version: 66.13
glider: 196
mission: 14
dive: 354
start: 9 16 117 21 31 53
data:
$ID,196
$MISSION,14
$DIVE,354
$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,26
$R_STBD_OVSHOOT,36
$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,990.0
$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
$GPS1,160917,212436,7442.4141,-15112.4277,12,0.7,21,20.6,0.7,68.8,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.2
$GPS2,160917,213120,7442.3984,-15112.5303,39,0.8,40,20.6,0.8,124.2,11,6.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,213.6,89536,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,186,2225,512,494,0.0,0.0,0,145,0.00,0.00,-91.62,0.000,16386,0.000,0.000,184,2225,2197,2136,2259,0,0,0,0,0,0,14.53,28.83,14.55
$GC,148,-0.57,-145.9,185,2225,2140,2260,4.4,-7.1,9,201,12.98,2.83,-32.47,0.000,19236,0.453,2.166,2385,795,3962,3945,3979,1,0,0,0,0,0,13.30,12.62,14.09
$GC,381,-0.72,-145.9,2386,796,3951,3979,52.1,-12.5,55,386,0.12,2.47,0.00,0.000,5254,0.123,0.086,2334,2185,3964,3950,3979,0,0,0,0,0,0,14.14,13.97,14.24
$GC,712,-0.78,-145.9,2334,2186,3952,3981,104.1,-12.5,87,717,0.00,2.55,0.00,0.000,388,0.000,0.089,2333,3616,3965,3951,3979,0,0,0,0,0,0,14.62,14.05,14.63
$GC,813,-0.96,-145.9,2336,3615,3952,3980,114.6,-9.7,107,818,0.20,2.42,0.00,0.000,5286,0.098,0.054,2253,2195,3964,3949,3979,0,0,0,0,0,0,14.19,14.03,14.28
$GC,1133,-0.93,-145.9,2253,2195,3953,3979,170.5,-16.9,121,1134,0.00,0.00,0.00,0.000,134,0.000,0.000,2252,2195,3965,3951,3979,0,0,0,0,0,0,14.67,14.66,14.66
$GC,1433,-0.93,-145.9,2253,2196,3952,3980,217.5,-15.0,131,1438,0.00,2.53,0.00,0.000,260,0.000,0.086,2244,3620,3965,3952,3979,0,0,0,0,0,0,14.65,14.09,14.66
$GC,1539,-1.02,-145.9,2244,3621,3952,3980,231.4,-12.7,152,1544,0.00,2.42,0.00,0.000,1158,0.000,0.060,2244,2196,3965,3951,3979,0,0,0,0,0,0,14.28,14.15,14.33
$GC,1855,-1.04,-145.9,2244,2195,3952,3979,274.0,-12.7,165,1856,0.00,0.00,0.00,0.000,134,0.000,0.000,2244,2195,3965,3951,3979,0,0,0,0,0,0,14.64,14.66,14.69
$GC,2155,-1.08,-145.9,2244,2196,3952,3981,309.4,-11.5,175,2160,0.00,2.53,0.00,0.000,388,0.000,0.088,2236,3616,3964,3950,3979,0,0,0,0,0,0,14.65,14.08,14.65
$GC,2210,-1.20,-145.9,2236,3617,3952,3980,315.5,-10.5,186,2217,0.15,2.42,0.00,0.000,5254,0.119,0.057,2178,2198,3966,3950,3983,0,0,0,0,0,0,14.02,13.94,14.09
$GC,2516,-1.13,-145.9,2181,2196,3952,3978,364.3,-16.1,197,2521,0.12,2.53,0.00,0.000,2436,0.295,0.084,2198,3622,3964,3951,3978,0,0,0,0,0,0,13.85,14.07,14.00
$GC,2623,-1.16,-145.9,2198,3623,3951,3979,378.5,-12.6,218,2628,0.00,2.42,0.00,0.000,1158,0.000,0.058,2198,2200,3964,3951,3978,0,0,0,0,0,0,14.28,14.13,14.31
$GC,2939,-1.14,-145.9,2199,2200,3951,3977,422.4,-13.9,231,2940,0.00,0.00,0.00,0.000,134,0.000,0.000,2198,2200,3964,3951,3977,0,0,0,0,0,0,14.63,14.65,14.68
$GC,3238,-1.14,-145.9,2199,2200,3952,3978,463.4,-13.6,241,3243,0.00,2.50,0.00,0.000,260,0.000,0.089,2196,3613,3964,3951,3977,0,0,0,0,0,0,14.64,14.04,14.64
$GC,3356,-1.21,-145.9,2197,3614,3951,3977,477.8,-11.8,264,3363,0.00,2.40,0.00,0.000,1158,0.000,0.057,2196,2202,3963,3950,3977,0,0,0,0,0,0,14.21,14.07,14.25
$STATE,3386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3386,begin apogee
$GC,3393,-0.13,0.0,2197,2059,3955,3977,482.3,-12.5,266,3617,1.33,0.08,220.82,1.420,10246,0.236,0.182,2527,2114,3366,3387,3345,0,0,0,0,0,0,13.69,13.52,12.69
$STATE,3621,end apogee,CONTROL_FINISHED_OK
$STATE,3621,begin climb
$GC,3625,0.57,145.9,2528,2114,3376,3333,494.0,0.0,273,3848,0.75,2.62,209.43,1.363,11012,0.059,0.073,2783,3506,2757,2801,2714,0,0,0,0,0,0,13.74,13.14,12.26
$GC,3869,0.06,145.9,2784,3506,2790,2716,504.7,10.6,315,3874,0.95,2.50,0.00,0.000,5254,0.346,0.055,2610,2132,2750,2789,2711,0,0,0,0,0,0,12.97,13.28,13.34
$GC,4202,-0.03,192.6,2611,2131,2790,2709,477.8,7.8,331,4276,0.15,2.58,68.72,1.391,12964,0.277,0.086,2580,701,2573,2630,2517,0,0,0,0,0,0,13.76,13.62,12.98
$GC,4291,0.01,248.8,2580,701,2619,2509,471.1,7.4,339,4383,0.00,2.50,86.05,1.350,9254,0.000,0.080,2580,2094,2351,2410,2292,0,0,0,0,0,0,13.95,13.85,12.83
$GC,4682,0.08,281.6,2580,2092,2390,2272,438.1,8.5,367,4733,0.00,0.00,49.38,1.380,8358,0.000,0.000,2580,2094,2215,2270,2160,0,0,0,0,0,0,14.51,13.95,13.12
$GC,5012,0.17,316.6,2581,2095,2255,2141,410.3,8.4,378,5073,0.15,2.50,53.92,1.366,10916,0.125,0.088,2657,697,2068,2118,2018,0,0,0,0,0,0,14.26,13.77,13.16
$GC,5105,0.15,316.6,2657,696,2102,2016,398.4,13.7,396,5110,0.00,2.47,0.00,0.000,1158,0.000,0.079,2657,2102,2059,2105,2014,0,0,0,0,0,0,14.18,14.05,14.22
$GC,5436,0.10,316.6,2658,2103,2105,2006,352.4,13.6,412,5441,0.15,2.47,0.00,0.000,4740,0.250,0.084,2629,692,2054,2104,2005,0,0,0,0,0,0,13.97,14.15,14.12
$GC,5461,0.10,316.6,2630,693,2103,2006,349.3,12.1,417,5467,0.00,2.47,0.00,0.000,1030,0.000,0.079,2631,2099,2053,2102,2005,0,0,0,0,0,0,14.14,14.01,14.17
$GC,5766,0.10,316.6,2629,2101,2101,2005,316.7,10.5,428,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2100,2051,2098,2004,0,0,0,0,0,0,14.63,14.64,14.64
$GC,6066,0.10,316.6,2630,2100,2103,2003,284.8,10.5,438,6072,0.00,2.47,0.00,0.000,516,0.000,0.089,2630,692,2051,2100,2003,0,0,0,0,0,0,14.65,14.15,14.67
$GC,6092,0.14,316.6,2630,693,2101,2004,282.2,10.3,443,6098,0.00,2.47,0.00,0.000,1158,0.000,0.077,2630,2102,2050,2097,2003,0,0,0,0,0,0,14.27,14.12,14.32
$GC,6398,0.18,334.5,2631,2103,2102,2003,253.0,9.2,454,6428,0.00,2.50,23.27,1.436,8868,0.000,0.087,2630,695,1995,2042,1949,0,0,0,0,0,0,14.62,14.14,13.28
$GC,6481,0.32,371.7,2631,694,2035,1948,245.8,8.3,470,6555,0.17,2.47,66.07,1.287,11430,0.101,0.079,2698,2108,1846,1875,1817,0,0,0,0,0,0,14.16,14.04,13.13
$GC,6880,0.28,371.7,2699,2109,1860,1804,195.8,12.2,500,6885,0.00,2.50,0.00,0.000,644,0.000,0.088,2698,697,1831,1859,1804,0,0,0,0,0,0,14.52,14.04,14.56
$GC,6930,0.28,371.7,2698,698,1858,1805,190.0,11.2,510,6936,0.00,2.47,0.00,0.000,1030,0.000,0.077,2699,2106,1830,1857,1804,0,0,0,0,0,0,14.11,13.99,14.15
$GC,7242,0.25,371.7,2699,2108,1859,1804,154.5,11.1,522,7248,0.12,2.50,0.00,0.000,4740,0.224,0.086,2672,691,1829,1856,1803,0,0,0,0,0,0,14.06,14.13,14.17
$GC,7278,0.36,398.2,2673,691,1855,1803,151.1,8.8,529,7329,0.00,2.50,42.47,1.288,9382,0.000,0.079,2673,2103,1736,1760,1713,0,0,0,0,0,0,14.22,14.07,13.20
$GC,7636,0.44,437.4,2673,2103,1753,1700,120.9,8.2,550,7714,0.12,2.58,69.05,1.219,10916,0.131,0.090,2740,700,1575,1601,1549,0,0,0,0,0,0,14.28,13.99,13.21
$GC,7769,0.44,437.4,2741,699,1592,1544,105.0,11.4,577,7774,0.00,2.50,0.00,0.000,1030,0.000,0.077,2740,2105,1567,1591,1544,0,0,0,0,0,0,14.16,14.04,14.20
$GC,8075,0.45,445.4,2741,2106,1592,1537,71.9,9.6,607,8086,0.00,2.55,1.92,0.272,8740,0.000,0.086,2747,701,1548,1581,1516,0,0,0,0,0,0,14.54,14.06,13.57
$GC,8136,0.54,496.1,2740,702,1585,1527,67.0,7.7,619,8172,0.00,2.47,28.85,0.399,9382,0.000,0.077,2740,2107,1340,1384,1296,0,0,0,0,0,0,14.21,14.06,13.62
$GC,8478,0.70,606.0,2740,2107,1386,1301,44.9,4.9,657,8542,0.17,2.60,58.78,0.329,10916,0.102,0.090,2815,688,892,959,826,0,0,0,0,0,0,14.12,14.05,13.68
$GC,8590,0.76,606.0,2816,688,961,831,34.8,10.0,678,8597,0.00,2.50,0.00,0.000,1158,0.000,0.076,2815,2110,895,960,831,0,0,0,0,0,0,14.12,14.08,14.13
$GC,8912,0.87,679.3,2816,2110,960,830,12.2,6.6,709,8959,0.12,2.58,40.17,0.235,10916,0.125,0.093,2879,686,594,634,555,0,0,0,0,0,0,14.13,13.93,13.67
$GC,8989,0.87,679.3,2879,690,636,556,2.2,12.9,724,8995,0.00,2.50,0.00,0.000,1030,0.000,0.072,2879,2108,595,636,554,0,0,0,0,0,0,14.04,13.94,14.09
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9002,begin surface coast
$FINISH,0.1,1.011003
$STATE,9012,end surface coast,CONTROL_FINISHED_OK
$STATE,9012,begin surface
$SM_CCo,9033,15.50,0.206,0,0,498,702.78
$SM_GC,1.37,8.38,0.17,15.50,0.076,0.119,0.206,202,2221,498,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.12,13.83
$RAFOS_CLK,13
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.80,-15114.92,160917,184246
$TT8_MAMPS,0.085386,0.952728
$HUMID,46.49
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,15920758784.000000
$PM_FREEKB_00,46281344
$24V_AH,12.26,214.396
$10V_AH,12.27,0.000
$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,26.150,90.750,1018.925,15.500,0.000,0.000,0.000,177.725,4.000,0.000,41.698,0.000,6424.771,1031.893,1734.514,274.147,0.000,1932.804,0.000,1043.163,2157.000,0.539,0.000
$DEVICE_MAMPS,452.880,2165.715,1435.905,205.785,0.000,0.000,0.000,133.110,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9002.000,9001.000,8986.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.456,20.000,11.042,0.000
$MEM,323532
$DATA_FILE_SIZE,26737,727
$CAP_FILE_SIZE,99673,0
$CFSIZE,2097872896,1987051520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.6
$CURRENT,0.032,323.72,1
$GPS,170917,000351,7441.949,-15117.243,16,0.8,22,20.5,0.3,255.2,9,9.9