version: 66.13
glider: 196
mission: 14
dive: 371
start: 9 18 117 20 23 18
data:
$ID,196
$MISSION,14
$DIVE,371
$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,37
$R_STBD_OVSHOOT,54
$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,1034.0
$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
$GPS1,180917,201332,7434.9814,-15224.8525,27,0.8,27,19.9,0.0,0.0,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.9
$GPS2,180917,202242,7435.0269,-15224.8242,8,0.8,8,19.9,0.0,311.1,9,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,201.7,51753,-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,50,end surface,CONTROL_FINISHED_OK
$STATE,51,begin dive
$GC,54,-0.57,-145.9,200,2193,519,478,0.0,0.0,0,136,0.00,0.00,-80.32,0.000,16386,0.000,0.000,199,2193,1941,1869,2013,0,0,0,0,0,0,14.34,28.83,14.33
$GC,139,-0.57,-145.9,200,2191,1871,2017,3.1,-3.2,8,202,12.93,2.75,-42.30,0.000,18980,0.454,2.157,2387,800,3964,3952,3977,0,0,0,0,0,0,13.54,12.97,14.02
$GC,328,-0.71,-145.9,2381,800,3956,3979,42.5,-13.1,45,334,0.00,2.45,0.00,0.000,1158,0.000,0.085,2381,2166,3965,3952,3979,0,0,0,0,0,0,14.13,13.99,14.19
$GC,633,-0.84,-145.9,2382,2167,3958,3979,83.0,-10.1,76,638,0.20,2.60,0.00,0.000,4484,0.102,0.087,2293,3615,3967,3956,3979,0,0,0,0,0,0,14.11,14.00,14.14
$GC,766,-0.94,-145.9,2293,3614,3957,3979,100.8,-13.1,102,771,0.00,2.42,0.00,0.000,1158,0.000,0.059,2293,2211,3967,3956,3979,0,0,0,0,0,0,14.13,14.03,14.15
$GC,1089,-0.97,-145.9,2293,2210,3958,3978,147.5,-13.5,116,1090,0.00,0.00,0.00,0.000,134,0.000,0.000,2293,2210,3968,3957,3979,0,0,0,0,0,0,14.39,14.41,14.40
$GC,1387,-1.04,-145.9,2293,2210,3957,3980,184.3,-11.8,126,1392,0.12,2.50,0.00,0.000,4484,0.134,0.083,2235,3619,3968,3957,3979,0,0,0,0,0,0,14.24,14.03,14.27
$GC,1428,-1.07,-145.9,2239,3621,3953,3979,190.2,-15.1,134,1433,0.00,2.42,0.00,0.000,1158,0.000,0.058,2236,2201,3965,3956,3975,0,0,0,0,0,0,14.24,14.11,14.28
$GC,1749,-1.05,-145.9,2236,2201,3957,3980,242.3,-15.6,148,1754,0.00,2.53,0.00,0.000,388,0.000,0.086,2231,3617,3968,3957,3979,0,0,0,0,0,0,14.62,13.93,14.63
$GC,1824,-1.13,-145.9,2231,3618,3958,3979,252.9,-12.9,163,1830,0.00,2.45,0.00,0.000,1158,0.000,0.058,2229,2190,3967,3956,3979,0,0,0,0,0,0,14.23,14.06,14.28
$GC,2140,-1.13,-145.9,2231,2189,3958,3979,295.2,-12.9,176,2145,0.00,2.55,0.00,0.000,260,0.000,0.086,2223,3615,3968,3957,3979,0,0,0,0,0,0,14.62,13.98,14.63
$GC,2201,-1.21,-145.9,2225,3617,3951,3979,302.5,-11.7,188,2206,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2200,3967,3956,3979,0,0,0,0,0,0,14.24,14.12,14.28
$GC,2531,-1.21,-145.9,2223,2200,3957,3979,344.2,-12.5,204,2536,0.00,2.55,0.00,0.000,260,0.000,0.088,2222,3623,3967,3956,3979,0,0,0,0,0,0,14.63,14.04,14.67
$GC,2582,-1.32,-145.9,2223,3625,3955,3979,350.1,-11.1,214,2587,0.22,2.42,0.00,0.000,5254,0.098,0.057,2143,2200,3967,3955,3979,0,0,0,0,0,0,14.19,14.12,14.28
$GC,2893,-1.17,-145.9,2144,2199,3956,3978,410.5,-19.8,226,2898,0.22,2.53,0.00,0.000,2436,0.315,0.081,2180,3624,3964,3954,3974,0,0,0,0,0,0,13.59,13.97,13.80
$GC,3005,-1.17,-145.9,2181,3626,3955,3979,427.4,-14.1,248,3010,0.00,2.45,0.00,0.000,1030,0.000,0.060,2180,2195,3964,3954,3974,0,0,0,0,0,0,14.23,14.09,14.26
$GC,3316,-1.12,-145.9,2179,2194,3955,3977,475.3,-15.3,260,3321,0.12,2.53,0.00,0.000,2436,0.314,0.082,2198,3616,3965,3954,3977,0,0,0,0,0,0,13.75,13.91,13.90
$STATE,3349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3349,begin apogee
$GC,3357,-0.13,0.0,2199,2101,3955,3979,480.3,-13.3,267,3593,1.30,0.00,231.00,1.393,10246,0.226,0.000,2527,2099,3366,3388,3344,0,0,0,0,0,0,13.78,13.54,12.72
$STATE,3596,end apogee,CONTROL_FINISHED_OK
$STATE,3596,begin climb
$GC,3599,0.57,145.9,2527,2100,3377,3336,494.2,0.0,275,3819,0.75,2.70,212.70,1.349,10756,0.061,0.081,2782,698,2762,2801,2724,0,0,0,0,0,0,13.73,12.90,12.29
$GC,4046,0.16,145.9,2782,698,2785,2720,478.8,13.6,366,4052,0.68,2.53,0.00,0.000,5254,0.324,0.076,2640,2112,2749,2782,2717,0,0,0,0,0,0,13.44,13.83,13.84
$GC,4373,-0.01,173.7,2642,2112,2784,2713,449.4,8.7,381,4418,0.22,2.60,36.88,1.440,12964,0.263,0.086,2583,687,2649,2692,2607,0,0,0,0,0,0,13.76,14.02,13.12
$GC,4643,0.04,245.9,2586,686,2690,2599,429.9,6.7,435,4764,0.00,2.47,114.12,1.320,9254,0.000,0.080,2586,2101,2360,2416,2304,0,0,0,0,0,0,14.28,14.14,12.78
$GC,5064,0.09,273.0,2586,2102,2397,2286,394.3,8.7,469,5108,0.00,2.53,39.70,1.383,8868,0.000,0.086,2586,682,2247,2301,2193,0,0,0,0,0,0,14.53,13.78,13.17
$GC,5124,0.18,306.3,2586,683,2293,2196,388.9,8.5,481,5185,0.17,2.50,50.42,1.340,11430,0.103,0.079,2662,2099,2107,2156,2059,0,0,0,0,0,0,14.15,14.07,13.03
$GC,5484,0.11,306.3,2663,2099,2149,2043,338.5,14.0,503,5489,0.15,2.47,0.00,0.000,4740,0.252,0.084,2631,690,2095,2147,2043,0,0,0,0,0,0,13.90,14.12,14.07
$GC,5520,0.14,306.3,2632,690,2145,2044,334.2,11.3,510,5524,0.00,2.47,0.00,0.000,1158,0.000,0.078,2632,2101,2094,2145,2043,0,0,0,0,0,0,14.25,14.09,14.26
$GC,5845,0.14,306.3,2632,2102,2143,2042,298.3,10.8,525,5850,0.00,2.50,0.00,0.000,516,0.000,0.087,2633,682,2092,2144,2040,0,0,0,0,0,0,14.62,14.06,14.66
$GC,5875,0.17,306.3,2633,682,2145,2041,295.0,10.7,531,5880,0.00,2.50,0.00,0.000,1158,0.000,0.078,2633,2104,2092,2143,2041,0,0,0,0,0,0,14.25,14.11,14.28
$GC,6206,0.17,306.3,2633,2106,2142,2040,260.8,10.0,547,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2105,2091,2143,2040,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6506,0.20,342.1,2633,2106,2144,2042,234.7,8.4,557,6568,0.00,2.50,55.15,1.309,8740,0.000,0.085,2633,691,1968,2015,1922,0,0,0,0,0,0,14.64,13.79,13.20
$GC,6611,0.34,386.3,2633,692,1999,1920,226.3,8.0,577,6696,0.17,2.47,79.50,1.226,11430,0.100,0.078,2701,2100,1789,1813,1766,0,0,0,0,0,0,14.18,14.09,13.09
$GC,7021,0.31,386.3,2701,2101,1799,1745,175.9,12.1,609,7026,0.00,2.50,0.00,0.000,644,0.000,0.087,2703,691,1771,1798,1744,0,0,0,0,0,0,14.57,14.09,14.59
$GC,7062,0.33,386.3,2704,691,1797,1744,171.2,11.3,617,7067,0.00,2.47,0.00,0.000,1158,0.000,0.076,2704,2099,1769,1795,1744,0,0,0,0,0,0,14.28,14.14,14.33
$GC,7382,0.30,386.3,2704,2101,1795,1742,135.1,10.7,631,7387,0.00,2.53,0.00,0.000,644,0.000,0.087,2703,685,1768,1795,1742,0,0,0,0,0,0,14.59,14.07,14.62
$GC,7408,0.30,386.3,2703,685,1795,1742,132.3,10.6,636,7415,0.00,2.50,0.00,0.000,1030,0.000,0.077,2704,2104,1767,1793,1742,0,0,0,0,0,0,14.23,14.08,14.27
$GC,7713,0.31,394.1,2704,2104,1794,1742,102.2,9.6,647,7718,0.00,2.50,0.00,0.000,548,0.000,0.086,2704,691,1767,1793,1741,0,0,0,0,0,0,14.61,14.08,14.64
$GC,7779,0.38,424.2,2704,692,1792,1742,96.2,8.6,660,7806,0.00,2.50,18.15,0.474,9382,0.000,0.077,2704,2108,1635,1661,1610,0,0,0,0,0,0,14.16,14.02,13.58
$GC,8104,0.48,485.4,2703,2109,1672,1612,69.8,7.2,695,8145,0.00,0.00,34.15,0.403,8870,0.000,0.000,2703,2108,1384,1428,1341,0,0,0,0,0,0,14.58,14.02,13.66
$GC,8444,0.70,607.2,2704,2109,1431,1348,50.6,4.4,731,8518,0.30,2.55,65.95,0.343,10916,0.083,0.092,2815,686,887,958,816,0,0,0,0,0,0,14.14,13.95,13.69
$GC,8624,0.76,607.2,2816,687,960,823,32.4,10.2,766,8630,0.00,2.50,0.00,0.000,1158,0.000,0.076,2815,2101,889,957,822,0,0,0,0,0,0,14.09,13.94,14.12
$GC,8930,0.87,656.3,2816,2102,960,820,8.2,7.7,797,8960,0.15,0.00,27.75,0.226,10406,0.112,0.000,2882,2102,687,746,628,0,0,0,0,0,0,14.24,13.97,13.71
$STATE,8986,end climb,SURFACE_DEPTH_REACHED
$STATE,8986,begin surface coast
$FINISH,0.5,1.021030
$STATE,8996,end surface coast,CONTROL_FINISHED_OK
$STATE,8996,begin surface
$SM_CCo,9018,27.23,0.209,0,0,501,702.78
$SM_GC,1.34,8.25,0.17,27.23,0.071,0.099,0.209,203,2239,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.29,13.88
$RAFOS_CLK,401
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7436.14,-15220.90,180917,174132
$TT8_MAMPS,0.039697,1.18417
$HUMID,48.14
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15912173568.000000
$PM_FREEKB_00,45682048
$24V_AH,12.29,222.737
$10V_AH,12.14,0.000
$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,25.975,90.750,965.475,27.225,0.000,0.000,0.000,299.425,4.250,0.000,9.551,0.000,6373.690,861.330,2053.648,321.475,0.000,2045.271,0.000,1152.165,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,2157.300,1440.495,208.845,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8978.000,9000.000,8971.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.844,20.000,9.895,0.000
$MEM,323244
$DATA_FILE_SIZE,26700,804
$CAP_FILE_SIZE,102740,0
$CFSIZE,2097872896,1982857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.3
$CURRENT,0.051,12.44,1
$GPS,180917,225506,7434.539,-15228.273,13,0.8,16,19.9,0.0,341.3,11,10.0