version: 66.13
glider: 196
mission: 14
dive: 362
start: 9 17 117 20 0 40
data:
$ID,196
$MISSION,14
$DIVE,362
$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,61
$R_STBD_OVSHOOT,59
$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,1008.0
$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
$GPS1,170917,194833,7438.8369,-15148.5723,21,1.0,30,20.3,0.0,76.1,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.0
$GPS2,170917,200004,7438.8623,-15148.4883,10,1.0,10,20.3,0.0,0.0,8,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,214.5,70748,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,51,-0.57,-145.9,185,2241,503,496,0.0,0.0,0,129,0.00,0.00,-77.25,0.000,16386,0.000,0.000,183,2241,1859,1790,1928,0,0,0,0,0,0,14.48,28.83,14.50
$GC,133,-0.57,-145.9,184,2241,1791,1931,3.0,-3.8,8,200,12.95,2.83,-48.22,0.000,19236,0.450,2.163,2383,826,3965,3950,3980,1,0,0,0,0,0,13.25,12.56,14.00
$GC,386,-0.71,-145.9,2384,826,3956,3980,50.9,-13.3,58,391,0.00,2.38,0.00,0.000,1158,0.000,0.084,2381,2152,3967,3955,3979,0,0,0,0,0,0,14.04,13.91,14.09
$GC,696,-0.84,-145.9,2380,2155,3956,3980,89.3,-9.6,90,701,0.20,2.62,0.00,0.000,4516,0.103,0.087,2292,3626,3967,3955,3980,0,0,0,0,0,0,14.03,13.93,14.06
$GC,847,-0.97,-145.9,2293,3626,3956,3978,109.2,-12.2,120,852,0.00,2.40,0.00,0.000,1158,0.000,0.058,2293,2235,3967,3955,3979,0,0,0,0,0,0,14.08,13.97,14.11
$GC,1178,-1.01,-145.9,2293,2236,3956,3977,154.7,-13.0,136,1179,0.12,0.00,0.00,0.000,4230,0.132,0.000,2250,2234,3967,3955,3979,0,0,0,0,0,0,14.07,14.19,14.16
$GC,1478,-0.99,-145.9,2245,2231,3956,3980,205.0,-16.4,146,1479,0.00,0.00,0.00,0.000,134,0.000,0.000,2244,2234,3966,3953,3980,0,0,0,0,0,0,14.42,14.44,14.44
$GC,1778,-0.99,-145.9,2245,2235,3954,3981,249.8,-14.2,156,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2231,3967,3955,3980,0,0,0,0,0,0,14.45,14.44,14.43
$GC,2078,-1.03,-145.9,2245,2234,3956,3979,288.1,-12.0,166,2083,0.00,2.50,0.00,0.000,388,0.000,0.086,2236,3624,3967,3955,3980,0,0,0,0,0,0,14.42,13.92,14.43
$GC,2153,-1.14,-145.9,2236,3624,3954,3981,296.5,-10.6,181,2160,0.00,2.45,0.00,0.000,1158,0.000,0.057,2236,2198,3967,3955,3980,0,0,0,0,0,0,13.97,13.90,14.03
$GC,2473,-1.18,-145.9,2237,2197,3964,3980,333.4,-11.5,194,2474,0.00,0.00,0.00,0.000,134,0.000,0.000,2236,2196,3967,3955,3979,0,0,0,0,0,0,14.38,14.40,14.39
$GC,2771,-1.24,-145.9,2236,2197,3956,3981,366.6,-10.9,204,2776,0.15,2.55,0.00,0.000,4484,0.129,0.083,2168,3625,3967,3955,3980,0,0,0,0,0,0,14.14,13.98,14.18
$GC,2832,-1.20,-145.9,2161,3627,3955,3980,376.0,-16.7,216,2837,0.15,2.45,0.00,0.000,3206,0.262,0.058,2193,2194,3966,3954,3979,0,0,0,0,0,0,13.76,14.10,14.06
$GC,3163,-1.16,-145.9,2188,2196,3955,3980,425.9,-14.8,232,3167,0.00,2.53,0.00,0.000,388,0.000,0.084,2181,3620,3967,3954,3980,0,0,0,0,0,0,14.62,13.97,14.64
$GC,3228,-1.16,-145.9,2181,3622,3955,3981,435.4,-13.9,245,3233,0.00,2.45,0.00,0.000,1030,0.000,0.057,2181,2199,3966,3953,3980,0,0,0,0,0,0,14.16,14.05,14.23
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3521,begin apogee
$GC,3527,-0.13,0.0,2182,2055,3955,3980,481.1,-15.5,259,3815,1.40,0.10,283.10,1.302,10246,0.245,0.158,2527,2122,3364,3379,3350,0,0,0,0,0,0,13.70,13.48,12.69
$STATE,3820,end apogee,CONTROL_FINISHED_OK
$STATE,3821,begin climb
$GC,3823,0.57,145.9,2527,2123,3372,3342,497.2,0.0,268,4069,0.75,2.62,220.93,1.310,11012,0.058,0.072,2784,3498,2748,2776,2721,0,0,0,0,0,0,13.70,12.89,12.27
$GC,4297,0.06,145.9,2784,3498,2770,2716,480.3,14.8,315,4304,0.90,2.38,0.00,0.000,5254,0.347,0.056,2609,2127,2741,2768,2715,0,0,0,0,0,0,13.45,13.89,13.85
$GC,4600,-0.02,203.9,2610,2130,2777,2712,456.3,7.3,326,4697,0.12,2.50,88.05,1.300,12708,0.288,0.081,2581,3498,2527,2573,2481,0,0,0,0,0,0,13.86,13.90,13.07
$GC,4922,-0.03,226.5,2582,3504,2554,2468,429.2,9.0,390,4957,0.00,2.38,29.83,1.366,9382,0.000,0.059,2588,2100,2441,2486,2397,0,0,0,0,0,0,14.28,14.16,13.19
$GC,5265,-0.01,262.3,2589,2100,2468,2374,400.7,8.3,408,5323,0.00,0.00,55.90,1.305,8230,0.000,0.000,2588,2100,2295,2338,2252,0,0,0,0,0,0,14.58,13.96,13.17
$GC,5623,0.05,294.7,2589,2100,2323,2227,369.9,8.5,420,5684,0.00,2.58,50.95,1.291,8868,0.000,0.089,2589,692,2153,2196,2111,0,0,0,0,0,0,14.59,14.01,13.18
$GC,5747,0.19,327.9,2588,692,2186,2106,359.9,8.5,444,5807,0.17,2.47,52.10,1.266,11430,0.104,0.079,2671,2091,2024,2066,1982,0,0,0,0,0,0,14.20,14.11,13.14
$GC,6105,0.13,327.9,2667,2093,2052,1960,311.3,13.5,466,6110,0.15,2.47,0.00,0.000,4740,0.252,0.083,2638,692,2005,2051,1959,0,0,0,0,0,0,13.89,14.12,14.07
$GC,6150,0.18,327.9,2639,692,2050,1959,305.8,10.7,475,6156,0.00,2.47,0.00,0.000,1158,0.000,0.077,2639,2101,2003,2048,1958,0,0,0,0,0,0,14.32,14.15,14.33
$GC,6467,0.18,327.9,2638,2102,2049,1957,270.8,11.0,488,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2102,2002,2048,1956,0,0,0,0,0,0,14.66,14.66,14.65
$GC,6767,0.19,339.8,2639,2102,2049,1956,241.1,9.4,498,6777,0.00,2.47,3.60,1.167,8740,0.000,0.087,2643,693,1977,2023,1931,0,0,0,0,0,0,14.65,14.18,13.13
$GC,6855,0.28,368.2,2644,694,2031,1941,233.5,8.7,515,6924,0.00,2.47,62.15,1.243,9382,0.000,0.078,2643,2102,1859,1891,1827,0,0,0,0,0,0,14.30,14.16,13.17
$GC,7250,0.36,403.3,2644,2102,1873,1813,199.3,8.4,544,7317,0.15,2.53,60.08,1.209,10916,0.112,0.089,2712,690,1714,1736,1693,0,0,0,0,0,0,14.22,14.02,13.20
$GC,7392,0.36,403.3,2713,691,1722,1684,182.0,11.8,572,7397,0.00,2.47,0.00,0.000,1030,0.000,0.076,2712,2105,1702,1721,1683,0,0,0,0,0,0,14.23,14.11,14.28
$GC,7703,0.33,403.3,2711,2106,1723,1678,144.1,11.8,584,7708,0.00,2.50,0.00,0.000,644,0.000,0.086,2713,694,1698,1720,1677,0,0,0,0,0,0,14.60,14.13,14.62
$GC,7728,0.33,403.3,2713,694,1720,1677,141.2,11.6,589,7734,0.00,2.47,0.00,0.000,1030,0.000,0.077,2713,2103,1697,1718,1677,0,0,0,0,0,0,14.04,13.88,14.12
$GC,8033,0.33,403.3,2713,2105,1719,1676,108.1,10.3,600,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2107,1697,1719,1675,0,0,0,0,0,0,14.63,14.65,14.64
$GC,8335,0.36,444.8,2713,2105,1719,1674,81.3,8.1,624,8367,0.00,2.58,22.60,0.422,8740,0.000,0.086,2713,687,1550,1575,1525,0,0,0,0,0,0,14.57,13.97,13.64
$GC,8467,0.49,514.2,2711,686,1586,1531,71.5,6.8,650,8521,0.00,2.50,44.40,0.405,9382,0.000,0.078,2714,2103,1267,1319,1216,0,0,0,0,0,0,14.26,14.13,13.64
$GC,8818,0.71,630.0,2713,2103,1321,1225,51.3,4.7,690,8897,0.28,2.53,72.28,0.342,10916,0.084,0.091,2822,691,794,864,724,0,0,0,0,0,0,14.20,14.04,13.64
$GC,8957,0.78,630.0,2822,692,867,733,37.1,10.6,717,8964,0.00,2.50,0.00,0.000,1158,0.000,0.076,2822,2106,799,866,733,0,0,0,0,0,0,14.19,14.04,14.23
$GC,9263,0.88,688.0,2822,2108,867,738,10.6,7.3,748,9305,0.12,0.00,38.28,0.226,10406,0.124,0.000,2880,2106,555,590,521,0,0,0,0,0,0,14.23,14.00,13.73
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,0.2,1.021153
$STATE,9360,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9384,10.45,0.210,0,0,498,703.03
$SM_GC,1.92,8.30,0.17,10.45,0.075,0.093,0.210,193,2247,498,-7.39,-0.42,703.03,0,0,0,0,0,0,14.26,14.32,13.88
$RAFOS_CLK,426
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.28,-15155.17,170917,171510
$TT8_MAMPS,0.039697,0.961716
$HUMID,47.28
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,6
$CP_FREE,15916859392.000000
$PM_FREEKB_00,46018944
$24V_AH,12.27,218.432
$10V_AH,12.08,0.000
$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,25.925,70.500,1084.225,10.450,0.000,0.000,0.000,398.925,1.500,0.000,11.812,0.000,6636.862,883.666,2217.709,363.104,0.000,2238.209,0.000,1087.079,2060.000,0.540,0.000
$DEVICE_MAMPS,449.820,2162.655,1365.525,210.375,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9392.000,9354.000,9338.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.588,20.000,9.969,0.000
$MEM,323544
$DATA_FILE_SIZE,26715,758
$CAP_FILE_SIZE,100427,0
$CFSIZE,2097872896,1984888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1448.2
$CURRENT,0.009,27.55,1
$GPS,170917,223833,7438.325,-15152.317,30,0.8,32,20.2,0.3,358.9,11,8.4