version: 66.13
glider: 196
mission: 14
dive: 383
start: 9 20 117 5 3 30
data:
$ID,196
$MISSION,14
$DIVE,383
$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,36
$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,1063.0
$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
$GPS1,200917,045412,7429.5317,-15306.0889,16,0.7,18,19.6,0.0,0.0,11,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.6
$GPS2,200917,050301,7429.5791,-15306.0361,5,0.8,41,19.6,0.4,344.7,10,5.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.7,29552,-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,-145.9,197,2226,500,490,0.0,0.0,0,146,0.00,0.00,-91.60,0.000,16386,0.000,0.000,195,2226,2236,2179,2293,0,0,0,0,0,0,14.51,28.83,14.55
$GC,149,-0.57,-145.9,196,2227,2182,2294,4.8,-7.4,9,197,12.73,2.67,-30.38,0.000,18724,0.450,2.162,2375,3597,3961,3941,3982,0,0,0,0,0,0,13.53,13.04,13.97
$GC,245,-0.73,-145.9,2376,3597,3948,3982,33.4,-13.9,27,250,0.10,2.42,0.00,0.000,5254,0.145,0.062,2341,2196,3964,3947,3982,0,0,0,0,0,0,14.03,13.98,14.12
$GC,555,-0.78,-145.9,2341,2196,3951,3982,84.2,-13.4,59,556,0.00,0.00,0.00,0.000,134,0.000,0.000,2340,2196,3965,3949,3982,0,0,0,0,0,0,14.57,14.59,14.58
$GC,866,-0.89,-145.9,2341,2197,3951,3983,118.5,-10.0,78,871,0.12,2.53,0.00,0.000,4516,0.141,0.085,2268,3598,3966,3950,3982,0,0,0,0,0,0,14.24,14.04,14.28
$GC,936,-0.98,-145.9,2267,3601,3951,3983,127.7,-12.5,92,942,0.00,2.40,0.00,0.000,1158,0.000,0.057,2267,2192,3966,3950,3982,0,0,0,0,0,0,14.26,14.12,14.30
$GC,1258,-0.98,-145.9,2268,2192,3950,3983,176.3,-14.6,106,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2190,3966,3950,3982,0,0,0,0,0,0,14.58,14.59,14.59
$GC,1558,-1.01,-145.9,2269,2191,3951,3983,216.8,-13.0,116,1563,0.00,2.50,0.00,0.000,388,0.000,0.084,2260,3597,3965,3950,3981,0,0,0,0,0,0,14.59,14.02,14.61
$GC,1639,-1.13,-145.9,2261,3598,3951,3982,226.4,-11.3,132,1645,0.15,2.42,0.00,0.000,5254,0.120,0.057,2201,2189,3966,3950,3982,0,0,0,0,0,0,14.13,14.08,14.23
$GC,1951,-1.05,-145.9,2202,2188,3952,3982,281.2,-17.1,144,1957,0.15,2.50,0.00,0.000,2436,0.293,0.080,2225,3595,3966,3950,3982,0,0,0,0,0,0,13.75,13.94,13.92
$GC,2008,-1.12,-145.9,2225,3593,3956,3983,289.1,-12.4,155,2014,0.00,2.40,0.00,0.000,1158,0.000,0.056,2225,2196,3967,3952,3982,0,0,0,0,0,0,14.15,14.02,14.20
$GC,2313,-1.12,-145.9,2225,2195,3951,3981,328.7,-12.8,166,2318,0.00,2.53,0.00,0.000,260,0.000,0.086,2222,3597,3966,3951,3982,0,0,0,0,0,0,14.62,13.94,14.66
$GC,2369,-1.20,-145.9,2223,3597,3951,3982,335.3,-11.3,177,2375,0.00,2.40,0.00,0.000,1158,0.000,0.056,2223,2198,3965,3950,3981,0,0,0,0,0,0,14.15,14.02,14.19
$GC,2673,-1.20,-145.9,2223,2196,3951,3982,372.5,-12.1,188,2679,0.00,2.53,0.00,0.000,260,0.000,0.086,2222,3594,3965,3950,3981,0,0,0,0,0,0,14.63,13.94,14.63
$GC,2720,-1.29,-145.9,2223,3595,3950,3982,377.9,-11.2,197,2726,0.20,2.40,0.00,0.000,5254,0.104,0.056,2149,2195,3965,3949,3982,0,0,0,0,0,0,14.15,14.08,14.27
$GC,3036,-1.17,-145.9,2149,2197,3949,3982,435.7,-18.7,210,3041,0.22,2.50,0.00,0.000,2436,0.309,0.081,2188,3597,3964,3948,3981,0,0,0,0,0,0,13.59,13.97,13.81
$GC,3149,-1.19,-145.9,2188,3599,3948,3982,451.6,-13.1,232,3155,0.00,2.38,0.00,0.000,1158,0.000,0.056,2188,2201,3964,3947,3981,0,0,0,0,0,0,14.21,14.08,14.26
$STATE,3367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3367,begin apogee
$GC,3374,-0.13,0.0,2189,2059,3949,3982,483.4,-14.3,241,3595,1.38,0.00,216.88,1.419,10246,0.244,0.000,2527,2058,3364,3374,3354,0,0,0,0,0,0,13.66,13.56,12.75
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,0.57,145.9,2529,2058,3371,3348,495.2,0.0,248,3818,0.75,2.75,209.88,1.374,11012,0.060,0.073,2786,3494,2763,2796,2730,0,0,0,0,0,0,13.74,12.92,12.30
$GC,3956,0.07,145.9,2786,3494,2781,2728,487.9,16.4,323,3961,0.93,2.40,0.00,0.000,5254,0.348,0.054,2612,2130,2754,2780,2728,0,0,0,0,0,0,13.27,13.67,13.66
$GC,4272,-0.02,191.7,2612,2131,2781,2727,461.1,7.9,336,4338,0.15,0.00,64.50,1.408,12454,0.285,0.000,2581,2130,2584,2630,2539,0,0,0,0,0,0,13.79,13.88,13.06
$GC,4632,0.01,235.0,2582,2131,2625,2520,433.1,8.0,348,4702,0.00,2.62,62.88,1.396,8740,0.000,0.090,2588,695,2402,2451,2353,0,0,0,0,0,0,14.56,13.95,13.10
$GC,4768,0.10,269.4,2588,696,2446,2351,421.8,8.4,375,4824,0.00,2.45,51.10,1.392,9382,0.000,0.080,2588,2086,2266,2316,2217,0,0,0,0,0,0,14.21,14.07,13.05
$GC,5145,0.17,294.5,2589,2086,2309,2199,388.4,8.8,400,5183,0.15,0.00,35.45,1.419,10406,0.116,0.000,2658,2086,2164,2210,2119,0,0,0,0,0,0,14.28,14.03,13.20
$GC,5475,0.09,294.5,2659,2086,2202,2107,344.0,13.6,411,5480,0.15,2.45,0.00,0.000,4740,0.251,0.084,2628,694,2154,2202,2107,0,0,0,0,0,0,13.96,14.14,14.11
$GC,5531,0.14,294.5,2628,694,2198,2108,337.6,10.5,422,5537,0.00,2.47,0.00,0.000,1158,0.000,0.079,2627,2103,2152,2198,2107,0,0,0,0,0,0,14.14,14.12,14.14
$GC,5836,0.14,294.5,2626,2105,2200,2106,304.5,10.7,433,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2104,2151,2197,2105,0,0,0,0,0,0,14.64,14.66,14.65
$GC,6136,0.14,294.5,2631,2104,2198,2104,273.5,10.1,443,6141,0.00,2.50,0.00,0.000,516,0.000,0.087,2630,689,2151,2197,2105,0,0,0,0,0,0,14.63,14.09,14.65
$GC,6221,0.21,321.8,2630,690,2196,2106,265.4,8.7,460,6272,0.00,2.50,42.35,1.368,9382,0.000,0.078,2630,2106,2046,2089,2003,0,0,0,0,0,0,14.24,14.09,13.21
$GC,6590,0.28,357.1,2631,2110,2085,2000,233.0,8.4,483,6654,0.12,2.53,58.33,1.304,10916,0.122,0.087,2690,692,1904,1935,1874,0,0,0,0,0,0,14.26,13.78,13.19
$GC,6675,0.24,357.1,2691,693,1929,1873,223.2,12.2,490,6681,0.15,2.50,0.00,0.000,5254,0.222,0.077,2654,2109,1898,1923,1873,0,0,0,0,0,0,13.86,13.99,14.06
$GC,6980,0.28,368.6,2658,2107,1927,1865,193.7,9.5,501,6999,0.00,0.00,15.10,1.473,8870,0.000,0.000,2657,2109,1860,1886,1834,0,0,0,0,0,0,14.58,13.88,13.27
$GC,7310,0.36,402.0,2658,2108,1881,1825,164.4,8.5,517,7376,0.12,2.58,56.83,1.285,10916,0.122,0.088,2722,697,1721,1738,1704,0,0,0,0,0,0,14.31,14.02,13.22
$GC,7394,0.32,402.0,2726,693,1731,1713,154.8,12.1,533,7400,0.15,2.47,0.00,0.000,5254,0.226,0.077,2691,2100,1719,1735,1703,0,0,0,0,0,0,13.85,13.97,14.07
$GC,7706,0.35,404.6,2692,2101,1736,1695,122.8,9.9,545,7712,0.00,2.50,0.00,0.000,676,0.000,0.090,2691,694,1714,1734,1694,0,0,0,0,0,0,14.57,14.09,14.60
$GC,7782,0.45,428.7,2691,695,1733,1696,115.7,8.9,560,7828,0.00,2.47,40.10,1.268,9382,0.000,0.078,2692,2105,1617,1641,1593,0,0,0,0,0,0,14.28,14.14,13.26
$GC,8128,0.55,471.3,2691,2105,1636,1580,85.5,8.0,589,8159,0.17,0.00,22.98,0.454,10918,0.103,0.000,2771,2107,1445,1472,1418,0,0,0,0,0,0,14.20,14.07,13.64
$GC,8458,0.54,496.3,2773,2105,1473,1407,46.8,8.8,624,8479,0.00,2.58,14.00,0.339,8868,0.000,0.088,2780,698,1339,1379,1299,0,0,0,0,0,0,14.57,14.01,13.66
$GC,8582,0.60,541.6,2780,698,1381,1300,36.8,7.9,648,8615,0.00,2.47,25.80,0.306,9382,0.000,0.079,2786,2098,1155,1208,1102,0,0,0,0,0,0,14.21,14.07,13.76
$GC,8910,0.76,663.1,2781,2100,1208,1097,16.0,4.4,684,8986,0.12,2.60,67.70,0.245,10916,0.130,0.090,2849,687,658,707,610,0,0,0,0,0,0,14.20,13.96,13.84
$STATE,9078,end climb,SURFACE_DEPTH_REACHED
$STATE,9078,begin surface coast
$FINISH,0.5,1.021086
$STATE,9099,end surface coast,CONTROL_FINISHED_OK
$STATE,9099,begin surface
$SM_CCo,9123,23.00,0.207,0,0,497,702.78
$SM_GC,1.14,8.30,2.70,23.00,0.084,0.068,0.207,202,2212,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.25,14.17,13.91
$RAFOS_CLK,414
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7430.15,-15308.10,200917,045739
$TT8_MAMPS,0.038948,0.910035
$HUMID,48.07
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.40
$XPDR_PINGS,8
$CP_FREE,15905980416.000000
$PM_FREEKB_00,45348608
$24V_AH,12.30,228.401
$10V_AH,12.16,0.000
$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,26.325,80.300,983.850,23.000,0.000,0.000,0.000,220.475,2.000,0.000,42.584,0.000,6644.336,898.980,1856.544,281.037,0.000,1929.563,0.000,1039.995,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2161.890,1473.390,207.315,0.000,0.000,0.000,136.170,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9047.000,9102.000,9077.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.574,20.000,9.861,0.000
$MEM,323332
$DATA_FILE_SIZE,26706,721
$CAP_FILE_SIZE,98366,0
$CFSIZE,2097872896,1979940864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.035,47.23,1
$GPS,200917,073700,7428.937,-15309.623,15,0.7,17,19.6,0.3,85.3,11,8.6