version: 66.13
glider: 196
mission: 14
dive: 388
start: 9 20 117 18 45 23
data:
$ID,196
$MISSION,14
$DIVE,388
$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,63
$R_STBD_OVSHOOT,22
$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,1075.0
$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
$GPS1,200917,183332,7426.2559,-15321.8799,31,0.7,31,19.5,0.5,50.5,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.4
$GPS2,200917,184447,7426.2910,-15321.7998,8,0.7,9,19.5,0.0,62.2,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.5,19738,-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,-145.9,189,2254,503,487,0.0,0.0,0,135,0.00,0.00,-80.97,0.000,16386,0.000,0.000,187,2254,1991,1917,2065,0,0,0,0,0,0,14.49,28.83,14.49
$GC,138,-0.57,-145.9,186,2255,1920,2066,3.2,-3.8,8,198,12.90,2.90,-40.83,0.000,18980,0.451,2.174,2386,830,3963,3948,3978,0,0,0,0,0,0,13.57,12.59,14.04
$GC,255,-0.68,-145.9,2386,829,3953,3979,31.9,-14.7,30,262,0.00,2.45,0.00,0.000,1158,0.000,0.085,2386,2201,3966,3954,3978,0,0,0,0,0,0,14.08,13.95,14.12
$GC,559,-0.81,-145.9,2386,2203,3956,3979,71.1,-9.4,61,564,0.17,2.53,0.00,0.000,4516,0.109,0.086,2305,3619,3969,3960,3978,0,0,0,0,0,0,14.16,14.06,14.18
$GC,682,-0.89,-145.9,2306,3620,3959,3979,86.7,-12.8,85,687,0.00,2.38,0.00,0.000,1158,0.000,0.057,2306,2235,3967,3956,3978,0,0,0,0,0,0,14.24,14.12,14.28
$GC,1013,-0.94,-145.9,2306,2234,3957,3979,132.4,-13.0,103,1019,0.00,2.58,0.00,0.000,644,0.000,0.086,2306,789,3967,3957,3978,0,0,0,0,0,0,14.59,14.03,14.64
$GC,1044,-1.04,-145.9,2306,790,3957,3979,136.4,-12.6,109,1049,0.20,2.53,0.00,0.000,5254,0.095,0.085,2230,2208,3967,3957,3978,0,0,0,0,0,0,14.18,14.01,14.26
$GC,1375,-0.97,-145.9,2231,2208,3957,3978,198.0,-18.1,125,1380,0.12,2.50,0.00,0.000,2436,0.282,0.083,2250,3613,3967,3956,3978,0,0,0,0,0,0,13.84,13.93,13.98
$GC,1561,-1.05,-145.9,2250,3615,3956,3979,222.4,-12.5,162,1566,0.00,2.42,0.00,0.000,1158,0.000,0.057,2250,2193,3967,3956,3978,0,0,0,0,0,0,14.22,14.09,14.26
$GC,1886,-1.08,-145.9,2249,2193,3958,3981,264.9,-12.4,177,1891,0.00,2.55,0.00,0.000,388,0.000,0.084,2241,3619,3967,3956,3978,0,0,0,0,0,0,14.62,13.95,14.64
$GC,1937,-1.19,-145.9,2241,3621,3957,3979,270.9,-11.5,187,1943,0.15,2.42,0.00,0.000,5254,0.123,0.057,2179,2199,3967,3956,3978,0,0,0,0,0,0,14.14,14.08,14.23
$GC,2249,-1.09,-145.9,2180,2198,3957,3978,325.2,-17.2,199,2255,0.17,2.55,0.00,0.000,2436,0.289,0.083,2208,3620,3967,3956,3978,0,0,0,0,0,0,13.62,13.92,13.79
$GC,2336,-1.13,-145.9,2208,3621,3956,3979,337.1,-12.6,216,2342,0.00,2.45,0.00,0.000,1158,0.000,0.057,2207,2201,3967,3955,3979,0,0,0,0,0,0,14.07,13.97,14.12
$GC,2640,-1.13,-145.9,2208,2200,3956,3980,377.9,-13.1,227,2646,0.00,2.55,0.00,0.000,260,0.000,0.085,2198,3625,3966,3955,3978,0,0,0,0,0,0,14.62,14.00,14.64
$GC,2687,-1.17,-145.9,2198,3627,3955,3979,384.0,-13.0,236,2692,0.00,2.45,0.00,0.000,1158,0.000,0.058,2197,2196,3966,3954,3978,0,0,0,0,0,0,14.19,14.05,14.23
$GC,3003,-1.14,-145.9,2198,2195,3955,3978,427.5,-13.7,249,3008,0.00,2.53,0.00,0.000,388,0.000,0.084,2189,3613,3966,3954,3978,0,0,0,0,0,0,14.62,13.99,14.64
$GC,3073,-1.14,-145.9,2189,3615,3954,3979,437.1,-13.3,263,3079,0.00,2.45,0.00,0.000,1030,0.000,0.057,2189,2195,3966,3954,3978,0,0,0,0,0,0,14.20,14.07,14.24
$STATE,3392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3392,begin apogee
$GC,3399,-0.13,0.0,2189,2066,3954,3979,483.9,-14.5,277,3620,1.38,0.08,217.10,1.426,10246,0.241,0.179,2528,2112,3365,3377,3353,0,0,0,0,0,0,13.64,13.52,12.76
$STATE,3623,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3629,0.57,145.9,2529,2113,3369,3346,495.9,0.0,284,3844,0.75,2.70,207.02,1.377,10756,0.057,0.079,2795,724,2765,2798,2733,0,0,0,0,0,0,13.74,13.15,12.29
$GC,4036,0.15,145.9,2796,725,2787,2727,481.6,14.6,323,4042,0.77,2.45,0.00,0.000,5254,0.323,0.075,2633,2098,2756,2785,2727,0,0,0,0,0,0,13.40,13.81,13.81
$GC,4353,0.01,173.0,2633,2098,2786,2722,452.4,8.7,336,4394,0.20,2.45,35.62,1.467,12964,0.270,0.083,2589,718,2655,2695,2615,0,0,0,0,0,0,13.76,13.78,13.14
$GC,4462,0.04,224.0,2590,719,2690,2612,444.3,7.6,354,4543,0.00,2.45,74.70,1.388,9254,0.000,0.079,2589,2102,2451,2504,2398,0,0,0,0,0,0,14.16,14.04,12.96
$GC,4854,0.06,251.7,2589,2103,2493,2385,410.6,8.7,382,4894,0.00,0.00,39.00,1.430,8230,0.000,0.000,2589,2102,2343,2390,2296,0,0,0,0,0,0,14.40,13.94,13.14
$GC,5184,0.11,277.8,2589,2103,2379,2282,381.6,8.8,393,5225,0.00,0.00,39.38,1.427,8358,0.000,0.000,2589,2102,2231,2279,2184,0,0,0,0,0,0,14.42,13.95,13.14
$GC,5514,0.18,305.6,2592,2102,2273,2170,352.6,8.7,404,5564,0.12,2.55,40.62,1.392,10916,0.125,0.088,2657,723,2114,2156,2073,0,0,0,0,0,0,13.92,14.00,13.14
$GC,5587,0.14,305.6,2658,723,2153,2073,343.7,13.5,418,5592,0.15,2.42,0.00,0.000,5254,0.243,0.078,2626,2098,2114,2156,2073,0,0,0,0,0,0,13.88,14.02,14.09
$GC,5907,0.14,305.6,2626,2099,2153,2063,308.2,10.8,432,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2099,2107,2151,2064,0,0,0,0,0,0,14.44,14.46,14.45
$GC,6208,0.14,305.6,2626,2099,2152,2063,277.0,10.1,442,6213,0.00,2.47,0.00,0.000,516,0.000,0.087,2630,722,2106,2151,2061,0,0,0,0,0,0,14.45,14.00,14.45
$GC,6264,0.22,316.5,2630,726,2150,2063,271.6,9.5,453,6283,0.00,2.42,13.70,1.517,9382,0.000,0.076,2630,2103,2073,2115,2031,0,0,0,0,0,0,14.08,13.97,13.27
$GC,6602,0.27,339.9,2631,2103,2113,2024,240.3,8.9,470,6645,0.12,2.53,38.30,1.380,10916,0.122,0.088,2691,728,1976,2016,1936,0,0,0,0,0,0,14.19,14.02,13.21
$GC,6678,0.24,339.9,2691,729,2010,1936,231.2,13.1,480,6684,0.15,2.40,0.00,0.000,5254,0.220,0.077,2659,2099,1972,2009,1935,0,0,0,0,0,0,13.82,13.96,14.04
$GC,6997,0.24,353.3,2659,2101,2010,1929,199.4,9.4,493,7017,0.00,0.00,19.55,1.433,8230,0.000,0.000,2659,2100,1924,1958,1890,0,0,0,0,0,0,14.40,14.03,13.23
$GC,7295,0.30,380.2,2659,2099,1953,1882,172.4,8.8,503,7344,0.00,2.53,45.22,1.320,8868,0.000,0.088,2657,723,1813,1837,1790,0,0,0,0,0,0,14.59,14.07,13.24
$GC,7398,0.44,421.1,2659,722,1830,1791,164.0,8.1,523,7477,0.20,2.42,70.82,1.229,11430,0.099,0.079,2739,2102,1642,1666,1619,0,0,0,0,0,0,14.17,14.10,13.18
$GC,7775,0.38,421.1,2740,2104,1664,1610,113.2,13.1,549,7781,0.12,2.45,0.00,0.000,4740,0.232,0.085,2712,727,1635,1664,1607,0,0,0,0,0,0,13.99,14.09,14.14
$GC,7827,0.44,421.1,2713,727,1662,1606,107.5,10.3,559,7832,0.00,2.40,0.00,0.000,1158,0.000,0.076,2713,2100,1634,1661,1607,0,0,0,0,0,0,14.19,14.13,14.28
$GC,8140,0.48,435.2,2713,2101,1660,1604,76.3,9.4,585,8151,0.00,2.53,6.40,0.420,8868,0.000,0.086,2713,729,1588,1617,1559,0,0,0,0,0,0,14.53,13.97,13.48
$GC,8223,0.59,470.0,2710,736,1619,1561,68.8,8.4,601,8250,0.17,2.40,19.00,0.405,11430,0.100,0.075,2788,2100,1448,1477,1419,0,0,0,0,0,0,14.22,14.12,13.62
$GC,8555,0.58,523.4,2785,2102,1478,1415,35.9,7.5,637,8587,0.00,0.00,28.45,0.307,8614,0.000,0.000,2785,2101,1230,1278,1183,0,0,0,0,0,0,14.57,14.09,13.74
$GC,8885,0.72,637.8,2785,2102,1278,1176,15.7,4.7,672,8953,0.00,2.55,60.17,0.252,8612,0.000,0.082,2784,3509,763,825,701,0,0,0,0,0,0,14.57,14.02,13.71
$GC,9001,0.95,709.9,2786,3511,825,700,9.5,6.7,694,9065,0.30,2.38,58.72,0.207,11430,0.080,0.065,2898,2135,502,517,488,0,0,0,0,0,0,14.15,14.09,13.92
$STATE,9068,end climb,SURFACE_DEPTH_REACHED
$STATE,9068,begin surface coast
$FINISH,0.4,1.020986
$STATE,9080,end surface coast,CONTROL_FINISHED_OK
$STATE,9080,begin surface
$SM_CCo,9148,2.65,0.200,0,0,501,702.78
$SM_GC,1.72,8.43,0.12,2.65,0.079,0.125,0.200,193,2241,501,-7.39,-0.57,702.78,0,0,0,0,0,0,14.22,14.24,13.93
$RAFOS_CLK,221
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7427.38,-15322.51,200917,155248
$TT8_MAMPS,0.038948,0.877079
$HUMID,47.44
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,8
$CP_FREE,0.000000
$PM_FREEKB_00,45190912
$24V_AH,12.29,230.768
$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,26.600,85.075,1013.800,2.650,0.000,0.000,0.000,373.075,2.000,0.000,10.664,0.000,6455.998,893.003,2104.709,384.625,0.000,2101.821,0.000,1016.316,2216.000,0.540,0.000
$DEVICE_MAMPS,451.350,2174.130,1516.995,200.430,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9115.000,9117.000,9098.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.451,20.000,9.930,0.000
$MEM,323392
$DATA_FILE_SIZE,23372,708
$CAP_FILE_SIZE,103139,0
$CFSIZE,2097872896,1978630144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.2
$CURRENT,0.034,56.83,1
$GPS,200917,211931,7425.622,-15325.224,34,0.8,51,19.4,0.4,277.7,11,6.6