version: 66.13
glider: 196
mission: 14
dive: 392
start: 9 21 117 6 0 29
data:
$ID,196
$MISSION,14
$DIVE,392
$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,24
$R_STBD_OVSHOOT,51
$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,1088.0
$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
$GPS1,210917,054504,7423.2891,-15334.0811,17,0.7,18,19.4,0.0,0.0,11,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.0
$GPS2,210917,055952,7423.2793,-15334.0156,5,0.7,16,19.4,0.0,315.1,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,200.0,11590,-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,-145.9,194,2232,491,493,0.0,0.0,0,145,0.00,0.00,-91.03,0.000,16386,0.000,0.000,193,2232,2248,2193,2303,0,0,0,0,0,0,14.47,28.83,14.50
$GC,149,-0.57,-145.9,194,2233,2195,2307,4.8,-7.4,9,197,12.95,2.70,-29.52,0.000,18724,0.456,2.170,2372,3578,3963,3946,3981,0,0,0,0,0,0,13.55,12.62,14.02
$GC,282,-0.70,-145.9,2376,3579,3955,3981,40.2,-13.9,35,287,0.00,2.38,0.00,0.000,1158,0.000,0.058,2375,2193,3968,3954,3982,0,0,0,0,0,0,14.21,14.09,14.25
$GC,595,-0.83,-145.9,2376,2192,3957,3982,79.2,-9.8,67,600,0.17,2.47,0.00,0.000,4516,0.111,0.084,2296,3579,3969,3956,3982,0,0,0,0,0,0,14.14,13.95,14.20
$GC,651,-0.92,-145.9,2296,3581,3957,3983,86.7,-13.4,78,657,0.00,2.38,0.00,0.000,1158,0.000,0.057,2296,2201,3969,3956,3982,0,0,0,0,0,0,14.19,14.06,14.23
$GC,956,-0.95,-145.9,2295,2201,3957,3983,131.7,-13.9,95,957,0.00,0.00,0.00,0.000,134,0.000,0.000,2296,2200,3968,3956,3981,0,0,0,0,0,0,14.57,14.61,14.60
$GC,1256,-1.02,-145.9,2296,2201,3957,3983,169.2,-12.1,105,1262,0.12,2.47,0.00,0.000,4484,0.133,0.083,2236,3580,3969,3956,3982,0,0,0,0,0,0,14.23,14.01,14.26
$GC,1283,-1.02,-145.9,2237,3581,3957,3983,173.1,-15.4,110,1289,0.00,2.38,0.00,0.000,1030,0.000,0.058,2236,2197,3969,3956,3982,0,0,0,0,0,0,14.15,14.02,14.19
$GC,1588,-1.02,-145.9,2236,2199,3957,3983,222.9,-16.0,121,1594,0.00,2.50,0.00,0.000,260,0.000,0.088,2236,3582,3969,3956,3982,0,0,0,0,0,0,14.57,13.95,14.59
$GC,1717,-1.09,-145.9,2236,3582,3957,3982,240.1,-12.4,146,1721,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2196,3969,3956,3982,0,0,0,0,0,0,14.21,14.07,14.25
$GC,2042,-1.09,-145.9,2236,2197,3956,3983,283.3,-12.8,161,2048,0.00,2.50,0.00,0.000,260,0.000,0.087,2235,3587,3970,3958,3982,0,0,0,0,0,0,14.62,14.00,14.63
$GC,2098,-1.20,-145.9,2236,3587,3957,3982,289.9,-10.9,172,2105,0.12,2.38,0.00,0.000,5254,0.135,0.057,2182,2200,3969,3956,3982,0,0,0,0,0,0,14.03,14.00,14.14
$GC,2404,-1.13,-145.9,2182,2200,3956,3982,339.8,-16.3,183,2409,0.12,2.50,0.00,0.000,2436,0.304,0.083,2199,3587,3968,3956,3981,0,0,0,0,0,0,13.57,13.90,13.76
$GC,2497,-1.17,-145.9,2200,3587,3956,3982,352.3,-12.8,201,2502,0.00,2.38,0.00,0.000,1158,0.000,0.057,2199,2201,3968,3955,3982,0,0,0,0,0,0,14.19,14.06,14.23
$GC,2828,-1.17,-145.9,2199,2201,3956,3982,398.6,-13.8,217,2834,0.00,2.47,0.00,0.000,260,0.000,0.087,2197,3581,3968,3955,3982,0,0,0,0,0,0,14.59,13.95,14.59
$GC,2905,-1.21,-145.9,2197,3580,3956,3982,408.6,-12.6,232,2909,0.00,2.38,0.00,0.000,1158,0.000,0.057,2196,2194,3968,3954,3982,0,0,0,0,0,0,14.19,14.05,14.23
$GC,3220,-1.21,-145.9,2197,2192,3956,3983,451.5,-13.7,245,3225,0.00,2.50,0.00,0.000,260,0.000,0.085,2188,3586,3968,3954,3982,0,0,0,0,0,0,14.64,13.76,14.62
$GC,3306,-1.24,-145.9,2189,3588,3955,3980,463.2,-12.7,262,3312,0.00,2.38,0.00,0.000,1158,0.000,0.056,2188,2198,3967,3954,3981,0,0,0,0,0,0,14.12,13.97,14.16
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3435,-0.13,0.0,2188,2056,3954,3983,480.9,-14.2,267,3655,1.38,0.00,216.35,1.418,10246,0.237,0.000,2529,2055,3366,3376,3356,0,0,0,0,0,0,13.64,13.57,12.78
$STATE,3659,end apogee,CONTROL_FINISHED_OK
$STATE,3659,begin climb
$GC,3662,0.57,145.9,2530,2056,3371,3350,493.0,0.0,274,3883,0.75,2.58,206.20,1.369,10756,0.058,0.079,2802,724,2760,2791,2730,0,0,0,0,0,0,13.74,13.14,12.33
$GC,4019,0.14,145.9,2797,725,2788,2725,488.9,14.4,332,4024,0.80,2.45,0.00,0.000,5254,0.321,0.074,2631,2079,2755,2787,2724,0,0,0,0,0,0,13.26,13.65,13.67
$GC,4335,-0.00,179.0,2632,2078,2787,2718,460.9,8.5,345,4384,0.20,0.00,44.95,1.445,12966,0.271,0.000,2587,2079,2632,2676,2588,0,0,0,0,0,0,13.76,13.71,13.09
$GC,4697,-0.00,226.7,2588,2080,2673,2576,433.2,7.8,362,4774,0.00,2.47,69.65,1.397,8868,0.000,0.089,2589,734,2434,2484,2385,0,0,0,0,0,0,14.57,13.94,13.12
$GC,4797,0.05,263.2,2589,735,2481,2385,425.1,8.3,382,4856,0.00,2.42,53.50,1.385,9382,0.000,0.080,2588,2103,2291,2340,2242,0,0,0,0,0,0,14.14,14.00,12.97
$GC,5177,0.10,285.0,2594,2109,2336,2227,390.9,9.0,408,5209,0.00,0.00,30.67,1.431,8358,0.000,0.000,2588,2103,2201,2250,2153,0,0,0,0,0,0,14.55,14.03,13.24
$GC,5507,0.18,311.7,2589,2104,2242,2143,361.7,8.8,419,5553,0.12,2.45,39.80,1.408,10916,0.128,0.090,2658,730,2090,2132,2049,0,0,0,0,0,0,14.24,13.81,13.19
$GC,5573,0.13,311.7,2658,733,2126,2049,353.2,12.9,432,5578,0.15,2.40,0.00,0.000,5254,0.241,0.079,2626,2101,2091,2127,2055,0,0,0,0,0,0,13.96,14.12,14.18
$GC,5899,0.13,311.7,2625,2102,2127,2041,316.6,10.9,447,5905,0.00,2.42,0.00,0.000,516,0.000,0.088,2630,729,2082,2126,2039,0,0,0,0,0,0,14.60,14.12,14.62
$GC,5925,0.16,311.7,2630,729,2126,2040,313.7,10.5,452,5931,0.00,2.40,0.00,0.000,1158,0.000,0.078,2631,2099,2082,2125,2040,0,0,0,0,0,0,14.23,14.10,14.28
$GC,6230,0.16,311.7,2631,2100,2125,2037,280.9,10.5,463,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2100,2080,2123,2038,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6531,0.17,328.2,2630,2101,2125,2039,251.8,9.2,473,6554,0.00,0.00,22.83,1.457,8230,0.000,0.000,2631,2100,2029,2070,1988,0,0,0,0,0,0,14.63,14.11,13.31
$GC,6831,0.24,367.7,2631,2100,2062,1978,226.2,8.2,483,6902,0.00,2.55,66.28,1.314,8868,0.000,0.088,2630,724,1862,1892,1833,0,0,0,0,0,0,14.60,14.00,13.19
$GC,6945,0.41,411.0,2631,726,1882,1834,217.1,8.0,505,7023,0.25,2.42,71.25,1.245,11430,0.086,0.079,2725,2099,1688,1707,1669,0,0,0,0,0,0,14.14,14.05,13.09
$GC,7344,0.36,411.0,2726,2100,1710,1652,160.1,13.9,535,7350,0.12,2.47,0.00,0.000,4740,0.232,0.085,2699,729,1676,1702,1651,0,0,0,0,0,0,13.81,14.01,13.93
$GC,7396,0.41,411.0,2699,730,1700,1652,154.1,10.9,545,7401,0.00,2.42,0.00,0.000,1158,0.000,0.076,2699,2106,1675,1699,1651,0,0,0,0,0,0,14.16,14.03,14.20
$GC,7706,0.41,411.0,2699,2107,1700,1648,121.0,10.3,557,7711,0.00,2.50,0.00,0.000,516,0.000,0.089,2698,718,1673,1699,1647,0,0,0,0,0,0,14.42,13.99,14.45
$GC,7747,0.48,414.2,2699,718,1699,1647,117.0,9.9,565,7752,0.12,2.45,0.00,0.000,3238,0.124,0.077,2757,2101,1673,1698,1648,0,0,0,0,0,0,13.88,13.87,13.86
$GC,8058,0.40,414.2,2758,2100,1699,1648,75.8,12.6,590,8063,0.17,2.47,0.00,0.000,4740,0.247,0.083,2722,726,1672,1698,1647,0,0,0,0,0,0,13.74,13.93,13.91
$GC,8109,0.46,437.0,2723,726,1697,1648,70.9,8.9,600,8130,0.00,2.45,12.57,0.407,9382,0.000,0.076,2723,2100,1581,1606,1557,0,0,0,0,0,0,14.09,13.96,13.54
$GC,8429,0.58,536.3,2723,2101,1608,1556,48.0,5.4,634,8483,0.12,0.00,52.22,0.341,10406,0.123,0.000,2787,2100,1177,1231,1124,0,0,0,0,0,0,13.95,14.03,13.69
$GC,8779,0.73,639.6,2778,2102,1233,1117,20.8,5.2,669,8842,0.10,2.53,54.38,0.264,10916,0.151,0.087,2834,727,755,816,695,0,0,0,0,0,0,13.97,13.95,13.69
$GC,8928,0.84,684.4,2835,728,816,689,9.4,7.9,698,8960,0.00,2.45,24.62,0.233,9382,0.000,0.076,2835,2103,571,609,533,0,0,0,0,0,0,14.07,13.95,13.76
$STATE,9013,end climb,SURFACE_DEPTH_REACHED
$STATE,9013,begin surface coast
$FINISH,0.4,1.021083
$STATE,9036,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9058,10.18,0.215,0,0,499,702.78
$SM_GC,2.10,8.18,0.17,10.18,0.069,0.113,0.215,203,2240,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.12,14.11,13.80
$RAFOS_CLK,94
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7422.74,-15340.38,210917,055003
$TT8_MAMPS,0.085386,0.928011
$HUMID,44.29
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,8
$CP_FREE,15901261824.000000
$PM_FREEKB_00,45042880
$24V_AH,12.33,232.774
$10V_AH,12.24,0.000
$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,25.975,83.800,965.275,10.175,0.000,0.000,0.000,516.075,2.000,0.000,18.146,0.000,6561.450,963.125,2043.179,403.451,0.000,2202.974,0.000,1022.072,2201.000,0.539,0.000
$DEVICE_MAMPS,455.940,2170.305,1456.560,214.965,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9070.000,9022.000,9006.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.338,20.000,9.891,0.000
$MEM,323392
$DATA_FILE_SIZE,23411,712
$CAP_FILE_SIZE,103370,0
$CFSIZE,2097872896,1977581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.038,91.26,1
$GPS,210917,083303,7422.440,-15337.067,39,0.8,39,19.3,0.0,0.0,10,8.0