version: 66.13
glider: 196
mission: 14
dive: 361
start: 9 17 117 17 18 41
data:
$ID,196
$MISSION,14
$DIVE,361
$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,39
$R_STBD_OVSHOOT,60
$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,1006.0
$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
$GPS1,170917,170002,7439.2461,-15144.4990,26,0.9,26,20.3,0.0,0.0,8,9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.7
$GPS2,170917,171807,7439.3003,-15144.5000,11,0.8,11,20.3,0.0,0.0,10,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,212.2,72868,-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,52,-0.57,-145.9,186,2190,510,491,0.0,0.0,0,144,0.00,0.00,-91.10,0.000,16386,0.000,0.000,184,2191,2187,2119,2256,0,0,0,0,0,0,14.46,28.83,14.47
$GC,148,-0.57,-145.9,185,2190,2124,2256,4.6,-6.9,9,200,12.98,2.72,-31.90,0.000,18980,0.452,2.162,2385,811,3965,3951,3980,1,0,0,0,0,0,13.32,12.60,14.07
$GC,336,-0.71,-145.9,2386,811,3955,3980,45.9,-12.7,46,342,0.12,2.40,0.00,0.000,5254,0.120,0.086,2345,2159,3967,3954,3980,0,0,0,0,0,0,14.02,13.92,14.12
$GC,641,-0.78,-145.9,2339,2159,3956,3980,97.1,-12.9,77,646,0.00,2.60,0.00,0.000,388,0.000,0.086,2333,3621,3967,3955,3980,0,0,0,0,0,0,14.56,14.04,14.58
$GC,722,-0.97,-145.9,2333,3623,3956,3981,105.7,-9.6,93,727,0.22,2.40,0.00,0.000,5286,0.092,0.054,2245,2210,3967,3955,3980,0,0,0,0,0,0,14.16,14.09,14.24
$GC,1033,-0.91,-145.9,2246,2210,3956,3981,164.9,-18.1,105,1038,0.15,2.50,0.00,0.000,2436,0.279,0.080,2270,3619,3967,3955,3980,0,0,0,0,0,0,13.70,13.99,13.87
$GC,1094,-1.04,-145.9,2271,3621,3956,3981,173.4,-11.8,117,1099,0.00,2.42,0.00,0.000,1158,0.000,0.057,2270,2198,3967,3955,3980,0,0,0,0,0,0,14.26,14.13,14.30
$GC,1424,-1.08,-145.9,2271,2197,3956,3981,217.6,-12.9,133,1426,0.12,0.00,0.00,0.000,4230,0.136,0.000,2226,2196,3965,3955,3975,0,0,0,0,0,0,14.19,14.27,14.25
$GC,1724,-1.06,-145.9,2227,2197,3956,3980,265.6,-15.2,143,1729,0.00,2.55,0.00,0.000,388,0.000,0.087,2223,3623,3967,3955,3980,0,0,0,0,0,0,14.64,14.06,14.65
$GC,1837,-1.14,-145.9,2224,3625,3956,3981,280.2,-12.1,165,1842,0.00,2.47,0.00,0.000,1158,0.000,0.058,2223,2190,3968,3956,3980,0,0,0,0,0,0,14.21,14.10,14.25
$GC,2148,-1.14,-145.9,2223,2190,3956,3981,322.7,-13.3,177,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2189,3967,3955,3980,0,0,0,0,0,0,14.61,14.62,14.62
$GC,2448,-1.16,-145.9,2223,2190,3956,3981,360.3,-12.2,187,2453,0.00,2.55,0.00,0.000,388,0.000,0.087,2223,3622,3967,3956,3979,0,0,0,0,0,0,14.63,14.05,14.65
$GC,2513,-1.27,-145.9,2220,3620,3964,3980,367.5,-10.2,200,2519,0.17,2.45,0.00,0.000,5254,0.108,0.056,2156,2199,3967,3955,3980,0,0,0,0,0,0,13.93,13.25,14.21
$GC,2840,-1.17,-145.9,2157,2198,3956,3980,425.1,-17.9,215,2845,0.17,2.53,0.00,0.000,2436,0.313,0.082,2184,3614,3968,3956,3980,0,0,0,0,0,0,13.59,13.93,13.81
$GC,2935,-1.17,-145.9,2184,3616,3955,3981,439.0,-13.6,234,2940,0.00,2.42,0.00,0.000,1030,0.000,0.057,2183,2199,3967,3954,3980,0,0,0,0,0,0,14.22,14.08,14.26
$STATE,3228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3228,begin apogee
$GC,3234,-0.13,0.0,2184,2057,3956,3980,483.7,-15.2,248,3472,1.42,0.08,229.88,1.390,10246,0.243,0.111,2531,2118,3357,3371,3344,0,0,0,0,0,0,13.68,13.30,12.69
$STATE,3476,end apogee,CONTROL_FINISHED_OK
$STATE,3476,begin climb
$GC,3479,0.57,145.9,2532,2119,3372,3340,497.6,0.0,256,3699,0.73,2.67,214.00,1.359,10756,0.060,0.080,2781,735,2763,2796,2731,0,0,0,0,0,0,13.74,12.91,12.25
$GC,3926,0.16,145.9,2781,736,2783,2720,485.6,12.7,347,3931,0.68,2.42,0.00,0.000,5254,0.326,0.075,2642,2094,2750,2783,2718,0,0,0,0,0,0,13.43,13.84,13.83
$GC,4252,-0.00,176.9,2642,2095,2784,2714,457.1,8.6,362,4301,0.22,2.45,42.95,1.423,12964,0.264,0.083,2589,721,2639,2682,2597,0,0,0,0,0,0,13.72,14.01,13.11
$GC,4527,0.04,235.5,2589,721,2678,2584,436.5,7.3,417,4623,0.00,2.42,91.45,1.343,9254,0.000,0.079,2589,2099,2407,2460,2354,0,0,0,0,0,0,14.25,14.12,13.04
$GC,4944,0.05,260.7,2590,2099,2443,2330,400.4,8.8,450,4983,0.00,0.00,35.60,1.416,8742,0.000,0.000,2589,2099,2296,2346,2247,0,0,0,0,0,0,14.53,13.79,13.19
$GC,5304,0.11,290.0,2589,2100,2334,2232,368.7,8.6,467,5354,0.00,2.47,43.10,1.382,8868,0.000,0.088,2589,720,2176,2224,2129,0,0,0,0,0,0,14.60,14.07,13.19
$GC,5396,0.25,327.8,2588,721,2213,2126,361.1,8.3,485,5465,0.22,2.42,60.58,1.306,11430,0.090,0.079,2680,2105,2023,2066,1981,0,0,0,0,0,0,14.19,14.09,13.09
$GC,5785,0.17,327.8,2680,2102,2055,1962,303.5,14.8,513,5791,0.15,2.42,0.00,0.000,4740,0.256,0.084,2647,727,2007,2054,1961,0,0,0,0,0,0,13.92,14.14,14.11
$GC,5827,0.20,327.8,2647,728,2052,1962,298.3,11.6,521,5833,0.00,2.40,0.00,0.000,1158,0.000,0.077,2647,2098,2006,2052,1960,0,0,0,0,0,0,14.30,14.16,14.35
$GC,6148,0.20,327.8,2647,2098,2053,1959,261.9,10.9,535,6153,0.00,2.42,0.00,0.000,516,0.000,0.086,2647,727,2005,2051,1959,0,0,0,0,0,0,14.63,14.16,14.64
$GC,6199,0.24,327.8,2647,727,2051,1959,256.7,10.2,545,6204,0.00,2.40,0.00,0.000,1158,0.000,0.077,2647,2100,2004,2049,1959,0,0,0,0,0,0,14.28,14.16,14.33
$GC,6510,0.25,338.2,2647,2102,2050,1959,225.8,9.5,557,6514,0.00,0.00,2.50,0.729,8230,0.000,0.000,2647,2101,1985,2031,1940,0,0,0,0,0,0,14.63,14.15,12.91
$GC,6810,0.27,372.6,2647,2107,2040,1947,199.7,8.4,567,6890,0.00,2.45,74.80,1.261,8740,0.000,0.084,2647,730,1841,1871,1811,0,0,0,0,0,0,14.64,13.76,13.18
$GC,6918,0.40,417.2,2647,729,1858,1807,190.9,7.9,588,7001,0.20,2.42,76.88,1.197,11430,0.099,0.076,2725,2103,1665,1689,1641,0,0,0,0,0,0,14.12,14.04,13.07
$GC,7321,0.36,417.2,2726,2104,1680,1613,137.9,12.7,619,7326,0.00,2.45,0.00,0.000,644,0.000,0.086,2730,727,1645,1679,1612,0,0,0,0,0,0,14.54,14.10,14.57
$GC,7382,0.36,417.2,2730,734,1675,1613,130.5,11.9,631,7387,0.15,2.40,0.00,0.000,5126,0.234,0.076,2698,2100,1643,1675,1612,0,0,0,0,0,0,13.95,14.14,14.21
$GC,7712,0.41,439.7,2699,2101,1675,1611,98.8,9.0,647,7729,0.00,2.45,10.38,0.457,8868,0.000,0.088,2699,726,1571,1605,1538,0,0,0,0,0,0,14.61,14.07,13.50
$GC,7770,0.53,473.0,2699,724,1613,1545,93.9,8.5,658,7797,0.17,2.42,20.00,0.473,11430,0.105,0.076,2773,2101,1439,1470,1408,0,0,0,0,0,0,14.20,14.09,13.56
$GC,8095,0.52,517.7,2773,2101,1479,1409,58.2,7.9,693,8127,0.00,0.00,26.67,0.366,8870,0.000,0.000,2773,2101,1254,1300,1208,0,0,0,0,0,0,14.59,13.99,13.59
$GC,8425,0.61,593.0,2773,2102,1304,1214,34.2,6.5,728,8472,0.00,2.50,42.90,0.296,8868,0.000,0.086,2780,730,945,1009,881,0,0,0,0,0,0,14.57,13.96,13.76
$GC,8558,0.79,649.5,2782,729,1011,885,24.5,7.4,754,8601,0.17,2.42,32.62,0.267,11430,0.112,0.083,2855,2098,715,774,656,0,0,0,0,0,0,14.16,14.02,13.74
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$FINISH,0.1,1.021177
$STATE,8816,end surface coast,CONTROL_FINISHED_OK
$STATE,8816,begin surface
$SM_CCo,8882,32.20,0.207,0,0,499,702.78
$SM_GC,1.54,8.20,0.17,32.20,0.074,0.099,0.207,203,2239,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.26,14.31,13.88
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.14,-15137.00,170917,170959
$TT8_MAMPS,0.040446,0.87633
$HUMID,47.95
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,0.000000
$PM_FREEKB_00,46047872
$24V_AH,12.25,217.931
$10V_AH,12.13,0.000
$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,26.275,74.550,1004.300,32.200,0.000,0.000,0.000,688.700,3.500,0.000,11.765,0.000,6363.834,876.688,2401.807,371.276,0.000,2435.549,0.000,1123.643,0.000,0.539,0.000
$DEVICE_MAMPS,452.115,2161.890,1422.900,206.550,0.000,0.000,0.000,160.650,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8811.000,8855.000,8838.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.279,20.000,14.363,0.000
$MEM,323328
$DATA_FILE_SIZE,26692,784
$CAP_FILE_SIZE,103385,0
$CFSIZE,2097872896,1985150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1449.2
$CURRENT,0.013,5.96,1
$GPS,170917,194833,7438.837,-15148.572,21,1.0,30,20.3,0.0,76.1,8,9.5