version: 66.13
glider: 196
mission: 14
dive: 410
start: 9 23 117 6 29 2
data:
$ID,196
$MISSION,14
$DIVE,410
$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,28
$R_STBD_OVSHOOT,46
$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,1146.0
$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
$GPS1,230917,061702,7418.1509,-15346.9531,38,0.8,42,19.2,0.3,78.6,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.3
$GPS2,230917,062830,7418.1831,-15346.7676,6,0.8,12,19.2,0.0,2.8,9,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,212.3,193,-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,-64.8,189,2231,492,497,0.0,0.0,0,138,0.00,0.00,-80.82,0.000,16386,0.000,0.000,188,2230,2005,1939,2071,0,0,0,0,0,0,14.47,28.83,14.46
$GC,142,-0.81,-127.6,189,2231,1941,2074,3.3,-3.5,8,200,12.40,2.67,-37.20,0.000,18724,0.452,2.170,2300,3582,3888,3863,3914,0,0,0,0,0,0,13.62,12.62,14.09
$GC,238,-0.89,-127.6,2299,3585,3871,3915,35.5,-29.0,26,244,0.00,2.40,0.00,0.000,1158,0.000,0.065,2301,2201,3892,3870,3914,0,0,0,0,0,0,14.20,14.07,14.23
$GC,541,-1.04,-127.6,2300,2200,3874,3912,98.9,-17.2,57,546,0.15,2.50,0.00,0.000,4484,0.122,0.083,2235,3595,3894,3875,3913,0,0,0,0,0,0,14.13,14.00,14.17
$GC,617,-1.17,-127.6,2236,3596,3875,3914,114.0,-19.5,72,622,0.00,2.40,0.00,0.000,1158,0.000,0.060,2236,2198,3893,3874,3913,0,0,0,0,0,0,14.19,14.06,14.23
$GC,933,-1.28,-127.6,2235,2197,3875,3915,175.8,-18.6,85,938,0.20,2.50,0.00,0.000,4484,0.112,0.082,2146,3594,3894,3874,3914,0,0,0,0,0,0,14.02,13.97,14.07
$GC,1074,-1.28,-127.6,2147,3593,3875,3914,209.8,-24.0,113,1078,0.00,2.40,0.00,0.000,1030,0.000,0.059,2150,2198,3894,3874,3914,0,0,0,0,0,0,14.22,14.09,14.26
$GC,1384,-1.25,-127.6,2146,2203,3875,3916,285.7,-23.0,125,1389,0.12,2.47,0.00,0.000,2436,0.364,0.080,2160,3590,3893,3874,3913,0,0,0,0,0,0,13.59,13.94,13.78
$GC,1585,-1.34,-127.6,2161,3592,3875,3914,324.2,-18.0,165,1590,0.00,2.40,0.00,0.000,1158,0.000,0.057,2160,2195,3894,3874,3914,0,0,0,0,0,0,14.20,14.07,14.24
$GC,1896,-1.39,-127.6,2160,2194,3875,3914,381.7,-18.4,177,1901,0.00,2.50,0.00,0.000,388,0.000,0.084,2153,3587,3893,3874,3913,0,0,0,0,0,0,14.59,13.90,14.59
$GC,2035,-1.49,-127.6,2154,3588,3874,3914,405.6,-17.3,204,2040,0.17,2.38,0.00,0.000,5254,0.116,0.056,2083,2201,3893,3873,3913,0,0,0,0,0,0,14.07,14.04,14.18
$STATE,2348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2348,begin apogee
$GC,2355,-0.13,0.0,2084,2059,3874,3913,485.2,-25.4,217,2561,2.03,0.00,198.90,1.426,10246,0.313,0.000,2526,2057,3358,3365,3352,0,0,0,0,0,0,13.57,13.43,12.84
$STATE,2564,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2568,0.81,127.6,2528,2058,3360,3347,498.0,0.0,224,2758,0.95,2.53,178.62,1.375,10756,0.056,0.078,2863,726,2835,2872,2798,0,0,0,0,0,0,13.76,13.21,12.41
$GC,2971,0.45,127.6,2860,727,2853,2796,488.1,13.6,276,2976,0.68,2.40,0.00,0.000,5254,0.364,0.074,2734,2079,2824,2852,2797,0,0,0,0,0,0,13.39,13.86,13.84
$GC,3282,0.27,127.6,2735,2079,2853,2793,454.6,10.4,288,3287,0.25,2.40,0.00,0.000,4740,0.311,0.078,2686,721,2822,2852,2792,0,0,0,0,0,0,13.66,13.96,13.88
$GC,3318,0.21,137.0,2686,722,2852,2793,451.3,9.0,295,3327,0.15,2.42,2.22,0.522,13478,0.291,0.078,2657,2105,2806,2837,2775,0,0,0,0,0,0,13.74,14.07,12.81
$GC,3646,0.19,154.5,2658,2105,2854,2785,424.5,8.2,310,3684,0.00,2.53,33.08,1.474,8868,0.000,0.083,2664,717,2731,2762,2700,0,0,0,0,0,0,14.56,14.08,13.26
$GC,3720,0.19,161.4,2664,718,2756,2695,417.8,9.3,325,3726,0.00,2.42,2.40,0.707,9254,0.000,0.079,2665,2101,2706,2741,2672,0,0,0,0,0,0,14.24,14.12,12.71
$GC,4037,0.16,161.4,2665,2100,2756,2680,385.0,10.2,338,4039,0.00,0.00,1.23,0.262,8326,0.000,0.000,2662,2101,2706,2743,2670,0,0,0,0,0,0,14.57,14.15,13.86
$GC,4337,0.13,164.4,2665,2101,2757,2678,355.3,9.7,348,4343,0.17,0.00,3.83,1.505,12454,0.286,0.000,2629,2101,2695,2733,2657,0,0,0,0,0,0,13.78,14.03,13.10
$GC,4637,0.20,185.4,2629,2102,2749,2668,331.0,7.8,358,4682,0.00,0.00,43.53,1.424,8358,0.000,0.000,2629,2101,2608,2650,2566,0,0,0,0,0,0,14.60,14.03,13.27
$GC,4967,0.30,198.5,2629,2101,2642,2546,302.4,8.7,369,4987,0.12,2.42,14.77,1.537,10916,0.119,0.083,2696,724,2552,2599,2505,0,0,0,0,0,0,14.26,13.91,13.31
$GC,5037,0.30,198.5,2696,726,2591,2503,294.6,11.5,383,5042,0.00,2.40,0.00,0.000,1030,0.000,0.077,2697,2099,2545,2590,2501,0,0,0,0,0,0,14.25,14.13,14.29
$GC,5358,0.26,198.5,2697,2100,2592,2496,259.4,10.3,397,5359,0.12,0.00,0.00,0.000,4230,0.264,0.000,2671,2100,2543,2590,2496,0,0,0,0,0,0,13.97,14.30,14.23
$GC,5661,0.30,233.4,2671,2101,2592,2492,237.3,6.4,407,5720,0.00,0.00,57.55,1.332,8358,0.000,0.000,2671,2101,2412,2457,2367,0,0,0,0,0,0,14.42,13.93,13.19
$GC,6018,0.39,257.0,2672,2101,2445,2350,210.0,7.6,419,6058,0.12,0.00,36.97,1.338,10406,0.125,0.000,2720,2101,2317,2357,2278,0,0,0,0,0,0,14.14,13.92,13.19
$GC,6348,0.39,261.0,2720,2103,2345,2261,177.6,9.6,430,6349,0.00,0.00,0.00,0.000,38,0.000,0.000,2719,2101,2302,2344,2261,0,0,0,0,0,0,14.40,14.43,14.41
$GC,6648,0.40,275.5,2720,2100,2343,2260,150.8,8.5,440,6679,0.00,0.00,28.27,1.360,8742,0.000,0.000,2720,2100,2238,2280,2197,0,0,0,0,0,0,14.41,14.02,13.28
$GC,6978,0.45,291.3,2720,2102,2271,2184,121.8,8.4,456,7001,0.00,0.00,21.30,1.380,8358,0.000,0.000,2720,2097,2177,2218,2137,0,0,0,0,0,0,14.41,14.03,13.29
$GC,7278,0.53,318.7,2720,2101,2207,2121,97.9,7.2,468,7299,0.00,2.50,13.40,0.480,8868,0.000,0.086,2728,723,2064,2102,2027,0,0,0,0,0,0,14.39,14.03,13.63
$GC,7387,0.65,340.2,2726,723,2108,2029,89.9,7.8,489,7405,0.20,2.45,12.68,0.456,11430,0.089,0.077,2801,2106,1979,2013,1946,0,0,0,0,0,0,14.01,14.02,13.63
$GC,7701,0.63,392.4,2802,2106,2022,1946,59.6,4.6,522,7737,0.00,2.53,28.73,0.374,8612,0.000,0.080,2801,3504,1765,1787,1743,0,0,0,0,0,0,14.38,14.02,13.62
$GC,7881,0.62,449.2,2802,3503,1784,1743,49.1,4.1,555,7919,0.00,2.38,30.15,0.343,9382,0.000,0.060,2809,2129,1532,1559,1505,0,0,0,0,0,0,14.07,13.96,13.71
$GC,8218,0.72,488.5,2809,2129,1564,1499,26.7,5.9,592,8245,0.00,0.00,21.00,0.276,8358,0.000,0.000,2809,2129,1373,1413,1333,0,0,0,0,0,0,14.49,14.07,13.76
$GC,8545,0.97,591.3,2810,2129,1416,1334,17.1,-0.6,625,8609,0.22,2.60,54.75,0.255,10916,0.084,0.090,2904,701,951,1018,885,0,0,0,0,0,0,14.04,14.02,13.76
$STATE,8742,end climb,SURFACE_DEPTH_REACHED
$STATE,8742,begin surface coast
$FINISH,0.7,1.020858
$STATE,8752,end surface coast,CONTROL_FINISHED_OK
$STATE,8752,begin surface
$SM_CCo,8777,62.28,0.206,0,0,498,703.03
$SM_GC,1.54,8.45,2.65,62.28,0.081,0.067,0.206,204,2204,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.22,14.13,13.90
$RAFOS_CLK,164
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7419.36,-15354.57,230917,034224
$TT8_MAMPS,0.040446,0.8988
$HUMID,46.02
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,13
$CP_FREE,15892086784.000000
$PM_FREEKB_00,44476672
$24V_AH,12.41,240.552
$10V_AH,12.35,0.000
$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,26.525,59.425,783.375,62.275,0.000,0.000,0.000,377.925,3.250,0.000,12.519,0.000,6411.837,831.182,1912.004,380.373,0.000,1896.112,0.000,957.393,2203.000,0.540,0.000
$DEVICE_MAMPS,452.115,2169.540,1536.885,205.785,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8790.000,8731.000,8726.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.191,20.000,9.898,0.000
$MEM,323576
$DATA_FILE_SIZE,23408,666
$CAP_FILE_SIZE,98360,0
$CFSIZE,2097872896,1972535296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.046,91.38,1
$GPS,230917,085730,7417.809,-15349.110,18,0.7,21,19.2,0.0,0.0,12,8.9