version: 66.13
glider: 196
mission: 14
dive: 400
start: 9 22 117 3 51 7
data:
$ID,196
$MISSION,14
$DIVE,400
$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,34
$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,1109.0
$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
$GPS1,220917,033304,7418.1758,-15347.7832,25,1.1,26,19.2,0.3,161.6,7,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.6
$GPS2,220917,035032,7418.0757,-15347.3242,6,0.7,13,19.2,0.0,120.2,12,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,52.5,169,-27.3,-10.000,-30.00,994
$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,52,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,55,-0.76,-64.8,191,2186,486,493,0.0,0.0,0,138,0.00,0.00,-81.22,0.000,16386,0.000,0.000,189,2187,2000,1938,2063,0,0,0,0,0,0,14.45,28.83,14.47
$GC,142,-0.81,-131.5,190,2187,1941,2065,3.1,-3.1,8,199,12.50,2.70,-39.50,0.000,19236,0.456,2.167,2308,793,3905,3887,3924,0,0,0,0,0,0,13.59,13.06,14.08
$GC,390,-1.03,-131.5,2308,798,3895,3924,60.4,-16.9,57,397,0.20,2.53,0.00,0.000,5254,0.096,0.091,2231,2196,3909,3894,3924,0,0,0,0,0,0,14.07,13.93,14.14
$GC,705,-1.09,-131.5,2231,2198,3895,3921,133.4,-21.9,78,710,0.00,2.53,0.00,0.000,388,0.000,0.087,2223,3610,3909,3894,3924,0,0,0,0,0,0,14.39,13.96,14.40
$GC,915,-1.27,-131.5,2223,3613,3895,3925,171.4,-16.5,120,921,0.15,2.45,0.00,0.000,5254,0.114,0.059,2160,2209,3909,3894,3924,0,0,0,0,0,0,14.07,14.00,14.14
$GC,1247,-1.27,-131.5,2160,2207,3896,3924,253.4,-24.2,136,1252,0.00,2.55,0.00,0.000,260,0.000,0.083,2150,3618,3909,3894,3924,0,0,0,0,0,0,14.35,13.90,14.35
$GC,1442,-1.32,-131.5,2150,3619,3896,3924,294.1,-19.9,175,1448,0.00,2.45,0.00,0.000,1158,0.000,0.057,2149,2201,3909,3894,3925,0,0,0,0,0,0,14.08,13.95,14.12
$GC,1759,-1.35,-131.5,2150,2200,3894,3924,356.6,-19.5,188,1763,0.00,2.55,0.00,0.000,388,0.000,0.085,2141,3613,3909,3894,3924,0,0,0,0,0,0,14.36,13.85,14.38
$GC,1891,-1.42,-131.5,2141,3613,3895,3924,381.2,-18.1,214,1896,0.00,2.45,0.00,0.000,1158,0.000,0.057,2142,2197,3909,3894,3924,0,0,0,0,0,0,14.07,13.94,14.09
$GC,2212,-1.45,-131.5,2141,2194,3894,3924,443.7,-19.3,228,2217,0.00,2.58,0.00,0.000,388,0.000,0.084,2130,3620,3908,3893,3923,0,0,0,0,0,0,14.35,13.84,14.36
$GC,2367,-1.50,-131.5,2130,3620,3894,3924,473.5,-18.9,259,2373,0.00,2.50,0.00,0.000,1158,0.000,0.057,2130,2192,3908,3893,3923,0,0,0,0,0,0,13.98,13.85,14.02
$STATE,2421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2421,begin apogee
$GC,2428,-0.13,0.0,2131,2063,3894,3923,484.6,-20.1,265,2627,1.75,0.08,194.40,1.438,10246,0.291,0.179,2526,2112,3363,3373,3353,0,0,0,0,0,0,13.59,13.50,12.76
$STATE,2630,end apogee,CONTROL_FINISHED_OK
$STATE,2630,begin climb
$GC,2633,0.81,131.5,2527,2112,3370,3349,495.2,0.0,271,2831,0.98,2.67,183.70,1.393,11012,0.055,0.079,2867,728,2823,2858,2788,0,0,0,0,0,0,13.62,13.08,12.28
$GC,3056,0.46,131.5,2867,730,2848,2784,482.0,14.5,346,3062,0.70,2.42,0.00,0.000,5254,0.373,0.074,2737,2100,2815,2848,2782,0,0,0,0,0,0,13.29,13.70,13.70
$GC,3375,0.27,131.5,2737,2102,2848,2780,445.4,11.4,359,3380,0.28,2.45,0.00,0.000,4740,0.314,0.078,2684,724,2813,2847,2779,0,0,0,0,0,0,13.61,13.96,13.83
$GC,3606,0.23,141.5,2685,724,2849,2778,424.0,9.0,405,3621,0.15,2.42,8.98,1.679,13478,0.288,0.078,2657,2107,2787,2822,2753,0,0,0,0,0,0,13.76,14.09,13.28
$GC,3949,0.21,154.6,2657,2107,2821,2749,394.4,8.6,423,3972,0.00,2.50,19.10,1.564,8868,0.000,0.084,2662,727,2731,2765,2698,0,0,0,0,0,0,14.57,14.14,13.27
$GC,4060,0.21,159.7,2663,727,2762,2698,384.0,9.5,445,4071,0.00,2.40,3.55,1.551,9254,0.000,0.080,2662,2099,2717,2752,2682,0,0,0,0,0,0,14.31,14.17,12.98
$GC,4368,0.21,160.6,2662,2099,2756,2683,353.1,9.9,457,4372,0.00,0.00,2.00,0.538,8230,0.000,0.000,2662,2099,2712,2749,2676,0,0,0,0,0,0,14.61,14.05,12.13
$GC,4668,0.22,168.0,2662,2100,2754,2680,324.6,9.2,467,4685,0.00,0.00,15.38,1.585,8230,0.000,0.000,2659,2099,2681,2718,2644,0,0,0,0,0,0,14.62,14.14,13.32
$GC,4968,0.23,176.8,2663,2099,2719,2638,296.7,9.1,477,4988,0.00,2.55,12.30,1.607,8484,0.000,0.083,2662,3513,2642,2680,2604,0,0,0,0,0,0,14.62,14.17,13.29
$GC,5044,0.18,176.8,2662,3513,2677,2603,289.1,10.5,492,5050,0.15,2.33,0.00,0.000,5254,0.323,0.058,2645,2132,2639,2675,2603,0,0,0,0,0,0,13.90,14.23,14.21
$GC,5361,0.25,207.7,2645,2131,2678,2603,265.2,6.8,505,5412,0.00,0.00,49.67,1.375,8870,0.000,0.000,2645,2131,2518,2562,2474,0,0,0,0,0,0,14.61,14.02,13.24
$GC,5691,0.36,235.3,2644,2132,2556,2462,240.7,7.2,521,5740,0.12,2.60,42.33,1.346,10916,0.116,0.085,2710,674,2402,2444,2360,0,0,0,0,0,0,14.23,14.07,13.25
$GC,5856,0.39,240.9,2710,674,2440,2360,225.3,9.4,554,5866,0.00,2.47,4.15,1.597,9382,0.000,0.076,2710,2099,2386,2425,2348,0,0,0,0,0,0,14.26,14.14,13.19
$GC,6172,0.40,253.4,2710,2100,2426,2344,196.6,8.7,567,6202,0.00,0.00,23.77,1.422,8230,0.000,0.000,2709,2099,2327,2366,2289,0,0,0,0,0,0,14.56,14.09,13.31
$GC,6502,0.41,266.1,2710,2099,2365,2282,167.0,8.7,578,6521,0.00,0.00,18.65,1.430,8230,0.000,0.000,2710,2099,2281,2322,2241,0,0,0,0,0,0,14.57,14.12,13.31
$GC,6802,0.46,284.1,2710,2100,2316,2233,141.8,8.1,588,6838,0.00,2.55,29.98,1.341,8868,0.000,0.087,2710,697,2204,2243,2165,0,0,0,0,0,0,14.59,14.12,13.30
$GC,6904,0.58,300.0,2710,698,2239,2166,133.1,8.4,603,6935,0.17,2.47,25.12,1.343,11430,0.101,0.078,2782,2103,2141,2179,2104,0,0,0,0,0,0,14.24,14.15,13.23
$GC,7235,0.51,300.0,2782,2104,2173,2092,94.9,10.4,625,7240,0.12,2.50,0.00,0.000,4484,0.305,0.079,2756,3513,2132,2172,2093,0,0,0,0,0,0,13.83,13.98,14.02
$GC,7329,0.47,306.7,2756,3513,2170,2091,85.7,9.3,643,7340,0.00,2.42,2.40,0.424,9382,0.000,0.062,2762,2101,2114,2156,2072,0,0,0,0,0,0,14.28,14.16,13.57
$GC,7636,0.52,364.5,2762,2101,2158,2074,65.2,4.0,675,7672,0.00,2.47,31.23,0.399,8484,0.000,0.077,2762,3511,1877,1906,1849,0,0,0,0,0,0,14.55,13.90,13.65
$GC,7745,0.56,384.9,2762,3512,1900,1849,58.2,7.9,694,7763,0.00,2.45,11.02,0.373,9382,0.000,0.062,2768,2096,1793,1814,1773,0,0,0,0,0,0,14.04,13.93,13.71
$GC,8059,0.70,456.6,2769,2097,1813,1767,45.6,2.6,727,8102,0.12,2.50,36.97,0.334,10916,0.119,0.083,2833,693,1502,1530,1475,0,0,0,0,0,0,14.21,13.95,13.69
$GC,8140,0.75,466.0,2832,688,1529,1474,40.8,9.0,742,8151,0.00,2.50,5.38,0.322,9382,0.000,0.077,2832,2103,1462,1496,1429,0,0,0,0,0,0,14.12,13.95,13.72
$GC,8457,0.88,540.0,2832,2103,1498,1421,17.2,2.3,775,8500,0.00,2.60,38.28,0.257,8868,0.000,0.087,2832,688,1160,1220,1100,0,0,0,0,0,0,14.52,14.02,13.80
$STATE,8708,end climb,SURFACE_DEPTH_REACHED
$STATE,8708,begin surface coast
$FINISH,0.3,1.011081
$STATE,8738,end surface coast,CONTROL_FINISHED_OK
$STATE,8738,begin surface
$SM_CCo,8765,91.97,0.205,0,0,499,703.03
$SM_GC,1.49,8.25,2.67,91.97,0.084,0.070,0.205,202,2200,499,-7.38,-0.88,703.03,0,0,0,0,0,0,14.23,14.14,13.90
$RAFOS_CLK,374
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7416.59,-15350.93,220917,034139
$TT8_MAMPS,0.038199,0.911533
$HUMID,47.16
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,11
$CP_FREE,15897231360.000000
$PM_FREEKB_00,44771264
$24V_AH,12.13,236.355
$10V_AH,12.40,0.000
$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,25.650,75.475,758.350,91.975,0.000,0.000,0.000,627.100,2.750,0.000,15.329,0.000,6286.945,890.893,2317.972,421.370,0.000,2253.438,0.000,1190.172,2211.000,0.539,0.000
$DEVICE_MAMPS,455.940,2167.245,1679.175,205.020,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8775.000,8733.000,8713.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.973,20.000,9.910,0.000
$MEM,323300
$DATA_FILE_SIZE,30013,831
$CAP_FILE_SIZE,109489,0
$CFSIZE,2097872896,1975386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.045,64.58,1
$GPS,220917,062002,7418.145,-15343.503,31,0.8,31,19.3,0.0,0.0,9,9.4