version: 66.13
glider: 196
mission: 14
dive: 398
start: 9 21 117 22 27 36
data:
$ID,196
$MISSION,14
$DIVE,398
$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,32
$R_STBD_OVSHOOT,65
$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,1104.0
$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
$GPS1,210917,220921,7418.3208,-15348.5127,17,0.8,28,19.2,0.7,77.9,11,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.8
$GPS2,210917,222702,7418.4165,-15348.0420,5,0.9,38,19.2,0.6,49.9,12,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,128.1,785,-27.3,-10.000,-30.00,994
$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,54,end surface,CONTROL_FINISHED_OK
$STATE,54,begin dive
$GC,58,-0.76,-64.8,194,2192,491,490,0.0,0.0,0,151,0.00,0.00,-91.10,0.000,16386,0.000,0.000,190,2192,2236,2176,2297,0,0,0,0,0,0,14.49,28.83,14.47
$GC,154,-0.79,-100.4,191,2192,2180,2294,4.4,-6.3,9,201,12.48,2.70,-28.40,0.000,18724,0.453,2.170,2308,3566,3779,3758,3801,0,0,0,0,0,0,13.57,12.62,14.08
$GC,427,-1.00,-100.4,2308,3568,3767,3802,67.9,-16.0,63,432,0.17,2.33,0.00,0.000,5254,0.103,0.057,2241,2206,3783,3766,3801,0,0,0,0,0,0,14.08,14.02,14.19
$GC,761,-1.07,-100.4,2243,2206,3767,3802,139.6,-20.3,85,765,0.00,2.42,0.00,0.000,388,0.000,0.084,2235,3573,3784,3767,3801,0,0,0,0,0,0,14.57,14.07,14.58
$GC,991,-1.24,-100.4,2236,3573,3767,3802,178.8,-15.7,131,996,0.17,2.35,0.00,0.000,5254,0.111,0.057,2164,2201,3786,3767,3805,0,0,0,0,0,0,14.19,14.12,14.29
$GC,1302,-1.21,-100.4,2164,2200,3768,3802,252.0,-22.7,143,1307,0.00,2.45,0.00,0.000,388,0.000,0.082,2154,3575,3784,3767,3801,0,0,0,0,0,0,14.60,13.96,14.62
$GC,1448,-1.21,-100.4,2154,3576,3767,3802,282.0,-19.8,172,1455,0.15,2.38,0.00,0.000,3078,0.285,0.056,2181,2197,3784,3767,3801,0,0,0,0,0,0,13.62,13.97,13.95
$GC,1753,-1.28,-100.4,2181,2196,3767,3802,333.7,-16.5,183,1758,0.00,2.42,0.00,0.000,388,0.000,0.083,2172,3563,3784,3767,3801,0,0,0,0,0,0,14.64,13.88,14.63
$GC,1904,-1.38,-100.4,2173,3565,3768,3801,358.5,-16.1,213,1909,0.12,2.38,0.00,0.000,5254,0.131,0.055,2130,2196,3784,3767,3801,0,0,0,0,0,0,14.01,14.00,14.13
$GC,2235,-1.36,-100.4,2130,2196,3767,3801,424.8,-20.0,229,2240,0.00,2.47,0.00,0.000,388,0.000,0.083,2120,3569,3783,3766,3800,0,0,0,0,0,0,14.57,13.98,14.59
$GC,2411,-1.36,-100.4,2120,3571,3767,3800,460.1,-20.1,264,2418,0.00,2.35,0.00,0.000,1030,0.000,0.056,2120,2199,3782,3765,3799,0,0,0,0,0,0,14.13,13.98,14.18
$STATE,2533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2533,begin apogee
$GC,2540,-0.13,0.0,2120,2058,3766,3801,485.6,-20.4,269,2697,1.83,0.00,152.73,1.460,10246,0.304,0.000,2528,2056,3363,3366,3361,0,0,0,0,0,0,13.60,13.71,12.93
$STATE,2700,end apogee,CONTROL_FINISHED_OK
$STATE,2700,begin climb
$GC,2703,0.79,100.4,2528,2056,3362,3353,493.2,0.0,274,2854,0.93,2.62,140.77,1.403,10500,0.058,0.073,2853,3471,2948,2978,2918,0,0,0,0,0,0,13.83,13.39,12.56
$GC,2934,0.38,159.1,2853,3471,2973,2914,507.7,3.9,300,3025,0.82,2.35,82.45,1.417,13478,0.372,0.053,2708,2132,2711,2746,2677,0,0,0,0,0,0,13.31,13.72,12.64
$GC,3346,0.27,159.1,2708,2131,2742,2667,459.2,13.2,332,3351,0.15,2.55,0.00,0.000,4740,0.320,0.083,2683,693,2703,2740,2666,0,0,0,0,0,0,13.72,14.01,13.92
$GC,3382,0.24,159.1,2683,696,2741,2667,454.5,12.0,339,3387,0.00,2.42,0.00,0.000,1158,0.000,0.077,2683,2064,2704,2741,2667,0,0,0,0,0,0,14.21,14.09,14.26
$GC,3708,0.18,159.1,2683,2065,2739,2667,415.9,11.7,354,3709,0.20,0.00,0.00,0.000,4230,0.291,0.000,2643,2066,2702,2738,2666,0,0,0,0,0,0,13.74,14.21,14.13
$GC,4008,0.21,160.3,2644,2066,2740,2665,386.1,9.9,364,4009,0.00,0.00,0.00,0.000,166,0.000,0.000,2644,2066,2702,2739,2665,0,0,0,0,0,0,14.58,14.60,14.59
$GC,4308,0.24,166.7,2644,2066,2739,2665,357.5,9.3,374,4317,0.00,2.42,4.10,1.655,8868,0.000,0.087,2644,697,2686,2725,2648,0,0,0,0,0,0,14.59,14.21,13.29
$GC,4353,0.31,176.3,2644,698,2726,2653,353.4,9.0,383,4378,0.12,2.45,18.10,1.547,11430,0.118,0.078,2697,2101,2644,2683,2606,0,0,0,0,0,0,14.13,14.10,13.27
$GC,4701,0.24,176.3,2697,2102,2680,2603,312.6,11.6,402,4702,0.15,0.00,0.00,0.000,4230,0.257,0.000,2666,2101,2641,2680,2603,0,0,0,0,0,0,13.85,14.19,14.10
$GC,4999,0.25,184.9,2666,2102,2680,2603,283.8,9.1,412,5018,0.00,2.53,11.82,1.610,8740,0.000,0.085,2673,694,2608,2649,2567,0,0,0,0,0,0,14.61,14.19,13.32
$GC,5054,0.30,192.8,2673,695,2649,2567,278.8,9.2,423,5070,0.00,2.45,11.30,1.594,9382,0.000,0.078,2672,2102,2578,2623,2533,0,0,0,0,0,0,14.30,14.16,13.27
$GC,5390,0.31,212.0,2672,2103,2619,2526,249.5,8.0,440,5421,0.00,0.00,29.17,1.421,8486,0.000,0.000,2672,2102,2500,2547,2453,0,0,0,0,0,0,14.60,14.08,13.28
$GC,5723,0.36,239.0,2679,2102,2544,2443,224.6,7.2,456,5775,0.00,2.58,43.33,1.352,8612,0.000,0.083,2672,3511,2385,2428,2342,0,0,0,0,0,0,14.42,14.00,13.20
$GC,5800,0.37,249.5,2672,3513,2430,2343,218.5,8.9,472,5820,0.00,2.45,14.65,1.461,9254,0.000,0.061,2680,2101,2347,2385,2310,0,0,0,0,0,0,14.16,14.07,13.14
$GC,6144,0.45,267.2,2680,2101,2379,2301,190.0,8.2,490,6178,0.12,2.53,27.65,1.368,10916,0.122,0.083,2747,685,2272,2309,2236,0,0,0,0,0,0,14.14,13.81,13.24
$GC,6230,0.45,267.2,2748,685,2307,2235,180.8,11.0,507,6237,0.00,2.50,0.00,0.000,1030,0.000,0.077,2747,2100,2267,2301,2234,0,0,0,0,0,0,14.15,14.04,14.18
$GC,6533,0.42,267.2,2748,2101,2306,2228,147.8,10.4,518,6535,0.12,0.00,0.00,0.000,4230,0.268,0.000,2721,2102,2266,2305,2227,0,0,0,0,0,0,13.87,14.19,14.14
$GC,6834,0.46,288.8,2722,2102,2305,2226,122.5,7.8,528,6869,0.00,2.53,30.05,1.343,8868,0.000,0.085,2723,693,2185,2223,2147,0,0,0,0,0,0,14.42,13.84,13.26
$GC,6932,0.56,303.6,2723,694,2215,2147,114.8,8.5,547,6956,0.12,2.50,17.38,1.381,11430,0.122,0.078,2779,2105,2126,2160,2093,0,0,0,0,0,0,14.13,14.07,13.21
$GC,7255,0.52,314.5,2779,2106,2157,2083,81.0,8.9,574,7266,0.12,2.58,5.70,0.431,12708,0.305,0.081,2754,3511,2081,2118,2044,0,0,0,0,0,0,13.74,13.99,13.54
$GC,7334,0.51,330.5,2755,3510,2125,2045,74.4,8.3,589,7350,0.00,2.45,9.15,0.420,9382,0.000,0.063,2755,2102,2017,2053,1982,0,0,0,0,0,0,13.47,13.40,13.62
$GC,7647,0.59,401.0,2759,2102,2055,1977,59.8,2.7,622,7689,0.00,2.58,36.90,0.381,8612,0.000,0.079,2759,3513,1728,1747,1710,0,0,0,0,0,0,14.37,13.93,13.69
$GC,7915,0.72,459.2,2759,3514,1744,1705,45.1,4.0,675,7954,0.15,2.47,30.17,0.335,11430,0.104,0.061,2822,2090,1487,1514,1461,0,0,0,0,0,0,14.01,13.95,13.66
$GC,8250,0.87,544.3,2823,2091,1519,1449,23.3,1.2,712,8302,0.12,0.00,43.97,0.275,10406,0.122,0.000,2879,2091,1143,1200,1087,0,0,0,0,0,0,14.25,14.05,13.76
$STATE,8537,end climb,SURFACE_DEPTH_REACHED
$STATE,8537,begin surface coast
$FINISH,0.3,1.021126
$STATE,8557,end surface coast,CONTROL_FINISHED_OK
$STATE,8557,begin surface
$SM_CCo,8580,87.15,0.208,0,0,500,702.78
$SM_GC,1.40,8.25,0.20,87.15,0.073,0.107,0.208,205,2221,500,-7.36,-0.59,702.78,0,0,0,0,0,0,14.23,14.25,13.90
$RAFOS_CLK,148
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,210917,222020
$TT8_MAMPS,0.039697,0.952728
$HUMID,45.31
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15898214400.000000
$PM_FREEKB_00,44836736
$24V_AH,12.56,235.535
$10V_AH,12.48,0.000
$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,26.325,69.650,709.400,87.150,0.000,0.000,0.000,607.250,3.000,0.000,40.022,0.000,6309.223,783.386,2245.471,401.715,0.000,2122.350,0.000,1065.736,2137.000,0.539,0.000
$DEVICE_MAMPS,452.880,2169.540,1654.695,208.080,0.000,0.000,0.000,163.710,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8595.000,8548.000,8528.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.137,20.000,9.897,0.000
$MEM,323664
$DATA_FILE_SIZE,26707,743
$CAP_FILE_SIZE,106660,0
$CFSIZE,2097872896,1976008704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2775.54,0x2341e8,1,24
$SOUNDSPEED,1447.4
$CURRENT,0.084,57.75,1
$GPS,220917,005317,7417.832,-15346.148,19,0.7,27,19.2,0.0,331.9,11,9.0