version: 66.13
glider: 196
mission: 14
dive: 365
start: 9 18 117 4 23 38
data:
$ID,196
$MISSION,14
$DIVE,365
$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,23
$R_STBD_OVSHOOT,25
$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,1017.0
$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
$GPS1,180917,040635,7437.4316,-15200.6396,15,0.7,22,20.1,0.6,353.3,12,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.9
$GPS2,180917,042302,7437.5347,-15200.7217,4,0.8,25,20.1,0.4,330.4,11,7.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,212.9,64279,-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,-145.9,191,2217,517,477,0.0,0.0,0,144,0.00,0.00,-90.97,0.000,16386,0.000,0.000,189,2218,2188,2119,2258,0,0,0,0,0,0,14.38,28.83,14.40
$GC,148,-0.57,-145.9,189,2219,2124,2259,4.5,-7.0,9,200,13.07,2.83,-31.70,0.000,18980,0.457,2.165,2384,790,3965,3951,3980,0,0,0,0,0,0,13.57,12.59,14.04
$GC,315,-0.70,-145.9,2384,790,3954,3981,43.6,-13.6,42,321,0.00,2.50,0.00,0.000,1158,0.000,0.086,2382,2195,3967,3954,3980,0,0,0,0,0,0,14.20,14.04,14.24
$GC,620,-0.83,-145.9,2382,2196,3955,3980,84.5,-10.0,73,627,0.20,2.53,0.00,0.000,4516,0.109,0.087,2293,3613,3967,3955,3980,0,0,0,0,0,0,14.12,14.02,14.18
$GC,729,-0.93,-145.9,2293,3614,3956,3979,99.3,-12.9,94,735,0.00,2.42,0.00,0.000,1158,0.000,0.058,2293,2195,3967,3955,3980,0,0,0,0,0,0,14.20,14.08,14.23
$GC,1034,-0.96,-145.9,2293,2195,3956,3982,144.3,-13.8,105,1035,0.00,0.00,0.00,0.000,134,0.000,0.000,2293,2194,3967,3955,3980,0,0,0,0,0,0,14.46,14.48,14.47
$GC,1332,-1.03,-145.9,2293,2195,3956,3981,181.5,-12.1,115,1337,0.12,2.55,0.00,0.000,4484,0.136,0.083,2236,3619,3967,3955,3980,0,0,0,0,0,0,14.27,14.05,14.28
$GC,1378,-1.07,-145.9,2236,3620,3956,3980,188.3,-15.5,124,1383,0.00,2.45,0.00,0.000,1158,0.000,0.060,2235,2193,3967,3955,3980,0,0,0,0,0,0,14.21,14.03,14.24
$GC,1694,-1.04,-145.9,2236,2190,3956,3981,240.6,-16.1,137,1699,0.00,2.53,0.00,0.000,388,0.000,0.083,2227,3618,3967,3955,3980,0,0,0,0,0,0,14.71,14.00,14.73
$GC,1765,-1.09,-145.9,2227,3621,3956,3981,250.9,-13.3,151,1770,0.00,2.42,0.00,0.000,1158,0.000,0.060,2227,2198,3967,3955,3980,0,0,0,0,0,0,14.22,14.09,14.26
$GC,2085,-1.09,-145.9,2227,2199,3956,3981,296.5,-13.8,165,2091,0.00,2.50,0.00,0.000,260,0.000,0.086,2223,3610,3967,3955,3980,0,0,0,0,0,0,14.73,14.09,14.75
$GC,2132,-1.17,-145.9,2223,3612,3956,3981,302.6,-12.7,174,2136,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2197,3967,3955,3980,0,0,0,0,0,0,14.29,14.16,14.33
$GC,2447,-1.17,-145.9,2222,2197,3956,3981,343.2,-12.5,187,2452,0.00,2.50,0.00,0.000,260,0.000,0.086,2222,3610,3967,3955,3980,0,0,0,0,0,0,14.75,14.08,14.78
$GC,2497,-1.26,-145.9,2223,3613,3956,3980,349.0,-10.8,197,2504,0.17,2.40,0.00,0.000,5254,0.108,0.057,2157,2193,3967,3955,3980,0,0,0,0,0,0,14.23,14.16,14.33
$GC,2809,-1.15,-145.9,2157,2197,3955,3980,404.8,-18.4,209,2815,0.20,2.50,0.00,0.000,2436,0.317,0.081,2190,3614,3967,3954,3980,0,0,0,0,0,0,13.67,14.03,13.88
$GC,2903,-1.18,-145.9,2190,3615,3954,3981,418.0,-13.1,227,2908,0.00,2.40,0.00,0.000,1158,0.000,0.057,2190,2203,3967,3954,3980,0,0,0,0,0,0,14.29,14.16,14.33
$GC,3233,-1.15,-145.9,2191,2202,3955,3980,466.4,-14.6,243,3238,0.00,2.50,0.00,0.000,388,0.000,0.084,2184,3620,3966,3954,3979,0,0,0,0,0,0,14.70,14.08,14.73
$GC,3294,-1.18,-145.9,2184,3621,3954,3981,474.9,-13.5,255,3298,0.00,2.42,0.00,0.000,1158,0.000,0.057,2184,2199,3966,3953,3980,0,0,0,0,0,0,14.28,14.15,14.33
$STATE,3351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3351,begin apogee
$GC,3358,-0.13,0.0,2185,2058,3954,3981,483.7,-14.7,262,3596,1.40,0.08,231.18,1.394,10246,0.245,0.184,2528,2109,3361,3378,3344,0,0,0,0,0,0,13.75,13.55,12.72
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,0.57,145.9,2528,2110,3374,3339,497.6,0.0,270,3823,0.75,2.65,216.20,1.348,10756,0.059,0.076,2795,729,2766,2801,2731,0,0,0,0,0,0,13.76,12.91,12.30
$GC,4049,0.14,145.9,2795,730,2785,2721,484.5,13.6,361,4055,0.77,2.45,0.00,0.000,5254,0.322,0.074,2629,2105,2751,2784,2718,0,0,0,0,0,0,13.38,13.71,13.77
$GC,4371,-0.01,180.9,2633,2105,2786,2714,456.4,8.4,375,4427,0.20,2.53,50.90,1.382,12964,0.270,0.084,2589,727,2622,2669,2575,0,0,0,0,0,0,13.76,13.98,13.08
$GC,4602,0.03,237.3,2589,728,2663,2563,439.4,7.4,421,4697,0.00,2.40,88.03,1.328,9254,0.000,0.080,2588,2099,2393,2449,2338,0,0,0,0,0,0,14.24,14.13,13.03
$GC,5003,0.05,264.2,2589,2100,2430,2319,405.0,8.8,451,5041,0.00,0.00,36.72,1.369,8230,0.000,0.000,2589,2099,2289,2340,2239,0,0,0,0,0,0,14.52,14.01,13.18
$GC,5333,0.11,290.3,2589,2099,2325,2218,375.8,8.8,462,5378,0.00,2.45,39.00,1.367,8868,0.000,0.087,2589,728,2173,2219,2127,0,0,0,0,0,0,14.59,14.04,13.19
$GC,5394,0.21,330.8,2589,729,2212,2126,370.5,8.1,474,5465,0.17,2.42,65.30,1.287,11430,0.105,0.079,2666,2100,2014,2059,1970,0,0,0,0,0,0,14.16,14.09,13.07
$GC,5785,0.15,330.8,2666,2099,2036,1944,316.0,14.0,502,5790,0.12,2.42,0.00,0.000,4740,0.262,0.083,2644,724,1993,2041,1945,0,0,0,0,0,0,13.93,14.11,14.09
$GC,5851,0.20,330.8,2645,724,2040,1945,308.2,10.9,515,5856,0.00,2.45,0.00,0.000,1158,0.000,0.077,2643,2105,1992,2039,1945,0,0,0,0,0,0,14.28,14.14,14.35
$GC,6177,0.20,330.8,2645,2106,2039,1941,270.3,11.2,530,6182,0.00,2.47,0.00,0.000,516,0.000,0.086,2644,721,1991,2041,1942,0,0,0,0,0,0,14.59,14.12,14.61
$GC,6217,0.26,330.8,2645,721,2038,1942,266.0,10.3,538,6222,0.00,2.42,0.00,0.000,1158,0.000,0.077,2644,2101,1989,2037,1942,0,0,0,0,0,0,14.29,14.15,14.35
$GC,6538,0.27,345.5,2644,2101,2038,1941,234.5,9.3,552,6557,0.00,2.42,13.93,1.442,8740,0.000,0.086,2644,720,1953,1998,1908,0,0,0,0,0,0,14.62,14.19,13.31
$GC,6583,0.34,371.0,2645,720,1990,1907,230.5,8.8,561,6634,0.15,2.40,44.70,1.266,11430,0.113,0.078,2703,2101,1850,1878,1822,0,0,0,0,0,0,14.29,14.21,13.21
$GC,6960,0.29,371.0,2704,2101,1859,1806,183.2,12.4,586,6965,0.00,2.45,0.00,0.000,644,0.000,0.085,2709,724,1832,1858,1806,0,0,0,0,0,0,14.59,14.12,14.60
$GC,6995,0.27,371.0,2710,725,1858,1805,178.9,11.8,593,7002,0.17,2.40,0.00,0.000,5254,0.211,0.076,2669,2100,1831,1857,1806,0,0,0,0,0,0,14.00,14.16,14.20
$GC,7322,0.33,395.3,2669,2101,1857,1807,148.7,8.9,608,7367,0.00,2.50,36.97,1.265,8868,0.000,0.089,2669,727,1748,1769,1727,0,0,0,0,0,0,14.65,14.10,13.23
$GC,7392,0.45,432.1,2670,727,1761,1724,142.9,8.3,622,7467,0.17,2.42,66.00,1.175,11430,0.109,0.079,2744,2111,1599,1624,1575,0,0,0,0,0,0,14.22,14.15,13.16
$GC,7773,0.40,432.1,2744,2111,1617,1552,94.5,12.0,650,7778,0.12,2.45,0.00,0.000,4740,0.239,0.085,2713,728,1583,1616,1551,0,0,0,0,0,0,13.97,14.07,14.04
$GC,7849,0.50,459.2,2714,729,1612,1552,87.3,8.8,665,7870,0.00,2.42,13.90,0.426,9382,0.000,0.077,2713,2106,1496,1530,1462,0,0,0,0,0,0,14.04,13.93,13.56
$GC,8176,0.65,547.8,2714,2106,1536,1467,62.3,5.9,700,8237,0.22,0.00,55.05,0.377,10406,0.088,0.000,2800,2106,1132,1193,1072,0,0,0,0,0,0,14.25,13.86,13.62
$GC,8536,0.67,576.6,2800,2107,1189,1081,28.2,8.7,736,8558,0.00,2.53,17.80,0.278,8740,0.000,0.088,2802,728,1014,1077,951,0,0,0,0,0,0,14.54,13.95,13.71
$GC,8669,0.87,692.1,2802,727,1079,961,19.2,4.7,762,8747,0.17,2.42,72.25,0.249,11430,0.103,0.076,2875,2106,540,570,510,0,0,0,0,0,0,14.00,13.91,13.84
$STATE,8839,end climb,SURFACE_DEPTH_REACHED
$STATE,8840,begin surface coast
$FINISH,0.5,1.020934
$STATE,8850,end surface coast,CONTROL_FINISHED_OK
$STATE,8850,begin surface
$SM_CCo,8872,7.88,0.212,0,0,503,702.78
$SM_GC,2.30,8.25,0.17,7.88,0.072,0.106,0.212,204,2244,503,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.26,13.88
$RAFOS_CLK,396
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.88,-15158.99,180917,041508
$TT8_MAMPS,0.039697,0.872585
$HUMID,47.20
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,15915286528.000000
$PM_FREEKB_00,45919360
$24V_AH,12.30,219.888
$10V_AH,12.15,0.000
$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,26.475,89.375,1047.925,7.875,0.000,0.000,0.000,595.600,4.750,0.000,27.145,0.000,6313.647,906.430,2309.641,352.019,0.000,2386.721,0.000,1127.878,0.000,0.540,0.000
$DEVICE_MAMPS,457.470,2164.950,1442.025,211.905,0.000,0.000,0.000,151.470,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5229.000,8856.000,8824.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.195,20.000,12.386,0.000
$MEM,323388
$DATA_FILE_SIZE,26655,788
$CAP_FILE_SIZE,108134,0
$CFSIZE,2097872896,1984200704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$CURRENT,0.018,349.16,1
$GPS,180917,065252,7437.103,-15205.039,15,0.9,27,20.1,0.2,36.6,8,9.6