version: 66.13
glider: 196
mission: 14
dive: 379
start: 9 19 117 18 7 17
data:
$ID,196
$MISSION,14
$DIVE,379
$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,58
$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,1055.0
$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
$GPS1,190917,175455,7431.5664,-15252.3105,22,0.8,48,19.7,1.0,3.1,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.2
$GPS2,190917,180642,7431.6201,-15252.2822,5,0.8,15,19.7,0.0,319.9,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,207.9,37132,-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,53,-0.57,-145.9,176,2216,509,477,0.0,0.0,0,145,0.00,0.00,-91.03,0.000,16386,0.000,0.000,174,2216,2198,2137,2260,0,0,0,0,0,0,14.48,28.83,14.50
$GC,149,-0.57,-145.9,175,2216,2141,2259,4.6,-7.1,9,201,12.95,2.72,-31.65,0.000,18724,0.451,2.163,2375,3603,3965,3949,3982,1,0,0,0,0,0,13.35,12.60,14.09
$GC,372,-0.73,-145.9,2375,3607,3955,3983,49.5,-11.8,53,377,0.00,2.35,0.00,0.000,1158,0.000,0.055,2375,2227,3968,3954,3983,0,0,0,0,0,0,14.28,14.16,14.32
$GC,683,-0.87,-145.9,2375,2225,3957,3983,84.8,-9.6,85,684,0.25,0.00,0.00,0.000,4262,0.092,0.000,2281,2224,3969,3956,3982,0,0,0,0,0,0,14.11,14.21,14.18
$GC,983,-0.87,-145.9,2282,2225,3957,3982,134.5,-15.6,101,988,0.00,2.45,0.00,0.000,260,0.000,0.084,2272,3604,3969,3956,3982,0,0,0,0,0,0,14.63,14.08,14.63
$GC,1058,-0.97,-145.9,2273,3607,3957,3981,144.6,-12.3,116,1064,0.00,2.40,0.00,0.000,1158,0.000,0.057,2272,2196,3969,3956,3982,0,0,0,0,0,0,14.28,14.14,14.31
$GC,1375,-0.99,-145.9,2272,2195,3957,3984,189.3,-13.8,129,1380,0.00,2.50,0.00,0.000,388,0.000,0.086,2266,3603,3969,3957,3982,0,0,0,0,0,0,14.62,14.06,14.64
$GC,1426,-1.10,-145.9,2266,3603,3955,3982,195.7,-11.9,139,1431,0.12,2.40,0.00,0.000,5254,0.129,0.057,2220,2196,3969,3956,3982,0,0,0,0,0,0,14.09,14.09,14.23
$GC,1737,-1.04,-145.9,2221,2194,3957,3982,249.4,-17.0,151,1742,0.00,2.53,0.00,0.000,388,0.000,0.086,2210,3601,3969,3956,3982,0,0,0,0,0,0,14.65,13.97,14.66
$GC,1797,-1.04,-145.9,2209,3604,3957,3983,259.0,-14.5,163,1802,0.15,2.42,0.00,0.000,3078,0.244,0.058,2240,2192,3969,3956,3982,0,0,0,0,0,0,13.85,14.12,14.12
$GC,2128,-1.07,-145.9,2240,2192,3957,3983,300.7,-11.8,179,2133,0.00,2.50,0.00,0.000,388,0.000,0.086,2236,3600,3969,3956,3982,0,0,0,0,0,0,14.67,14.04,14.69
$GC,2189,-1.19,-145.9,2236,3602,3957,3982,307.4,-10.2,191,2194,0.12,2.40,0.00,0.000,5254,0.133,0.056,2183,2193,3969,3956,3982,0,0,0,0,0,0,14.16,14.13,14.27
$GC,2519,-1.12,-145.9,2186,2192,3957,3980,360.5,-16.2,207,2524,0.12,2.50,0.00,0.000,2436,0.297,0.082,2202,3600,3967,3956,3979,0,0,0,0,0,0,13.81,14.03,13.95
$GC,2612,-1.17,-145.9,2203,3602,3956,3981,372.5,-12.1,225,2617,0.00,2.40,0.00,0.000,1158,0.000,0.057,2202,2199,3968,3956,3980,0,0,0,0,0,0,14.16,14.04,14.21
$GC,2943,-1.17,-145.9,2203,2198,3957,3979,417.0,-13.4,241,2947,0.00,2.50,0.00,0.000,260,0.000,0.086,2196,3603,3967,3956,3978,0,0,0,0,0,0,14.64,14.02,14.66
$GC,3003,-1.21,-145.9,2197,3604,3956,3980,425.0,-12.3,253,3008,0.00,2.40,0.00,0.000,1158,0.000,0.057,2196,2196,3967,3956,3978,0,0,0,0,0,0,14.24,14.10,14.28
$GC,3334,-1.21,-145.9,2197,2197,3956,3979,470.3,-13.7,269,3338,0.00,2.50,0.00,0.000,260,0.000,0.085,2189,3604,3967,3956,3978,0,0,0,0,0,0,14.64,14.03,14.66
$GC,3404,-1.23,-145.9,2188,3606,3956,3979,479.8,-13.0,283,3409,0.00,2.42,0.00,0.000,1158,0.000,0.057,2188,2195,3966,3955,3978,0,0,0,0,0,0,14.26,14.10,14.28
$STATE,3411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3418,-0.13,0.0,2189,2076,3956,3978,481.1,-13.1,285,3686,1.38,0.00,263.48,1.320,10246,0.246,0.000,2527,2074,3364,3390,3339,0,0,0,0,0,0,13.70,13.54,12.75
$STATE,3690,end apogee,CONTROL_FINISHED_OK
$STATE,3690,begin climb
$GC,3692,0.57,145.9,2527,2075,3382,3332,496.6,0.0,294,3914,0.75,2.72,213.02,1.317,10500,0.058,0.072,2785,3503,2758,2803,2714,0,0,0,0,0,0,13.72,12.93,12.31
$GC,4002,0.07,145.9,2784,3504,2780,2705,496.6,15.9,352,4008,0.93,2.45,0.00,0.000,5254,0.344,0.054,2613,2123,2741,2779,2704,0,0,0,0,0,0,13.14,13.47,13.52
$GC,4319,-0.02,186.0,2613,2122,2781,2701,469.2,8.1,365,4380,0.15,0.00,57.15,1.332,12454,0.280,0.000,2582,2121,2604,2659,2549,0,0,0,0,0,0,13.75,13.89,13.07
$GC,4679,0.01,231.8,2583,2124,2645,2522,441.1,7.9,377,4770,0.00,2.62,84.95,1.230,8740,0.000,0.089,2588,694,2416,2476,2356,0,0,0,0,0,0,14.56,13.94,13.14
$GC,4806,0.10,263.8,2589,695,2464,2352,430.8,8.5,402,4863,0.00,2.47,50.00,1.287,9382,0.000,0.079,2589,2095,2283,2340,2226,0,0,0,0,0,0,14.15,14.02,13.05
$GC,5163,0.16,289.4,2589,2096,2329,2207,399.1,8.8,423,5206,0.15,2.58,35.08,1.343,10916,0.115,0.090,2660,689,2178,2231,2125,0,0,0,0,0,0,14.27,14.02,13.22
$GC,5222,0.08,289.4,2659,690,2223,2121,391.4,13.5,430,5227,0.20,2.47,0.00,0.000,5254,0.233,0.078,2614,2099,2170,2222,2119,0,0,0,0,0,0,13.93,13.54,14.17
$GC,5553,0.08,289.4,2613,2101,2220,2109,355.9,10.5,446,5558,0.00,2.50,0.00,0.000,516,0.000,0.090,2613,693,2163,2219,2108,0,0,0,0,0,0,14.63,14.13,14.62
$GC,5583,0.13,289.4,2614,693,2219,2108,352.8,10.2,452,5589,0.00,2.47,0.00,0.000,1158,0.000,0.077,2613,2105,2163,2218,2108,0,0,0,0,0,0,14.30,14.16,14.35
$GC,5915,0.13,289.4,2614,2106,2218,2106,319.3,10.0,468,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2109,2161,2217,2106,0,0,0,0,0,0,14.64,14.67,14.66
$GC,6215,0.17,301.0,2613,2106,2218,2106,290.6,9.5,478,6225,0.00,2.50,3.58,1.185,8868,0.000,0.089,2613,687,2136,2192,2081,0,0,0,0,0,0,14.65,14.16,13.14
$GC,6280,0.27,328.3,2614,687,2198,2094,284.7,8.7,491,6345,0.17,2.47,59.60,1.294,11430,0.099,0.078,2688,2106,2026,2074,1978,0,0,0,0,0,0,14.30,14.19,13.21
$GC,6666,0.19,328.3,2689,2106,2056,1960,234.5,12.4,518,6671,0.15,2.53,0.00,0.000,4740,0.241,0.085,2654,688,2007,2055,1960,0,0,0,0,0,0,13.86,14.04,13.96
$GC,6692,0.19,328.3,2655,689,2056,1961,231.6,10.4,523,6698,0.00,2.47,0.00,0.000,1030,0.000,0.078,2655,2098,2007,2054,1960,0,0,0,0,0,0,14.22,14.08,14.27
$GC,6997,0.21,346.9,2655,2098,2056,1958,203.2,9.1,534,7028,0.00,2.53,25.85,1.353,8740,0.000,0.089,2655,694,1947,1993,1902,0,0,0,0,0,0,14.45,14.07,13.24
$GC,7074,0.31,382.6,2655,695,1982,1899,196.5,8.3,549,7143,0.00,2.47,64.35,1.244,9382,0.000,0.079,2654,2101,1801,1828,1775,0,0,0,0,0,0,14.15,14.07,13.12
$GC,7451,0.39,412.3,2655,2101,1820,1758,164.0,8.6,574,7504,0.17,0.00,50.62,1.248,10406,0.100,0.000,2729,2101,1682,1709,1656,0,0,0,0,0,0,14.11,13.95,13.19
$GC,7780,0.35,412.3,2729,2102,1701,1639,121.4,12.6,585,7785,0.12,2.50,0.00,0.000,4740,0.239,0.087,2699,695,1669,1700,1639,0,0,0,0,0,0,13.89,14.02,14.02
$GC,7873,0.43,426.7,2700,695,1698,1639,112.4,9.3,603,7895,0.00,2.50,18.20,1.337,9382,0.000,0.078,2703,2101,1624,1657,1592,0,0,0,0,0,0,14.12,14.00,13.27
$GC,8201,0.49,454.5,2698,2101,1650,1573,81.5,8.7,631,8223,0.12,0.00,14.38,0.428,10406,0.125,0.000,2759,2101,1511,1547,1476,0,0,0,0,0,0,14.16,13.89,13.60
$GC,8521,0.52,514.7,2760,2101,1550,1479,48.5,7.2,663,8563,0.00,2.55,34.50,0.342,8868,0.000,0.090,2760,688,1266,1318,1215,0,0,0,0,0,0,14.40,14.02,13.71
$GC,8674,0.64,584.3,2761,688,1318,1222,37.3,6.8,693,8720,0.00,2.50,40.28,0.307,9382,0.000,0.077,2760,2102,980,1049,912,0,0,0,0,0,0,14.16,14.04,13.69
$GC,9026,0.90,730.4,2761,2103,1051,917,17.6,3.3,733,9105,0.30,2.55,67.43,0.247,10916,0.081,0.093,2882,695,498,514,483,0,0,0,0,0,0,13.85,13.95,13.77
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FINISH,0.4,1.021036
$STATE,9185,end surface coast,CONTROL_FINISHED_OK
$STATE,9185,begin surface
$SM_CCo,9270,0.00,0.000,0,0,499,703.03
$SM_GC,1.10,8.38,2.72,0.00,0.075,0.076,0.000,199,2201,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.12,14.01,14.20
$RAFOS_CLK,122
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7432.53,-15246.42,190917,151743
$TT8_MAMPS,0.085386,0.964712
$HUMID,43.85
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15908077568.000000
$PM_FREEKB_00,45440064
$24V_AH,12.31,226.514
$10V_AH,12.16,0.000
$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,26.700,90.150,1082.450,0.000,0.000,0.000,0.000,402.050,3.500,0.000,16.697,0.000,6537.900,966.721,2109.353,371.401,0.000,2215.423,0.000,1094.226,2200.000,0.539,0.000
$DEVICE_MAMPS,451.350,2163.420,1353.285,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9167.000,9173.000,9143.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.426,20.000,9.869,0.000
$MEM,323644
$DATA_FILE_SIZE,26669,763
$CAP_FILE_SIZE,105753,0
$CFSIZE,2097872896,1980989440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,5204.79,0x213af4,1,24
$SOUNDSPEED,1448.5
$CURRENT,0.051,42.31,1
$GPS,190917,204303,7431.094,-15255.825,30,0.7,31,19.7,0.6,86.8,11,8.9