version: 66.13
glider: 196
mission: 14
dive: 385
start: 9 20 117 10 33 21
data:
$ID,196
$MISSION,14
$DIVE,385
$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,38
$R_STBD_OVSHOOT,51
$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,1068.0
$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
$GPS1,200917,102050,7428.2363,-15312.6436,26,0.9,39,19.5,0.3,30.3,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.7
$GPS2,200917,103245,7428.2271,-15312.2666,9,0.7,9,19.5,0.0,74.5,12,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.6,25587,-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,51,end surface,CONTROL_FINISHED_OK
$STATE,51,begin dive
$GC,55,-0.57,-145.9,192,2181,494,496,0.0,0.0,0,147,0.00,0.00,-91.15,0.000,16386,0.000,0.000,190,2181,2193,2130,2257,0,0,0,0,0,0,14.47,28.83,14.48
$GC,151,-0.57,-145.9,191,2181,2133,2258,4.1,-5.9,9,204,12.77,2.75,-33.70,0.000,18724,0.448,2.163,2375,3586,3962,3947,3978,0,0,0,0,0,0,13.53,13.03,13.98
$GC,275,-0.72,-145.9,2376,3589,3953,3979,34.9,-12.3,33,279,0.00,2.35,0.00,0.000,1158,0.000,0.057,2375,2210,3965,3952,3979,0,0,0,0,0,0,14.21,14.09,14.24
$GC,585,-0.84,-145.9,2376,2209,3956,3978,76.1,-10.4,65,586,0.20,0.00,0.00,0.000,4230,0.109,0.000,2298,2208,3966,3954,3978,0,0,0,0,0,0,14.12,14.28,14.23
$GC,885,-0.84,-145.9,2298,2208,3956,3978,122.9,-14.8,85,890,0.00,2.42,0.00,0.000,260,0.000,0.084,2291,3581,3966,3954,3979,0,0,0,0,0,0,14.57,14.00,14.59
$GC,940,-0.97,-145.9,2291,3581,3955,3978,130.1,-11.9,96,948,0.00,2.38,0.00,0.000,1158,0.000,0.056,2291,2195,3966,3954,3978,0,0,0,0,0,0,14.08,13.85,14.14
$GC,1246,-1.02,-145.9,2291,2196,3955,3979,169.7,-12.4,107,1247,0.12,0.00,0.00,0.000,4230,0.134,0.000,2244,2195,3966,3954,3978,0,0,0,0,0,0,14.27,14.36,14.33
$GC,1546,-1.02,-145.9,2244,2196,3955,3979,218.4,-15.8,117,1550,0.00,2.47,0.00,0.000,260,0.000,0.086,2236,3587,3966,3954,3978,0,0,0,0,0,0,14.62,13.97,14.64
$GC,1663,-1.08,-145.9,2237,3587,3956,3978,234.0,-12.6,140,1670,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2195,3966,3954,3978,0,0,0,0,0,0,14.19,14.04,14.21
$GC,1966,-1.08,-145.9,2236,2195,3955,3979,276.6,-13.3,151,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2194,3966,3954,3978,0,0,0,0,0,0,14.63,14.65,14.65
$GC,2266,-1.11,-145.9,2237,2193,3956,3978,313.2,-11.9,161,2271,0.00,2.47,0.00,0.000,388,0.000,0.087,2236,3581,3966,3954,3979,0,0,0,0,0,0,14.63,14.00,14.65
$GC,2357,-1.22,-145.9,2236,3581,3955,3979,323.0,-10.4,179,2362,0.15,2.38,0.00,0.000,5254,0.119,0.056,2174,2193,3966,3954,3978,0,0,0,0,0,0,14.14,14.09,14.27
$GC,2688,-1.14,-145.9,2173,2193,3954,3979,378.0,-16.7,195,2693,0.15,2.47,0.00,0.000,2436,0.304,0.081,2203,3581,3966,3954,3978,0,0,0,0,0,0,13.69,14.00,13.87
$GC,2801,-1.17,-145.9,2197,3583,3954,3980,393.2,-12.2,217,2805,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2192,3965,3953,3978,0,0,0,0,0,0,14.10,13.97,14.14
$GC,3111,-1.15,-145.9,2197,2191,3954,3978,436.2,-13.8,229,3116,0.00,2.47,0.00,0.000,388,0.000,0.083,2188,3581,3965,3953,3978,0,0,0,0,0,0,14.60,14.00,14.62
$GC,3186,-1.15,-145.9,2188,3580,3953,3979,446.5,-13.1,244,3192,0.00,2.35,0.00,0.000,1030,0.000,0.057,2188,2201,3963,3948,3978,0,0,0,0,0,0,14.21,14.07,14.25
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3447,-0.13,0.0,2188,2059,3953,3977,482.9,-14.2,255,3666,1.40,0.00,215.75,1.412,10246,0.240,0.000,2531,2058,3366,3380,3353,0,0,0,0,0,0,13.72,13.57,12.76
$STATE,3669,end apogee,CONTROL_FINISHED_OK
$STATE,3669,begin climb
$GC,3672,0.57,145.9,2532,2057,3375,3346,494.8,0.0,262,3890,0.73,2.62,206.10,1.365,10756,0.060,0.083,2782,720,2766,2802,2731,0,0,0,0,0,0,13.75,13.16,12.31
$GC,4115,0.16,145.9,2782,722,2789,2728,476.8,14.4,343,4121,0.68,2.40,0.00,0.000,5254,0.320,0.076,2640,2071,2757,2788,2727,0,0,0,0,0,0,13.46,13.88,13.88
$GC,4431,0.00,165.5,2640,2073,2789,2723,446.9,9.1,356,4463,0.20,2.40,25.35,1.489,12964,0.272,0.080,2599,717,2686,2724,2648,0,0,0,0,0,0,13.64,13.80,13.17
$GC,4594,0.01,215.2,2600,717,2724,2644,434.3,7.7,388,4674,0.00,2.42,73.62,1.386,9382,0.000,0.079,2599,2105,2484,2536,2432,0,0,0,0,0,0,14.27,14.14,13.02
$GC,4974,-0.00,233.5,2599,2104,2532,2419,400.0,9.2,414,5004,0.00,0.00,25.23,1.475,8358,0.000,0.000,2600,2103,2408,2462,2355,0,0,0,0,0,0,14.55,13.81,13.20
$GC,5304,0.01,249.0,2600,2103,2457,2350,369.4,9.3,425,5334,0.00,2.50,21.83,1.493,8740,0.000,0.086,2605,726,2344,2391,2297,0,0,0,0,0,0,14.44,14.04,13.23
$GC,5360,0.08,275.1,2600,727,2390,2299,364.3,8.8,436,5405,0.00,2.42,40.20,1.398,9382,0.000,0.079,2599,2098,2242,2291,2193,0,0,0,0,0,0,14.16,14.07,13.10
$GC,5728,0.13,297.2,2599,2099,2286,2180,330.8,9.0,459,5761,0.00,0.00,31.45,1.414,8358,0.000,0.000,2600,2098,2154,2201,2107,0,0,0,0,0,0,14.40,13.97,13.21
$GC,6056,0.20,321.0,2600,2097,2194,2096,301.2,8.9,470,6101,0.12,2.50,36.95,1.379,10916,0.125,0.088,2672,727,2052,2094,2010,0,0,0,0,0,0,14.15,13.99,13.19
$GC,6143,0.20,321.0,2672,728,2088,2010,290.3,13.0,487,6149,0.00,2.42,0.00,0.000,1030,0.000,0.079,2672,2101,2046,2084,2009,0,0,0,0,0,0,14.14,14.02,14.18
$GC,6447,0.15,321.0,2672,2103,2088,2004,250.9,12.8,498,6452,0.15,2.45,0.00,0.000,4740,0.262,0.082,2645,720,2045,2088,2003,0,0,0,0,0,0,13.82,14.04,13.99
$GC,6487,0.20,324.2,2644,722,2086,2004,246.4,9.9,506,6492,0.00,2.42,0.00,0.000,1190,0.000,0.077,2644,2100,2044,2086,2003,0,0,0,0,0,0,14.19,14.06,14.23
$GC,6808,0.22,349.3,2644,2102,2087,2001,217.2,8.8,520,6855,0.00,0.00,45.25,1.339,8230,0.000,0.000,2644,2100,1941,1982,1900,0,0,0,0,0,0,14.45,13.98,13.21
$GC,7138,0.30,387.7,2644,2101,1974,1889,189.6,8.2,531,7209,0.00,2.42,64.25,1.268,8868,0.000,0.086,2644,726,1780,1804,1756,0,0,0,0,0,0,14.42,13.72,13.16
$GC,7257,0.48,434.2,2645,726,1798,1755,180.1,7.9,554,7344,0.30,2.45,78.50,1.210,11430,0.080,0.078,2760,2105,1591,1616,1566,0,0,0,0,0,0,14.04,13.96,13.07
$GC,7650,0.39,434.2,2761,2106,1615,1551,118.9,15.2,583,7655,0.20,2.42,0.00,0.000,4740,0.252,0.086,2713,728,1582,1615,1549,0,0,0,0,0,0,13.76,13.97,13.92
$GC,7703,0.46,434.2,2713,729,1610,1551,113.1,10.4,593,7708,0.00,2.40,0.00,0.000,1158,0.000,0.076,2713,2109,1579,1610,1549,0,0,0,0,0,0,14.03,13.98,14.06
$GC,8014,0.49,440.2,2713,2109,1611,1545,80.8,9.7,617,8019,0.00,2.47,0.00,0.000,676,0.000,0.088,2713,724,1577,1610,1545,0,0,0,0,0,0,14.52,13.92,14.54
$GC,8055,0.58,455.8,2714,726,1609,1545,76.9,9.3,625,8070,0.17,2.42,10.07,0.426,11430,0.103,0.076,2785,2100,1505,1537,1474,0,0,0,0,0,0,14.16,14.04,13.62
$GC,8376,0.55,506.6,2785,2102,1538,1475,42.1,7.7,659,8409,0.00,2.53,27.27,0.324,8868,0.000,0.088,2786,722,1296,1340,1252,0,0,0,0,0,0,14.55,13.97,13.74
$GC,8509,0.63,557.0,2786,722,1341,1254,31.1,7.7,685,8541,0.00,2.45,26.98,0.291,9382,0.000,0.076,2786,2105,1092,1150,1035,0,0,0,0,0,0,14.09,13.97,13.74
$GC,8840,0.79,682.3,2786,2105,1151,1029,11.8,4.2,721,8913,0.12,2.50,66.47,0.234,10660,0.135,0.080,2850,3518,580,613,547,0,0,0,0,0,0,14.21,13.90,13.74
$GC,8947,0.82,682.3,2850,3519,614,548,2.6,10.4,741,8951,0.00,2.40,0.00,0.000,1158,0.000,0.067,2856,2136,580,613,547,0,0,0,0,0,0,14.12,13.99,14.16
$STATE,8954,end climb,SURFACE_DEPTH_REACHED
$STATE,8954,begin surface coast
$FINISH,0.2,1.021145
$STATE,8964,end surface coast,CONTROL_FINISHED_OK
$STATE,8964,begin surface
$SM_CCo,8986,11.23,0.213,0,0,499,703.28
$SM_GC,1.80,8.10,0.12,11.23,0.063,0.129,0.213,202,2236,499,-7.38,-0.51,703.28,0,0,0,0,0,0,14.23,14.24,13.85
$RAFOS_CLK,179
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7429.23,-15318.90,200917,074213
$TT8_MAMPS,0.040446,0.930258
$HUMID,46.18
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,9
$CP_FREE,15904931840.000000
$PM_FREEKB_00,45295680
$24V_AH,12.31,229.368
$10V_AH,12.43,0.000
$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,25.575,78.750,995.275,11.225,0.000,0.000,0.000,419.075,2.250,0.000,11.987,0.000,6375.095,989.050,1990.784,372.532,0.000,2133.993,0.000,1067.214,2209.000,0.539,0.000
$DEVICE_MAMPS,447.525,2162.655,1492.515,213.435,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9000.000,8965.000,8936.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.346,20.000,9.901,0.000
$MEM,323460
$DATA_FILE_SIZE,26771,744
$CAP_FILE_SIZE,102068,0
$CFSIZE,2097872896,1979416576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.3
$CURRENT,0.047,73.01,1
$GPS,200917,130427,7427.535,-15315.494,20,0.7,21,19.5,0.3,67.4,11,7.5