version: 66.13
glider: 196
mission: 14
dive: 407
start: 9 22 117 22 29 39
data:
$ID,196
$MISSION,14
$DIVE,407
$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,25
$R_STBD_OVSHOOT,24
$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,1132.0
$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
$GPS1,220917,221703,7418.3340,-15346.2246,34,0.7,34,19.2,0.0,0.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.6
$GPS2,220917,222903,7418.3271,-15346.0098,6,0.8,9,19.2,0.0,0.0,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,213.5,651,-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,57,-0.76,-64.8,189,2202,493,494,0.0,0.0,0,140,0.00,0.00,-81.05,0.000,16386,0.000,0.000,186,2202,2007,1943,2072,0,0,0,0,0,0,14.47,28.83,14.47
$GC,144,-0.81,-127.2,188,2203,1945,2074,3.2,-3.6,8,199,12.55,0.00,-37.75,0.000,19238,0.457,0.000,2309,2201,3888,3868,3908,1,0,0,0,0,0,13.37,13.10,14.09
$GC,499,-0.98,-127.2,2309,2203,3873,3909,91.2,-16.7,47,505,0.12,2.53,0.00,0.000,4484,0.142,0.083,2244,3616,3890,3873,3908,0,0,0,0,0,0,14.05,14.07,14.09
$GC,623,-1.13,-127.2,2244,3618,3874,3909,113.7,-17.5,71,629,0.00,2.47,0.00,0.000,1158,0.000,0.058,2243,2191,3890,3873,3908,0,0,0,0,0,0,14.20,14.08,14.21
$GC,955,-1.26,-127.2,2243,2190,3873,3909,175.6,-17.6,87,961,0.20,2.55,0.00,0.000,4484,0.110,0.082,2155,3613,3890,3873,3908,0,0,0,0,0,0,13.95,14.02,14.00
$GC,1096,-1.28,-127.2,2155,3614,3874,3908,209.2,-23.9,115,1102,0.00,2.42,0.00,0.000,1158,0.000,0.061,2154,2204,3890,3873,3908,0,0,0,0,0,0,14.14,14.00,14.19
$GC,1408,-1.28,-127.2,2155,2202,3874,3908,283.3,-22.4,127,1414,0.00,2.53,0.00,0.000,260,0.000,0.083,2144,3614,3890,3873,3908,0,0,0,0,0,0,14.57,14.00,14.61
$GC,1584,-1.33,-127.2,2144,3615,3878,3908,319.6,-19.6,162,1591,0.00,2.45,0.00,0.000,1158,0.000,0.056,2144,2196,3890,3873,3908,0,0,0,0,0,0,14.12,13.99,14.17
$GC,1889,-1.33,-127.2,2144,2195,3874,3908,381.7,-20.0,173,1894,0.00,2.53,0.00,0.000,260,0.000,0.084,2134,3613,3889,3872,3907,0,0,0,0,0,0,14.59,13.96,14.61
$GC,2040,-1.38,-127.2,2134,3613,3873,3908,410.5,-18.5,203,2045,0.00,2.42,0.00,0.000,1158,0.000,0.056,2134,2201,3889,3872,3907,0,0,0,0,0,0,14.16,14.04,14.21
$GC,2371,-1.38,-127.2,2134,2199,3873,3906,476.4,-19.9,219,2377,0.00,2.53,0.00,0.000,260,0.000,0.084,2127,3609,3889,3872,3906,0,0,0,0,0,0,14.57,13.94,14.59
$STATE,2390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2390,begin apogee
$GC,2399,-0.13,0.0,2128,2097,3873,3906,480.7,-20.9,223,2596,1.77,0.00,193.15,1.431,10246,0.296,0.000,2527,2095,3365,3374,3357,0,0,0,0,0,0,13.60,13.64,12.86
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2600,begin climb
$GC,2603,0.81,127.2,2528,2096,3367,3350,491.4,0.0,229,2873,0.95,2.67,180.10,1.380,10500,0.057,0.069,2858,3507,2825,2856,2795,0,0,0,0,0,0,13.76,13.01,12.42
$GC,3101,0.38,127.2,2858,3508,2853,2796,466.2,14.6,276,3108,0.82,2.45,0.00,0.000,5254,0.379,0.056,2710,2095,2824,2853,2795,0,0,0,0,0,0,13.50,14.00,13.95
$GC,3406,0.23,130.0,2710,2092,2854,2795,435.6,9.7,287,3412,0.22,2.50,0.00,0.000,4516,0.308,0.074,2661,3511,2823,2853,2794,0,0,0,0,0,0,13.62,13.97,13.83
$GC,3525,0.12,138.6,2661,3512,2853,2794,424.8,9.1,310,3537,0.22,2.42,4.25,1.571,13478,0.324,0.058,2625,2094,2800,2830,2770,0,0,0,0,0,0,13.62,14.07,13.23
$GC,3865,0.17,168.2,2625,2094,2846,2777,400.7,6.9,327,3923,0.00,0.00,54.33,1.427,8358,0.000,0.000,2625,2094,2676,2710,2642,0,0,0,0,0,0,14.58,13.97,13.19
$GC,4223,0.25,177.5,2625,2095,2704,2629,369.3,9.0,339,4229,0.12,0.00,4.40,1.597,10406,0.112,0.000,2682,2093,2642,2681,2604,0,0,0,0,0,0,14.28,14.14,13.21
$GC,4523,0.21,177.5,2683,2094,2693,2608,335.3,11.3,349,4529,0.12,2.55,1.45,0.243,12932,0.296,0.087,2663,690,2641,2683,2600,0,0,0,0,0,0,13.87,14.10,13.81
$GC,4565,0.24,179.5,2663,691,2690,2607,331.1,9.8,357,4574,0.00,2.47,4.22,1.614,9382,0.000,0.079,2663,2107,2635,2677,2593,0,0,0,0,0,0,14.29,14.16,13.28
$GC,4885,0.25,183.6,2663,2107,2685,2596,299.7,9.6,371,4896,0.00,0.00,9.90,1.651,8230,0.000,0.000,2663,2107,2618,2662,2574,0,0,0,0,0,0,14.62,14.16,13.34
$GC,5185,0.26,196.2,2664,2107,2656,2567,272.0,8.7,381,5204,0.00,0.00,18.23,1.512,8230,0.000,0.000,2662,2106,2566,2610,2522,0,0,0,0,0,0,14.61,14.11,13.31
$GC,5487,0.31,222.7,2663,2107,2607,2512,248.1,7.3,391,5534,0.00,2.53,41.28,1.375,8868,0.000,0.086,2671,693,2453,2497,2410,0,0,0,0,0,0,14.45,14.00,13.21
$GC,5555,0.39,253.8,2672,693,2494,2411,243.2,6.8,405,5611,0.12,2.47,49.72,1.317,11430,0.130,0.079,2721,2099,2329,2367,2292,0,0,0,0,0,0,14.12,14.05,13.10
$GC,5937,0.39,253.8,2721,2100,2360,2279,201.3,10.7,431,5943,0.00,2.53,0.00,0.000,516,0.000,0.083,2728,682,2318,2359,2278,0,0,0,0,0,0,14.42,14.03,14.41
$GC,5988,0.39,253.8,2729,682,2354,2278,196.1,10.1,441,5993,0.00,2.50,0.00,0.000,1030,0.000,0.077,2728,2098,2315,2358,2273,0,0,0,0,0,0,14.09,13.96,14.13
$GC,6299,0.39,262.2,2728,2096,2358,2276,166.3,9.1,453,6306,0.00,0.00,6.05,1.627,8230,0.000,0.000,2729,2099,2300,2340,2260,0,0,0,0,0,0,14.40,14.09,13.29
$GC,6599,0.41,277.4,2728,2100,2338,2255,140.2,8.4,463,6634,0.00,2.55,27.95,1.388,8740,0.000,0.085,2734,694,2230,2268,2192,0,0,0,0,0,0,14.42,14.04,13.27
$GC,6640,0.42,296.1,2734,695,2267,2193,136.8,8.1,471,6675,0.00,2.50,30.60,1.314,9254,0.000,0.079,2734,2115,2160,2196,2124,0,0,0,0,0,0,14.19,14.07,13.17
$GC,6993,0.45,304.4,2735,2115,2190,2103,103.4,9.1,491,7003,0.00,2.55,3.53,1.354,8868,0.000,0.084,2743,697,2123,2165,2082,0,0,0,0,0,0,14.38,14.07,13.09
$GC,7071,0.53,322.4,2743,698,2166,2084,96.6,8.1,506,7088,0.00,2.47,10.88,0.490,9382,0.000,0.077,2743,2100,2049,2088,2011,0,0,0,0,0,0,14.14,14.02,13.56
$GC,7384,0.59,349.6,2743,2102,2088,2007,70.3,7.2,539,7406,0.00,2.53,14.73,0.412,8612,0.000,0.083,2740,3513,1939,1979,1900,0,0,0,0,0,0,14.38,14.03,13.64
$GC,7499,0.66,374.3,2743,3513,1975,1900,61.2,7.4,561,7521,0.15,2.45,13.95,0.382,11430,0.099,0.059,2808,2093,1837,1861,1813,0,0,0,0,0,0,14.07,13.94,13.62
$GC,7817,0.72,460.2,2808,2092,1858,1809,50.5,1.1,595,7868,0.00,0.00,44.90,0.350,8230,0.000,0.000,2808,2097,1484,1519,1450,0,0,0,0,0,0,14.33,13.91,13.67
$GC,8167,0.85,493.6,2809,2092,1521,1440,24.7,6.5,630,8189,0.12,2.58,17.33,0.275,10916,0.121,0.086,2877,688,1350,1394,1307,0,0,0,0,0,0,14.14,14.02,13.74
$GC,8415,0.96,578.3,2877,688,1389,1303,18.1,1.2,679,8465,0.00,2.50,45.20,0.258,9382,0.000,0.076,2876,2103,1007,1072,942,0,0,0,0,0,0,14.14,14.00,13.80
$STATE,8637,end climb,SURFACE_DEPTH_REACHED
$STATE,8637,begin surface coast
$FINISH,0.3,1.020917
$STATE,8648,end surface coast,CONTROL_FINISHED_OK
$STATE,8648,begin surface
$SM_CCo,8715,70.43,0.203,0,0,499,703.28
$SM_GC,1.20,8.30,0.17,70.43,0.073,0.108,0.203,197,2234,499,-7.39,-0.62,703.28,0,0,0,0,0,0,14.22,14.24,13.90
$RAFOS_CLK,157
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7417.50,-15358.06,220917,194549
$TT8_MAMPS,0.040446,1.37741
$HUMID,47.12
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.40
$XPDR_PINGS,14
$CP_FREE,0.000000
$PM_FREEKB_00,44560448
$24V_AH,12.42,239.335
$10V_AH,12.31,0.000
$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,25.825,70.500,776.125,70.425,0.000,0.000,0.000,411.375,3.500,0.000,13.003,0.000,6143.796,802.681,2184.510,387.350,0.000,2048.289,0.000,1015.155,2160.000,0.540,0.000
$DEVICE_MAMPS,456.705,107.865,1650.870,203.490,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8684.000,8671.000,8664.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.354,20.000,9.898,0.000
$MEM,323416
$DATA_FILE_SIZE,23375,707
$CAP_FILE_SIZE,99959,0
$CFSIZE,2097872896,1973420032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.040,84.79,1
$GPS,230917,005715,7418.025,-15348.378,17,0.7,23,19.2,0.3,33.4,12,9.6