version: 66.13
glider: 196
mission: 14
dive: 394
start: 9 21 117 11 29 38
data:
$ID,196
$MISSION,14
$DIVE,394
$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,25
$R_STBD_OVSHOOT,22
$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,1094.0
$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
$GPS1,210917,111720,7421.8232,-15340.1689,20,0.7,22,19.3,0.4,77.4,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.2
$GPS2,210917,112906,7421.8955,-15339.9521,19,0.7,22,19.3,0.0,0.0,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,194.9,7866,-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,66,end surface,CONTROL_FINISHED_OK
$STATE,66,begin dive
$GC,69,-0.57,-145.9,191,2203,495,487,0.0,0.0,0,152,0.00,0.00,-80.95,0.000,16386,0.000,0.000,190,2203,1995,1926,2064,0,0,0,0,0,0,14.47,28.83,14.50
$GC,156,-0.57,-145.9,190,2204,1928,2068,3.2,-3.8,8,219,12.68,2.78,-42.15,0.000,18724,0.448,2.173,2375,3609,3965,3950,3980,0,0,0,0,0,0,13.64,12.58,14.11
$GC,285,-0.71,-145.9,2376,3609,3955,3980,31.5,-13.3,33,291,0.00,2.42,0.00,0.000,1158,0.000,0.060,2375,2195,3967,3954,3980,0,0,0,0,0,0,14.16,14.04,14.20
$GC,593,-0.83,-145.9,2375,2196,3955,3981,73.4,-10.9,64,598,0.17,2.53,0.00,0.000,4484,0.114,0.085,2291,3615,3968,3957,3980,0,0,0,0,0,0,14.02,14.06,14.09
$GC,644,-0.90,-145.9,2292,3616,3957,3980,80.7,-14.1,74,648,0.00,2.42,0.00,0.000,1158,0.000,0.059,2291,2194,3968,3957,3980,0,0,0,0,0,0,14.28,14.14,14.32
$GC,956,-0.93,-145.9,2292,2193,3957,3980,126.6,-14.0,94,961,0.00,2.53,0.00,0.000,388,0.000,0.086,2283,3615,3968,3957,3980,0,0,0,0,0,0,14.64,14.07,14.66
$GC,1022,-1.07,-145.9,2283,3615,3958,3980,135.0,-10.9,107,1028,0.15,2.42,0.00,0.000,5254,0.112,0.057,2229,2189,3968,3957,3980,0,0,0,0,0,0,14.19,14.14,14.30
$GC,1349,-1.02,-145.9,2229,2189,3958,3980,193.6,-17.8,122,1354,0.00,2.53,0.00,0.000,388,0.000,0.086,2223,3608,3968,3956,3980,0,0,0,0,0,0,14.64,14.01,14.68
$GC,1454,-1.05,-145.9,2223,3609,3958,3980,210.3,-14.6,143,1460,0.00,2.40,0.00,0.000,1158,0.000,0.056,2222,2201,3968,3957,3980,0,0,0,0,0,0,14.25,14.14,14.29
$GC,1792,-1.05,-145.9,2223,2199,3958,3980,260.4,-15.0,156,1797,0.00,2.55,0.00,0.000,260,0.000,0.090,2225,3607,3968,3956,3980,0,0,0,0,0,0,14.45,13.88,14.45
$GC,1905,-1.12,-145.9,2222,3609,3957,3981,277.8,-12.0,178,1910,0.00,2.42,0.00,0.000,1158,0.000,0.057,2221,2200,3968,3957,3979,0,0,0,0,0,0,14.12,13.98,14.15
$GC,2215,-1.12,-145.9,2223,2198,3958,3978,317.1,-12.3,190,2220,0.00,2.55,0.00,0.000,260,0.000,0.090,2222,3607,3967,3956,3979,0,0,0,0,0,0,14.40,13.90,14.42
$GC,2321,-1.22,-145.9,2223,3609,3957,3981,328.9,-10.6,211,2327,0.12,2.45,0.00,0.000,5254,0.132,0.057,2170,2192,3967,3956,3979,0,0,0,0,0,0,14.00,13.95,14.09
$GC,2638,-1.14,-145.9,2169,2192,3956,3980,381.0,-16.7,224,2643,0.17,2.55,0.00,0.000,2436,0.301,0.083,2197,3608,3966,3955,3978,0,0,0,0,0,0,13.52,13.80,13.73
$GC,2756,-1.19,-145.9,2197,3609,3956,3979,396.3,-12.1,247,2763,0.00,2.42,0.00,0.000,1158,0.000,0.055,2197,2201,3966,3954,3979,0,0,0,0,0,0,14.07,13.95,14.11
$GC,3059,-1.19,-145.9,2197,2202,3955,3978,436.2,-13.0,258,3064,0.00,2.55,0.00,0.000,260,0.000,0.086,2186,3610,3967,3954,3980,0,0,0,0,0,0,14.40,13.85,14.41
$GC,3149,-1.22,-145.9,2187,3611,3955,3978,448.1,-12.6,276,3154,0.00,2.45,0.00,0.000,1158,0.000,0.055,2187,2199,3967,3954,3980,0,0,0,0,0,0,14.07,13.95,14.11
$STATE,3387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3387,begin apogee
$GC,3394,-0.13,0.0,2188,2058,3954,3979,481.4,-13.9,289,3621,1.40,0.08,223.70,1.390,10246,0.239,0.183,2531,2107,3365,3384,3346,0,0,0,0,0,0,13.60,13.48,12.74
$STATE,3623,end apogee,CONTROL_FINISHED_OK
$STATE,3623,begin climb
$GC,3626,0.57,145.9,2531,2108,3377,3338,493.3,0.0,296,3843,0.73,2.72,208.18,1.356,10756,0.057,0.079,2789,721,2765,2801,2730,0,0,0,0,0,0,13.66,12.96,12.24
$GC,4071,0.16,145.9,2790,721,2788,2725,474.3,14.6,346,4077,0.73,2.42,0.00,0.000,5254,0.315,0.074,2637,2094,2752,2786,2719,0,0,0,0,0,0,13.35,13.74,13.73
$GC,4393,-0.00,164.8,2638,2096,2785,2715,443.5,9.1,360,4423,0.22,0.00,23.17,1.498,12454,0.273,0.000,2588,2095,2684,2728,2641,0,0,0,0,0,0,13.64,13.97,13.18
$GC,4723,-0.01,217.5,2588,2095,2725,2636,418.4,7.6,371,4814,0.00,2.47,83.82,1.355,8868,0.000,0.087,2588,724,2471,2526,2416,0,0,0,0,0,0,14.57,13.91,13.08
$GC,4829,0.02,264.5,2589,724,2523,2411,409.9,7.8,382,4910,0.00,2.45,73.35,1.323,9254,0.000,0.079,2589,2107,2281,2336,2227,0,0,0,0,0,0,14.11,13.99,12.96
$GC,5236,0.08,289.5,2588,2105,2330,2212,373.5,8.8,413,5275,0.00,0.00,37.15,1.372,8358,0.000,0.000,2588,2108,2183,2237,2130,0,0,0,0,0,0,14.55,14.01,13.21
$GC,5566,0.17,319.8,2589,2108,2223,2113,344.6,8.6,424,5617,0.12,2.47,43.90,1.375,10916,0.129,0.088,2657,720,2055,2104,2006,0,0,0,0,0,0,14.28,13.81,13.20
$GC,5655,0.17,319.8,2658,720,2095,2001,333.7,13.1,441,5662,0.00,2.42,0.00,0.000,1030,0.000,0.079,2658,2101,2049,2094,2005,0,0,0,0,0,0,14.21,14.08,14.24
$GC,5958,0.12,319.8,2658,2102,2095,1998,293.1,13.2,452,5963,0.12,2.40,0.00,0.000,4740,0.256,0.085,2630,721,2045,2093,1997,0,0,0,0,0,0,13.95,14.12,14.10
$GC,5978,0.12,319.8,2631,721,2095,1998,290.5,12.3,456,5983,0.00,2.42,0.00,0.000,1030,0.000,0.078,2630,2100,2044,2091,1997,0,0,0,0,0,0,14.29,14.15,14.33
$GC,6289,0.15,321.6,2631,2101,2091,1997,258.6,9.9,468,6294,0.00,2.45,0.00,0.000,676,0.000,0.088,2630,726,2044,2091,1997,0,0,0,0,0,0,14.62,14.09,14.64
$GC,6345,0.24,344.3,2631,726,2091,1997,253.2,8.9,479,6386,0.00,2.40,35.45,1.372,9382,0.000,0.077,2630,2103,1959,2005,1914,0,0,0,0,0,0,14.22,14.09,13.28
$GC,6714,0.33,385.9,2631,2102,1998,1904,221.4,8.1,502,6787,0.17,0.00,69.57,1.285,10406,0.100,0.000,2703,2103,1790,1816,1764,0,0,0,0,0,0,14.26,13.90,13.18
$GC,7072,0.30,385.9,2699,2103,1806,1754,176.5,12.4,514,7077,0.00,2.47,0.00,0.000,644,0.000,0.089,2706,715,1779,1805,1753,0,0,0,0,0,0,14.57,14.06,14.59
$GC,7152,0.30,385.9,2707,717,1803,1754,166.9,11.5,530,7157,0.00,2.42,0.00,0.000,1030,0.000,0.076,2706,2102,1777,1802,1753,0,0,0,0,0,0,14.27,14.14,14.32
$GC,7463,0.30,385.9,2707,2104,1803,1753,130.8,11.2,542,7468,0.00,2.45,0.00,0.000,516,0.000,0.087,2707,721,1777,1802,1752,0,0,0,0,0,0,14.62,14.04,14.64
$GC,7534,0.34,385.9,2707,722,1801,1753,123.4,10.1,556,7539,0.00,2.42,0.00,0.000,1158,0.000,0.075,2707,2100,1775,1800,1751,0,0,0,0,0,0,14.23,14.09,14.24
$GC,7844,0.34,397.9,2707,2101,1800,1752,92.4,9.4,573,7856,0.00,0.00,5.25,0.457,8230,0.000,0.000,2708,2100,1742,1766,1718,0,0,0,0,0,0,14.55,13.79,13.46
$GC,8154,0.40,443.0,2707,2101,1770,1720,65.2,7.9,604,8187,0.00,2.45,25.40,0.392,8868,0.000,0.084,2707,718,1557,1583,1531,0,0,0,0,0,0,14.59,13.85,13.59
$GC,8218,0.55,502.6,2707,719,1584,1532,60.5,7.3,616,8255,0.17,2.45,31.98,0.376,11430,0.102,0.076,2779,2108,1316,1362,1270,0,0,0,0,0,0,14.09,13.96,13.72
$GC,8561,0.59,560.1,2779,2109,1363,1261,29.3,7.3,654,8597,0.00,2.47,31.00,0.283,8740,0.000,0.085,2787,725,1079,1143,1016,0,0,0,0,0,0,14.52,13.93,13.73
$GC,8628,0.77,658.8,2781,731,1144,1019,25.7,5.4,667,8687,0.15,2.45,54.05,0.267,11430,0.117,0.077,2845,2107,677,736,619,0,0,0,0,0,0,14.04,13.93,13.71
$STATE,8870,end climb,SURFACE_DEPTH_REACHED
$STATE,8870,begin surface coast
$FINISH,0.4,1.021144
$STATE,8890,end surface coast,CONTROL_FINISHED_OK
$STATE,8890,begin surface
$SM_CCo,8912,26.65,0.198,0,0,499,703.03
$SM_GC,1.50,8.10,0.17,26.65,0.064,0.112,0.198,204,2234,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.23,14.23,13.88
$RAFOS_CLK,322
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7423.66,-15347.54,210917,083804
$TT8_MAMPS,0.038948,0.920521
$HUMID,47.44
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15900344320.000000
$PM_FREEKB_00,44976576
$24V_AH,12.24,233.706
$10V_AH,12.15,0.000
$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,25.225,84.650,945.975,26.650,0.000,0.000,0.000,386.550,3.750,0.000,24.022,0.000,6310.448,902.396,2065.467,377.547,0.000,2085.152,0.000,1004.120,2214.000,0.539,0.000
$DEVICE_MAMPS,447.525,2173.365,1497.870,198.135,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8929.000,5332.000,8849.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.355,20.000,9.908,0.000
$MEM,323700
$DATA_FILE_SIZE,23412,699
$CAP_FILE_SIZE,99032,0
$CFSIZE,2097872896,1977057280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.045,73.79,1
$GPS,210917,140003,7421.077,-15342.660,37,1.0,38,19.3,0.0,0.0,9,9.3