version: 66.13
glider: 196
mission: 14
dive: 378
start: 9 19 117 15 21 29
data:
$ID,196
$MISSION,14
$DIVE,378
$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,61
$R_STBD_OVSHOOT,33
$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,1052.0
$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
$GPS1,190917,151412,7432.0210,-15248.8633,42,0.8,49,19.7,0.8,251.5,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.4
$GPS2,190917,152053,7432.0444,-15248.8828,8,0.8,17,19.7,0.0,322.7,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,205.9,38924,-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,-145.9,181,2219,508,489,0.0,0.0,0,144,0.00,0.00,-91.12,0.000,16386,0.000,0.000,178,2219,2214,2155,2273,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,179,2219,2157,2273,4.9,-7.5,9,200,12.88,2.72,-31.38,0.000,18724,0.449,2.165,2376,3600,3966,3950,3982,1,0,0,0,0,0,13.33,12.63,14.06
$GC,401,-0.73,-145.9,2376,3600,3956,3982,52.9,-11.8,59,406,0.00,2.33,0.00,0.000,1158,0.000,0.054,2375,2236,3968,3956,3981,0,0,0,0,0,0,14.29,14.15,14.32
$GC,712,-0.87,-145.9,2375,2234,3957,3983,87.0,-9.2,91,717,0.22,2.55,0.00,0.000,4772,0.096,0.082,2283,791,3964,3956,3972,0,0,0,0,0,0,14.05,14.02,14.09
$GC,762,-0.89,-145.9,2283,792,3957,3982,94.0,-15.3,101,767,0.00,2.47,0.00,0.000,1158,0.000,0.086,2280,2186,3969,3956,3983,0,0,0,0,0,0,14.20,14.08,14.23
$GC,1073,-0.89,-145.9,2281,2188,3957,3982,143.8,-15.2,115,1078,0.00,2.53,0.00,0.000,260,0.000,0.088,2277,3613,3968,3956,3981,0,0,0,0,0,0,14.62,14.01,14.64
$GC,1228,-1.02,-145.9,2277,3615,3957,3983,163.5,-11.7,146,1233,0.00,2.42,0.00,0.000,1158,0.000,0.057,2277,2190,3968,3956,3981,0,0,0,0,0,0,14.19,14.06,14.23
$GC,1554,-1.06,-145.9,2278,2189,3958,3982,205.9,-12.6,161,1555,0.12,0.00,0.00,0.000,4230,0.136,0.000,2231,2189,3969,3956,3983,0,0,0,0,0,0,14.27,14.36,14.34
$GC,1854,-1.04,-145.9,2231,2190,3957,3983,253.5,-15.6,171,1859,0.00,2.53,0.00,0.000,388,0.000,0.086,2223,3613,3968,3956,3981,0,0,0,0,0,0,14.62,14.03,14.64
$GC,1971,-1.09,-145.9,2223,3614,3957,3982,269.4,-13.1,194,1978,0.00,2.45,0.00,0.000,1158,0.000,0.057,2220,2194,3967,3956,3978,0,0,0,0,0,0,14.17,14.04,14.21
$GC,2293,-1.09,-145.9,2223,2192,3956,3982,311.5,-13.6,205,2298,0.00,2.55,0.00,0.000,260,0.000,0.087,2222,3613,3968,3956,3981,0,0,0,0,0,0,14.45,13.91,14.47
$GC,2358,-1.18,-145.9,2223,3613,3957,3982,322.0,-11.4,218,2363,0.00,2.45,0.00,0.000,1158,0.000,0.056,2222,2195,3967,3955,3980,0,0,0,0,0,0,14.07,13.95,14.10
$GC,2684,-1.18,-145.9,2223,2196,3956,3981,362.4,-12.3,233,2689,0.00,2.55,0.00,0.000,260,0.000,0.087,2222,3612,3969,3956,3982,0,0,0,0,0,0,14.40,13.85,14.42
$GC,2759,-1.29,-145.9,2222,3615,3957,3981,370.8,-10.5,248,2765,0.20,2.45,0.00,0.000,5254,0.101,0.055,2150,2194,3967,3955,3980,0,0,0,0,0,0,13.99,13.92,14.09
$GC,3076,-1.15,-145.9,2150,2194,3956,3980,429.8,-19.0,261,3081,0.22,2.55,0.00,0.000,2436,0.311,0.081,2188,3613,3967,3956,3979,0,0,0,0,0,0,13.43,13.83,13.67
$GC,3174,-1.18,-145.9,2188,3614,3957,3979,443.7,-13.0,280,3180,0.00,2.45,0.00,0.000,1158,0.000,0.055,2188,2198,3967,3956,3979,0,0,0,0,0,0,14.07,13.94,14.09
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3437,begin apogee
$GC,3444,-0.13,0.0,2188,2057,3956,3978,482.9,-14.7,293,3674,1.40,0.10,226.27,1.401,10246,0.240,0.158,2532,2119,3364,3389,3339,0,0,0,0,0,0,13.61,13.45,12.64
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3678,begin climb
$GC,3683,0.57,145.9,2532,2119,3381,3329,495.1,0.0,300,3910,0.73,2.55,209.55,1.358,10756,0.060,0.078,2781,727,2760,2801,2719,0,0,0,0,0,0,13.62,12.80,12.19
$GC,4105,0.17,145.9,2781,727,2792,2714,483.0,14.2,341,4113,0.68,2.47,0.00,0.000,5254,0.321,0.074,2642,2096,2751,2791,2712,0,0,0,0,0,0,13.28,13.65,13.67
$GC,4411,-0.00,169.7,2642,2098,2793,2709,454.6,8.9,352,4447,0.22,2.45,31.80,1.471,12964,0.266,0.083,2589,718,2668,2714,2623,0,0,0,0,0,0,13.50,13.74,13.10
$GC,4478,0.04,229.7,2592,716,2711,2614,449.7,7.2,365,4578,0.00,2.45,91.85,1.340,9254,0.000,0.080,2589,2099,2429,2493,2366,0,0,0,0,0,0,14.10,13.98,12.94
$GC,4901,0.05,250.3,2590,2100,2476,2345,413.0,9.0,398,4930,0.00,0.00,27.30,1.454,8230,0.000,0.000,2589,2099,2345,2403,2287,0,0,0,0,0,0,14.38,13.97,13.16
$GC,5228,0.10,272.6,2590,2099,2389,2272,383.1,9.0,409,5268,0.00,2.47,32.15,1.427,8868,0.000,0.088,2589,731,2247,2302,2193,0,0,0,0,0,0,14.57,14.08,13.21
$GC,5289,0.19,303.9,2590,732,2297,2192,377.8,8.6,421,5344,0.17,2.40,48.30,1.366,11430,0.104,0.079,2667,2100,2126,2180,2073,0,0,0,0,0,0,14.22,14.11,13.12
$GC,5649,0.11,303.9,2667,2101,2164,2054,327.4,14.1,443,5654,0.17,2.45,0.00,0.000,4740,0.253,0.083,2630,721,2108,2164,2053,0,0,0,0,0,0,13.83,14.07,14.00
$GC,5685,0.15,303.9,2630,722,2161,2054,323.1,11.2,450,5690,0.00,2.40,0.00,0.000,1158,0.000,0.077,2630,2099,2107,2161,2053,0,0,0,0,0,0,14.29,14.15,14.34
$GC,6010,0.15,303.9,2631,2102,2161,2052,287.7,10.7,465,6016,0.00,2.45,0.00,0.000,516,0.000,0.087,2630,721,2105,2160,2051,0,0,0,0,0,0,14.63,14.13,14.64
$GC,6052,0.21,303.9,2631,722,2159,2052,283.5,10.0,473,6058,0.00,2.40,0.00,0.000,1158,0.000,0.077,2630,2100,2104,2159,2050,0,0,0,0,0,0,14.30,14.16,14.35
$GC,6373,0.22,318.8,2631,2102,2159,2052,252.5,9.3,487,6392,0.00,0.00,17.88,1.473,8230,0.000,0.000,2630,2101,2066,2117,2015,0,0,0,0,0,0,14.65,14.07,13.30
$GC,6673,0.28,352.6,2630,2101,2106,2002,226.2,8.4,497,6741,0.12,2.53,61.62,1.285,10916,0.125,0.086,2699,724,1923,1963,1883,0,0,0,0,0,0,14.31,13.97,13.19
$GC,6773,0.25,352.6,2698,724,1949,1881,214.7,12.1,516,6779,0.15,2.42,0.00,0.000,5254,0.218,0.076,2666,2104,1914,1948,1881,0,0,0,0,0,0,13.90,14.02,14.10
$GC,7099,0.25,357.0,2667,2105,1946,1873,181.7,9.8,531,7104,0.00,2.45,0.00,0.000,548,0.000,0.088,2666,722,1909,1945,1873,0,0,0,0,0,0,14.58,14.12,14.60
$GC,7180,0.34,382.3,2665,722,1945,1874,174.4,8.8,547,7235,0.00,2.45,49.38,1.277,9382,0.000,0.079,2666,2109,1804,1831,1777,0,0,0,0,0,0,14.28,14.13,13.24
$GC,7554,0.42,417.4,2667,2109,1817,1763,142.1,8.4,571,7626,0.12,2.55,62.90,1.227,10916,0.130,0.089,2730,724,1655,1680,1631,0,0,0,0,0,0,14.26,14.02,13.22
$GC,7671,0.42,417.4,2730,724,1674,1629,127.7,12.3,595,7676,0.00,2.45,0.00,0.000,1030,0.000,0.076,2728,2103,1651,1674,1629,0,0,0,0,0,0,14.18,14.05,14.21
$GC,7984,0.40,417.4,2730,2104,1674,1620,91.2,11.1,615,7989,0.00,2.45,0.00,0.000,644,0.000,0.088,2728,732,1646,1673,1620,0,0,0,0,0,0,14.52,13.88,14.54
$GC,8015,0.40,417.4,2729,728,1673,1621,87.7,10.7,621,8020,0.00,2.42,0.00,0.000,1030,0.000,0.076,2729,2101,1645,1670,1620,0,0,0,0,0,0,14.15,14.03,14.21
$GC,8326,0.43,465.8,2729,2102,1673,1617,57.9,7.8,653,8358,0.00,2.50,23.75,0.368,8740,0.000,0.086,2726,723,1466,1500,1432,0,0,0,0,0,0,14.57,14.09,13.72
$GC,8421,0.57,540.6,2729,723,1504,1434,51.4,6.5,671,8468,0.10,2.42,40.83,0.350,11430,0.146,0.077,2778,2103,1159,1222,1096,0,0,0,0,0,0,14.16,14.12,13.71
$GC,8774,0.72,636.1,2777,2103,1223,1100,22.4,5.6,711,8832,0.00,2.45,51.35,0.273,8868,0.000,0.086,2777,725,770,839,701,0,0,0,0,0,0,14.54,13.90,13.69
$GC,8912,0.96,726.0,2779,724,840,707,14.9,5.8,738,8955,0.35,2.42,37.65,0.249,11430,0.076,0.076,2902,2103,498,518,478,0,0,0,0,0,0,14.14,14.00,13.88
$STATE,9018,end climb,SURFACE_DEPTH_REACHED
$STATE,9018,begin surface coast
$FINISH,0.3,1.018793
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9113,0.00,0.000,0,0,499,703.03
$SM_GC,1.18,8.35,0.17,0.00,0.070,0.129,0.000,205,2213,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.22,14.21,14.31
$RAFOS_CLK,307
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7432.53,-15246.42,190917,123318
$TT8_MAMPS,0.040446,0.926513
$HUMID,47.24
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15908601856.000000
$PM_FREEKB_00,45464960
$24V_AH,12.19,226.008
$10V_AH,12.05,0.000
$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,26.225,89.475,1012.575,0.000,0.000,0.000,0.000,179.625,3.000,0.000,18.684,0.000,6411.840,874.495,1949.554,289.675,0.000,1939.976,0.000,1081.231,2200.000,0.539,0.000
$DEVICE_MAMPS,449.055,2164.950,1472.625,0.000,0.000,0.000,0.000,133.875,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9016.000,9023.000,9005.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.598,20.000,9.899,0.000
$MEM,323508
$DATA_FILE_SIZE,26697,754
$CAP_FILE_SIZE,101625,0
$CFSIZE,2097872896,1981251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.7
$CURRENT,0.040,47.96,1
$GPS,190917,175455,7431.566,-15252.311,22,0.8,48,19.7,1.0,3.1,10,5.3