version: 66.13
glider: 196
mission: 14
dive: 399
start: 9 22 117 1 6 12
data:
$ID,196
$MISSION,14
$DIVE,399
$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,29
$R_STBD_OVSHOOT,38
$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,1107.0
$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
$GPS1,220917,005317,7417.8315,-15346.1484,19,0.7,27,19.2,0.0,331.9,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.6
$GPS2,220917,010536,7417.9512,-15345.6797,5,0.7,18,19.2,0.4,4.1,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,250.0,717,-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,68,end surface,CONTROL_FINISHED_OK
$STATE,68,begin dive
$GC,72,-0.76,-64.8,198,2223,489,496,0.0,0.0,0,154,0.00,0.00,-80.65,0.000,16386,0.000,0.000,197,2222,1979,1908,2050,0,0,0,0,0,0,14.47,28.83,14.49
$GC,158,-0.81,-132.6,196,2223,1912,2055,3.2,-3.0,8,221,12.25,2.88,-41.28,0.000,18980,0.450,2.179,2308,794,3910,3893,3927,0,0,0,0,0,0,13.59,12.57,14.08
$GC,259,-1.00,-132.6,2308,794,3898,3928,31.0,-20.7,27,266,0.15,2.47,0.00,0.000,5254,0.111,0.087,2245,2184,3912,3897,3927,0,0,0,0,0,0,14.17,14.07,14.25
$GC,582,-1.07,-132.6,2249,2186,3899,3928,113.2,-21.0,56,587,0.00,2.55,0.00,0.000,388,0.000,0.085,2238,3619,3912,3898,3927,0,0,0,0,0,0,14.62,14.09,14.64
$GC,778,-1.26,-132.6,2238,3621,3898,3928,147.5,-16.0,95,784,0.20,2.45,0.00,0.000,5254,0.101,0.058,2160,2196,3913,3898,3928,0,0,0,0,0,0,14.21,14.13,14.31
$GC,1095,-1.24,-132.6,2161,2195,3899,3928,229.0,-25.1,108,1100,0.00,2.53,0.00,0.000,388,0.000,0.083,2150,3614,3912,3898,3927,0,0,0,0,0,0,14.63,14.06,14.64
$GC,1286,-1.28,-132.6,2150,3615,3899,3929,270.8,-20.5,146,1290,0.00,2.42,0.00,0.000,1158,0.000,0.058,2150,2196,3913,3900,3927,0,0,0,0,0,0,14.23,14.10,14.28
$GC,1607,-1.30,-132.6,2150,2195,3899,3928,337.6,-20.0,160,1611,0.00,2.53,0.00,0.000,388,0.000,0.084,2140,3613,3912,3898,3927,0,0,0,0,0,0,14.67,14.00,14.69
$GC,1762,-1.37,-132.6,2141,3613,3899,3927,367.6,-19.0,191,1768,0.00,2.42,0.00,0.000,1158,0.000,0.057,2140,2199,3912,3898,3927,0,0,0,0,0,0,14.14,14.02,14.19
$GC,2089,-1.39,-132.6,2141,2199,3899,3929,431.8,-19.6,206,2094,0.00,2.55,0.00,0.000,388,0.000,0.085,2130,3620,3912,3898,3927,0,0,0,0,0,0,14.64,13.97,14.65
$GC,2254,-1.45,-132.6,2131,3620,3898,3928,464.1,-19.1,239,2260,0.00,2.45,0.00,0.000,1158,0.000,0.057,2130,2195,3911,3895,3927,0,0,0,0,0,0,14.17,14.04,14.22
$STATE,2358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2358,begin apogee
$GC,2365,-0.13,0.0,2131,2062,3898,3928,485.7,-20.3,245,2572,1.75,0.08,200.32,1.426,10246,0.291,0.180,2529,2112,3360,3372,3349,0,0,0,0,0,0,13.61,13.62,12.86
$STATE,2574,end apogee,CONTROL_FINISHED_OK
$STATE,2574,begin climb
$GC,2577,0.81,132.6,2530,2112,3371,3345,498.2,0.0,252,2771,0.95,0.00,186.93,1.388,10758,0.057,0.000,2859,2112,2824,2864,2784,0,0,0,0,0,0,13.78,13.20,12.41
$GC,3051,0.44,132.6,2859,2113,2841,2779,475.1,15.0,278,3056,0.62,2.50,0.00,0.000,4740,0.354,0.078,2740,720,2809,2840,2778,0,0,0,0,0,0,13.49,13.89,13.74
$GC,3092,0.28,132.6,2742,720,2842,2778,469.9,11.9,286,3097,0.32,2.42,0.00,0.000,5254,0.315,0.076,2676,2093,2809,2840,2778,0,0,0,0,0,0,13.52,13.85,13.91
$GC,3413,0.22,139.1,2676,2095,2842,2777,439.3,9.3,300,3415,0.00,0.00,1.42,0.290,8358,0.000,0.000,2676,2094,2797,2830,2765,0,0,0,0,0,0,14.55,13.93,13.38
$GC,3713,0.15,147.9,2676,2093,2841,2772,411.6,9.1,310,3733,0.17,0.00,18.15,1.568,12454,0.295,0.000,2637,2094,2761,2793,2729,0,0,0,0,0,0,13.77,14.07,13.28
$GC,4013,0.18,159.6,2638,2094,2787,2721,385.2,8.8,320,4032,0.00,2.42,15.35,1.590,8868,0.000,0.082,2644,722,2710,2743,2678,0,0,0,0,0,0,14.57,13.93,13.27
$GC,4058,0.23,170.0,2645,722,2744,2677,381.3,8.9,329,4078,0.00,2.40,14.48,1.587,9382,0.000,0.078,2644,2100,2669,2705,2634,0,0,0,0,0,0,14.32,14.19,13.20
$GC,4407,0.26,171.7,2644,2101,2704,2627,347.4,9.8,348,4407,0.00,0.00,0.00,0.000,166,0.000,0.000,2644,2100,2664,2703,2626,0,0,0,0,0,0,14.58,14.60,14.61
$GC,4704,0.30,179.7,2645,2100,2704,2625,319.1,9.2,358,4720,0.10,0.00,13.82,1.600,10406,0.138,0.000,2693,2100,2632,2671,2593,0,0,0,0,0,0,14.29,14.14,13.32
$GC,5004,0.25,179.7,2693,2101,2666,2586,286.3,10.6,368,5005,0.15,0.00,0.00,0.000,4230,0.269,0.000,2663,2100,2625,2666,2585,0,0,0,0,0,0,13.90,14.23,14.16
$GC,5304,0.26,199.9,2663,2101,2667,2585,260.8,7.9,378,5339,0.00,2.42,30.92,1.428,8740,0.000,0.081,2669,727,2546,2590,2503,0,0,0,0,0,0,14.62,13.92,13.29
$GC,5385,0.33,222.2,2672,727,2588,2501,254.4,7.7,394,5427,0.00,2.40,34.38,1.384,9382,0.000,0.078,2674,2101,2456,2500,2412,0,0,0,0,0,0,14.31,14.18,13.19
$GC,5728,0.40,241.4,2670,2101,2496,2402,226.1,8.0,412,5759,0.12,0.00,29.50,1.385,10406,0.123,0.000,2722,2100,2380,2422,2339,0,0,0,0,0,0,14.26,14.06,13.27
$GC,6055,0.38,247.8,2722,2100,2414,2329,193.7,9.3,423,6061,0.00,0.00,4.28,1.611,8358,0.000,0.000,2722,2100,2355,2395,2316,0,0,0,0,0,0,14.56,14.15,13.28
$GC,6355,0.39,264.5,2722,2101,2397,2317,167.9,8.3,433,6388,0.00,0.00,31.60,1.376,8230,0.000,0.000,2721,2100,2287,2328,2247,0,0,0,0,0,0,14.58,14.07,13.30
$GC,6685,0.40,279.4,2722,2101,2322,2236,139.0,8.5,444,6717,0.00,2.50,22.23,1.392,8740,0.000,0.084,2727,733,2225,2266,2184,0,0,0,0,0,0,14.58,14.10,13.31
$GC,6818,0.48,296.4,2727,730,2262,2185,127.6,8.2,470,6848,0.00,2.40,25.80,1.353,9382,0.000,0.078,2727,2098,2155,2196,2115,0,0,0,0,0,0,14.30,14.16,13.27
$GC,7152,0.54,316.3,2727,2101,2190,2101,98.0,7.9,490,7163,0.00,0.00,10.27,0.494,8358,0.000,0.000,2727,2100,2072,2115,2030,0,0,0,0,0,0,14.52,13.64,13.30
$GC,7459,0.64,346.6,2726,2101,2116,2029,73.7,6.9,521,7481,0.15,2.58,16.35,0.420,10660,0.105,0.081,2793,3519,1950,1988,1913,0,0,0,0,0,0,14.09,14.03,13.71
$GC,7544,0.57,347.8,2793,3519,1987,1914,65.5,9.9,537,7551,0.17,2.38,0.00,0.000,5286,0.311,0.063,2770,2135,1949,1986,1913,0,0,0,0,0,0,13.76,14.10,14.09
$GC,7857,0.68,440.6,2770,2135,1987,1905,52.6,0.4,569,7913,0.00,2.58,48.62,0.360,8868,0.000,0.090,2770,692,1569,1601,1537,0,0,0,0,0,0,14.53,14.00,13.76
$GC,8138,0.91,480.7,2770,692,1591,1531,36.7,5.9,624,8166,0.32,2.53,20.75,0.308,11430,0.076,0.080,2884,2109,1401,1437,1366,0,0,0,0,0,0,14.13,13.97,13.76
$GC,8464,0.92,541.8,2885,2109,1438,1358,15.1,3.7,659,8501,0.00,2.53,31.80,0.250,8612,0.000,0.080,2884,3511,1153,1208,1098,0,0,0,0,0,0,14.53,14.11,13.83
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$FINISH,0.3,1.020937
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8653,86.45,0.209,0,0,499,702.78
$SM_GC,1.22,8.30,2.28,86.45,0.071,0.050,0.209,201,2187,499,-7.39,0.68,702.78,0,0,0,0,0,0,14.21,14.19,13.89
$RAFOS_CLK,396
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7419.39,-15336.77,210917,222215
$TT8_MAMPS,0.038948,0.894306
$HUMID,47.63
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.40
$XPDR_PINGS,14
$CP_FREE,15897755648.000000
$PM_FREEKB_00,44806720
$24V_AH,12.41,235.924
$10V_AH,12.55,0.000
$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,25.750,59.800,756.975,86.450,0.000,0.000,0.000,422.250,3.500,0.000,22.051,0.000,6313.479,916.889,1889.087,370.268,0.000,1943.697,0.000,993.826,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2178.720,1611.090,208.845,0.000,0.000,0.000,183.600,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8668.000,6122.000,8585.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.947,20.000,9.854,0.000
$MEM,323476
$DATA_FILE_SIZE,23352,692
$CAP_FILE_SIZE,93347,0
$CFSIZE,2097872896,1975713792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.057,82.97,1
$GPS,220917,033304,7418.176,-15347.783,25,1.1,26,19.2,0.3,161.6,7,9.9