version: 66.13
glider: 196
mission: 14
dive: 372
start: 9 18 117 23 7 44
data:
$ID,196
$MISSION,14
$DIVE,372
$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,35
$R_STBD_OVSHOOT,56
$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,1036.0
$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
$GPS1,180917,225506,7434.5386,-15228.2734,13,0.8,16,19.9,0.0,341.3,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.1
$GPS2,180917,230707,7434.6074,-15228.2451,5,0.9,15,19.9,0.0,31.2,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,205.1,49921,-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,50,begin dive
$GC,53,-0.57,-145.9,198,2185,501,492,0.0,0.0,0,146,0.00,0.00,-91.50,0.000,16386,0.000,0.000,197,2184,2198,2138,2258,0,0,0,0,0,0,14.49,28.83,14.51
$GC,150,-0.57,-145.9,198,2185,2141,2260,4.5,-6.6,9,202,13.15,2.72,-31.60,0.000,18980,0.461,2.163,2382,803,3966,3952,3981,1,0,0,0,0,0,13.30,12.60,13.97
$GC,323,-0.70,-145.9,2383,806,3958,3981,46.9,-12.7,43,328,0.00,2.42,0.00,0.000,1158,0.000,0.086,2382,2164,3968,3956,3981,0,0,0,0,0,0,14.26,14.12,14.31
$GC,634,-0.85,-145.9,2383,2166,3959,3982,84.2,-9.6,75,639,0.22,2.58,0.00,0.000,4516,0.093,0.087,2281,3614,3969,3958,3981,0,0,0,0,0,0,14.03,14.06,14.07
$GC,780,-0.93,-145.9,2281,3615,3960,3981,104.5,-13.8,104,787,0.00,2.40,0.00,0.000,1158,0.000,0.059,2280,2210,3968,3958,3979,0,0,0,0,0,0,14.24,14.11,14.25
$GC,1085,-0.93,-145.9,2281,2210,3960,3981,150.9,-14.5,115,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2209,3970,3960,3980,0,0,0,0,0,0,14.62,14.64,14.64
$GC,1385,-0.98,-145.9,2281,2210,3959,3982,190.4,-12.8,125,1390,0.00,2.53,0.00,0.000,388,0.000,0.085,2273,3619,3967,3959,3976,0,0,0,0,0,0,14.63,14.00,14.63
$GC,1446,-1.12,-145.9,2274,3620,3959,3981,197.7,-11.0,137,1451,0.17,2.42,0.00,0.000,5254,0.106,0.057,2209,2199,3969,3958,3981,0,0,0,0,0,0,14.19,14.13,14.29
$GC,1776,-1.05,-145.9,2209,2200,3959,3982,258.2,-17.7,153,1782,0.12,2.55,0.00,0.000,2436,0.295,0.085,2228,3623,3970,3959,3981,0,0,0,0,0,0,13.32,13.27,13.26
$GC,1842,-1.11,-145.9,2230,3623,3960,3981,267.5,-12.5,166,1847,0.00,2.42,0.00,0.000,1158,0.000,0.057,2229,2198,3969,3958,3981,0,0,0,0,0,0,14.23,14.12,14.30
$GC,2167,-1.11,-145.9,2229,2198,3963,3982,310.2,-12.7,181,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2197,3969,3958,3981,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2468,-1.14,-145.9,2229,2198,3959,3981,346.6,-11.9,191,2473,0.00,2.53,0.00,0.000,388,0.000,0.086,2223,3613,3969,3958,3980,0,0,0,0,0,0,14.62,13.98,14.63
$GC,2558,-1.24,-145.9,2219,3613,3962,3980,356.7,-11.0,209,2564,0.15,2.42,0.00,0.000,5254,0.122,0.056,2162,2194,3968,3958,3979,0,0,0,0,0,0,14.15,14.11,14.26
$GC,2889,-1.14,-145.9,2162,2194,3959,3979,414.0,-17.7,225,2894,0.20,2.53,0.00,0.000,2436,0.289,0.082,2197,3614,3966,3955,3978,0,0,0,0,0,0,13.69,14.00,13.88
$GC,3015,-1.19,-145.9,2197,3615,3954,3979,430.5,-12.0,250,3020,0.00,2.42,0.00,0.000,1158,0.000,0.057,2197,2202,3967,3957,3978,0,0,0,0,0,0,14.16,14.04,14.20
$GC,3343,-1.19,-145.9,2197,2201,3959,3978,474.5,-13.5,265,3347,0.00,2.53,0.00,0.000,260,0.000,0.084,2188,3610,3968,3958,3978,0,0,0,0,0,0,14.38,13.90,14.40
$STATE,3380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3380,begin apogee
$GC,3389,-0.13,0.0,2189,2100,3959,3978,480.3,-13.3,273,3628,1.38,0.00,234.88,1.372,10246,0.236,0.000,2528,2099,3363,3390,3337,0,0,0,0,0,0,13.62,13.47,12.66
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3634,0.57,145.9,2529,2100,3380,3327,494.3,0.0,281,4029,0.75,2.75,215.52,1.318,10500,0.058,0.074,2781,3520,2744,2780,2709,0,0,0,0,0,0,13.62,12.86,12.21
$GC,4272,0.08,145.9,2781,3521,2775,2710,446.3,14.9,322,4279,0.88,2.47,0.00,0.000,5254,0.342,0.058,2613,2088,2745,2781,2709,0,0,0,0,0,0,13.55,14.00,13.95
$GC,4578,-0.00,202.8,2609,2087,2777,2706,422.6,7.4,333,4668,0.00,0.00,85.72,1.302,8358,0.000,0.000,2608,2087,2532,2585,2479,0,0,0,0,0,0,14.43,13.83,13.06
$GC,4968,-0.05,215.9,2606,2089,2576,2459,386.8,9.4,346,4975,0.17,0.00,5.40,1.408,12454,0.256,0.000,2571,2087,2487,2546,2429,0,0,0,0,0,0,13.84,14.04,13.10
$GC,5268,0.03,278.1,2572,2090,2555,2436,364.9,7.1,356,5389,0.00,0.00,119.85,1.245,8358,0.000,0.000,2571,2087,2230,2289,2171,0,0,0,0,0,0,14.45,13.78,13.03
$GC,5690,0.16,335.1,2570,2088,2266,2149,333.8,7.4,370,5795,0.17,2.58,94.00,1.224,10916,0.106,0.093,2650,691,1990,2041,1939,0,0,0,0,0,0,14.07,13.88,13.11
$GC,5821,0.16,335.1,2647,691,2029,1939,317.7,12.8,391,5826,0.00,2.50,0.00,0.000,1030,0.000,0.079,2651,2101,1981,2028,1934,0,0,0,0,0,0,13.99,13.86,14.02
$GC,6141,0.16,335.1,2651,2101,2026,1922,278.3,12.0,405,6146,0.00,2.50,0.00,0.000,516,0.000,0.090,2650,696,1973,2025,1922,0,0,0,0,0,0,14.59,14.08,14.60
$GC,6162,0.16,335.1,2651,697,2024,1922,276.0,11.2,409,6167,0.00,2.45,0.00,0.000,1030,0.000,0.078,2651,2101,1973,2024,1922,0,0,0,0,0,0,14.29,14.15,14.34
$GC,6472,0.16,336.0,2651,2103,2024,1920,243.0,10.0,421,6477,0.00,2.53,0.00,0.000,548,0.000,0.088,2651,695,1971,2022,1920,0,0,0,0,0,0,14.62,14.05,14.64
$GC,6528,0.23,348.4,2651,696,2022,1919,237.5,9.4,432,6540,0.00,2.47,4.15,1.261,9382,0.000,0.078,2651,2105,1945,1995,1896,0,0,0,0,0,0,14.22,14.09,13.27
$GC,6866,0.24,371.6,2651,2107,2007,1906,205.9,8.9,449,6925,0.00,0.00,53.35,1.250,8230,0.000,0.000,2650,2108,1841,1878,1804,0,0,0,0,0,0,14.62,14.02,13.23
$GC,7226,0.33,406.2,2651,2106,1864,1799,175.3,8.4,461,7292,0.12,2.55,59.58,1.218,10916,0.126,0.089,2713,682,1705,1730,1680,0,0,0,0,0,0,14.29,14.01,13.21
$GC,7330,0.33,406.2,2713,680,1720,1674,163.6,11.4,481,7335,0.00,2.50,0.00,0.000,1030,0.000,0.076,2721,2101,1696,1719,1673,0,0,0,0,0,0,14.14,14.02,14.19
$GC,7650,0.33,406.2,2713,2103,1719,1666,125.4,11.6,495,7655,0.00,2.50,0.00,0.000,516,0.000,0.089,2713,695,1691,1718,1665,0,0,0,0,0,0,14.59,13.95,14.61
$GC,7726,0.37,406.2,2713,695,1716,1665,117.1,10.7,510,7731,0.00,2.47,0.00,0.000,1158,0.000,0.076,2713,2103,1688,1712,1665,0,0,0,0,0,0,14.12,13.96,14.18
$GC,8034,0.38,422.3,2716,2105,1715,1663,86.4,9.3,532,8046,0.00,2.58,7.20,0.387,8740,0.000,0.086,2713,695,1643,1673,1613,0,0,0,0,0,0,14.56,13.97,13.53
$GC,8061,0.42,438.6,2713,696,1678,1618,83.7,9.2,537,8078,0.00,2.50,11.15,0.440,9382,0.000,0.076,2713,2109,1577,1607,1547,0,0,0,0,0,0,14.23,14.09,13.63
$GC,8377,0.53,521.3,2712,2109,1618,1557,60.3,6.2,570,8435,0.12,2.58,49.90,0.371,10916,0.125,0.090,2777,697,1239,1294,1184,0,0,0,0,0,0,14.09,14.07,13.68
$GC,8556,0.62,570.2,2778,697,1297,1194,45.1,7.7,605,8593,0.00,2.50,29.92,0.325,9382,0.000,0.077,2778,2105,1038,1106,970,0,0,0,0,0,0,14.07,13.97,13.63
$GC,8891,0.80,683.6,2778,2106,1109,984,22.4,4.8,642,8967,0.15,2.53,71.03,0.253,10916,0.116,0.090,2851,695,574,613,536,0,0,0,0,0,0,14.18,13.85,13.68
$GC,8980,0.81,699.2,2850,695,615,535,14.7,9.3,658,8997,0.00,2.47,9.80,0.249,9254,0.000,0.075,2850,2102,512,532,493,0,0,0,0,0,0,14.20,14.06,13.79
$STATE,9100,end climb,SURFACE_DEPTH_REACHED
$STATE,9100,begin surface coast
$FINISH,0.1,1.020787
$STATE,9122,end surface coast,CONTROL_FINISHED_OK
$STATE,9122,begin surface
$SM_CCo,9145,1.10,0.272,0,0,500,702.78
$SM_GC,2.02,8.23,0.17,1.10,0.077,0.093,0.272,204,2234,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.26,14.33,13.88
$RAFOS_CLK,261
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7443.99,-15023.41,180917,201756
$TT8_MAMPS,0.040446,1.02763
$HUMID,47.40
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15911649280.000000
$PM_FREEKB_00,45655808
$24V_AH,12.21,223.227
$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,26.000,80.825,1051.450,1.100,0.000,0.000,0.000,418.750,2.250,0.000,19.328,0.000,6269.276,948.821,2302.895,360.343,0.000,2342.854,0.000,968.207,2138.000,0.539,0.000
$DEVICE_MAMPS,461.295,2163.420,1408.365,271.575,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8758.000,9113.000,9097.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.096,20.000,9.896,0.000
$MEM,323432
$DATA_FILE_SIZE,23432,674
$CAP_FILE_SIZE,99248,0
$CFSIZE,2097872896,1982595072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.048,4.02,1
$GPS,190917,014133,7434.116,-15231.865,35,0.8,36,19.9,0.0,0.0,11,8.7