version: 66.13
glider: 196
mission: 14
dive: 397
start: 9 21 117 19 37 5
data:
$ID,196
$MISSION,14
$DIVE,397
$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,64
$R_STBD_OVSHOOT,47
$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,1101.0
$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
$GPS1,210917,192135,7419.2476,-15346.3223,16,0.8,23,19.2,0.0,81.9,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.0
$GPS2,210917,193632,7419.2881,-15346.1152,7,0.9,40,19.2,0.3,59.2,9,7.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,191.4,2244,-18.8,-10.000,-22.13,2035
$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,-0.59,-133.2,192,2229,496,497,0.0,0.0,0,135,0.00,0.00,-80.65,0.000,16386,0.000,0.000,191,2228,1995,1923,2067,0,0,0,0,0,0,14.47,28.83,14.49
$GC,139,-0.60,-145.9,192,2228,1925,2069,3.1,-3.2,8,202,12.73,2.70,-40.95,0.000,18724,0.449,2.170,2367,3575,3964,3949,3980,0,0,0,0,0,0,13.57,12.58,14.02
$GC,278,-0.76,-145.9,2368,3576,3956,3980,33.7,-13.1,35,286,0.12,2.30,0.00,0.000,5254,0.125,0.057,2320,2231,3967,3955,3979,0,0,0,0,0,0,14.12,14.07,14.21
$GC,583,-0.80,-145.9,2321,2230,3958,3980,88.4,-14.6,66,588,0.00,2.42,0.00,0.000,388,0.000,0.088,2319,3582,3968,3957,3979,0,0,0,0,0,0,14.56,14.09,14.55
$GC,659,-0.97,-145.9,2320,3583,3958,3980,97.6,-11.2,81,665,0.15,2.38,0.00,0.000,5254,0.112,0.056,2260,2198,3968,3957,3980,0,0,0,0,0,0,14.17,14.09,14.27
$GC,984,-0.97,-145.9,2261,2198,3959,3979,152.1,-15.9,94,989,0.00,2.47,0.00,0.000,260,0.000,0.086,2251,3581,3968,3957,3980,0,0,0,0,0,0,14.61,14.05,14.62
$GC,1074,-1.06,-145.9,2251,3581,3958,3980,165.0,-13.2,112,1079,0.00,2.38,0.00,0.000,1158,0.000,0.057,2251,2196,3968,3957,3980,0,0,0,0,0,0,14.26,14.13,14.31
$GC,1407,-1.09,-145.9,2252,2195,3959,3979,213.9,-14.4,128,1412,0.00,2.50,0.00,0.000,388,0.000,0.088,2244,3585,3968,3957,3979,0,0,0,0,0,0,14.41,13.95,14.43
$GC,1520,-1.20,-145.9,2244,3585,3957,3980,228.4,-12.0,150,1525,0.17,2.40,0.00,0.000,5254,0.113,0.055,2174,2202,3969,3958,3980,0,0,0,0,0,0,14.00,13.89,14.12
$GC,1831,-1.09,-145.9,2174,2197,3958,3979,290.3,-19.2,162,1836,0.20,2.50,0.00,0.000,2436,0.288,0.082,2209,3589,3968,3957,3979,0,0,0,0,0,0,13.61,13.85,13.81
$GC,1962,-1.15,-145.9,2209,3591,3958,3977,308.9,-13.5,188,1967,0.00,2.40,0.00,0.000,1158,0.000,0.054,2205,2192,3968,3957,3979,0,0,0,0,0,0,14.11,13.99,14.14
$GC,2282,-1.15,-145.9,2212,2193,3958,3979,351.4,-13.0,202,2287,0.00,2.53,0.00,0.000,260,0.000,0.086,2201,3587,3966,3954,3979,0,0,0,0,0,0,14.39,13.90,14.40
$GC,2388,-1.21,-145.9,2201,3587,3957,3980,364.7,-12.3,223,2393,0.00,2.40,0.00,0.000,1158,0.000,0.054,2201,2201,3966,3955,3978,0,0,0,0,0,0,14.04,13.92,14.07
$GC,2704,-1.21,-145.9,2201,2199,3956,3978,406.2,-13.1,236,2709,0.00,2.53,0.00,0.000,260,0.000,0.087,2196,3581,3966,3955,3978,0,0,0,0,0,0,14.38,13.80,14.40
$GC,2789,-1.28,-145.9,2197,3584,3955,3979,417.0,-12.1,253,2795,0.00,2.42,0.00,0.000,1158,0.000,0.055,2196,2196,3966,3955,3978,0,0,0,0,0,0,14.03,13.91,14.07
$GC,3094,-1.28,-145.9,2197,2195,3956,3978,456.9,-13.0,264,3099,0.00,2.53,0.00,0.000,260,0.000,0.086,2190,3583,3966,3954,3978,0,0,0,0,0,0,14.38,13.77,14.39
$GC,3180,-1.33,-145.9,2191,3585,3955,3978,467.9,-12.3,281,3186,0.12,2.40,0.00,0.000,5254,0.124,0.054,2144,2197,3966,3954,3978,0,0,0,0,0,0,13.90,13.89,13.99
$STATE,3272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3272,begin apogee
$GC,3279,-0.13,0.0,2144,2056,3955,3978,484.2,-17.2,285,3497,1.65,0.00,214.68,1.426,10246,0.274,0.000,2529,2055,3364,3382,3347,0,0,0,0,0,0,13.54,13.48,12.70
$STATE,3501,end apogee,CONTROL_FINISHED_OK
$STATE,3501,begin climb
$GC,3504,0.60,145.9,2529,2056,3377,3339,496.1,0.0,292,3723,0.77,2.70,206.70,1.379,11012,0.057,0.071,2789,3484,2758,2793,2723,0,0,0,0,0,0,13.64,12.78,12.19
$GC,3761,0.10,145.9,2788,3485,2788,2724,502.6,14.2,300,3766,0.95,2.45,0.00,0.000,5254,0.347,0.054,2620,2132,2755,2788,2723,0,0,0,0,0,0,12.83,13.14,13.16
$GC,4082,-0.00,175.0,2621,2132,2789,2717,474.1,8.5,314,4124,0.17,0.00,39.17,1.455,12454,0.283,0.000,2585,2132,2649,2692,2607,0,0,0,0,0,0,13.74,13.88,13.06
$GC,4412,0.03,218.1,2586,2133,2689,2594,448.6,7.8,325,4483,0.00,2.62,62.58,1.417,8740,0.000,0.089,2591,700,2470,2523,2417,0,0,0,0,0,0,14.56,13.94,13.10
$GC,4513,0.12,252.2,2596,700,2521,2414,440.3,8.3,340,4570,0.00,2.42,49.62,1.406,9382,0.000,0.079,2589,2075,2334,2385,2283,0,0,0,0,0,0,14.16,14.04,13.01
$GC,4896,0.18,272.4,2589,2075,2376,2271,405.8,9.0,366,4927,0.17,0.00,28.55,1.466,10406,0.103,0.000,2668,2075,2251,2300,2203,0,0,0,0,0,0,14.28,14.04,13.24
$GC,5226,0.09,272.4,2669,2076,2295,2195,358.6,14.4,377,5231,0.20,2.45,0.00,0.000,4740,0.252,0.086,2619,690,2243,2295,2192,0,0,0,0,0,0,13.91,14.12,14.08
$GC,5272,0.15,272.4,2620,689,2294,2194,353.3,10.7,386,5277,0.00,2.47,0.00,0.000,1158,0.000,0.077,2619,2105,2242,2293,2192,0,0,0,0,0,0,14.28,14.14,14.33
$GC,5588,0.15,272.4,2620,2106,2294,2190,320.5,10.3,399,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2111,2241,2293,2190,0,0,0,0,0,0,14.59,14.60,14.62
$GC,5888,0.15,272.4,2620,2107,2294,2189,290.2,10.0,409,5893,0.00,2.50,0.00,0.000,516,0.000,0.086,2620,691,2240,2293,2188,0,0,0,0,0,0,14.62,14.09,14.66
$GC,5939,0.23,285.4,2620,692,2293,2189,285.2,9.3,419,5960,0.12,2.47,16.38,1.530,11430,0.121,0.077,2680,2104,2202,2250,2155,0,0,0,0,0,0,14.13,14.02,13.30
$GC,6283,0.15,285.4,2680,2105,2243,2148,242.1,11.9,437,6285,0.20,0.00,0.00,0.000,4230,0.252,0.000,2636,2105,2195,2242,2149,0,0,0,0,0,0,13.89,14.28,14.19
$GC,6581,0.20,328.0,2636,2105,2242,2146,217.3,7.8,447,6655,0.00,0.00,73.03,1.306,8358,0.000,0.000,2636,2105,2027,2073,1982,0,0,0,0,0,0,14.61,13.95,13.19
$GC,6941,0.30,372.1,2636,2104,2062,1970,189.1,7.8,459,7021,0.12,2.60,72.28,1.259,10916,0.117,0.091,2696,688,1844,1872,1817,0,0,0,0,0,0,14.23,13.95,13.19
$GC,7077,0.34,372.1,2697,687,1865,1818,173.9,11.1,486,7082,0.00,2.50,0.00,0.000,1158,0.000,0.077,2696,2100,1839,1863,1816,0,0,0,0,0,0,14.14,14.02,14.18
$GC,7393,0.34,372.1,2697,2101,1862,1809,139.3,10.6,499,7398,0.00,2.53,0.00,0.000,516,0.000,0.090,2695,689,1835,1861,1809,0,0,0,0,0,0,14.55,14.08,14.59
$GC,7429,0.38,372.1,2696,690,1859,1810,135.5,10.3,506,7433,0.00,2.47,0.00,0.000,1158,0.000,0.077,2696,2105,1834,1859,1809,0,0,0,0,0,0,14.27,14.13,14.32
$GC,7754,0.40,388.2,2697,2105,1859,1806,103.6,9.2,521,7779,0.00,2.55,17.65,1.359,8740,0.000,0.088,2696,700,1779,1802,1757,0,0,0,0,0,0,14.59,14.15,13.33
$GC,7827,0.50,416.9,2697,700,1795,1758,97.5,8.6,535,7849,0.15,2.47,15.38,0.491,11430,0.116,0.077,2763,2110,1664,1684,1645,0,0,0,0,0,0,14.21,14.14,13.69
$GC,8146,0.45,422.3,2763,2110,1686,1643,58.3,9.7,569,8156,0.15,0.00,3.33,0.364,12454,0.261,0.000,2733,2110,1641,1665,1618,0,0,0,0,0,0,13.90,14.11,13.69
$GC,8455,0.57,537.0,2733,2112,1669,1619,41.2,4.2,600,8517,0.00,0.00,60.40,0.321,8358,0.000,0.000,2732,2108,1177,1236,1118,0,0,0,0,0,0,14.55,14.14,13.80
$GC,8815,0.86,647.3,2736,2111,1237,1105,21.8,4.4,636,8880,0.38,2.62,58.00,0.265,10916,0.076,0.093,2877,685,723,784,663,0,0,0,0,0,0,14.18,14.05,13.80
$GC,8946,0.89,647.3,2877,685,788,661,7.8,11.2,661,8953,0.00,2.50,0.00,0.000,1158,0.000,0.077,2876,2097,722,784,661,0,0,0,0,0,0,14.00,13.91,14.04
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.3,1.021090
$STATE,9008,end surface coast,CONTROL_FINISHED_OK
$STATE,9008,begin surface
$SM_CCo,9030,31.02,0.207,0,0,497,702.78
$SM_GC,1.64,8.30,0.17,31.02,0.074,0.107,0.207,200,2244,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.24,14.27,13.93
$RAFOS_CLK,347
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7419.36,-15354.57,210917,192633
$TT8_MAMPS,0.040446,0.972202
$HUMID,47.08
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15898738688.000000
$PM_FREEKB_00,44870016
$24V_AH,12.19,235.126
$10V_AH,12.05,0.000
$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,26.850,79.950,917.725,31.025,0.000,0.000,0.000,505.500,2.250,0.000,42.008,0.000,6552.432,875.713,2148.390,392.969,0.000,2168.385,0.000,966.616,2193.000,0.539,0.000
$DEVICE_MAMPS,449.055,2170.305,1530.000,207.315,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9044.000,8998.000,8982.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.535,20.000,9.921,0.000
$MEM,323684
$DATA_FILE_SIZE,23385,668
$CAP_FILE_SIZE,100935,0
$CFSIZE,2097872896,1976270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.038,93.29,1
$GPS,210917,220921,7418.321,-15348.513,17,0.8,28,19.2,0.7,77.9,11,10.0