version: 66.13
glider: 196
mission: 14
dive: 408
start: 9 23 117 1 10 4
data:
$ID,196
$MISSION,14
$DIVE,408
$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,31
$R_STBD_OVSHOOT,52
$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,1136.0
$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
$GPS1,230917,005715,7418.0254,-15348.3779,17,0.7,23,19.2,0.3,33.4,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.2
$GPS2,230917,010932,7418.0869,-15348.1445,35,0.8,35,19.2,0.0,316.7,10,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,69.0,574,-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,52,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,56,-0.76,-64.8,187,2197,488,496,0.0,0.0,0,138,0.00,0.00,-80.55,0.000,16386,0.000,0.000,185,2196,1994,1928,2060,0,0,0,0,0,0,14.44,28.83,14.47
$GC,142,-0.81,-130.8,186,2196,1932,2068,3.2,-3.2,8,199,12.45,2.72,-38.78,0.000,19236,0.453,2.171,2308,795,3903,3880,3927,1,0,0,0,0,0,13.36,12.59,14.09
$GC,425,-1.06,-130.8,2309,794,3889,3927,70.5,-14.7,64,430,0.22,2.45,0.00,0.000,5254,0.088,0.086,2229,2172,3907,3887,3927,0,0,0,0,0,0,14.03,13.93,14.10
$GC,739,-1.12,-130.8,2230,2173,3888,3928,142.2,-21.7,84,744,0.00,2.58,0.00,0.000,388,0.000,0.087,2223,3617,3907,3888,3927,0,0,0,0,0,0,14.57,14.04,14.58
$GC,920,-1.30,-130.8,2223,3620,3888,3928,175.3,-16.5,120,925,0.20,2.42,0.00,0.000,5254,0.099,0.058,2149,2199,3907,3887,3927,0,0,0,0,0,0,14.18,14.09,14.26
$GC,1251,-1.27,-130.8,2150,2198,3887,3926,259.6,-24.8,136,1256,0.00,2.53,0.00,0.000,388,0.000,0.083,2139,3621,3907,3887,3927,0,0,0,0,0,0,14.57,14.01,14.59
$GC,1431,-1.30,-130.8,2139,3623,3888,3928,298.6,-20.5,172,1436,0.00,2.45,0.00,0.000,1158,0.000,0.059,2139,2193,3907,3888,3927,0,0,0,0,0,0,14.18,14.04,14.25
$GC,1762,-1.30,-130.8,2138,2192,3889,3927,367.4,-20.4,188,1767,0.00,2.53,0.00,0.000,260,0.000,0.083,2127,3614,3906,3887,3926,0,0,0,0,0,0,14.57,13.97,14.59
$GC,1933,-1.34,-130.8,2129,3616,3888,3926,401.8,-19.8,222,1937,0.00,2.45,0.00,0.000,1158,0.000,0.057,2128,2194,3906,3887,3926,0,0,0,0,0,0,14.09,13.97,14.13
$GC,2243,-1.34,-130.8,2129,2194,3888,3927,466.7,-20.9,234,2248,0.00,2.55,0.00,0.000,260,0.000,0.084,2119,3619,3906,3887,3926,0,0,0,0,0,0,14.54,13.94,14.56
$STATE,2306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2306,begin apogee
$GC,2315,-0.13,0.0,2119,2103,3887,3927,480.5,-20.7,247,2519,1.83,0.00,197.25,1.434,10246,0.298,0.000,2529,2102,3362,3369,3355,0,0,0,0,0,0,13.58,13.43,12.84
$STATE,2523,end apogee,CONTROL_FINISHED_OK
$STATE,2523,begin climb
$GC,2526,0.81,130.8,2530,2102,3366,3351,493.8,0.0,254,2847,0.95,2.70,183.50,1.392,10756,0.055,0.077,2865,693,2816,2844,2789,0,0,0,0,0,0,13.75,12.95,12.36
$GC,3078,0.46,130.8,2867,690,2840,2790,463.6,13.9,302,3083,0.68,2.47,0.00,0.000,5254,0.367,0.074,2737,2107,2815,2842,2789,0,0,0,0,0,0,13.00,13.98,13.33
$GC,3409,0.28,130.8,2737,2107,2843,2786,427.3,10.7,318,3414,0.25,2.50,0.00,0.000,4740,0.314,0.078,2688,685,2814,2842,2786,0,0,0,0,0,0,13.63,14.02,13.87
$GC,3640,0.23,143.7,2688,685,2842,2786,406.6,8.7,364,3661,0.15,2.47,13.40,1.596,13478,0.284,0.077,2660,2099,2776,2805,2747,0,0,0,0,0,0,13.76,14.09,13.29
$GC,3984,0.21,154.9,2660,2099,2803,2741,376.3,8.9,382,4003,0.00,2.47,14.90,1.616,8868,0.000,0.082,2666,686,2728,2760,2697,0,0,0,0,0,0,14.60,13.93,13.30
$GC,4059,0.21,157.5,2667,687,2758,2700,369.3,9.7,397,4064,0.00,2.47,0.00,0.000,1062,0.000,0.079,2666,2111,2728,2757,2700,0,0,0,0,0,0,14.33,14.20,14.36
$GC,4375,0.18,164.2,2666,2110,2756,2698,339.4,9.3,410,4388,0.00,0.00,12.25,1.639,8358,0.000,0.000,2666,2109,2696,2727,2666,0,0,0,0,0,0,14.61,14.15,13.32
$GC,4675,0.17,173.7,2667,2109,2725,2657,311.4,9.0,420,4689,0.00,0.00,13.07,1.603,8358,0.000,0.000,2666,2109,2658,2692,2625,0,0,0,0,0,0,14.60,14.16,13.32
$GC,4974,0.18,182.5,2667,2109,2689,2614,283.5,9.1,430,4989,0.00,0.00,13.10,1.574,8230,0.000,0.000,2665,2109,2620,2659,2582,0,0,0,0,0,0,14.61,14.15,13.34
$GC,5274,0.19,208.6,2667,2109,2656,2572,259.2,7.3,440,5316,0.00,0.00,40.00,1.402,8230,0.000,0.000,2666,2109,2516,2560,2472,0,0,0,0,0,0,14.61,14.06,13.28
$GC,5605,0.25,233.9,2667,2109,2553,2459,234.2,7.4,451,5646,0.00,0.00,39.33,1.375,8358,0.000,0.000,2666,2109,2410,2454,2367,0,0,0,0,0,0,14.57,14.02,13.25
$GC,5935,0.34,257.9,2666,2109,2448,2356,209.1,7.5,462,5975,0.00,0.00,37.78,1.343,8870,0.000,0.000,2668,2109,2312,2353,2272,0,0,0,0,0,0,14.56,14.04,13.27
$GC,6298,0.47,282.3,2667,2109,2346,2258,181.4,7.5,484,6341,0.17,2.60,38.22,1.323,10916,0.106,0.085,2754,684,2212,2251,2173,0,0,0,0,0,0,14.21,14.07,13.28
$GC,6427,0.47,282.3,2754,687,2239,2173,166.5,12.1,510,6432,0.00,2.47,0.00,0.000,1030,0.000,0.078,2754,2098,2206,2241,2172,0,0,0,0,0,0,14.21,14.08,14.25
$GC,6748,0.43,282.3,2752,2099,2246,2165,130.2,10.5,524,6749,0.15,0.00,0.00,0.000,4230,0.278,0.000,2725,2099,2202,2241,2164,0,0,0,0,0,0,13.88,14.26,14.17
$GC,7048,0.49,302.8,2725,2099,2243,2161,105.0,7.9,534,7078,0.00,0.00,27.42,1.333,8358,0.000,0.000,2725,2099,2129,2168,2091,0,0,0,0,0,0,14.59,14.10,13.34
$GC,7380,0.58,332.2,2726,2099,2163,2079,80.3,7.0,561,7402,0.12,2.50,15.55,0.439,10916,0.112,0.083,2792,688,2008,2043,1973,0,0,0,0,0,0,14.25,13.97,13.68
$GC,7453,0.58,338.7,2793,688,2044,1973,73.7,9.3,575,7464,0.00,2.47,4.07,0.404,9254,0.000,0.077,2791,2101,1983,2019,1948,0,0,0,0,0,0,14.27,14.14,13.66
$GC,7763,0.62,434.0,2792,2102,2017,1946,57.9,0.2,607,7819,0.00,2.55,50.55,0.376,8612,0.000,0.080,2792,3512,1593,1621,1565,0,0,0,0,0,0,14.54,14.06,13.66
$GC,7873,0.65,444.5,2792,3514,1621,1564,52.0,8.9,627,7885,0.00,2.45,6.00,0.349,9382,0.000,0.062,2800,2097,1551,1585,1517,0,0,0,0,0,0,14.20,14.08,13.71
$GC,8181,0.78,482.5,2800,2098,1585,1512,29.8,6.1,659,8208,0.10,2.50,20.02,0.285,10916,0.142,0.087,2850,693,1395,1437,1354,0,0,0,0,0,0,14.21,14.00,13.78
$GC,8234,0.87,509.4,2851,694,1438,1355,26.1,7.2,669,8255,0.00,2.47,15.00,0.276,9382,0.000,0.075,2850,2101,1286,1336,1237,0,0,0,0,0,0,14.14,14.02,13.78
$GC,8554,1.00,566.1,2851,2101,1337,1231,10.3,4.1,703,8591,0.12,2.53,30.67,0.233,10916,0.121,0.086,2916,685,1053,1113,994,0,0,0,0,0,0,14.09,14.09,13.85
$GC,8644,1.04,576.2,2916,686,1113,994,4.3,8.9,720,8655,0.00,2.50,5.80,0.223,9382,0.000,0.072,2916,2103,1012,1074,951,0,0,0,0,0,0,14.12,13.99,13.81
$STATE,8668,end climb,SURFACE_DEPTH_REACHED
$STATE,8668,begin surface coast
$FINISH,0.3,1.020957
$STATE,8678,end surface coast,CONTROL_FINISHED_OK
$STATE,8678,begin surface
$SM_CCo,8700,71.15,0.208,0,0,499,702.78
$SM_GC,1.55,8.48,0.17,71.15,0.080,0.119,0.208,196,2218,499,-7.39,-0.65,702.78,0,0,0,0,0,0,14.23,14.23,13.90
$RAFOS_CLK,388
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,220917,222213
$TT8_MAMPS,0.038948,0.852362
$HUMID,47.87
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,20
$CP_FREE,15893135360.000000
$PM_FREEKB_00,44536256
$24V_AH,12.36,239.727
$10V_AH,12.26,0.000
$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,25.875,65.725,777.900,71.150,0.000,0.000,0.000,402.625,5.000,0.000,37.187,0.000,6136.352,796.615,2203.913,381.482,0.000,2084.384,0.000,1040.239,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2171.070,1638.630,208.080,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8715.000,8649.000,8650.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.291,20.000,9.857,0.000
$MEM,323384
$DATA_FILE_SIZE,23414,725
$CAP_FILE_SIZE,98017,0
$CFSIZE,2097872896,1973157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.060,39.10,1
$GPS,230917,033722,7418.091,-15344.805,17,0.8,18,19.3,0.0,0.0,11,9.1