version: 66.13
glider: 196
mission: 14
dive: 373
start: 9 19 117 1 53 18
data:
$ID,196
$MISSION,14
$DIVE,373
$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,27
$R_STBD_OVSHOOT,49
$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,1039.0
$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
$GPS1,190917,014133,7434.1157,-15231.8652,35,0.8,36,19.9,0.0,0.0,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.0
$GPS2,190917,015247,7434.1719,-15231.8184,8,0.8,10,19.9,0.0,70.9,11,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,203.9,48014,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,201,2236,504,490,0.0,0.0,0,145,0.00,0.00,-91.62,0.000,16386,0.000,0.000,200,2235,2216,2154,2278,0,0,0,0,0,0,14.50,28.83,14.52
$GC,149,-0.57,-145.9,201,2236,2158,2278,4.7,-7.5,9,202,13.10,2.90,-30.42,0.000,18980,0.460,2.168,2383,797,3961,3940,3983,0,0,0,0,0,0,13.54,12.61,13.98
$GC,327,-0.71,-145.9,2384,798,3950,3984,46.9,-12.6,44,334,0.00,2.47,0.00,0.000,1158,0.000,0.085,2383,2177,3966,3950,3983,0,0,0,0,0,0,14.20,14.04,14.24
$GC,632,-0.86,-145.9,2384,2179,3951,3984,83.2,-9.5,75,637,0.22,2.55,0.00,0.000,4516,0.093,0.087,2281,3607,3967,3951,3984,0,0,0,0,0,0,14.04,14.00,14.06
$GC,750,-0.92,-145.9,2281,3609,3952,3985,99.3,-13.8,98,756,0.00,2.42,0.00,0.000,1158,0.000,0.060,2281,2199,3967,3951,3983,0,0,0,0,0,0,14.09,13.94,14.11
$GC,1053,-0.92,-145.9,2282,2199,3952,3984,146.6,-14.7,109,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2197,3967,3951,3983,0,0,0,0,0,0,14.61,14.63,14.62
$GC,1353,-0.97,-145.9,2282,2198,3952,3983,186.6,-13.0,119,1358,0.00,2.53,0.00,0.000,388,0.000,0.086,2273,3617,3967,3951,3983,0,0,0,0,0,0,14.62,14.04,14.62
$GC,1414,-1.11,-145.9,2272,3619,3952,3982,193.6,-10.8,131,1419,0.15,2.42,0.00,0.000,5254,0.114,0.059,2212,2202,3967,3951,3983,0,0,0,0,0,0,14.12,14.07,14.21
$GC,1745,-1.05,-145.9,2214,2197,3952,3983,252.6,-16.9,147,1745,0.00,0.00,0.00,0.000,134,0.000,0.000,2213,2197,3967,3951,3983,0,0,0,0,0,0,14.62,14.62,14.63
$GC,2045,-1.03,-145.9,2214,2198,3952,3984,299.2,-14.8,157,2050,0.12,2.50,0.00,0.000,2436,0.292,0.084,2235,3608,3967,3951,3983,0,0,0,0,0,0,13.85,14.04,13.98
$GC,2175,-1.14,-145.9,2236,3609,3952,3984,313.6,-10.3,183,2180,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2199,3967,3951,3983,0,0,0,0,0,0,14.14,14.07,14.27
$GC,2496,-1.18,-145.9,2236,2200,3951,3984,350.5,-11.3,197,2497,0.00,0.00,0.00,0.000,134,0.000,0.000,2235,2198,3967,3951,3983,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2796,-1.24,-145.9,2236,2199,3952,3983,383.5,-10.9,207,2801,0.15,2.53,0.00,0.000,4484,0.130,0.084,2159,3617,3967,3951,3983,0,0,0,0,0,0,14.20,14.02,14.24
$GC,2894,-1.20,-145.9,2162,3618,3952,3983,398.3,-16.0,226,2899,0.15,2.42,0.00,0.000,3206,0.268,0.058,2189,2199,3966,3949,3983,0,0,0,0,0,0,13.74,14.09,14.04
$GC,3220,-1.17,-145.9,2190,2199,3951,3984,445.7,-14.2,241,3225,0.00,2.53,0.00,0.000,388,0.000,0.085,2183,3608,3966,3950,3983,0,0,0,0,0,0,14.64,14.03,14.66
$GC,3271,-1.17,-145.9,2183,3609,3951,3984,452.9,-13.7,251,3275,0.00,2.42,0.00,0.000,1030,0.000,0.057,2183,2199,3966,3950,3983,0,0,0,0,0,0,14.10,13.91,14.15
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3465,-0.13,0.0,2184,2056,3951,3983,480.9,-14.8,259,3685,1.40,0.08,216.40,1.423,10246,0.245,0.181,2528,2107,3365,3376,3354,0,0,0,0,0,0,13.69,13.51,12.72
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3694,0.57,145.9,2529,2107,3373,3348,493.1,0.0,266,3913,0.75,2.65,211.35,1.371,11012,0.058,0.073,2786,3498,2762,2793,2731,0,0,0,0,0,0,13.76,12.90,12.28
$GC,4016,0.07,145.9,2786,3497,2781,2729,494.3,15.1,335,4021,0.95,2.42,0.00,0.000,5254,0.344,0.055,2610,2131,2754,2780,2728,0,0,0,0,0,0,13.15,13.50,13.54
$GC,4332,-0.02,197.4,2611,2131,2781,2726,468.9,7.6,348,4408,0.17,0.00,73.72,1.397,12454,0.275,0.000,2574,2130,2559,2609,2509,0,0,0,0,0,0,13.75,13.85,13.02
$GC,4692,0.01,251.2,2574,2131,2603,2491,442.5,7.5,360,4778,0.00,2.58,79.28,1.376,8740,0.000,0.090,2576,695,2335,2383,2287,0,0,0,0,0,0,14.55,13.68,13.05
$GC,4816,0.15,295.8,2576,695,2378,2285,433.1,7.9,384,4888,0.17,2.47,66.70,1.361,11430,0.106,0.080,2651,2093,2156,2204,2108,0,0,0,0,0,0,14.09,14.01,12.97
$GC,5204,0.09,295.8,2652,2094,2190,2093,381.7,13.4,412,5205,0.17,0.00,0.00,0.000,4230,0.236,0.000,2612,2094,2141,2190,2092,0,0,0,0,0,0,13.93,14.21,14.13
$GC,5504,0.09,295.8,2613,2095,2189,2091,350.5,10.3,422,5509,0.00,2.50,0.00,0.000,516,0.000,0.089,2613,692,2139,2188,2091,0,0,0,0,0,0,14.61,14.04,14.62
$GC,5560,0.18,304.7,2613,692,2188,2092,344.9,9.6,433,5570,0.00,2.47,4.60,1.642,9382,0.000,0.077,2613,2100,2123,2171,2076,0,0,0,0,0,0,14.23,14.09,13.24
$GC,5898,0.20,305.8,2613,2101,2172,2076,311.1,10.0,450,5900,0.10,0.00,0.00,0.000,2214,0.143,0.000,2667,2106,2123,2171,2076,0,0,0,0,0,0,14.35,14.43,14.40
$GC,6196,0.13,305.8,2668,2100,2170,2076,272.6,12.8,460,6202,0.15,2.50,0.00,0.000,4740,0.250,0.086,2633,689,2123,2171,2076,0,0,0,0,0,0,13.90,14.13,14.04
$GC,6232,0.18,306.8,2634,690,2171,2076,268.6,10.0,467,6243,0.00,2.47,3.20,1.392,9382,0.000,0.079,2633,2105,2114,2161,2068,0,0,0,0,0,0,14.31,14.16,13.03
$GC,6559,0.20,332.0,2633,2106,2165,2070,239.1,8.8,482,6614,0.00,2.55,46.40,1.373,8740,0.000,0.086,2630,707,2008,2049,1968,0,0,0,0,0,0,14.62,14.07,13.21
$GC,6657,0.33,369.3,2634,697,2045,1968,230.8,8.3,501,6725,0.17,2.47,62.20,1.287,11430,0.099,0.078,2710,2105,1860,1887,1833,0,0,0,0,0,0,14.13,14.04,13.12
$GC,7041,0.28,369.3,2701,2107,1874,1822,183.6,12.0,528,7046,0.12,2.53,0.00,0.000,4740,0.223,0.086,2673,687,1847,1873,1821,0,0,0,0,0,0,13.97,14.09,14.08
$GC,7102,0.37,384.2,2673,687,1873,1821,177.4,9.3,540,7128,0.00,2.50,21.38,1.381,9382,0.000,0.078,2672,2103,1798,1821,1776,0,0,0,0,0,0,14.12,13.97,13.28
$GC,7436,0.42,409.7,2673,2103,1814,1764,146.6,8.8,556,7488,0.12,2.55,44.33,1.287,10916,0.132,0.089,2740,698,1689,1708,1671,0,0,0,0,0,0,14.26,14.04,13.25
$GC,7536,0.40,409.7,2740,697,1705,1670,134.2,12.9,576,7542,0.12,2.47,0.00,0.000,5254,0.235,0.077,2715,2103,1687,1704,1670,0,0,0,0,0,0,13.98,14.12,14.19
$GC,7875,0.40,409.7,2715,2104,1704,1664,97.2,10.2,590,7880,0.00,2.53,0.00,0.000,516,0.000,0.088,2715,692,1683,1704,1662,0,0,0,0,0,0,14.40,13.98,14.42
$GC,7916,0.44,418.2,2715,691,1702,1664,93.0,9.6,598,7926,0.00,2.47,3.45,0.440,9382,0.000,0.077,2720,2098,1662,1684,1640,0,0,0,0,0,0,14.16,14.04,13.49
$GC,8226,0.51,478.5,2715,2101,1687,1639,65.9,7.2,630,8268,0.00,2.55,34.62,0.396,8868,0.000,0.088,2714,697,1413,1448,1378,0,0,0,0,0,0,14.38,13.97,13.66
$GC,8346,0.71,557.0,2715,697,1450,1377,58.6,6.4,653,8398,0.28,2.50,44.40,0.369,11430,0.081,0.078,2815,2105,1091,1154,1029,0,0,0,0,0,0,14.11,13.98,13.64
$GC,8704,0.76,633.5,2817,2105,1154,1025,21.0,6.5,694,8755,0.00,2.58,43.03,0.264,8740,0.000,0.088,2819,705,779,843,716,0,0,0,0,0,0,14.38,13.83,13.75
$GC,8841,0.91,685.6,2818,706,844,714,11.0,7.6,721,8878,0.17,2.47,30.55,0.232,11430,0.102,0.076,2887,2100,567,603,531,0,0,0,0,0,0,13.97,13.90,13.71
$STATE,8923,end climb,SURFACE_DEPTH_REACHED
$STATE,8923,begin surface coast
$FINISH,0.1,1.020972
$STATE,8936,end surface coast,CONTROL_FINISHED_OK
$STATE,8936,begin surface
$SM_CCo,8958,10.20,0.213,0,0,500,702.78
$SM_GC,2.31,8.45,0.17,10.20,0.079,0.118,0.213,203,2214,500,-7.38,-0.74,702.78,0,0,0,0,0,0,14.12,14.10,13.81
$RAFOS_CLK,71
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.10,-15228.08,180917,230001
$TT8_MAMPS,0.085386,0.963214
$HUMID,44.95
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15911124992.000000
$PM_FREEKB_00,45632576
$24V_AH,12.28,223.712
$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,27.225,80.750,985.600,10.200,0.000,0.000,0.000,383.350,3.000,0.000,11.587,0.000,6404.806,855.491,2024.267,369.638,0.000,2073.942,0.000,1053.310,2217.000,0.539,0.000
$DEVICE_MAMPS,459.765,2168.010,1641.690,212.670,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8925.000,8937.000,8909.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.335,20.000,9.865,0.000
$MEM,323768
$DATA_FILE_SIZE,26737,734
$CAP_FILE_SIZE,102074,0
$CFSIZE,2097872896,1982332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.7
$CURRENT,0.059,26.17,1
$GPS,190917,042405,7433.657,-15235.437,17,0.7,30,19.9,0.5,311.7,10,9.7