version: 66.13
glider: 196
mission: 14
dive: 393
start: 9 21 117 8 45 27
data:
$ID,196
$MISSION,14
$DIVE,393
$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,61
$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,1091.0
$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
$GPS1,210917,083303,7422.4399,-15337.0674,39,0.8,39,19.3,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-77.2
$GPS2,210917,084453,7422.4678,-15336.9922,10,0.8,10,19.3,0.9,98.3,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,199.7,9518,-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,54,-0.57,-145.9,196,2242,498,486,0.0,0.0,0,147,0.00,0.00,-91.38,0.000,16386,0.000,0.000,194,2242,2246,2185,2307,0,0,0,0,0,0,14.33,28.83,14.33
$GC,151,-0.57,-145.9,195,2242,2189,2307,4.8,-6.9,9,200,12.82,2.60,-30.05,0.000,18724,0.451,2.162,2375,3568,3963,3947,3980,0,0,0,0,0,0,13.52,12.93,13.96
$GC,238,-0.68,-145.9,2376,3570,3953,3981,31.8,-15.1,25,244,0.00,2.30,0.00,0.000,1158,0.000,0.060,2375,2235,3966,3953,3980,0,0,0,0,0,0,14.19,14.06,14.22
$GC,541,-0.80,-145.9,2376,2234,3956,3979,72.6,-10.8,56,547,0.15,2.58,0.00,0.000,4740,0.123,0.081,2312,782,3964,3949,3980,0,0,0,0,0,0,14.16,13.97,14.19
$GC,572,-0.86,-145.9,2313,782,3956,3980,76.9,-14.7,62,577,0.00,2.45,0.00,0.000,1158,0.000,0.086,2312,2158,3967,3955,3980,0,0,0,0,0,0,14.17,14.02,14.22
$GC,896,-0.92,-145.9,2312,2159,3955,3981,120.2,-12.7,85,900,0.00,2.60,0.00,0.000,388,0.000,0.090,2307,3620,3966,3954,3979,0,0,0,0,0,0,14.54,14.04,14.57
$GC,1023,-1.08,-145.9,2308,3619,3956,3980,133.8,-10.2,110,1028,0.22,2.42,0.00,0.000,5254,0.089,0.054,2226,2193,3967,3955,3979,0,0,0,0,0,0,14.18,14.07,14.27
$GC,1349,-1.02,-145.9,2225,2192,3956,3980,194.2,-18.3,125,1354,0.00,2.55,0.00,0.000,388,0.000,0.087,2222,3614,3970,3955,3986,0,0,0,0,0,0,14.59,13.94,14.62
$GC,1462,-1.05,-145.9,2223,3614,3956,3980,211.6,-14.5,147,1467,0.00,2.42,0.00,0.000,1158,0.000,0.057,2222,2201,3967,3954,3980,0,0,0,0,0,0,14.12,13.94,14.19
$GC,1773,-1.03,-145.9,2223,2200,3956,3980,260.5,-15.1,159,1777,0.00,2.53,0.00,0.000,388,0.000,0.089,2222,3613,3967,3954,3980,0,0,0,0,0,0,14.62,14.00,14.63
$GC,1885,-1.10,-145.9,2220,3615,3955,3981,275.1,-12.2,181,1890,0.00,2.40,0.00,0.000,1158,0.000,0.055,2222,2197,3967,3955,3980,0,0,0,0,0,0,14.09,14.02,14.24
$GC,2196,-1.10,-145.9,2222,2195,3956,3980,314.9,-12.5,193,2201,0.00,2.55,0.00,0.000,260,0.000,0.090,2222,3614,3967,3955,3980,0,0,0,0,0,0,14.61,13.85,14.63
$GC,2272,-1.20,-145.9,2221,3615,3955,3979,323.7,-10.8,208,2277,0.00,2.42,0.00,0.000,1158,0.000,0.056,2222,2200,3967,3954,3980,0,0,0,0,0,0,14.21,14.07,14.24
$GC,2588,-1.23,-145.9,2223,2199,3955,3980,360.4,-11.5,221,2593,0.12,2.55,0.00,0.000,4484,0.148,0.086,2159,3613,3966,3954,3979,0,0,0,0,0,0,14.02,13.97,14.07
$GC,2664,-1.17,-145.9,2159,3614,3954,3981,372.2,-16.1,236,2670,0.17,2.42,0.00,0.000,3206,0.263,0.057,2194,2194,3966,3953,3979,0,0,0,0,0,0,13.66,14.06,13.98
$GC,2981,-1.17,-145.9,2194,2194,3961,3979,416.3,-13.7,249,2986,0.00,2.58,0.00,0.000,260,0.000,0.086,2186,3621,3966,3953,3979,0,0,0,0,0,0,14.62,13.89,14.63
$GC,3087,-1.20,-145.9,2186,3623,3953,3980,430.7,-13.2,270,3091,0.00,2.42,0.00,0.000,1158,0.000,0.055,2186,2200,3966,3953,3979,0,0,0,0,0,0,14.19,14.06,14.23
$GC,3402,-1.16,-145.9,2186,2199,3954,3978,475.7,-14.2,283,3407,0.00,2.53,0.00,0.000,388,0.000,0.086,2176,3614,3965,3953,3978,0,0,0,0,0,0,14.61,13.87,14.63
$STATE,3430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3430,begin apogee
$GC,3439,-0.13,0.0,2176,2094,3953,3978,480.3,-15.2,289,3658,1.45,0.00,216.23,1.416,10246,0.250,0.000,2528,2091,3364,3384,3344,0,0,0,0,0,0,13.61,13.57,12.77
$STATE,3662,end apogee,CONTROL_FINISHED_OK
$STATE,3662,begin climb
$GC,3665,0.57,145.9,2529,2093,3379,3338,492.5,0.0,296,3881,0.75,2.70,207.30,1.371,11012,0.057,0.079,2795,689,2766,2808,2724,0,0,0,0,0,0,13.74,13.16,12.33
$GC,4108,0.15,145.9,2802,690,2793,2722,474.7,14.5,342,4114,0.75,2.53,0.00,0.000,5254,0.321,0.074,2637,2115,2756,2791,2722,0,0,0,0,0,0,13.45,13.88,13.87
$GC,4420,-0.01,167.4,2638,2114,2793,2716,445.7,9.0,354,4451,0.22,2.60,26.67,1.489,12964,0.270,0.085,2588,686,2680,2723,2638,0,0,0,0,0,0,13.74,14.03,13.18
$GC,4677,0.03,224.6,2589,686,2719,2636,426.6,7.4,405,4767,0.00,2.47,84.88,1.377,9254,0.000,0.080,2589,2104,2452,2508,2397,0,0,0,0,0,0,14.28,14.15,13.06
$GC,5083,0.05,252.1,2588,2105,2498,2377,391.6,8.7,436,5127,0.00,2.53,39.25,1.413,8740,0.000,0.087,2589,688,2334,2388,2281,0,0,0,0,0,0,14.57,13.78,13.17
$GC,5143,0.11,277.9,2590,688,2383,2281,386.3,8.8,448,5188,0.00,2.50,39.35,1.395,9382,0.000,0.080,2589,2100,2229,2285,2174,0,0,0,0,0,0,14.18,14.09,13.08
$GC,5507,0.18,303.8,2589,2100,2278,2161,354.2,8.8,470,5546,0.17,0.00,37.78,1.401,10406,0.100,0.000,2668,2101,2126,2178,2074,0,0,0,0,0,0,14.26,14.02,13.21
$GC,5834,0.10,303.8,2669,2100,2168,2063,308.0,14.1,481,5840,0.17,2.53,0.00,0.000,4740,0.251,0.086,2630,687,2115,2167,2063,0,0,0,0,0,0,13.88,14.09,14.05
$GC,5906,0.17,303.8,2631,687,2165,2058,299.9,10.2,495,5911,0.00,2.47,0.00,0.000,1158,0.000,0.077,2630,2111,2113,2164,2063,0,0,0,0,0,0,14.23,14.08,14.30
$GC,6226,0.17,303.8,2634,2106,2165,2062,266.7,10.1,509,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2105,2112,2164,2061,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6527,0.20,327.2,2630,2106,2164,2062,238.9,8.9,519,6567,0.00,2.53,35.08,1.367,8868,0.000,0.086,2630,681,2028,2076,1980,0,0,0,0,0,0,14.64,13.88,13.28
$GC,6603,0.34,370.1,2631,681,2071,1980,232.5,8.0,534,6679,0.20,2.47,70.72,1.274,11430,0.093,0.078,2706,2097,1857,1887,1827,0,0,0,0,0,0,14.25,14.15,13.12
$GC,6978,0.29,370.1,2707,2099,1873,1817,184.1,12.6,559,6983,0.12,2.50,0.00,0.000,4740,0.232,0.084,2684,685,1844,1872,1816,0,0,0,0,0,0,13.95,14.09,14.06
$GC,7039,0.34,370.1,2684,685,1871,1816,177.5,10.0,571,7043,0.00,2.47,0.00,0.000,1158,0.000,0.077,2684,2100,1842,1870,1815,0,0,0,0,0,0,14.26,14.12,14.31
$GC,7369,0.34,370.7,2684,2101,1869,1814,144.1,10.0,587,7370,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2101,1841,1869,1813,0,0,0,0,0,0,14.60,14.64,14.63
$GC,7669,0.35,390.8,2685,2101,1868,1813,115.6,9.1,597,7701,0.00,2.58,26.73,1.339,8740,0.000,0.089,2685,692,1767,1791,1744,0,0,0,0,0,0,14.62,14.12,13.33
$GC,7779,0.46,427.7,2685,692,1784,1745,106.5,8.3,618,7846,0.15,2.47,60.60,1.219,11430,0.119,0.079,2753,2108,1619,1643,1595,0,0,0,0,0,0,14.23,14.16,13.19
$GC,8152,0.42,429.8,2753,2108,1642,1580,62.4,9.9,663,8153,0.15,0.00,0.00,0.000,4262,0.243,0.000,2722,2108,1610,1640,1580,0,0,0,0,0,0,13.40,13.40,13.37
$GC,8452,0.56,557.0,2723,2108,1641,1577,44.9,4.1,693,8527,0.12,2.58,66.10,0.330,10916,0.124,0.090,2785,691,1091,1157,1026,0,0,0,0,0,0,14.17,14.04,13.80
$GC,8572,0.66,588.7,2786,690,1157,1025,35.4,8.5,716,8594,0.00,2.50,16.88,0.304,9382,0.000,0.077,2785,2106,963,1034,893,0,0,0,0,0,0,14.16,14.03,13.78
$GC,8900,0.86,681.9,2786,2107,1035,889,12.0,5.7,751,8958,0.20,2.58,49.90,0.237,10916,0.099,0.093,2874,701,583,623,543,0,0,0,0,0,0,14.11,13.92,13.83
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.4,1.021093
$STATE,9006,end surface coast,CONTROL_FINISHED_OK
$STATE,9006,begin surface
$SM_CCo,9031,11.80,0.213,0,0,499,702.78
$SM_GC,1.96,8.12,2.67,11.80,0.060,0.075,0.213,196,2200,499,-7.39,-0.71,702.78,0,0,0,0,0,0,14.24,14.12,13.89
$RAFOS_CLK,402
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7422.16,-15340.38,210917,055657
$TT8_MAMPS,0.040446,0.912282
$HUMID,47.67
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.40
$XPDR_PINGS,18
$CP_FREE,15900737536.000000
$PM_FREEKB_00,45013056
$24V_AH,12.33,233.235
$10V_AH,12.18,0.000
$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,26.100,90.675,977.450,11.800,0.000,0.000,0.000,405.100,4.500,0.000,11.586,0.000,6362.634,844.420,2175.878,381.144,0.000,2132.604,0.000,1106.475,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2161.890,1489.455,213.435,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9043.000,8998.000,8980.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.477,20.000,9.877,0.000
$MEM,323488
$DATA_FILE_SIZE,26708,772
$CAP_FILE_SIZE,102689,0
$CFSIZE,2097872896,1977319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.9
$CURRENT,0.044,76.06,1
$GPS,210917,111720,7421.823,-15340.169,20,0.7,22,19.3,0.4,77.4,11,9.8