version: 66.13
glider: 196
mission: 14
dive: 391
start: 9 21 117 3 12 37
data:
$ID,196
$MISSION,14
$DIVE,391
$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,23
$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,1086.0
$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
$GPS1,210917,030032,7424.1675,-15331.1211,32,0.7,32,19.4,0.0,0.0,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-77.4
$GPS2,210917,031201,7424.1411,-15331.0654,8,0.7,8,19.4,0.0,0.0,12,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,198.9,13745,-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,-145.9,192,2227,496,494,0.0,0.0,0,135,0.00,0.00,-80.70,0.000,16386,0.000,0.000,190,2227,1998,1924,2072,0,0,0,0,0,0,14.48,28.83,14.48
$GC,139,-0.57,-145.9,189,2227,1927,2074,3.4,-4.3,8,196,12.85,2.72,-39.88,0.000,18724,0.451,2.171,2377,3607,3963,3950,3976,0,0,0,0,0,0,13.57,12.98,14.03
$GC,307,-0.73,-145.9,2379,3609,3956,3978,38.2,-12.3,41,313,0.00,2.42,0.00,0.000,1158,0.000,0.058,2373,2202,3966,3956,3976,0,0,0,0,0,0,14.16,14.07,14.19
$GC,612,-0.86,-145.9,2380,2202,3959,3977,76.8,-9.9,72,614,0.25,0.00,0.00,0.000,4262,0.094,0.000,2282,2201,3967,3958,3976,0,0,0,0,0,0,14.01,14.15,14.11
$GC,932,-0.86,-145.9,2282,2202,3959,3978,129.4,-15.1,92,937,0.00,2.53,0.00,0.000,260,0.000,0.086,2273,3614,3967,3958,3976,0,0,0,0,0,0,14.59,14.03,14.60
$GC,1023,-0.96,-145.9,2273,3614,3959,3977,141.4,-12.3,110,1028,0.00,2.42,0.00,0.000,1158,0.000,0.058,2273,2205,3967,3958,3977,0,0,0,0,0,0,14.23,14.09,14.27
$GC,1353,-1.00,-145.9,2274,2203,3959,3976,187.1,-13.5,126,1358,0.00,2.50,0.00,0.000,388,0.000,0.086,2267,3607,3967,3959,3976,0,0,0,0,0,0,14.59,14.00,14.63
$GC,1384,-1.07,-145.9,2268,3609,3959,3977,191.1,-12.9,132,1389,0.00,2.42,0.00,0.000,1158,0.000,0.057,2267,2200,3967,3958,3977,0,0,0,0,0,0,14.21,14.07,14.24
$GC,1715,-1.12,-145.9,2267,2200,3959,3973,232.5,-12.1,148,1720,0.12,2.53,0.00,0.000,4484,0.142,0.084,2209,3613,3967,3958,3976,0,0,0,0,0,0,14.17,13.99,14.20
$GC,1800,-1.15,-145.9,2210,3615,3958,3977,245.0,-14.3,165,1806,0.00,2.45,0.00,0.000,1158,0.000,0.057,2209,2193,3970,3965,3976,0,0,0,0,0,0,13.98,13.85,14.02
$GC,2106,-1.12,-145.9,2210,2194,3959,3978,292.2,-14.7,176,2111,0.00,2.55,0.00,0.000,388,0.000,0.088,2209,3609,3967,3958,3976,0,0,0,0,0,0,14.60,13.98,14.64
$GC,2186,-1.17,-145.9,2209,3610,3959,3976,303.2,-12.7,192,2191,0.00,2.42,0.00,0.000,1158,0.000,0.057,2209,2198,3966,3957,3976,0,0,0,0,0,0,14.14,14.01,14.18
$GC,2497,-1.17,-145.9,2209,2197,3961,3976,346.1,-13.7,204,2502,0.00,2.55,0.00,0.000,260,0.000,0.088,2209,3614,3967,3957,3977,0,0,0,0,0,0,14.58,13.93,14.59
$GC,2557,-1.24,-145.9,2210,3616,3957,3977,353.9,-12.5,216,2562,0.00,2.42,0.00,0.000,1158,0.000,0.057,2209,2196,3966,3956,3976,0,0,0,0,0,0,14.19,14.07,14.23
$GC,2890,-1.24,-145.9,2209,2196,3952,3977,395.7,-12.5,232,2895,0.00,2.58,0.00,0.000,260,0.000,0.087,2209,3613,3965,3954,3976,0,0,0,0,0,0,14.36,13.78,14.39
$GC,2971,-1.32,-145.9,2208,3615,3951,3977,405.4,-11.0,248,2976,0.17,2.45,0.00,0.000,5254,0.106,0.055,2146,2200,3968,3961,3975,0,0,0,0,0,0,13.98,13.87,14.07
$GC,3282,-1.20,-145.9,2146,2201,3956,3976,462.3,-18.7,260,3287,0.20,2.58,0.00,0.000,2436,0.312,0.081,2178,3613,3965,3955,3975,0,0,0,0,0,0,13.43,13.76,13.66
$GC,3400,-1.20,-145.9,2178,3616,3956,3975,479.6,-14.1,283,3407,0.00,2.45,0.00,0.000,1030,0.000,0.055,2177,2202,3965,3955,3975,0,0,0,0,0,0,13.94,13.84,13.97
$STATE,3430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3430,begin apogee
$GC,3437,-0.13,0.0,2178,2062,3955,3982,484.5,-14.3,285,3657,1.45,0.08,216.45,1.429,10246,0.246,0.175,2531,2106,3365,3386,3345,0,0,0,0,0,0,13.58,13.43,12.69
$STATE,3661,end apogee,CONTROL_FINISHED_OK
$STATE,3661,begin climb
$GC,3666,0.57,145.9,2532,2106,3381,3335,496.8,0.0,292,3882,0.75,2.72,206.93,1.379,11012,0.057,0.073,2786,3505,2765,2804,2727,0,0,0,0,0,0,13.62,13.02,12.19
$GC,3895,0.10,204.4,2787,3506,2798,2722,510.2,7.3,332,3987,0.93,2.53,83.72,1.401,13478,0.351,0.053,2623,2137,2529,2595,2463,0,0,0,0,0,0,12.80,13.12,12.05
$GC,4295,0.01,204.4,2623,2133,2586,2451,468.0,10.9,362,4300,0.12,2.60,0.00,0.000,4740,0.282,0.083,2602,698,2517,2585,2450,0,0,0,0,0,0,13.59,13.79,13.76
$GC,4316,-0.04,204.4,2603,692,2586,2450,465.9,10.0,366,4322,0.15,2.53,0.00,0.000,5254,0.221,0.079,2571,2099,2517,2584,2450,0,0,0,0,0,0,13.64,13.80,13.88
$GC,4627,0.02,261.0,2571,2101,2585,2445,442.3,7.4,378,4718,0.00,0.00,83.53,1.382,8358,0.000,0.000,2571,2100,2295,2352,2238,0,0,0,0,0,0,14.36,13.81,13.02
$GC,5017,0.12,304.4,2572,2100,2345,2231,411.7,8.0,391,5085,0.15,0.00,65.78,1.379,10406,0.114,0.000,2634,2100,2123,2175,2071,0,0,0,0,0,0,14.14,13.86,13.09
$GC,5377,0.09,304.4,2634,2101,2162,2055,367.9,12.3,403,5382,0.00,2.47,0.00,0.000,644,0.000,0.088,2640,686,2108,2162,2054,0,0,0,0,0,0,14.41,14.01,14.43
$GC,5413,0.09,304.4,2641,688,2160,2056,363.5,12.6,410,5418,0.00,2.47,0.00,0.000,1030,0.000,0.077,2641,2109,2107,2159,2055,0,0,0,0,0,0,14.07,13.95,14.12
$GC,5741,0.06,304.4,2641,2110,2159,2053,322.2,12.6,425,5742,0.15,0.00,0.00,0.000,4230,0.224,0.000,2607,2109,2106,2159,2053,0,0,0,0,0,0,13.96,14.25,14.19
$GC,6039,0.11,314.3,2608,2109,2160,2051,292.9,9.5,435,6054,0.00,2.58,10.40,1.587,8868,0.000,0.090,2607,688,2079,2131,2027,0,0,0,0,0,0,14.63,14.20,13.32
$GC,6110,0.25,351.7,2608,688,2126,2027,286.6,8.3,449,6176,0.17,2.47,60.50,1.340,11430,0.100,0.080,2682,2109,1932,1974,1890,0,0,0,0,0,0,14.33,14.21,13.18
$GC,6492,0.20,351.7,2682,2110,1963,1879,235.3,12.7,475,6497,0.12,2.53,0.00,0.000,4740,0.247,0.086,2655,689,1921,1962,1880,0,0,0,0,0,0,13.97,13.94,14.10
$GC,6543,0.27,352.7,2655,688,1960,1878,229.8,10.0,485,6549,0.00,2.47,0.00,0.000,1190,0.000,0.079,2655,2099,1918,1958,1878,0,0,0,0,0,0,14.30,14.14,14.30
$GC,6854,0.28,365.5,2655,2101,1957,1879,199.3,9.4,497,6874,0.00,0.00,18.90,1.452,8230,0.000,0.000,2655,2100,1876,1911,1841,0,0,0,0,0,0,14.62,14.11,13.31
$GC,7155,0.34,391.9,2655,2100,1901,1834,172.2,8.8,507,7205,0.12,2.58,45.08,1.312,10916,0.123,0.089,2719,691,1765,1788,1742,0,0,0,0,0,0,14.16,14.02,13.26
$GC,7248,0.34,391.9,2720,691,1782,1741,161.0,12.4,525,7254,0.12,2.50,0.00,0.000,5126,0.233,0.076,2693,2109,1760,1780,1741,0,0,0,0,0,0,13.96,14.07,14.16
$GC,7579,0.34,391.9,2694,2111,1781,1734,126.0,10.1,541,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2111,1756,1779,1734,0,0,0,0,0,0,14.60,14.61,14.62
$GC,7879,0.35,410.7,2695,2111,1781,1732,98.2,9.1,551,7896,0.00,2.55,9.50,0.492,8740,0.000,0.088,2699,688,1690,1713,1667,0,0,0,0,0,0,14.63,14.12,13.59
$GC,7942,0.45,440.4,2699,689,1714,1669,92.7,8.6,563,7964,0.00,2.47,16.92,0.479,9382,0.000,0.079,2699,2100,1568,1593,1544,0,0,0,0,0,0,14.16,14.06,13.62
$GC,8262,0.57,496.5,2698,2100,1596,1539,65.5,7.4,597,8299,0.17,2.58,29.95,0.395,10916,0.101,0.092,2779,689,1339,1380,1299,0,0,0,0,0,0,14.19,13.98,13.68
$GC,8362,0.57,496.5,2780,690,1381,1300,54.5,11.2,616,8368,0.00,2.50,0.00,0.000,1030,0.000,0.080,2781,2110,1341,1379,1304,0,0,0,0,0,0,14.09,13.97,14.11
$GC,8664,0.61,559.6,2781,2107,1380,1292,28.6,7.1,647,8706,0.00,2.58,33.85,0.287,8740,0.000,0.088,2781,692,1082,1144,1020,0,0,0,0,0,0,14.54,14.00,13.79
$GC,8732,0.73,628.3,2781,693,1142,1022,23.9,6.8,658,8775,0.12,2.47,36.80,0.275,11430,0.129,0.078,2836,2098,804,869,739,0,0,0,0,0,0,14.00,13.95,13.76
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.3,1.021040
$STATE,9018,end surface coast,CONTROL_FINISHED_OK
$STATE,9018,begin surface
$SM_CCo,9041,41.00,0.209,0,0,498,702.78
$SM_GC,1.27,8.20,0.17,41.00,0.078,0.107,0.209,203,2229,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.24,14.27,13.88
$RAFOS_CLK,282
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7425.53,-15326.10,210917,001806
$TT8_MAMPS,0.040446,0.911533
$HUMID,47.75
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15901786112.000000
$PM_FREEKB_00,45078464
$24V_AH,12.05,232.288
$10V_AH,11.52,0.000
$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,26.350,86.025,918.300,41.000,0.000,0.000,0.000,386.100,1.750,0.000,11.944,0.000,6548.469,984.808,1876.505,374.517,0.000,2040.290,0.000,992.340,2208.000,0.539,0.000
$DEVICE_MAMPS,450.585,2171.070,1586.610,208.845,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9055.000,9021.000,8990.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.486,20.000,9.922,0.000
$MEM,323576
$DATA_FILE_SIZE,23365,691
$CAP_FILE_SIZE,101030,0
$CFSIZE,2097872896,1977843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.043,67.64,1
$GPS,210917,054504,7423.289,-15334.081,17,0.7,18,19.4,0.0,0.0,11,8.4