC,6932,0.33,378.4,2704,689,1840,1790,192.1,12.2,520,6937,0.00,2.50,0.00,0.000,1030,0.000,0.076,2702,2100,1814,1838,1791,0,0,0,0,0,0,14.04,13.90,14.04
$GC,7242,0.29,378.4,2704,2102,1837,1787,155.4,11.5,532,7247,0.12,2.53,0.00,0.000,4740,0.231,0.086,2672,691,1811,1836,1786,0,0,0,0,0,0,13.92,14.00,14.02
$GC,7278,0.38,404.0,2672,692,1834,1787,152.0,8.8,539,7328,0.00,2.53,42.95,1.300,9382,0.000,0.078,2672,2105,1714,1737,1691,0,0,0,0,0,0,14.17,14.06,13.18
$GC,7636,0.47,437.5,2673,2105,1734,1684,121.2,8.5,560,7696,0.15,2.55,52.65,1.245,10916,0.112,0.087,2750,692,1576,1603,1550,0,0,0,0,0,0,14.15,13.72,13.19
$GC,7746,0.47,437.5,2751,692,1599,1550,106.5,13.0,582,7751,0.00,2.50,0.00,0.000,1030,0.000,0.078,2751,2104,1575,1598,1553,0,0,0,0,0,0,14.14,14.02,14.18
$GC,8057,0.43,437.5,2751,2105,1599,1543,67.6,11.8,610,8061,0.00,2.53,0.00,0.000,644,0.000,0.088,2750,691,1570,1598,1543,0,0,0,0,0,0,14.54,13.99,14.55
$GC,8222,0.50,488.0,2751,691,1597,1543,53.4,7.7,643,8255,0.00,2.50,25.77,0.360,9382,0.000,0.077,2750,2105,1374,1413,1335,0,0,0,0,0,0,14.07,13.94,13.68
$GC,8561,0.63,584.9,2751,2106,1413,1329,30.3,5.5,680,8617,0.00,2.53,51.05,0.289,8868,0.000,0.086,2750,689,976,1043,910,0,0,0,0,0,0,14.54,13.95,13.75
$GC,8666,0.90,689.2,2751,689,1044,909,24.7,5.2,700,8730,0.38,2.47,55.83,0.275,11430,0.084,0.077,2882,2103,552,585,519,0,0,0,0,0,0,14.16,14.06,13.74
$STATE,8862,end climb,SURFACE_DEPTH_REACHED
$STATE,8862,begin surface coast
$FINISH,0.3,1.021025
$STATE,8872,end surface coast,CONTROL_FINISHED_OK
$STATE,8873,begin surface
$SM_CCo,8895,7.55,0.216,0,0,499,702.78
$SM_GC,2.26,8.32,0.17,7.55,0.077,0.114,0.216,202,2222,499,-7.38,-0.62,702.78,0,0,0,0,0,0,14.25,14.26,13.88
$RAFOS_CLK,151
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7430.15,-15308.10,200917,021355
$TT8_MAMPS,0.039697,0.910035
$HUMID,45.66
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,15906504704.000000
$PM_FREEKB_00,45370560
$24V_AH,12.28,227.950
$10V_AH,12.47,0.000
$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,26.200,95.800,994.525,7.550,0.000,0.000,0.000,609.125,3.500,0.000,16.018,0.000,6406.903,1003.996,2135.558,392.832,0.000,2330.640,0.000,1044.125,2200.000,0.539,0.000
$DEVICE_MAMPS,446.760,2159.595,1488.690,215.730,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8908.000,8873.000,8844.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.262,20.000,9.886,0.000
$MEM,323648
$DATA_FILE_SIZE,26753,727
$CAP_FILE_SIZE,105201,0
$CFSIZE,2097872896,1980170240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1448.3
$CURRENT,0.047,56.18,1
$GPS,200917,045412,7429.532,-15306.089,16,0.7,18,19.6,0.0,0.0,11,9.4