version: 66.13
glider: 196
mission: 14
dive: 411
start: 9 23 117 9 9 35
data:
$ID,196
$MISSION,14
$DIVE,411
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$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,140
$T_MISSION,175
$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,30
$R_STBD_OVSHOOT,27
$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,1150.0
$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
$GPS1,230917,085730,7417.8086,-15349.1104,18,0.7,21,19.2,0.0,0.0,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.1
$GPS2,230917,090902,7417.8667,-15348.9746,6,0.8,17,19.2,0.0,335.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,40.9,1079,-27.3,-10.000,-30.00,994
$D_GRID,420
$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,-64.8,191,2207,492,500,0.0,0.0,0,138,0.00,0.00,-80.55,0.000,16386,0.000,0.000,191,2207,2004,1938,2071,0,0,0,0,0,0,14.46,28.83,14.47
$GC,142,-0.81,-123.9,192,2207,1940,2073,3.4,-3.9,8,199,12.35,2.78,-36.88,0.000,18724,0.451,2.170,2300,3602,3875,3854,3896,0,0,0,0,0,0,13.63,12.57,14.09
$GC,425,-1.01,-123.9,2301,3606,3861,3899,71.1,-15.9,64,430,0.15,2.42,0.00,0.000,5254,0.113,0.059,2243,2197,3879,3860,3898,0,0,0,0,0,0,14.03,13.97,14.11
$GC,739,-1.08,-123.9,2244,2197,3861,3899,139.5,-20.4,84,744,0.00,2.50,0.00,0.000,388,0.000,0.084,2235,3603,3879,3861,3898,0,0,0,0,0,0,14.54,14.00,14.57
$GC,970,-1.28,-123.9,2236,3605,3862,3899,178.0,-15.0,130,975,0.22,2.40,0.00,0.000,5254,0.096,0.059,2159,2200,3879,3861,3898,0,0,0,0,0,0,14.19,14.11,14.28
$GC,1280,-1.26,-123.9,2153,2199,3863,3899,256.5,-24.4,142,1285,0.00,2.50,0.00,0.000,388,0.000,0.081,2143,3606,3879,3860,3898,0,0,0,0,0,0,14.59,13.95,14.60
$GC,1486,-1.28,-123.9,2143,3606,3863,3899,300.7,-20.5,183,1493,0.00,2.45,0.00,0.000,1158,0.000,0.058,2142,2195,3879,3861,3898,0,0,0,0,0,0,14.13,14.00,14.17
$GC,1791,-1.28,-123.9,2142,2195,3862,3899,364.4,-20.4,194,1796,0.00,2.53,0.00,0.000,260,0.000,0.083,2132,3605,3879,3861,3898,0,0,0,0,0,0,14.59,13.94,14.61
$GC,1929,-1.32,-123.9,2132,3608,3861,3899,391.3,-19.0,221,1934,0.00,2.42,0.00,0.000,1158,0.000,0.057,2132,2199,3879,3861,3898,0,0,0,0,0,0,14.17,14.04,14.21
$STATE,2092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2092,begin apogee
$GC,2099,-0.13,0.0,2133,2057,3861,3898,425.3,-20.3,229,2349,1.75,0.08,245.38,1.310,10246,0.295,0.181,2529,2100,3365,3371,3360,0,0,0,0,0,0,13.59,13.54,12.85
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2403,0.81,123.9,2530,2101,3364,3350,439.4,0.0,237,2764,0.93,2.60,176.30,1.349,11012,0.057,0.076,2862,726,2845,2883,2808,0,0,0,0,0,0,13.82,13.14,12.53
$GC,2998,0.46,123.9,2863,726,2882,2808,414.1,11.8,283,3004,0.65,2.42,0.00,0.000,5254,0.368,0.074,2735,2105,2843,2881,2806,0,0,0,0,0,0,13.52,14.03,13.98
$GC,3310,0.27,135.2,2735,2106,2882,2804,385.3,8.8,295,3325,0.28,2.50,10.50,1.625,12964,0.323,0.082,2683,719,2811,2846,2776,0,0,0,0,0,0,13.64,14.14,13.30
$GC,3551,0.24,158.0,2685,719,2842,2775,366.5,7.6,343,3591,0.00,2.42,33.75,1.471,9382,0.000,0.077,2683,2101,2716,2750,2683,0,0,0,0,0,0,14.31,14.17,13.24
$GC,3914,0.18,159.7,2682,2102,2747,2675,330.9,9.8,365,3919,0.17,2.42,0.00,0.000,4772,0.298,0.080,2653,720,2710,2747,2674,0,0,0,0,0,0,13.77,14.09,13.98
$GC,4145,0.23,177.2,2652,721,2747,2675,312.0,8.2,411,4180,0.00,2.42,28.30,1.451,9382,0.000,0.078,2649,2106,2638,2678,2599,0,0,0,0,0,0,14.27,14.13,13.28
$GC,4488,0.27,190.8,2653,2106,2679,2590,282.6,8.6,429,4511,0.00,2.45,18.70,1.507,8868,0.000,0.082,2659,716,2584,2630,2539,0,0,0,0,0,0,14.57,13.91,13.31
$GC,4622,0.36,213.3,2659,717,2628,2538,271.4,7.7,456,4662,0.12,2.42,34.58,1.395,11430,0.125,0.079,2707,2103,2495,2541,2450,0,0,0,0,0,0,14.23,14.17,13.23
$GC,4970,0.32,223.2,2708,2102,2535,2437,237.0,9.0,475,4989,0.00,2.47,13.55,1.506,8612,0.000,0.080,2707,3517,2449,2496,2403,0,0,0,0,0,0,14.54,13.95,13.31
$GC,5015,0.23,223.5,2707,3518,2491,2403,232.5,10.0,484,5021,0.25,2.38,0.00,0.000,5286,0.288,0.060,2659,2126,2446,2491,2402,0,0,0,0,0,0,13.91,14.19,14.21
$GC,5332,0.32,261.6,2659,2125,2490,2402,211.1,6.1,497,5396,0.00,0.00,62.35,1.311,8870,0.000,0.000,2660,2125,2299,2339,2259,0,0,0,0,0,0,14.59,13.92,13.19
$GC,5694,0.47,286.7,2660,2125,2336,2244,184.8,7.4,519,5742,0.20,2.55,40.62,1.313,10916,0.096,0.086,2754,694,2191,2229,2153,0,0,0,0,0,0,14.21,14.05,13.26
$GC,5903,0.47,286.7,2754,694,2223,2152,161.0,11.5,561,5908,0.00,2.47,0.00,0.000,1030,0.000,0.078,2754,2102,2186,2222,2151,0,0,0,0,0,0,14.09,13.95,14.14
$GC,6234,0.44,286.7,2751,2106,2219,2144,122.7,11.2,577,6235,0.12,0.00,0.00,0.000,4230,0.278,0.000,2730,2103,2183,2222,2144,0,0,0,0,0,0,13.93,14.27,14.21
$GC,6534,0.49,313.3,2730,2103,2223,2142,97.7,7.2,589,6553,0.00,0.00,13.35,0.496,8358,0.000,0.000,2736,2103,2086,2125,2048,0,0,0,0,0,0,14.54,14.12,13.63
$GC,6854,0.58,346.2,2731,2104,2126,2045,74.7,6.6,621,6876,0.12,2.58,17.92,0.422,10916,0.122,0.086,2795,693,1953,1987,1919,0,0,0,0,0,0,14.19,14.09,13.65
$GC,6977,0.59,361.4,2795,693,1986,1918,64.6,8.4,645,6992,0.00,2.47,8.88,0.388,9254,0.000,0.077,2794,2101,1889,1917,1861,0,0,0,0,0,0,14.21,14.09,13.66
$GC,7298,0.66,460.1,2795,2103,1915,1860,53.4,-0.2,679,7356,0.00,2.50,51.35,0.360,8484,0.000,0.080,2795,3517,1488,1524,1453,0,0,0,0,0,0,14.54,14.03,13.65
$GC,7382,0.71,479.9,2795,3518,1524,1454,49.8,8.0,695,7398,0.00,2.45,11.07,0.347,9382,0.000,0.067,2795,2103,1406,1453,1360,0,0,0,0,0,0,14.19,14.07,13.64
$GC,7704,0.89,510.6,2796,2103,1454,1351,23.5,6.8,729,7724,0.20,0.00,16.27,0.275,10662,0.096,0.000,2886,2103,1281,1333,1230,0,0,0,0,0,0,14.15,13.97,13.65
$GC,8024,0.96,563.6,2881,2103,1335,1224,8.8,4.5,762,8060,0.00,2.53,28.17,0.230,8612,0.000,0.077,2881,3507,1065,1126,1005,0,0,0,0,0,0,14.50,14.00,13.77
$STATE,8113,end climb,SURFACE_DEPTH_REACHED
$STATE,8113,begin surface coast
$FINISH,0.2,1.020890
$STATE,8133,end surface coast,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$SM_CCo,8157,77.10,0.207,0,0,498,703.28
$SM_GC,1.32,8.45,2.30,77.10,0.086,0.054,0.207,199,2188,498,-7.38,0.45,703.28,0,0,0,0,0,0,14.21,14.12,13.88
$RAFOS_CLK,363
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,230917,062209
$TT8_MAMPS,0.040446,0.893557
$HUMID,48.30
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15891595264.000000
$PM_FREEKB_00,44455680
$24V_AH,12.53,240.945
$10V_AH,12.43,0.000
$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,25.975,64.625,811.050,77.100,0.000,0.000,0.000,376.175,3.750,0.000,18.468,0.000,5413.701,790.850,2351.606,379.693,0.000,2161.539,0.000,1123.278,0.000,0.539,0.000
$DEVICE_MAMPS,450.585,2170.305,1624.860,207.315,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8124.000,8124.000,8103.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.118,20.000,9.869,0.000
$MEM,323620
$DATA_FILE_SIZE,26763,784
$CAP_FILE_SIZE,94380,0
$CFSIZE,2097872896,1972273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.2
$CURRENT,0.039,48.73,1
$GPS,230917,112802,7417.906,-15346.248,26,0.8,26,19.2,0.0,0.0,10,9.2