version: 66.13
glider: 196
mission: 14
dive: 396
start: 9 21 117 16 55 14
data:
$ID,196
$MISSION,14
$DIVE,396
$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,23
$R_STBD_OVSHOOT,37
$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,1098.0
$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
$GPS1,210917,164330,7420.1875,-15344.4727,21,0.9,35,19.3,0.5,83.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.8
$GPS2,210917,165442,7420.2080,-15344.0908,5,0.8,9,19.3,0.0,79.6,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,192.1,4167,-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,50,end surface,CONTROL_FINISHED_OK
$STATE,50,begin dive
$GC,53,-0.57,-145.9,191,2228,499,493,0.0,0.0,0,136,0.00,0.00,-80.93,0.000,16386,0.000,0.000,190,2227,1991,1922,2061,0,0,0,0,0,0,14.31,28.83,14.33
$GC,140,-0.57,-145.9,190,2228,1926,2064,3.2,-3.3,8,204,12.82,2.75,-41.92,0.000,19236,0.451,2.170,2377,3591,3965,3950,3980,1,0,0,0,0,0,13.43,12.57,14.00
$GC,270,-0.82,-145.9,2377,3594,3954,3980,31.5,-10.4,33,275,0.20,2.38,0.00,0.000,5254,0.102,0.055,2301,2193,3966,3957,3976,0,0,0,0,0,0,14.09,14.05,14.18
$GC,580,-0.82,-145.9,2301,2192,3956,3979,92.4,-15.8,65,585,0.00,2.50,0.00,0.000,260,0.000,0.086,2293,3596,3967,3955,3979,0,0,0,0,0,0,14.54,13.93,14.57
$GC,676,-0.94,-145.9,2294,3597,3956,3979,105.5,-12.2,84,681,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2195,3968,3956,3980,0,0,0,0,0,0,14.20,14.09,14.23
$GC,1002,-0.98,-145.9,2293,2194,3956,3981,148.8,-12.8,99,1007,0.00,2.50,0.00,0.000,388,0.000,0.086,2286,3594,3967,3956,3979,0,0,0,0,0,0,14.60,14.01,14.61
$GC,1088,-1.12,-145.9,2286,3596,3957,3980,158.8,-10.9,116,1095,0.20,2.38,0.00,0.000,5254,0.099,0.055,2212,2199,3967,3956,3979,0,0,0,0,0,0,14.15,14.09,14.26
$GC,1393,-1.04,-145.9,2212,2198,3957,3980,216.2,-18.9,127,1399,0.12,2.50,0.00,0.000,2436,0.297,0.083,2235,3594,3967,3956,3978,0,0,0,0,0,0,13.75,14.03,13.93
$GC,1465,-1.11,-145.9,2236,3594,3954,3981,227.1,-13.1,141,1470,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2195,3968,3956,3980,0,0,0,0,0,0,14.11,13.97,14.14
$GC,1786,-1.11,-145.9,2236,2195,3956,3980,271.2,-13.2,155,1791,0.00,2.53,0.00,0.000,260,0.000,0.089,2235,3602,3967,3956,3979,0,0,0,0,0,0,14.61,14.01,14.62
$GC,1909,-1.22,-145.9,2236,3603,3957,3980,285.3,-11.3,179,1916,0.15,2.42,0.00,0.000,5254,0.119,0.056,2175,2200,3967,3955,3980,0,0,0,0,0,0,14.00,13.44,14.16
$GC,2241,-1.13,-145.9,2176,2198,3956,3980,342.0,-17.0,195,2247,0.15,2.50,0.00,0.000,2436,0.294,0.082,2198,3596,3967,3955,3979,0,0,0,0,0,0,13.05,13.24,13.14
$GC,2345,-1.17,-145.9,2198,3595,3956,3980,356.2,-13.0,215,2351,0.00,2.40,0.00,0.000,1158,0.000,0.055,2198,2197,3967,3955,3979,0,0,0,0,0,0,14.21,14.08,14.26
$GC,2667,-1.17,-145.9,2197,2195,3955,3979,400.6,-13.6,229,2671,0.00,2.50,0.00,0.000,260,0.000,0.086,2189,3594,3966,3954,3979,0,0,0,0,0,0,14.60,13.99,14.62
$GC,2772,-1.20,-145.9,2189,3595,3954,3980,414.7,-12.9,250,2777,0.00,2.40,0.00,0.000,1158,0.000,0.054,2189,2199,3966,3954,3979,0,0,0,0,0,0,14.14,14.01,14.23
$GC,3088,-1.18,-145.9,2189,2198,3954,3980,458.8,-13.9,263,3093,0.00,2.50,0.00,0.000,388,0.000,0.086,2183,3594,3966,3954,3979,0,0,0,0,0,0,14.59,13.97,14.62
$GC,3179,-1.20,-145.9,2183,3596,3954,3976,471.4,-13.1,281,3184,0.00,2.40,0.00,0.000,1158,0.000,0.055,2183,2194,3966,3954,3979,0,0,0,0,0,0,14.16,14.04,14.22
$STATE,3267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3267,begin apogee
$GC,3274,-0.13,0.0,2184,2062,3954,3985,484.1,-14.2,289,3497,1.40,0.00,218.80,1.419,10246,0.239,0.000,2527,2059,3365,3382,3349,0,0,0,0,0,0,13.61,13.55,12.78
$STATE,3500,end apogee,CONTROL_FINISHED_OK
$STATE,3500,begin climb
$GC,3503,0.57,145.9,2529,2060,3378,3341,495.9,0.0,296,3902,0.75,2.58,209.18,1.374,10756,0.060,0.079,2792,733,2756,2788,2725,0,0,0,0,0,0,13.74,13.12,12.31
$GC,3907,0.57,145.9,2793,734,2789,2726,482.8,3.5,299,3913,0.00,2.42,0.00,0.000,1030,0.000,0.073,2793,2088,2755,2788,2723,0,0,0,0,0,0,13.91,13.78,13.94
$GC,4224,0.11,145.9,2793,2088,2788,2720,435.0,14.9,312,4226,0.77,0.00,0.00,0.000,4230,0.311,0.000,2623,2087,2753,2787,2719,0,0,0,0,0,0,13.63,14.19,14.06
$GC,4524,0.00,184.1,2623,2088,2788,2717,409.2,8.2,322,4585,0.17,2.45,53.95,1.408,12964,0.279,0.087,2586,727,2609,2655,2563,0,0,0,0,0,0,13.84,13.98,13.13
$GC,4611,0.03,229.7,2586,731,2654,2561,402.8,7.9,334,4686,0.00,2.42,67.25,1.366,9254,0.000,0.079,2590,2101,2423,2479,2368,0,0,0,0,0,0,14.16,14.04,13.00
$GC,5007,0.05,261.1,2586,2102,2472,2357,368.9,8.5,363,5054,0.00,0.00,45.50,1.388,8230,0.000,0.000,2586,2101,2300,2352,2248,0,0,0,0,0,0,14.56,14.00,13.18
$GC,5337,0.12,293.4,2586,2102,2342,2235,340.5,8.5,374,5389,0.12,0.00,49.40,1.371,10406,0.126,0.000,2648,2101,2166,2213,2120,0,0,0,0,0,0,14.25,13.99,13.20
$GC,5667,0.07,293.4,2649,2102,2206,2106,300.0,12.2,385,5672,0.12,2.45,0.00,0.000,4740,0.243,0.087,2617,725,2155,2206,2105,0,0,0,0,0,0,14.00,14.12,14.12
$GC,5743,0.17,315.5,2617,725,2203,2106,292.6,9.0,400,5783,0.00,2.40,32.53,1.381,9382,0.000,0.078,2617,2101,2072,2120,2024,0,0,0,0,0,0,14.28,14.15,13.24
$GC,6092,0.23,338.3,2618,2101,2116,2017,260.9,8.9,419,6128,0.12,0.00,34.08,1.365,10406,0.122,0.000,2677,2101,1985,2031,1940,0,0,0,0,0,0,14.20,14.07,13.26
$GC,6419,0.19,338.3,2677,2102,2023,1928,220.5,11.7,430,6424,0.12,2.45,0.00,0.000,4740,0.252,0.085,2652,724,1975,2023,1927,0,0,0,0,0,0,13.98,14.02,14.11
$GC,6455,0.26,349.6,2652,724,2026,1926,216.9,9.5,437,6475,0.00,2.40,15.57,1.480,9382,0.000,0.077,2652,2101,1939,1985,1894,0,0,0,0,0,0,14.29,14.16,13.28
$GC,6781,0.31,380.5,2652,2102,1978,1885,187.4,8.6,452,6841,0.00,2.50,51.65,1.309,8868,0.000,0.088,2654,731,1812,1837,1788,0,0,0,0,0,0,14.59,14.00,13.25
$GC,6882,0.45,416.1,2654,732,1833,1783,178.7,8.4,467,6948,0.22,2.40,60.55,1.245,11430,0.091,0.077,2749,2101,1668,1692,1645,0,0,0,0,0,0,14.15,14.12,13.12
$GC,7263,0.37,416.1,2746,2101,1686,1626,123.7,14.2,493,7268,0.15,2.45,0.00,0.000,4740,0.234,0.084,2712,721,1655,1685,1625,0,0,0,0,0,0,13.94,14.05,14.10
$GC,7289,0.37,416.1,2713,721,1685,1625,120.5,12.4,498,7295,0.00,2.42,0.00,0.000,1030,0.000,0.076,2710,2097,1654,1683,1625,0,0,0,0,0,0,14.12,14.00,14.14
$GC,7594,0.38,419.7,2713,2100,1684,1622,88.8,9.8,515,7600,0.00,2.45,0.00,0.000,548,0.000,0.086,2713,731,1652,1683,1622,0,0,0,0,0,0,14.56,13.96,14.60
$GC,7666,0.47,442.5,2713,731,1681,1623,82.3,8.9,529,7687,0.00,2.42,13.43,0.438,9382,0.000,0.076,2714,2106,1561,1590,1532,0,0,0,0,0,0,14.19,14.11,13.62
$GC,7986,0.58,515.5,2713,2106,1590,1531,55.5,6.6,563,8029,0.17,0.00,41.45,0.360,10406,0.102,0.000,2786,2106,1261,1310,1213,0,0,0,0,0,0,14.16,14.14,13.75
$GC,8326,0.61,553.9,2787,2105,1311,1205,24.7,8.2,597,8352,0.00,2.45,21.67,0.276,8740,0.000,0.082,2794,731,1103,1163,1043,0,0,0,0,0,0,14.54,13.96,13.76
$GC,8483,0.78,664.6,2794,731,1164,1046,16.4,4.9,628,8552,0.12,2.42,62.92,0.243,11430,0.126,0.078,2851,2100,651,701,601,0,0,0,0,0,0,13.97,13.94,13.83
$STATE,8655,end climb,SURFACE_DEPTH_REACHED
$STATE,8655,begin surface coast
$FINISH,0.4,1.020959
$STATE,8665,end surface coast,CONTROL_FINISHED_OK
$STATE,8665,begin surface
$SM_CCo,8687,21.75,0.207,0,0,501,702.78
$SM_GC,0.97,8.25,0.17,21.75,0.078,0.114,0.207,201,2225,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.22,14.22,13.88
$RAFOS_CLK,383
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,210917,140443
$TT8_MAMPS,0.041944,0.859852
$HUMID,47.63
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,15899262976.000000
$PM_FREEKB_00,44909440
$24V_AH,12.31,234.651
$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,26.175,78.875,977.925,21.750,0.000,0.000,0.000,371.325,4.500,0.000,10.359,0.000,6009.293,914.019,2107.406,361.871,0.000,2239.213,0.000,938.428,0.000,0.540,0.000
$DEVICE_MAMPS,451.350,2169.540,1480.275,206.550,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8702.000,8655.000,8640.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.436,20.000,9.877,0.000
$MEM,323660
$DATA_FILE_SIZE,23448,653
$CAP_FILE_SIZE,95836,0
$CFSIZE,2097872896,1976565760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.081,102.07,1
$GPS,210917,192135,7419.248,-15346.322,16,0.8,23,19.2,0.0,81.9,11,9.7