version: 66.13
glider: 196
mission: 14
dive: 377
start: 9 19 117 12 36 45
data:
$ID,196
$MISSION,14
$DIVE,377
$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,32
$R_STBD_OVSHOOT,36
$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,1049.0
$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
$GPS1,190917,122957,7432.3892,-15245.5977,54,0.8,55,19.8,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.5
$GPS2,190917,123611,7432.3999,-15245.5957,24,0.8,25,19.8,0.0,74.3,10,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.5,40598,-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,-145.9,185,2195,496,477,0.0,0.0,0,146,0.00,0.00,-91.05,0.000,16386,0.000,0.000,184,2195,2169,2102,2236,0,0,0,0,0,0,14.32,28.83,14.34
$GC,149,-0.57,-145.9,182,2196,2109,2237,4.1,-5.5,9,203,12.80,2.78,-33.28,0.000,19236,0.450,2.165,2384,798,3966,3947,3985,1,0,0,0,0,0,13.29,12.59,13.92
$GC,211,-0.37,-145.9,2385,796,3958,3981,25.3,-30.3,20,219,0.35,2.42,0.00,0.000,3206,0.294,0.067,2451,2187,3965,3950,3980,0,0,0,0,0,0,13.76,13.98,14.04
$GC,514,-0.63,-145.9,2451,2189,3955,3982,54.3,-6.5,51,519,0.22,2.45,0.00,0.000,4772,0.096,0.077,2358,792,3968,3955,3981,0,0,0,0,0,0,14.20,13.94,14.24
$GC,660,-0.77,-145.9,2359,792,3956,3981,70.6,-11.1,80,667,0.00,2.50,0.00,0.000,1158,0.000,0.087,2358,2192,3968,3955,3981,0,0,0,0,0,0,14.09,13.93,14.13
$GC,965,-0.90,-145.9,2358,2194,3955,3982,103.1,-9.4,109,970,0.17,2.55,0.00,0.000,4516,0.112,0.086,2270,3622,3967,3955,3980,0,0,0,0,0,0,14.23,13.90,14.26
$GC,1126,-0.98,-145.9,2270,3624,3956,3982,125.2,-13.3,141,1131,0.00,2.42,0.00,0.000,1158,0.000,0.059,2269,2204,3968,3955,3981,0,0,0,0,0,0,14.21,14.07,14.24
$GC,1446,-0.98,-145.9,2270,2202,3956,3981,174.9,-14.8,155,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2202,3968,3955,3981,0,0,0,0,0,0,14.61,14.62,14.62
$GC,1747,-1.01,-145.9,2270,2203,3955,3982,215.5,-13.0,165,1751,0.00,2.55,0.00,0.000,388,0.000,0.085,2260,3630,3967,3955,3979,0,0,0,0,0,0,14.61,14.05,14.63
$GC,1822,-1.13,-145.9,2266,3634,3956,3982,224.5,-11.1,180,1828,0.15,2.45,0.00,0.000,5254,0.122,0.057,2205,2199,3968,3955,3981,0,0,0,0,0,0,14.16,14.12,14.26
$GC,2139,-1.06,-145.9,2206,2198,3956,3981,279.6,-16.8,193,2145,0.12,2.55,0.00,0.000,2436,0.301,0.083,2221,3625,3967,3954,3981,0,0,0,0,0,0,13.81,14.03,13.96
$GC,2205,-1.13,-145.9,2222,3627,3955,3982,288.3,-11.8,206,2210,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2199,3968,3955,3981,0,0,0,0,0,0,14.23,14.11,14.28
$GC,2530,-1.13,-145.9,2223,2198,3956,3981,331.1,-12.9,221,2535,0.00,2.55,0.00,0.000,260,0.000,0.089,2222,3623,3968,3955,3981,0,0,0,0,0,0,14.63,13.94,14.64
$GC,2606,-1.24,-145.9,2223,3625,3954,3982,339.8,-10.5,236,2612,0.12,2.45,0.00,0.000,5254,0.134,0.057,2167,2195,3967,3954,3981,0,0,0,0,0,0,14.02,13.95,14.16
$GC,2923,-1.14,-145.9,2168,2194,3955,3981,393.5,-17.0,249,2928,0.17,2.55,0.00,0.000,2436,0.304,0.083,2196,3616,3967,3954,3981,0,0,0,0,0,0,13.59,13.93,13.78
$GC,3053,-1.18,-145.9,2196,3617,3954,3981,410.8,-12.5,275,3058,0.00,2.45,0.00,0.000,1158,0.000,0.057,2196,2197,3967,3953,3981,0,0,0,0,0,0,14.21,14.05,14.25
$GC,3374,-1.16,-145.9,2196,2196,3954,3982,455.1,-13.8,289,3379,0.00,2.55,0.00,0.000,388,0.000,0.085,2187,3621,3967,3953,3981,0,0,0,0,0,0,14.62,14.02,14.64
$GC,3440,-1.16,-145.9,2187,3622,3953,3982,464.2,-13.3,302,3444,0.00,2.42,0.00,0.000,1030,0.000,0.057,2186,2198,3965,3950,3981,0,0,0,0,0,0,14.21,14.08,14.26
$STATE,3552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3552,begin apogee
$GC,3559,-0.13,0.0,2187,2058,3953,3983,480.7,-14.5,310,3802,1.38,0.10,239.20,1.368,10246,0.241,0.156,2527,2123,3364,3374,3354,0,0,0,0,0,0,13.68,13.51,12.71
$STATE,3805,end apogee,CONTROL_FINISHED_OK
$STATE,3805,begin climb
$GC,3808,0.57,145.9,2528,2124,3372,3346,494.4,0.0,318,4033,0.75,2.67,212.05,1.340,10756,0.058,0.076,2798,731,2758,2790,2727,0,0,0,0,0,0,13.74,12.92,12.29
$GC,4159,0.15,145.9,2795,730,2787,2720,489.4,14.5,345,4165,0.77,2.47,0.00,0.000,5254,0.321,0.074,2635,2092,2751,2785,2718,0,0,0,0,0,0,13.26,13.65,13.65
$GC,4476,-0.00,166.8,2635,2093,2786,2714,459.9,9.0,358,4507,0.22,0.00,25.73,1.466,12454,0.263,0.000,2583,2092,2678,2716,2640,0,0,0,0,0,0,13.78,13.98,13.16
$GC,4806,-0.00,222.6,2585,2092,2715,2625,435.0,7.4,369,4899,0.00,2.53,87.88,1.344,8868,0.000,0.087,2589,724,2455,2507,2403,0,0,0,0,0,0,14.58,13.91,13.07
$GC,4931,0.07,257.6,2589,725,2495,2397,425.3,8.4,388,4990,0.00,2.42,54.05,1.350,9382,0.000,0.078,2588,2098,2315,2365,2265,0,0,0,0,0,0,14.12,14.00,13.00
$GC,5292,0.12,280.7,2589,2099,2349,2244,393.3,8.9,410,5326,0.00,0.00,32.05,1.411,8358,0.000,0.000,2588,2098,2220,2272,2169,0,0,0,0,0,0,14.52,14.02,13.19
$GC,5619,0.19,306.7,2589,2099,2256,2155,364.1,8.8,421,5662,0.17,0.00,40.55,1.379,10406,0.102,0.000,2669,2097,2113,2157,2070,0,0,0,0,0,0,14.32,14.02,13.20
$GC,5949,0.11,306.7,2669,2099,2144,2053,318.3,13.9,432,5954,0.17,2.42,0.00,0.000,4740,0.250,0.083,2630,725,2097,2143,2051,0,0,0,0,0,0,13.91,14.14,14.07
$GC,6015,0.17,306.7,2631,726,2142,2052,311.0,10.2,445,6021,0.00,2.40,0.00,0.000,1158,0.000,0.078,2627,2105,2096,2141,2051,0,0,0,0,0,0,14.31,14.16,14.35
$GC,6341,0.17,306.7,2631,2105,2142,2050,276.4,10.4,460,6346,0.00,2.45,0.00,0.000,516,0.000,0.086,2630,721,2095,2140,2050,0,0,0,0,0,0,14.64,14.13,14.65
$GC,6372,0.22,311.7,2631,721,2141,2050,273.5,9.8,466,6377,0.00,2.42,0.00,0.000,1190,0.000,0.077,2630,2105,2095,2140,2050,0,0,0,0,0,0,14.30,14.16,14.34
$GC,6702,0.24,337.4,2629,2107,2140,2050,243.1,8.8,482,6753,0.00,0.00,49.78,1.325,8742,0.000,0.000,2631,2106,1990,2033,1947,0,0,0,0,0,0,14.62,14.03,13.23
$GC,7032,0.33,382.9,2631,2106,2020,1928,216.2,7.9,498,7123,0.15,2.53,81.12,1.242,10916,0.112,0.088,2709,730,1796,1819,1774,0,0,0,0,0,0,14.21,13.95,13.16
$GC,7168,0.33,382.9,2703,731,1809,1772,200.1,11.9,525,7174,0.00,2.40,0.00,0.000,1030,0.000,0.076,2703,2099,1789,1809,1770,0,0,0,0,0,0,14.18,14.06,14.22
$GC,7485,0.30,382.9,2703,2100,1808,1763,161.5,11.8,538,7490,0.00,2.42,0.00,0.000,644,0.000,0.089,2703,727,1784,1807,1761,0,0,0,0,0,0,14.62,13.97,14.60
$GC,7530,0.32,382.9,2703,727,1814,1763,156.5,10.8,547,7535,0.00,2.40,0.00,0.000,1158,0.000,0.076,2701,2101,1784,1806,1763,0,0,0,0,0,0,14.09,13.97,14.14
$GC,7846,0.32,382.9,2704,2101,1806,1761,122.0,10.9,560,7850,0.00,2.45,0.00,0.000,516,0.000,0.087,2703,727,1783,1805,1761,0,0,0,0,0,0,14.62,13.93,14.63
$GC,7886,0.36,382.9,2703,726,1805,1761,117.8,10.2,568,7891,0.00,2.42,0.00,0.000,1158,0.000,0.078,2703,2106,1782,1804,1761,0,0,0,0,0,0,14.14,14.00,14.19
$GC,8196,0.38,416.0,2704,2107,1805,1758,88.8,8.5,589,8217,0.00,0.00,16.48,0.451,8230,0.000,0.000,2701,2107,1668,1689,1647,0,0,0,0,0,0,14.58,14.01,13.55
$GC,8516,0.48,491.5,2703,2108,1700,1650,64.0,6.5,621,8565,0.10,2.53,42.85,0.384,10916,0.149,0.089,2755,726,1358,1398,1319,0,0,0,0,0,0,14.19,14.06,13.70
$GC,8715,0.60,540.0,2756,726,1404,1321,47.1,7.8,660,8748,0.00,2.42,28.10,0.334,9382,0.000,0.079,2755,2099,1162,1221,1103,0,0,0,0,0,0,14.02,13.89,13.70
$GC,9054,0.79,650.7,2755,2101,1220,1109,24.1,4.9,697,9123,0.22,2.53,62.95,0.260,10916,0.094,0.090,2853,725,708,765,652,0,0,0,0,0,0,14.18,14.02,13.73
$GC,9234,0.82,656.9,2857,726,766,653,7.0,9.7,732,9246,0.00,2.45,3.97,0.233,9382,0.000,0.081,2857,2106,683,741,626,0,0,0,0,0,0,14.10,13.96,13.72
$STATE,9289,end climb,SURFACE_DEPTH_REACHED
$STATE,9289,begin surface coast
$FINISH,0.8,1.021089
$STATE,9299,end surface coast,CONTROL_FINISHED_OK
$STATE,9299,begin surface
$SM_CCo,9323,27.80,0.209,0,0,499,702.78
$SM_GC,0.95,8.23,0.17,27.80,0.075,0.122,0.209,201,2216,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,13.88
$RAFOS_CLK,424
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7423.79,-14951.52,190917,095522
$TT8_MAMPS,0.039697,0.865095
$HUMID,47.40
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,20
$CP_FREE,15909126144.000000
$PM_FREEKB_00,45496448
$24V_AH,12.29,225.530
$10V_AH,12.17,0.000
$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,26.300,84.900,976.750,27.800,0.000,0.000,0.000,153.075,5.000,0.000,26.503,0.000,6654.078,896.310,1911.800,279.407,0.000,1909.445,0.000,1062.013,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2164.950,1465.740,208.845,0.000,0.000,0.000,139.230,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9092.000,9291.000,9279.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.286,20.000,9.863,0.000
$MEM,323676
$DATA_FILE_SIZE,26696,740
$CAP_FILE_SIZE,102575,0
$CFSIZE,2097872896,1981448192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,3789.77,0x2341e8,2,24
$SOUNDSPEED,1447.5
$CURRENT,0.056,35.29,1
$GPS,190917,151412,7432.021,-15248.863,42,0.8,49,19.7,0.8,251.5,11,8.2