version: 66.13
glider: 196
mission: 14
dive: 359
start: 9 17 117 11 42 48
data:
$ID,196
$MISSION,14
$DIVE,359
$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,40
$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,1002.0
$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
$GPS1,170917,113031,7440.1543,-15135.5420,31,0.7,34,20.4,0.0,0.0,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.3
$GPS2,170917,114216,7440.1816,-15135.6367,18,0.8,18,20.4,0.0,0.0,10,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,215.1,77495,-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,64,begin dive
$GC,67,-0.57,-145.9,183,2228,502,502,0.0,0.0,0,160,0.00,0.00,-91.62,0.000,16386,0.000,0.000,182,2230,2201,2142,2260,0,0,0,0,0,0,14.50,28.83,14.52
$GC,164,-0.57,-145.9,183,2228,2145,2262,4.6,-7.2,9,216,12.95,2.85,-31.58,0.000,18980,0.452,2.168,2384,799,3964,3949,3980,0,0,0,0,0,0,13.50,12.59,13.96
$GC,377,-0.71,-145.9,2384,799,3953,3982,51.4,-12.8,51,382,0.00,2.45,0.00,0.000,1158,0.000,0.086,2384,2179,3966,3952,3980,0,0,0,0,0,0,14.27,14.13,14.32
$GC,687,-0.86,-145.9,2384,2180,3954,3980,89.0,-10.0,83,693,0.22,2.55,0.00,0.000,4516,0.096,0.086,2281,3617,3967,3954,3981,0,0,0,0,0,0,14.19,14.04,14.25
$GC,848,-0.95,-145.9,2282,3619,3955,3980,111.6,-13.2,115,853,0.00,2.40,0.00,0.000,1158,0.000,0.060,2281,2207,3968,3954,3982,0,0,0,0,0,0,14.31,14.16,14.35
$GC,1171,-0.98,-145.9,2282,2205,3954,3980,159.6,-14.3,129,1171,0.00,0.00,0.00,0.000,134,0.000,0.000,2281,2205,3969,3953,3986,0,0,0,0,0,0,14.47,14.48,14.49
$GC,1468,-1.03,-145.9,2281,2206,3953,3981,199.0,-12.7,139,1473,0.00,2.53,0.00,0.000,388,0.000,0.086,2279,3614,3970,3960,3980,0,0,0,0,0,0,14.47,13.97,14.49
$GC,1519,-1.19,-145.9,2280,3614,3955,3980,204.7,-10.4,149,1524,0.28,2.45,0.00,0.000,5254,0.090,0.058,2174,2191,3966,3953,3980,0,0,0,0,0,0,14.05,13.96,14.14
$GC,1830,-1.06,-145.9,2174,2190,3955,3981,270.2,-20.6,161,1835,0.22,2.55,0.00,0.000,2436,0.282,0.083,2217,3614,3966,3953,3980,0,0,0,0,0,0,13.61,13.95,13.81
$GC,1910,-1.12,-145.9,2216,3615,3954,3981,282.3,-12.8,177,1915,0.00,2.45,0.00,0.000,1158,0.000,0.058,2216,2195,3966,3953,3980,0,0,0,0,0,0,14.12,14.01,14.18
$GC,2221,-1.12,-145.9,2216,2195,3954,3981,325.4,-13.5,189,2225,0.00,2.55,0.00,0.000,260,0.000,0.085,2210,3616,3966,3953,3980,0,0,0,0,0,0,14.44,13.92,14.45
$GC,2326,-1.20,-145.9,2211,3616,3955,3980,338.4,-11.4,210,2331,0.00,2.45,0.00,0.000,1158,0.000,0.057,2210,2196,3967,3954,3980,0,0,0,0,0,0,14.12,13.99,14.16
$GC,2641,-1.20,-145.9,2210,2195,3955,3980,380.7,-13.5,223,2646,0.00,2.55,0.00,0.000,260,0.000,0.086,2212,3614,3966,3953,3980,0,0,0,0,0,0,14.45,13.90,14.46
$GC,2696,-1.27,-145.9,2208,3615,3954,3981,387.7,-12.3,234,2703,0.12,2.45,0.00,0.000,5254,0.131,0.057,2159,2198,3966,3953,3980,0,0,0,0,0,0,14.02,13.97,14.12
$GC,3002,-1.17,-145.9,2159,2198,3954,3984,442.4,-18.1,245,3007,0.17,2.55,0.00,0.000,2436,0.312,0.081,2185,3618,3966,3953,3979,0,0,0,0,0,0,13.50,13.88,13.73
$GC,3077,-1.20,-145.9,2186,3622,3953,3981,453.5,-13.5,260,3083,0.00,2.45,0.00,0.000,1158,0.000,0.058,2185,2200,3966,3953,3980,0,0,0,0,0,0,14.10,13.96,14.14
$STATE,3271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3271,begin apogee
$GC,3277,-0.13,0.0,2185,2059,3953,3981,482.8,-15.1,269,3514,1.40,0.08,226.60,1.390,10246,0.241,0.177,2529,2115,3356,3366,3346,0,0,0,0,0,0,13.60,13.40,12.59
$STATE,3518,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3521,0.57,145.9,2530,2115,3368,3342,497.2,0.0,277,3741,0.75,2.62,208.57,1.363,10500,0.060,0.072,2785,3508,2761,2791,2732,0,0,0,0,0,0,13.66,13.11,12.24
$GC,3817,0.06,145.9,2785,3510,2775,2727,504.2,13.4,333,3822,0.95,2.47,0.00,0.000,5254,0.347,0.055,2610,2122,2750,2774,2726,0,0,0,0,0,0,13.08,13.46,13.46
$GC,4138,-0.03,204.5,2608,2126,2775,2718,479.7,7.3,347,4229,0.15,0.00,88.55,1.372,12454,0.278,0.000,2580,2125,2530,2581,2480,0,0,0,0,0,0,13.74,13.81,12.98
$GC,4527,0.01,252.8,2580,2126,2569,2452,450.1,7.8,360,4607,0.00,2.62,72.35,1.375,8740,0.000,0.089,2587,695,2327,2374,2281,0,0,0,0,0,0,14.54,13.93,13.09
$GC,4650,0.14,296.5,2580,696,2365,2274,440.6,8.0,384,4727,0.15,2.50,68.15,1.324,11430,0.122,0.080,2648,2097,2150,2195,2105,0,0,0,0,0,0,14.09,14.03,13.00
$GC,5038,0.08,296.5,2649,2097,2182,2087,390.0,13.3,412,5043,0.15,2.47,0.00,0.000,4740,0.239,0.084,2616,695,2135,2183,2087,0,0,0,0,0,0,13.96,14.12,14.13
$GC,5069,0.11,296.5,2616,695,2180,2087,386.4,10.4,418,5074,0.00,2.45,0.00,0.000,1158,0.000,0.078,2617,2100,2133,2179,2087,0,0,0,0,0,0,14.29,14.16,14.33
$GC,5399,0.11,296.5,2616,2101,2180,2085,352.1,10.3,434,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2100,2132,2179,2085,0,0,0,0,0,0,14.62,14.65,14.66
$GC,5699,0.11,297.8,2616,2101,2180,2084,322.0,9.9,444,5705,0.00,2.47,0.00,0.000,548,0.000,0.088,2614,701,2128,2173,2084,0,0,0,0,0,0,14.63,14.14,14.66
$GC,5761,0.20,316.3,2616,701,2178,2084,316.2,9.1,456,5793,0.00,2.45,25.95,1.413,9382,0.000,0.077,2616,2103,2072,2116,2029,0,0,0,0,0,0,14.21,14.17,13.26
$GC,6093,0.24,327.1,2617,2103,2105,2015,284.5,9.5,472,6106,0.12,0.00,10.85,1.531,10406,0.123,0.000,2676,2108,2033,2076,1990,0,0,0,0,0,0,14.27,14.12,13.28
$GC,6391,0.17,327.1,2677,2104,2066,1980,246.9,12.2,482,6396,0.15,2.47,0.00,0.000,4740,0.244,0.084,2644,700,2021,2065,1978,0,0,0,0,0,0,14.00,14.08,14.14
$GC,6452,0.25,352.4,2644,701,2064,1978,241.1,8.8,494,6501,0.00,2.45,43.92,1.335,9382,0.000,0.078,2644,2101,1927,1964,1891,0,0,0,0,0,0,14.16,14.03,13.21
$GC,6814,0.31,381.9,2644,2101,1947,1878,209.1,8.6,516,6866,0.12,0.00,49.75,1.294,10918,0.123,0.000,2705,2109,1809,1832,1787,0,0,0,0,0,0,14.16,14.01,13.22
$GC,7144,0.27,381.9,2705,2101,1816,1769,169.4,11.8,532,7150,0.12,2.47,0.00,0.000,4740,0.230,0.087,2674,701,1791,1814,1768,0,0,0,0,0,0,13.92,14.11,14.03
$GC,7200,0.37,404.7,2675,700,1813,1768,163.8,8.9,543,7241,0.00,2.45,35.22,1.287,9382,0.000,0.077,2674,2102,1714,1735,1693,0,0,0,0,0,0,14.26,14.12,13.24
$GC,7569,0.45,434.7,2673,2103,1726,1675,131.2,8.6,566,7628,0.12,2.55,50.47,1.248,10916,0.129,0.089,2745,697,1587,1611,1563,0,0,0,0,0,0,14.29,14.04,13.24
$GC,7678,0.45,434.7,2746,697,1603,1560,117.4,12.1,588,7684,0.00,2.47,0.00,0.000,1030,0.000,0.078,2745,2102,1581,1603,1559,0,0,0,0,0,0,14.21,14.10,14.28
$GC,7992,0.41,434.7,2746,2102,1604,1551,79.8,10.5,610,7997,0.12,2.50,0.00,0.000,4740,0.233,0.086,2714,695,1575,1602,1548,0,0,0,0,0,0,14.01,14.07,14.13
$GC,8085,0.56,511.0,2715,695,1602,1550,72.9,6.5,628,8133,0.15,2.47,40.55,0.412,11430,0.112,0.077,2778,2105,1279,1325,1234,0,0,0,0,0,0,14.23,14.15,13.64
$GC,8439,0.59,562.7,2779,2106,1327,1239,42.0,7.6,668,8475,0.00,2.53,29.70,0.319,8740,0.000,0.088,2781,693,1070,1129,1012,0,0,0,0,0,0,14.57,14.03,13.66
$GC,8495,0.67,599.4,2783,694,1130,1016,37.6,8.3,677,8523,0.00,2.47,21.77,0.310,9382,0.000,0.077,2781,2106,919,983,855,0,0,0,0,0,0,14.23,14.10,13.74
$GC,8820,0.91,733.0,2781,2106,988,865,17.2,3.8,712,8890,0.25,2.55,59.60,0.248,10916,0.090,0.092,2890,708,497,513,482,0,0,0,0,0,0,14.09,13.94,13.84
$STATE,8962,end climb,SURFACE_DEPTH_REACHED
$STATE,8962,begin surface coast
$FINISH,1.2,1.021195
$STATE,8972,end surface coast,CONTROL_FINISHED_OK
$STATE,8973,begin surface
$SM_CCo,9057,0.00,0.000,0,0,499,703.52
$SM_GC,1.05,8.38,2.65,0.00,0.080,0.071,0.000,200,2206,499,-7.38,-0.65,703.52,0,0,0,0,0,0,14.25,14.17,14.33
$RAFOS_CLK,366
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7442.95,-15140.30,170917,084359
$TT8_MAMPS,0.040446,0.916027
$HUMID,47.24
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.00
$XPDR_PINGS,7
$CP_FREE,15918366720.000000
$PM_FREEKB_00,46126656
$24V_AH,12.24,216.943
$10V_AH,12.25,0.000
$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,27.075,85.600,1032.025,0.000,0.000,0.000,0.000,416.475,1.750,0.000,19.697,0.000,6408.723,1032.901,1970.952,356.522,0.000,2164.859,0.000,1064.476,2207.000,0.539,0.000
$DEVICE_MAMPS,452.115,2168.010,1530.765,0.000,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9009.000,5511.000,8930.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.475,20.000,9.930,0.000
$MEM,323372
$DATA_FILE_SIZE,26786,742
$CAP_FILE_SIZE,101543,0
$CFSIZE,2097872896,1985675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.018,9.02,1
$GPS,170917,141503,7439.716,-15139.986,33,0.8,34,20.3,0.0,0.0,9,8.4