version: 66.13
glider: 196
mission: 14
dive: 387
start: 9 20 117 15 59 37
data:
$ID,196
$MISSION,14
$DIVE,387
$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,41
$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,1073.0
$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
$GPS1,200917,154608,7426.8843,-15318.5176,14,0.7,18,19.5,0.4,213.6,12,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.1
$GPS2,200917,155902,7426.8892,-15318.4307,6,0.7,15,19.5,0.0,119.6,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.4,21677,-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,-145.9,188,2223,491,492,0.0,0.0,0,142,0.00,0.00,-87.55,0.000,16386,0.000,0.000,185,2224,2097,2028,2166,0,0,0,0,0,0,14.47,28.83,14.50
$GC,145,-0.57,-145.9,185,2222,2030,2168,4.2,-5.6,9,202,12.93,2.70,-37.25,0.000,18724,0.451,2.165,2376,3588,3961,3944,3979,1,0,0,0,0,0,13.33,12.57,13.95
$GC,372,-0.72,-145.9,2376,3589,3951,3980,46.5,-12.2,54,378,0.00,2.38,0.00,0.000,1158,0.000,0.054,2375,2206,3966,3951,3982,0,0,0,0,0,0,14.14,14.02,14.16
$GC,678,-0.86,-145.9,2375,2207,3952,3979,82.6,-9.3,85,679,0.22,0.00,0.00,0.000,4262,0.096,0.000,2296,2205,3965,3952,3979,0,0,0,0,0,0,13.97,14.08,14.07
$GC,977,-0.88,-145.9,2296,2206,3952,3980,127.6,-14.2,103,982,0.00,2.47,0.00,0.000,388,0.000,0.084,2291,3589,3965,3951,3979,0,0,0,0,0,0,14.40,13.92,14.42
$GC,1028,-1.01,-145.9,2292,3588,3955,3979,134.1,-11.5,113,1033,0.12,2.40,0.00,0.000,5254,0.124,0.056,2243,2195,3965,3952,3979,0,0,0,0,0,0,14.05,14.01,14.14
$GC,1339,-0.96,-145.9,2244,2195,3952,3980,187.7,-16.9,125,1344,0.00,2.53,0.00,0.000,388,0.000,0.083,2236,3597,3963,3952,3974,0,0,0,0,0,0,14.40,13.88,14.41
$GC,1415,-1.01,-145.9,2236,3600,3952,3980,199.3,-14.2,140,1421,0.00,2.42,0.00,0.000,1158,0.000,0.057,2236,2201,3965,3952,3979,0,0,0,0,0,0,14.05,13.93,14.07
$GC,1731,-1.01,-145.9,2238,2200,3952,3980,248.7,-15.1,153,1736,0.00,2.53,0.00,0.000,260,0.000,0.086,2235,3595,3965,3951,3979,0,0,0,0,0,0,14.40,13.91,14.40
$GC,1797,-1.09,-145.9,2236,3596,3953,3979,257.6,-12.0,166,1801,0.00,2.42,0.00,0.000,1158,0.000,0.059,2236,2195,3965,3951,3979,0,0,0,0,0,0,14.09,13.96,14.13
$GC,2122,-1.09,-145.9,2236,2193,3952,3979,299.6,-12.6,181,2127,0.00,2.53,0.00,0.000,260,0.000,0.086,2235,3589,3965,3952,3979,0,0,0,0,0,0,14.39,13.90,14.39
$GC,2173,-1.20,-145.9,2235,3590,3954,3980,305.5,-11.1,191,2178,0.12,2.40,0.00,0.000,5254,0.134,0.056,2182,2196,3965,3952,3979,0,0,0,0,0,0,13.99,13.97,14.09
$GC,2486,-1.12,-145.9,2183,2196,3952,3980,356.0,-16.3,203,2491,0.12,2.47,0.00,0.000,2436,0.294,0.081,2200,3589,3965,3951,3979,0,0,0,0,0,0,13.62,13.83,13.77
$GC,2557,-1.15,-145.9,2201,3589,3950,3980,366.2,-13.1,217,2562,0.00,2.40,0.00,0.000,1158,0.000,0.056,2200,2183,3964,3951,3978,0,0,0,0,0,0,14.06,13.93,14.10
$GC,2880,-1.13,-145.9,2200,2183,3956,3979,410.2,-13.5,231,2885,0.00,2.53,0.00,0.000,388,0.000,0.085,2197,3592,3964,3950,3978,0,0,0,0,0,0,14.56,13.85,14.57
$GC,2965,-1.17,-145.9,2198,3594,3951,3978,421.6,-12.5,248,2972,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2192,3964,3950,3978,0,0,0,0,0,0,14.14,14.00,14.16
$GC,3270,-1.17,-145.9,2197,2191,3951,3982,463.1,-13.6,259,3275,0.00,2.50,0.00,0.000,260,0.000,0.083,2189,3589,3964,3950,3978,0,0,0,0,0,0,14.60,13.83,14.61
$GC,3341,-1.19,-145.9,2190,3590,3949,3980,472.6,-13.1,273,3346,0.00,2.40,0.00,0.000,1158,0.000,0.056,2189,2191,3965,3952,3978,0,0,0,0,0,0,14.19,14.07,14.25
$STATE,3419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3419,begin apogee
$GC,3426,-0.13,0.0,2190,2060,3950,3979,484.1,-14.3,279,3662,1.38,0.00,230.15,1.385,10246,0.240,0.000,2527,2059,3362,3376,3349,0,0,0,0,0,0,13.61,13.35,12.76
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3669,0.57,145.9,2528,2060,3368,3345,498.0,0.0,287,3889,0.75,2.58,206.60,1.368,10756,0.057,0.080,2795,727,2761,2792,2731,0,0,0,0,0,0,13.74,13.16,12.31
$GC,4032,0.15,145.9,2795,727,2786,2724,489.6,14.9,352,4039,0.77,2.45,0.00,0.000,5254,0.322,0.074,2638,2085,2753,2785,2721,0,0,0,0,0,0,13.26,13.68,13.66
$GC,4335,-0.00,167.1,2636,2086,2785,2716,460.8,9.0,363,4366,0.22,2.47,26.02,1.492,12964,0.266,0.085,2589,731,2680,2720,2641,0,0,0,0,0,0,13.77,14.03,13.16
$GC,4397,0.04,220.9,2589,732,2714,2637,456.1,7.5,370,4488,0.00,2.42,82.20,1.366,9254,0.000,0.079,2589,2100,2458,2509,2408,0,0,0,0,0,0,14.21,14.08,12.98
$GC,4787,0.05,246.7,2590,2101,2501,2393,422.6,8.8,398,4825,0.00,0.00,36.65,1.434,8230,0.000,0.000,2589,2100,2357,2406,2308,0,0,0,0,0,0,14.54,13.99,13.17
$GC,5117,0.10,270.7,2594,2101,2392,2294,393.2,8.9,409,5157,0.00,2.47,32.03,1.454,8868,0.000,0.088,2589,733,2256,2303,2209,0,0,0,0,0,0,14.57,14.09,13.21
$GC,5183,0.20,295.7,2590,734,2302,2204,387.4,8.8,422,5227,0.17,2.40,37.72,1.405,11430,0.105,0.079,2666,2106,2155,2198,2113,0,0,0,0,0,0,14.22,14.14,13.12
$GC,5538,0.12,295.7,2667,2107,2190,2102,336.7,14.2,443,5543,0.17,2.42,0.00,0.000,4740,0.262,0.083,2630,732,2145,2189,2101,0,0,0,0,0,0,13.88,14.07,14.05
$GC,5564,0.12,295.7,2630,730,2189,2103,333.4,12.6,448,5571,0.00,2.40,0.00,0.000,1030,0.000,0.077,2629,2106,2144,2188,2101,0,0,0,0,0,0,14.25,14.11,14.29
$GC,5869,0.12,295.7,2630,2107,2188,2100,299.5,10.9,459,5874,0.00,2.45,0.00,0.000,516,0.000,0.086,2630,728,2142,2187,2098,0,0,0,0,0,0,14.63,14.11,14.65
$GC,5914,0.16,295.7,2631,728,2188,2102,294.7,10.3,468,5920,0.00,2.40,0.00,0.000,1158,0.000,0.077,2630,2100,2143,2187,2099,0,0,0,0,0,0,14.19,14.04,14.26
$GC,6231,0.17,301.6,2630,2101,2187,2099,263.0,9.7,481,6232,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2101,2141,2184,2098,0,0,0,0,0,0,14.64,14.66,14.65
$GC,6531,0.19,332.3,2631,2101,2187,2098,235.8,8.6,491,6592,0.00,0.00,57.10,1.326,8230,0.000,0.000,2630,2100,2008,2047,1969,0,0,0,0,0,0,14.62,13.99,13.21
$GC,6891,0.28,380.6,2630,2101,2042,1958,206.4,7.8,503,6983,0.12,2.50,81.00,1.259,10916,0.125,0.087,2701,734,1806,1827,1786,0,0,0,0,0,0,14.22,13.95,13.16
$GC,7033,0.31,380.6,2698,735,1821,1785,190.0,11.4,531,7038,0.00,2.40,0.00,0.000,1158,0.000,0.076,2698,2101,1802,1820,1784,0,0,0,0,0,0,14.19,14.07,14.23
$GC,7344,0.31,380.6,2699,2102,1820,1777,154.6,11.2,543,7348,0.00,2.42,0.00,0.000,516,0.000,0.086,2699,731,1797,1819,1776,0,0,0,0,0,0,14.57,14.05,14.59
$GC,7379,0.33,380.6,2699,731,1819,1776,150.8,10.6,550,7384,0.00,2.40,0.00,0.000,1158,0.000,0.077,2699,2101,1794,1812,1776,0,0,0,0,0,0,14.03,13.91,14.12
$GC,7704,0.34,384.4,2699,2103,1819,1773,117.2,9.8,565,7705,0.00,0.00,0.00,0.000,38,0.000,0.000,2700,2103,1795,1817,1773,0,0,0,0,0,0,14.61,14.62,14.62
$GC,8004,0.36,410.2,2699,2103,1817,1771,88.5,8.8,583,8026,0.00,2.50,14.18,0.464,8740,0.000,0.086,2699,726,1691,1709,1673,0,0,0,0,0,0,14.56,13.95,13.62
$GC,8114,0.49,458.9,2699,727,1712,1674,79.8,7.8,604,8147,0.12,2.42,26.60,0.436,11430,0.127,0.077,2757,2103,1492,1516,1468,0,0,0,0,0,0,14.02,13.95,13.65
$GC,8452,0.52,509.3,2757,2104,1517,1462,45.1,7.7,641,8484,0.00,0.00,26.75,0.333,8742,0.000,0.000,2757,2103,1286,1330,1242,0,0,0,0,0,0,14.57,14.00,13.33
$GC,8783,0.70,626.9,2757,2103,1331,1238,23.9,4.6,675,8851,0.12,2.47,62.03,0.272,10916,0.123,0.087,2818,725,808,869,748,0,0,0,0,0,0,14.21,14.07,13.76
$GC,8967,0.83,691.0,2819,728,870,739,11.4,7.0,711,9009,0.00,2.42,34.95,0.238,9382,0.000,0.075,2821,2105,540,573,507,0,0,0,0,0,0,14.15,14.02,13.81
$STATE,9104,end climb,SURFACE_DEPTH_REACHED
$STATE,9104,begin surface coast
$FINISH,0.4,1.020945
$STATE,9127,end surface coast,CONTROL_FINISHED_OK
$STATE,9127,begin surface
$SM_CCo,9149,7.05,0.206,0,0,497,703.03
$SM_GC,1.86,8.20,0.17,7.05,0.083,0.095,0.206,202,2252,497,-7.38,-0.45,703.03,0,0,0,0,0,0,14.23,14.31,13.88
$RAFOS_CLK,414
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7428.30,-15311.73,200917,130931
$TT8_MAMPS,0.040446,0.954226
$HUMID,47.79
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.40
$XPDR_PINGS,13
$CP_FREE,15903883264.000000
$PM_FREEKB_00,45230720
$24V_AH,12.31,230.275
$10V_AH,12.31,0.000
$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,25.575,83.825,953.975,7.050,0.000,0.000,0.000,409.025,3.250,0.000,17.495,0.000,6635.484,918.286,2020.630,372.615,0.000,2103.218,0.000,1048.938,2121.000,0.540,0.000
$DEVICE_MAMPS,451.350,2164.950,1491.750,205.785,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9165.000,9131.000,9102.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.727,20.000,9.930,0.000
$MEM,323292
$DATA_FILE_SIZE,26741,731
$CAP_FILE_SIZE,102069,0
$CFSIZE,2097872896,1978892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.7
$CURRENT,0.047,63.47,1
$GPS,200917,183332,7426.256,-15321.880,31,0.7,31,19.5,0.5,50.5,10,7.4