version: 66.13
glider: 196
mission: 14
dive: 389
start: 9 20 117 21 32 4
data:
$ID,196
$MISSION,14
$DIVE,389
$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,40
$R_STBD_OVSHOOT,57
$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,1078.0
$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
$GPS1,200917,211931,7425.6221,-15325.2236,34,0.8,51,19.4,0.4,277.7,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.6
$GPS2,200917,213130,7425.6631,-15325.1875,7,0.7,8,19.4,0.0,0.0,12,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,201.0,17767,-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,53,-0.57,-145.9,187,2187,514,491,0.0,0.0,0,135,0.00,0.00,-80.65,0.000,16386,0.000,0.000,186,2182,1979,1910,2049,0,0,0,0,0,0,14.46,28.83,14.48
$GC,139,-0.57,-145.9,187,2182,1913,2051,3.0,-3.0,8,202,12.93,2.72,-42.25,0.000,18724,0.453,2.163,2375,3568,3962,3948,3976,1,0,0,0,0,0,13.40,12.59,14.00
$GC,255,-0.73,-145.9,2375,3573,3953,3977,30.8,-13.5,30,260,0.00,2.33,0.00,0.000,1158,0.000,0.058,2375,2210,3964,3953,3976,0,0,0,0,0,0,14.12,14.00,14.15
$GC,566,-0.84,-145.9,2376,2209,3956,3976,74.8,-10.8,62,567,0.22,0.00,0.00,0.000,4230,0.103,0.000,2289,2209,3965,3955,3976,0,0,0,0,0,0,14.15,14.29,14.26
$GC,866,-0.84,-145.9,2289,2210,3955,3978,124.4,-15.8,82,871,0.00,2.42,0.00,0.000,260,0.000,0.082,2280,3582,3965,3955,3976,0,0,0,0,0,0,14.59,14.03,14.62
$GC,937,-0.95,-145.9,2280,3583,3955,3977,133.9,-11.9,96,941,0.00,2.38,0.00,0.000,1158,0.000,0.057,2277,2201,3965,3955,3976,0,0,0,0,0,0,14.16,14.02,14.19
$GC,1257,-0.98,-145.9,2280,2201,3955,3977,177.5,-13.4,110,1258,0.00,0.00,0.00,0.000,134,0.000,0.000,2280,2200,3965,3954,3976,0,0,0,0,0,0,14.60,14.62,14.62
$GC,1557,-1.03,-145.9,2280,2201,3955,3978,214.6,-12.0,120,1563,0.12,2.45,0.00,0.000,4484,0.136,0.083,2222,3573,3965,3955,3976,0,0,0,0,0,0,14.23,14.04,14.26
$GC,1593,-1.03,-145.9,2223,3574,3955,3977,219.7,-15.6,127,1599,0.00,2.38,0.00,0.000,1030,0.000,0.059,2222,2187,3965,3955,3976,0,0,0,0,0,0,14.23,14.10,14.28
$GC,1919,-1.00,-145.9,2223,2186,3956,3976,272.3,-15.4,142,1924,0.12,2.47,0.00,0.000,2436,0.299,0.081,2242,3580,3965,3954,3976,0,0,0,0,0,0,13.81,14.03,13.95
$GC,1996,-1.11,-145.9,2242,3581,3955,3977,281.3,-10.5,157,2000,0.00,2.35,0.00,0.000,1158,0.000,0.056,2242,2198,3963,3955,3971,0,0,0,0,0,0,14.27,14.11,14.28
$GC,2311,-1.16,-145.9,2242,2196,3956,3976,316.7,-11.0,170,2316,0.00,2.47,0.00,0.000,388,0.000,0.086,2236,3579,3965,3954,3976,0,0,0,0,0,0,14.62,14.00,14.63
$GC,2357,-1.26,-145.9,2237,3581,3956,3976,321.7,-10.8,179,2363,0.20,2.38,0.00,0.000,5254,0.103,0.057,2162,2195,3965,3954,3976,0,0,0,0,0,0,14.15,14.07,14.25
$GC,2674,-1.14,-145.9,2162,2194,3955,3975,378.2,-18.1,192,2680,0.20,2.47,0.00,0.000,2436,0.316,0.080,2194,3575,3965,3954,3976,0,0,0,0,0,0,13.55,13.93,13.77
$GC,2782,-1.16,-145.9,2195,3576,3954,3977,393.0,-12.8,213,2788,0.00,2.35,0.00,0.000,1158,0.000,0.057,2194,2199,3964,3953,3976,0,0,0,0,0,0,14.14,14.02,14.19
$GC,3098,-1.12,-145.9,2195,2198,3954,3976,438.4,-14.4,226,3103,0.00,2.47,0.00,0.000,388,0.000,0.083,2184,3575,3964,3953,3976,0,0,0,0,0,0,14.62,13.93,14.64
$GC,3178,-1.12,-145.9,2185,3576,3953,3977,449.8,-13.6,242,3184,0.15,2.35,0.00,0.000,3078,0.239,0.057,2214,2201,3964,3952,3976,0,0,0,0,0,0,13.78,14.07,14.06
$STATE,3426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3426,begin apogee
$GC,3433,-0.13,0.0,2214,2062,3953,3977,480.1,-11.9,252,3940,1.23,0.00,500.62,1.130,10246,0.225,0.000,2527,2060,3364,3377,3352,0,0,0,0,0,0,13.70,13.38,12.66
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3947,begin climb
$GC,3949,0.57,145.9,2528,2061,3374,3348,511.5,0.0,269,4513,0.75,2.72,265.33,1.212,10500,0.058,0.072,2780,3475,2746,2770,2723,0,0,0,0,0,0,13.59,12.82,12.29
$GC,4636,0.57,145.9,2781,3475,2769,2719,458.1,9.0,273,4641,0.00,2.30,0.00,0.000,1030,0.000,0.057,2788,2126,2743,2768,2719,0,0,0,0,0,0,14.21,14.09,14.26
$GC,4947,0.12,145.9,2789,2126,2770,2718,412.5,14.5,285,4952,0.73,2.53,0.00,0.000,4740,0.312,0.079,2642,695,2742,2767,2718,0,0,0,0,0,0,13.53,13.90,13.77
$GC,5065,0.02,186.6,2639,694,2770,2718,402.1,8.1,308,5169,0.22,2.42,95.95,1.164,13478,0.269,0.078,2592,2067,2602,2643,2562,0,0,0,0,0,0,13.63,13.92,13.15
$GC,5492,0.03,237.0,2591,2068,2633,2540,369.9,7.7,343,5590,0.00,0.00,96.40,1.196,8358,0.000,0.000,2591,2067,2398,2445,2351,0,0,0,0,0,0,14.55,13.86,13.14
$GC,5882,0.05,273.1,2592,2067,2428,2331,337.6,8.3,356,5949,0.00,0.00,65.60,1.206,8230,0.000,0.000,2592,2067,2252,2298,2206,0,0,0,0,0,0,14.54,13.93,13.20
$GC,6242,0.13,310.8,2592,2068,2285,2185,307.6,8.3,368,6315,0.00,0.00,71.50,1.188,8358,0.000,0.000,2594,2067,2099,2144,2055,0,0,0,0,0,0,14.54,13.95,13.21
$GC,6602,0.25,355.9,2592,2067,2130,2037,277.8,7.9,380,6683,0.22,0.00,78.97,1.191,10406,0.090,0.000,2683,2067,1916,1952,1881,0,0,0,0,0,0,14.27,13.95,13.20
$GC,6962,0.21,355.9,2683,2067,1932,1864,231.1,12.5,392,6963,0.15,0.00,0.00,0.000,4230,0.243,0.000,2651,2067,1897,1931,1864,0,0,0,0,0,0,13.93,14.23,14.18
$GC,7262,0.26,378.6,2651,2067,1930,1862,202.8,8.9,402,7307,0.00,2.45,39.92,1.232,8868,0.000,0.089,2650,691,1817,1843,1792,0,0,0,0,0,0,14.59,13.82,13.26
$GC,7380,0.39,411.9,2651,692,1829,1789,192.5,8.5,425,7444,0.17,2.47,56.22,1.204,11430,0.103,0.080,2721,2101,1682,1702,1663,0,0,0,0,0,0,14.18,14.10,13.20
$GC,7742,0.36,411.9,2719,2102,1694,1638,146.0,12.6,448,7747,0.00,2.50,0.00,0.000,644,0.000,0.089,2726,698,1665,1693,1638,0,0,0,0,0,0,14.54,14.08,14.57
$GC,7773,0.34,411.9,2726,700,1690,1638,142.1,12.0,454,7779,0.15,2.45,0.00,0.000,5254,0.230,0.078,2694,2103,1663,1689,1637,0,0,0,0,0,0,13.95,14.13,14.21
$GC,8107,0.38,423.9,2695,2102,1691,1634,109.8,9.4,470,8117,0.00,2.50,3.78,1.172,8868,0.000,0.089,2699,698,1636,1665,1607,0,0,0,0,0,0,14.58,14.19,13.17
$GC,8173,0.48,445.3,2700,699,1674,1613,103.5,9.0,483,8228,0.12,2.45,47.65,1.241,11430,0.125,0.077,2757,2105,1544,1573,1515,0,0,0,0,0,0,14.25,14.18,13.26
$GC,8528,0.44,445.3,2758,2105,1567,1495,59.7,10.3,524,8529,0.15,0.00,0.00,0.000,4230,0.243,0.000,2726,2105,1530,1565,1495,0,0,0,0,0,0,13.93,14.27,14.21
$GC,8828,0.59,571.9,2727,2105,1567,1495,42.1,4.2,554,8902,0.12,2.58,63.58,0.320,10916,0.121,0.090,2789,698,1033,1095,971,0,0,0,0,0,0,14.18,13.89,13.68
$GC,8976,0.70,606.0,2789,699,1097,979,30.2,8.4,578,9001,0.00,2.47,19.48,0.283,9382,0.000,0.077,2789,2097,892,958,826,0,0,0,0,0,0,14.10,13.96,13.70
$GC,9307,0.90,703.3,2789,2097,961,836,9.4,5.5,614,9363,0.25,0.00,53.28,0.224,10662,0.087,0.000,2885,2097,495,510,481,0,0,0,0,0,0,13.96,14.03,13.80
$STATE,9376,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,0.2,1.021005
$STATE,9386,end surface coast,CONTROL_FINISHED_OK
$STATE,9386,begin surface
$SM_CCo,9470,0.00,0.000,0,0,499,703.03
$SM_GC,1.24,8.18,0.17,0.00,0.057,0.112,0.000,203,2217,499,-7.37,-0.85,703.03,0,0,0,0,0,0,14.15,14.13,14.21
$RAFOS_CLK,34
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7426.45,-15315.34,200917,183832
$TT8_MAMPS,0.083888,0.959469
$HUMID,45.82
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,11
$CP_FREE,15902834688.000000
$PM_FREEKB_00,45155264
$24V_AH,12.29,231.372
$10V_AH,12.10,0.000
$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,26.400,64.275,1458.275,0.000,0.000,0.000,0.000,419.900,2.750,0.000,9.600,0.000,6183.826,1249.745,2400.459,366.109,0.000,2802.581,0.000,896.014,2158.000,0.539,0.000
$DEVICE_MAMPS,452.880,2163.420,1240.830,0.000,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9420.000,9364.000,9360.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.825,20.000,9.870,0.000
$MEM,323304
$DATA_FILE_SIZE,20147,623
$CAP_FILE_SIZE,94053,0
$CFSIZE,2097872896,1978400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.035,32.33,1
$GPS,210917,001101,7424.916,-15328.256,15,0.7,23,19.4,0.6,52.9,11,9.9