version: 66.13
glider: 196
mission: 14
dive: 358
start: 9 17 117 8 47 3
data:
$ID,196
$MISSION,14
$DIVE,358
$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,30
$R_STBD_OVSHOOT,26
$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,1000.0
$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
$GPS1,170917,083002,7440.6040,-15130.9453,32,0.8,33,20.4,0.3,181.5,9,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.1
$GPS2,170917,084627,7440.6108,-15131.0400,7,0.8,10,20.4,0.0,0.0,9,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,214.6,79873,-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,64,end surface,CONTROL_FINISHED_OK
$STATE,65,begin dive
$GC,68,-0.57,-145.9,174,2219,508,492,0.0,0.0,0,160,0.00,0.00,-90.78,0.000,16386,0.000,0.000,170,2219,2167,2097,2237,0,0,0,0,0,0,14.35,28.83,14.37
$GC,164,-0.57,-145.9,171,2220,2100,2237,4.2,-6.1,9,217,13.05,2.83,-33.40,0.000,18980,0.454,2.167,2384,801,3962,3947,3978,0,0,0,0,0,0,13.51,12.99,14.00
$GC,352,-0.71,-145.9,2384,802,3953,3978,46.4,-13.5,46,358,0.00,2.47,0.00,0.000,1158,0.000,0.086,2382,2192,3965,3951,3979,0,0,0,0,0,0,14.28,14.14,14.32
$GC,657,-0.83,-145.9,2379,2197,3953,3979,87.1,-10.3,77,662,0.20,2.53,0.00,0.000,4484,0.103,0.086,2293,3614,3965,3952,3978,0,0,0,0,0,0,14.06,14.10,14.10
$GC,803,-0.94,-145.9,2293,3616,3953,3978,107.0,-12.9,106,809,0.00,2.40,0.00,0.000,1158,0.000,0.059,2292,2207,3965,3952,3978,0,0,0,0,0,0,14.23,14.10,14.28
$GC,1108,-0.97,-145.9,2292,2205,3952,3978,150.3,-13.4,117,1109,0.00,0.00,0.00,0.000,134,0.000,0.000,2293,2205,3965,3952,3978,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1408,-1.04,-145.9,2293,2206,3953,3979,187.6,-12.0,127,1409,0.15,0.00,0.00,0.000,4230,0.120,0.000,2237,2205,3965,3952,3978,0,0,0,0,0,0,14.21,14.28,14.25
$GC,1708,-1.01,-145.9,2238,2205,3954,3978,236.4,-16.0,137,1713,0.00,2.50,0.00,0.000,388,0.000,0.088,2235,3614,3965,3953,3978,0,0,0,0,0,0,14.71,14.09,14.73
$GC,1803,-1.10,-145.9,2236,3616,3954,3978,249.5,-12.4,156,1809,0.00,2.42,0.00,0.000,1158,0.000,0.058,2235,2190,3967,3956,3978,0,0,0,0,0,0,14.30,14.15,14.34
$GC,2130,-1.10,-145.9,2235,2190,3953,3979,293.5,-12.8,171,2134,0.00,2.53,0.00,0.000,260,0.000,0.086,2227,3616,3965,3952,3978,0,0,0,0,0,0,14.71,14.08,14.73
$GC,2185,-1.19,-145.9,2227,3616,3953,3979,300.3,-11.5,182,2191,0.00,2.42,0.00,0.000,1158,0.000,0.058,2227,2192,3965,3953,3978,0,0,0,0,0,0,14.11,13.98,14.14
$GC,2490,-1.21,-145.9,2228,2190,3953,3978,338.3,-12.5,193,2495,0.12,2.53,0.00,0.000,4484,0.148,0.082,2161,3620,3965,3952,3978,0,0,0,0,0,0,14.22,14.08,14.24
$GC,2541,-1.15,-145.9,2163,3620,3952,3978,346.5,-17.2,203,2546,0.20,2.40,0.00,0.000,3206,0.267,0.058,2202,2201,3964,3950,3978,0,0,0,0,0,0,13.74,14.16,14.07
$GC,2851,-1.15,-145.9,2203,2199,3953,3978,391.1,-14.0,215,2856,0.00,2.50,0.00,0.000,260,0.000,0.085,2196,3614,3964,3951,3978,0,0,0,0,0,0,14.69,14.05,14.71
$GC,2912,-1.18,-145.9,2197,3614,3952,3978,399.2,-13.3,227,2916,0.00,2.40,0.00,0.000,1158,0.000,0.058,2196,2201,3964,3951,3978,0,0,0,0,0,0,14.28,14.14,14.33
$GC,3242,-1.15,-145.9,2197,2199,3952,3978,445.8,-14.2,243,3247,0.00,2.50,0.00,0.000,388,0.000,0.085,2186,3614,3964,3951,3977,0,0,0,0,0,0,14.72,14.06,14.73
$GC,3303,-1.18,-145.9,2186,3617,3951,3979,454.3,-13.9,255,3307,0.00,2.42,0.00,0.000,1158,0.000,0.059,2186,2190,3964,3950,3978,0,0,0,0,0,0,14.27,14.13,14.31
$STATE,3480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3480,begin apogee
$GC,3487,-0.13,0.0,2187,2061,3950,3979,481.0,-15.0,266,3968,1.38,0.08,476.73,1.156,10246,0.243,0.179,2526,2113,3365,3379,3351,0,0,0,0,0,0,13.71,13.39,12.63
$STATE,3972,end apogee,CONTROL_FINISHED_OK
$STATE,3972,begin climb
$GC,3975,0.57,145.9,2528,2113,3376,3344,510.2,0.0,282,4255,0.75,2.67,268.90,1.213,10500,0.060,0.073,2781,3503,2766,2800,2732,0,0,0,0,0,0,13.59,13.14,12.27
$GC,4481,0.08,145.9,2782,3504,2772,2716,493.9,15.1,382,4486,0.88,2.38,0.00,0.000,5254,0.352,0.057,2615,2132,2742,2770,2715,0,0,0,0,0,0,13.40,13.87,13.80
$GC,4792,-0.02,200.8,2616,2132,2772,2713,469.2,7.5,394,4953,0.15,0.00,159.48,1.118,12454,0.288,0.000,2583,2132,2546,2598,2495,0,0,0,0,0,0,13.87,13.78,13.05
$GC,5241,0.02,248.2,2583,2132,2588,2474,435.2,7.8,409,5342,0.00,2.65,95.28,1.203,8740,0.000,0.090,2589,695,2350,2396,2304,0,0,0,0,0,0,14.54,13.92,13.10
$GC,5377,0.12,284.4,2589,696,2383,2294,424.3,8.3,436,5448,0.00,2.47,65.88,1.210,9382,0.000,0.080,2589,2094,2205,2255,2155,0,0,0,0,0,0,14.12,14.00,13.05
$GC,5754,0.20,313.4,2589,2094,2236,2130,391.4,8.7,461,5806,0.17,0.00,49.20,1.239,10406,0.102,0.000,2666,2090,2087,2134,2041,0,0,0,0,0,0,14.00,14.00,13.22
$GC,6084,0.13,313.4,2667,2094,2120,2013,345.4,14.0,472,6089,0.15,2.45,0.00,0.000,4740,0.255,0.085,2632,698,2068,2117,2019,0,0,0,0,0,0,13.96,14.14,14.12
$GC,6125,0.16,313.4,2632,699,2115,2020,340.5,11.2,480,6129,0.00,2.45,0.00,0.000,1158,0.000,0.078,2633,2105,2066,2114,2019,0,0,0,0,0,0,14.31,14.17,14.36
$GC,6445,0.16,313.4,2634,2104,2115,2018,304.6,11.1,494,6450,0.00,2.47,0.00,0.000,516,0.000,0.089,2634,698,2066,2114,2018,0,0,0,0,0,0,14.64,14.09,14.66
$GC,6480,0.20,313.4,2634,698,2114,2018,300.7,10.7,501,6486,0.00,2.45,0.00,0.000,1158,0.000,0.078,2634,2099,2065,2113,2018,0,0,0,0,0,0,14.31,14.17,14.37
$GC,6807,0.20,314.9,2633,2101,2113,2019,267.3,9.9,516,6812,0.00,2.50,0.00,0.000,548,0.000,0.088,2633,690,2065,2113,2018,0,0,0,0,0,0,14.65,14.12,14.66
$GC,6832,0.24,314.9,2639,691,2113,2019,264.6,10.1,521,6840,0.00,2.50,0.00,0.000,1158,0.000,0.079,2633,2105,2066,2111,2022,0,0,0,0,0,0,14.27,14.13,14.33
$GC,7137,0.29,347.2,2634,2105,2113,2017,237.7,8.5,532,7208,0.12,2.58,65.43,1.206,10916,0.124,0.087,2699,696,1947,1989,1906,0,0,0,0,0,0,14.26,14.05,13.22
$GC,7231,0.23,347.2,2699,695,1976,1897,226.9,13.1,550,7236,0.17,2.47,0.00,0.000,5254,0.216,0.076,2659,2103,1937,1975,1899,0,0,0,0,0,0,13.93,14.07,14.16
$GC,7562,0.25,372.6,2660,2105,1975,1891,195.6,8.8,566,7617,0.00,2.53,49.20,1.197,8740,0.000,0.086,2659,691,1846,1873,1820,0,0,0,0,0,0,14.59,13.76,13.20
$GC,7685,0.36,404.7,2660,691,1857,1809,185.3,8.5,590,7758,0.12,2.47,66.40,1.148,11430,0.132,0.079,2710,2101,1716,1738,1695,0,0,0,0,0,0,14.07,14.01,13.19
$GC,8073,0.34,404.7,2710,2101,1728,1676,139.2,11.5,618,8078,0.00,2.50,0.00,0.000,644,0.000,0.087,2712,687,1699,1727,1672,0,0,0,0,0,0,14.57,14.12,14.59
$GC,8103,0.34,404.7,2716,685,1726,1673,135.7,11.4,624,8108,0.00,2.50,0.00,0.000,1030,0.000,0.077,2713,2107,1698,1724,1672,0,0,0,0,0,0,14.28,14.15,14.34
$GC,8434,0.34,412.0,2713,2109,1724,1670,101.3,9.7,640,8439,0.00,2.58,1.65,0.238,8740,0.000,0.086,2713,698,1683,1711,1655,0,0,0,0,0,0,14.60,14.09,13.90
$GC,8480,0.41,443.3,2713,699,1718,1662,97.2,8.6,649,8508,0.00,2.47,20.42,0.470,9382,0.000,0.076,2713,2101,1556,1584,1528,0,0,0,0,0,0,14.07,13.95,13.58
$GC,8805,0.50,499.3,2712,2101,1595,1538,70.5,7.4,684,8847,0.00,2.55,34.45,0.396,8868,0.000,0.086,2713,700,1331,1374,1289,0,0,0,0,0,0,14.58,13.93,13.64
$GC,8873,0.69,553.5,2713,700,1376,1291,65.8,7.5,696,8912,0.28,2.47,33.33,0.386,11430,0.082,0.076,2812,2105,1107,1170,1045,0,0,0,0,0,0,14.20,14.09,13.65
$GC,9208,0.66,560.4,2813,2105,1173,1061,30.7,9.7,733,9220,0.00,2.50,5.97,0.267,8868,0.000,0.083,2821,698,1078,1141,1016,0,0,0,0,0,0,14.54,13.85,13.64
$GC,9271,0.70,579.4,2822,699,1145,1031,24.8,9.1,745,9288,0.00,2.50,12.80,0.275,9382,0.000,0.076,2821,2105,1003,1069,938,0,0,0,0,0,0,13.38,13.39,13.38
$GC,9593,0.78,652.4,2822,2105,1074,956,4.2,6.6,779,9631,0.00,0.00,35.55,0.208,8866,0.000,0.000,2821,2105,770,832,709,0,0,0,0,0,0,14.54,28.83,14.56
$STATE,9631,end climb,SURFACE_DEPTH_REACHED
$STATE,9631,begin surface coast
$FINISH,0.2,1.010798
$STATE,9664,end surface coast,CONTROL_FINISHED_OK
$STATE,9664,begin surface
$SM_CCo,9685,41.78,0.204,0,0,500,702.78
$SM_GC,1.10,8.12,0.17,41.78,0.078,0.115,0.204,199,2224,500,-7.38,-0.57,702.78,0,0,0,0,0,0,14.26,14.26,13.88
$RAFOS_CLK,434
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7443.79,-15129.24,170917,084152
$TT8_MAMPS,0.039697,0.853111
$HUMID,47.40
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,15918792704.000000
$PM_FREEKB_00,46152512
$24V_AH,12.27,216.442
$10V_AH,12.34,0.000
$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,26.025,90.375,1440.650,41.775,0.000,0.000,0.000,571.300,3.500,0.000,10.940,0.000,6732.986,1436.775,2181.167,376.329,0.000,2778.336,0.000,1133.857,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2167.245,1238.535,204.255,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9699.000,5759.000,9624.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.975,20.000,9.875,0.000
$MEM,323568
$DATA_FILE_SIZE,26699,790
$CAP_FILE_SIZE,108056,0
$CFSIZE,2097872896,1985970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.012,332.67,1
$GPS,170917,113031,7440.154,-15135.542,31,0.7,34,20.4,0.0,0.0,11,10.0