version: 66.13
glider: 196
mission: 14
dive: 349
start: 9 16 117 7 51 25
data:
$ID,196
$MISSION,14
$DIVE,349
$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,62
$R_STBD_OVSHOOT,37
$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,976.0
$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
$GPS1,160917,073854,7444.7217,-15048.3896,13,0.8,14,20.8,0.4,200.3,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.1
$GPS2,160917,075049,7444.7314,-15048.6699,6,0.7,21,20.7,0.2,298.3,10,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,213.9,102069,-17.9,-10.000,-21.31,2227
$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,63,end surface,CONTROL_FINISHED_OK
$STATE,63,begin dive
$GC,67,-0.57,-145.9,178,2226,514,477,0.0,0.0,0,159,0.00,0.00,-90.95,0.000,16386,0.000,0.000,177,2226,2144,2072,2217,0,0,0,0,0,0,14.53,28.83,14.55
$GC,163,-0.57,-145.9,178,2227,2075,2220,3.9,-5.1,9,216,13.12,2.75,-34.78,0.000,18724,0.456,2.153,2377,3594,3966,3951,3981,1,0,0,0,0,0,13.27,12.59,14.07
$GC,441,-0.75,-145.9,2377,3596,3956,3982,55.8,-12.0,64,449,0.12,2.33,0.00,0.000,5254,0.125,0.055,2326,2229,3968,3956,3981,0,0,0,0,0,0,14.21,14.16,14.31
$GC,767,-0.79,-145.9,2327,2229,3957,3982,108.2,-13.4,92,768,0.00,0.00,0.00,0.000,134,0.000,0.000,2326,2228,3969,3957,3981,0,0,0,0,0,0,14.46,14.48,14.47
$GC,1067,-0.89,-145.9,2325,2229,3958,3981,142.1,-10.8,102,1068,0.00,0.00,0.00,0.000,134,0.000,0.000,2326,2228,3969,3957,3981,0,0,0,0,0,0,14.47,14.50,14.49
$GC,1367,-1.02,-145.9,2326,2229,3958,3982,171.4,-9.4,112,1368,0.25,0.00,0.00,0.000,4262,0.092,0.000,2239,2228,3969,3958,3981,0,0,0,0,0,0,14.01,14.09,14.07
$GC,1667,-0.99,-145.9,2240,2229,3958,3982,220.6,-16.4,122,1672,0.00,2.45,0.00,0.000,388,0.000,0.087,2236,3594,3969,3958,3981,0,0,0,0,0,0,14.44,13.95,14.46
$GC,1747,-1.07,-145.9,2237,3594,3959,3981,232.0,-12.8,138,1752,0.00,2.40,0.00,0.000,1158,0.000,0.059,2234,2199,3968,3956,3981,0,0,0,0,0,0,14.11,13.94,14.10
$GC,2057,-1.07,-145.9,2236,2198,3959,3981,275.6,-13.7,150,2062,0.00,2.53,0.00,0.000,260,0.000,0.087,2236,3600,3968,3957,3979,0,0,0,0,0,0,14.46,13.93,14.47
$GC,2133,-1.18,-145.9,2236,3602,3959,3981,284.6,-10.8,165,2138,0.12,2.42,0.00,0.000,5254,0.134,0.057,2184,2193,3969,3958,3981,0,0,0,0,0,0,14.00,13.94,14.12
$GC,2448,-1.11,-145.9,2185,2192,3958,3982,337.0,-16.6,178,2453,0.12,2.53,0.00,0.000,2436,0.289,0.083,2203,3601,3969,3957,3981,0,0,0,0,0,0,13.69,13.93,13.85
$GC,2534,-1.16,-145.9,2203,3603,3958,3982,348.7,-12.5,195,2540,0.00,2.45,0.00,0.000,1158,0.000,0.057,2204,2192,3968,3956,3981,0,0,0,0,0,0,14.09,14.00,14.09
$GC,2839,-1.16,-145.9,2204,2191,3958,3981,390.6,-13.7,206,2844,0.00,2.47,0.00,0.000,260,0.000,0.085,2201,3597,3968,3956,3981,0,0,0,0,0,0,14.43,13.90,14.45
$GC,2894,-1.19,-145.9,2197,3600,3956,3981,398.0,-12.8,217,2901,0.00,2.42,0.00,0.000,1158,0.000,0.057,2196,2198,3968,3955,3981,0,0,0,0,0,0,13.93,13.80,13.96
$GC,3202,-1.17,-145.9,2197,2197,3955,3982,440.4,-13.9,228,3207,0.00,2.47,0.00,0.000,388,0.000,0.085,2189,3595,3968,3955,3981,0,0,0,0,0,0,14.54,14.02,14.56
$GC,3258,-1.19,-145.9,2190,3596,3956,3981,448.4,-13.3,239,3264,0.00,2.38,0.00,0.000,1158,0.000,0.057,2189,2200,3968,3955,3981,0,0,0,0,0,0,14.23,14.11,14.32
$STATE,3500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3500,begin apogee
$GC,3506,-0.13,0.0,2191,2055,3956,3981,483.8,-14.6,248,3783,1.38,0.05,272.92,1.330,10246,0.239,0.219,2532,2086,3365,3378,3352,0,0,0,0,0,0,13.71,13.47,12.70
$STATE,3785,end apogee,CONTROL_FINISHED_OK
$STATE,3785,begin climb
$GC,3788,0.57,145.9,2533,2086,3373,3345,500.0,0.0,257,4014,0.73,2.72,213.98,1.320,10500,0.060,0.073,2781,3511,2757,2788,2727,0,0,0,0,0,0,13.70,13.14,12.27
$GC,4242,0.08,145.9,2777,3511,2770,2717,479.2,15.5,346,4248,0.85,2.40,0.00,0.000,5254,0.348,0.058,2618,2129,2742,2770,2715,0,0,0,0,0,0,13.45,13.84,13.85
$GC,4547,-0.01,196.7,2618,2129,2771,2716,454.5,7.7,357,4625,0.15,0.00,75.30,1.324,12710,0.290,0.000,2582,2128,2565,2611,2519,0,0,0,0,0,0,13.84,13.90,13.08
$GC,4907,0.02,247.2,2581,2129,2598,2488,427.6,7.7,374,5006,0.00,0.00,96.35,1.240,8230,0.000,0.000,2582,2128,2357,2405,2310,0,0,0,0,0,0,14.57,13.88,13.10
$GC,5297,0.10,287.9,2582,2129,2390,2293,396.2,8.1,387,5368,0.00,2.62,65.57,1.291,8868,0.000,0.089,2587,703,2186,2230,2142,0,0,0,0,0,0,14.57,14.00,13.14
$GC,5416,0.24,324.4,2589,698,2216,2134,386.6,8.3,410,5480,0.22,2.50,55.60,1.289,11430,0.089,0.080,2679,2109,2038,2080,1996,0,0,0,0,0,0,14.14,14.04,13.08
$GC,5779,0.16,324.4,2679,2109,2065,1973,332.0,15.1,433,5784,0.15,2.50,0.00,0.000,4740,0.256,0.084,2643,688,2018,2064,1973,0,0,0,0,0,0,13.95,14.14,14.07
$GC,5819,0.19,324.4,2647,688,2062,1972,326.6,12.3,441,5824,0.00,2.47,0.00,0.000,1158,0.000,0.078,2647,2103,2016,2060,1973,0,0,0,0,0,0,14.26,14.12,14.31
$GC,6140,0.19,324.4,2648,2106,2060,1971,288.0,11.9,455,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,2014,2059,1970,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6440,0.19,324.4,2648,2105,2060,1969,254.9,10.6,465,6444,0.00,2.50,0.00,0.000,516,0.000,0.087,2651,688,2014,2059,1969,0,0,0,0,0,0,14.65,14.15,14.68
$GC,6480,0.23,324.4,2651,688,2059,1970,250.6,10.2,473,6485,0.00,2.47,0.00,0.000,1158,0.000,0.079,2651,2100,2014,2059,1970,0,0,0,0,0,0,14.04,14.07,14.04
$GC,6800,0.24,332.7,2651,2101,2059,1969,218.8,9.6,487,6801,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2101,2014,2059,1969,0,0,0,0,0,0,14.64,14.69,14.69
$GC,7100,0.27,373.0,2651,2101,2058,1969,193.5,8.1,497,7191,0.00,2.58,82.82,1.217,8740,0.000,0.088,2651,692,1836,1862,1810,0,0,0,0,0,0,14.66,13.94,13.16
$GC,7214,0.38,405.8,2648,690,1855,1806,184.0,8.5,514,7277,0.17,2.50,55.67,1.183,11430,0.106,0.078,2718,2103,1707,1729,1686,0,0,0,0,0,0,14.10,14.03,13.12
$GC,7582,0.35,405.8,2719,2105,1719,1661,138.3,12.2,538,7587,0.00,2.47,0.00,0.000,644,0.000,0.086,2724,697,1689,1717,1661,0,0,0,0,0,0,14.55,14.12,14.57
$GC,7622,0.35,405.8,2726,696,1715,1661,133.4,12.1,546,7627,0.00,2.45,0.00,0.000,1030,0.000,0.076,2725,2101,1687,1713,1661,0,0,0,0,0,0,14.28,14.15,14.33
$GC,7933,0.33,405.8,2726,2102,1714,1658,97.5,11.1,561,7938,0.15,2.50,0.00,0.000,4740,0.223,0.085,2688,697,1685,1713,1658,0,0,0,0,0,0,13.93,13.99,14.05
$GC,7959,0.41,430.9,2694,697,1720,1658,95.1,8.8,566,7976,0.00,2.47,11.38,0.437,9382,0.000,0.078,2694,2102,1609,1638,1580,0,0,0,0,0,0,14.09,13.93,13.54
$GC,8273,0.56,508.6,2688,2100,1651,1590,73.0,6.4,599,8324,0.22,0.00,46.03,0.409,10406,0.091,0.000,2779,2100,1290,1339,1242,0,0,0,0,0,0,14.29,13.97,13.59
$GC,8623,0.61,579.8,2778,2100,1342,1251,42.1,6.7,634,8670,0.00,2.53,41.28,0.320,8740,0.000,0.089,2777,695,1000,1064,937,0,0,0,0,0,0,14.55,14.04,13.66
$GC,8748,0.76,624.6,2778,696,1068,948,32.8,7.9,658,8785,0.15,2.47,29.42,0.291,11430,0.119,0.077,2842,2101,816,879,753,0,0,0,0,0,0,14.02,13.93,13.67
$STATE,9078,end climb,SURFACE_DEPTH_REACHED
$STATE,9078,begin surface coast
$FINISH,0.1,1.021236
$STATE,9098,end surface coast,CONTROL_FINISHED_OK
$STATE,9098,begin surface
$SM_CCo,9165,45.85,0.206,0,0,497,702.78
$SM_GC,0.97,8.23,0.17,45.85,0.081,0.135,0.206,199,2206,497,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.24,13.89
$RAFOS_CLK,408
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7444.22,-15041.65,160917,045548
$TT8_MAMPS,0.038948,0.856856
$HUMID,47.24
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,0.000000
$PM_FREEKB_00,46502656
$24V_AH,12.27,211.919
$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,26.150,70.175,1046.325,45.850,0.000,0.000,0.000,413.375,2.250,0.000,22.772,0.000,6548.417,1105.558,1949.578,336.827,0.000,2180.083,0.000,1000.949,2212.000,0.539,0.000
$DEVICE_MAMPS,455.940,2152.710,1330.335,205.785,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9136.000,5423.000,9105.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.261,20.000,11.051,0.000
$MEM,323512
$DATA_FILE_SIZE,23434,697
$CAP_FILE_SIZE,95822,0
$CFSIZE,2097872896,1988329472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.042,347.40,1
$GPS,160917,102620,7444.341,-15053.131,38,0.8,38,20.7,0.0,0.0,10,7.8