version: 66.13
glider: 196
mission: 14
dive: 401
start: 9 22 117 6 32 15
data:
$ID,196
$MISSION,14
$DIVE,401
$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,26
$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,1111.0
$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
$GPS1,220917,062002,7418.1445,-15343.5029,31,0.8,31,19.3,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.9
$GPS2,220917,063140,7418.1196,-15343.2998,5,0.8,9,19.3,0.0,112.0,9,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,245.2,1855,-19.8,-10.000,-23.00,1853
$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,54,end surface,CONTROL_FINISHED_OK
$STATE,54,begin dive
$GC,58,-0.61,-121.3,197,2203,489,495,0.0,0.0,0,150,0.00,0.00,-91.03,0.000,16386,0.000,0.000,196,2203,2238,2182,2294,0,0,0,0,0,0,14.45,28.83,14.47
$GC,154,-0.62,-145.9,197,2203,2187,2293,4.7,-6.6,9,201,12.82,0.00,-30.88,0.000,18982,0.455,0.000,2369,2198,3960,3940,3981,0,0,0,0,0,0,13.55,12.57,14.04
$GC,499,-0.75,-145.9,2369,2205,3950,3981,72.1,-11.7,47,504,0.00,2.55,0.00,0.000,388,0.000,0.087,2361,3610,3965,3950,3980,0,0,0,0,0,0,14.53,14.01,14.54
$GC,550,-0.99,-145.9,2363,3611,3949,3981,77.4,-9.5,57,555,0.32,2.42,0.00,0.000,5286,0.083,0.056,2248,2194,3965,3950,3981,0,0,0,0,0,0,14.16,14.08,14.21
$GC,883,-0.97,-145.9,2248,2193,3951,3981,142.6,-18.3,77,888,0.00,2.55,0.00,0.000,388,0.000,0.085,2237,3611,3965,3950,3980,0,0,0,0,0,0,14.54,13.99,14.56
$GC,984,-1.03,-145.9,2236,3611,3949,3981,159.3,-15.0,97,989,0.00,2.45,0.00,0.000,1158,0.000,0.058,2237,2194,3965,3950,3980,0,0,0,0,0,0,14.18,14.04,14.21
$GC,1304,-1.03,-145.9,2237,2193,3951,3979,212.9,-16.0,111,1309,0.00,2.55,0.00,0.000,260,0.000,0.088,2236,3609,3965,3950,3981,0,0,0,0,0,0,14.55,13.95,14.57
$GC,1400,-1.14,-145.9,2236,3610,3951,3980,226.0,-12.7,130,1405,0.00,2.45,0.00,0.000,1158,0.000,0.057,2236,2194,3965,3950,3981,0,0,0,0,0,0,14.17,14.03,14.21
$GC,1726,-1.19,-145.9,2236,2193,3951,3981,271.1,-13.4,145,1731,0.12,2.55,0.00,0.000,4484,0.148,0.084,2169,3611,3965,3950,3981,0,0,0,0,0,0,14.15,13.88,14.18
$GC,1844,-1.16,-145.9,2170,3610,3951,3981,290.7,-17.1,168,1851,0.15,2.45,0.00,0.000,3206,0.262,0.057,2194,2190,3965,3950,3981,0,0,0,0,0,0,13.62,13.96,13.90
$GC,2146,-1.16,-145.9,2198,2190,3950,3985,336.3,-14.4,179,2151,0.00,2.55,0.00,0.000,260,0.000,0.085,2187,3608,3965,3950,3980,0,0,0,0,0,0,14.59,13.87,14.61
$GC,2222,-1.21,-145.9,2190,3609,3950,3980,347.0,-13.7,194,2227,0.00,2.45,0.00,0.000,1158,0.000,0.057,2189,2191,3964,3949,3980,0,0,0,0,0,0,14.13,14.02,14.16
$GC,2537,-1.21,-145.9,2190,2190,3950,3980,393.2,-14.4,207,2542,0.00,2.55,0.00,0.000,260,0.000,0.085,2181,3604,3964,3948,3980,0,0,0,0,0,0,14.59,13.88,14.65
$GC,2618,-1.26,-145.9,2182,3607,3948,3980,404.6,-13.6,223,2623,0.00,2.42,0.00,0.000,1158,0.000,0.057,2181,2194,3963,3947,3980,0,0,0,0,0,0,14.16,14.02,14.19
$GC,2928,-1.26,-145.9,2181,2194,3949,3981,450.6,-14.8,235,2934,0.00,2.58,0.00,0.000,260,0.000,0.085,2172,3609,3963,3947,3980,0,0,0,0,0,0,14.56,13.91,14.57
$GC,3042,-1.29,-145.9,2172,3610,3947,3980,466.6,-14.0,257,3047,0.00,2.45,0.00,0.000,1158,0.000,0.056,2172,2193,3963,3947,3980,0,0,0,0,0,0,14.07,13.94,14.11
$STATE,3139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3139,begin apogee
$GC,3146,-0.13,0.0,2173,2062,3951,3980,482.3,-15.4,262,3366,1.48,0.08,215.52,1.419,10246,0.250,0.178,2530,2106,3368,3380,3356,0,0,0,0,0,0,13.59,13.51,12.78
$STATE,3369,end apogee,CONTROL_FINISHED_OK
$STATE,3369,begin climb
$GC,3375,0.62,145.9,2531,2107,3373,3349,493.9,0.0,269,3591,0.77,2.62,206.30,1.379,10756,0.057,0.077,2802,730,2763,2795,2731,0,0,0,0,0,0,13.75,12.90,12.29
$GC,3649,0.22,145.9,2803,730,2787,2730,500.9,13.5,305,3656,0.73,2.55,0.00,0.000,5254,0.325,0.073,2659,2103,2756,2785,2728,0,0,0,0,0,0,13.00,13.33,13.34
$GC,3952,0.04,147.0,2659,2104,2787,2722,469.5,9.9,316,3957,0.25,2.45,0.00,0.000,4772,0.272,0.081,2602,730,2753,2785,2722,0,0,0,0,0,0,13.65,13.88,13.85
$GC,3993,0.07,190.4,2603,731,2786,2723,466.2,7.6,324,4062,0.00,2.45,62.50,1.421,9254,0.000,0.079,2602,2116,2584,2634,2534,0,0,0,0,0,0,14.10,13.97,13.01
$GC,4373,0.08,210.6,2602,2116,2625,2521,432.8,8.9,350,4405,0.00,2.55,26.38,1.498,8740,0.000,0.086,2602,721,2502,2555,2449,0,0,0,0,0,0,14.56,14.07,13.19
$GC,4421,0.09,231.5,2602,722,2553,2450,428.6,8.8,354,4456,0.00,2.42,30.23,1.468,9254,0.000,0.078,2602,2108,2420,2471,2370,0,0,0,0,0,0,14.25,14.12,13.12
$GC,4769,0.12,243.7,2603,2108,2466,2356,396.2,9.3,373,4787,0.00,0.00,16.08,1.570,8358,0.000,0.000,2602,2108,2371,2422,2321,0,0,0,0,0,0,14.54,14.08,13.26
$GC,5067,0.17,261.3,2602,2107,2414,2315,368.6,9.0,383,5098,0.00,2.53,26.20,1.483,8868,0.000,0.086,2602,730,2296,2341,2251,0,0,0,0,0,0,14.58,14.12,13.27
$GC,5124,0.26,282.5,2602,730,2338,2250,363.4,8.8,394,5164,0.20,2.40,33.17,1.426,11430,0.094,0.078,2683,2102,2209,2253,2166,0,0,0,0,0,0,14.23,14.13,13.15
$GC,5491,0.16,282.5,2687,2101,2248,2154,308.2,15.2,417,5495,0.17,2.45,0.00,0.000,4740,0.257,0.083,2651,726,2200,2246,2154,0,0,0,0,0,0,13.77,14.04,13.95
$GC,5556,0.19,282.5,2651,727,2244,2155,299.9,11.4,430,5562,0.00,2.42,0.00,0.000,1158,0.000,0.078,2651,2104,2199,2244,2154,0,0,0,0,0,0,14.18,14.05,14.23
$GC,5882,0.19,282.5,2647,2106,2244,2155,262.3,11.1,445,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2105,2198,2245,2152,0,0,0,0,0,0,14.43,14.49,14.45
$GC,6183,0.20,293.0,2651,2102,2245,2152,232.8,9.4,455,6203,0.00,2.53,11.18,1.555,8740,0.000,0.086,2651,727,2168,2210,2126,0,0,0,0,0,0,14.42,14.10,13.28
$GC,6219,0.24,317.0,2650,728,2210,2127,229.5,8.7,462,6264,0.00,2.42,40.92,1.362,9382,0.000,0.080,2651,2105,2072,2113,2032,0,0,0,0,0,0,14.07,13.99,13.17
$GC,6578,0.29,332.7,2651,2106,2106,2019,196.4,9.1,483,6605,0.00,0.00,23.88,1.408,8358,0.000,0.000,2651,2102,2005,2047,1964,0,0,0,0,0,0,14.40,14.02,13.24
$GC,6905,0.39,366.9,2651,2105,2043,1955,168.7,8.1,494,6971,0.15,2.53,56.62,1.294,10916,0.109,0.087,2725,729,1866,1893,1839,0,0,0,0,0,0,14.12,13.95,13.19
$GC,7004,0.39,366.9,2725,729,1884,1840,157.2,12.5,513,7009,0.00,2.42,0.00,0.000,1030,0.000,0.076,2722,2101,1863,1887,1839,0,0,0,0,0,0,14.11,14.00,14.14
$GC,7330,0.35,366.9,2725,2102,1887,1833,117.0,11.8,528,7335,0.12,2.47,0.00,0.000,4740,0.246,0.083,2699,730,1858,1885,1832,0,0,0,0,0,0,13.83,14.00,13.97
$GC,7370,0.43,378.7,2699,731,1884,1834,113.2,9.3,536,7386,0.00,2.42,11.05,1.461,9382,0.000,0.077,2699,2103,1823,1846,1800,0,0,0,0,0,0,14.14,13.98,13.28
$GC,7692,0.50,413.1,2699,2109,1838,1791,84.7,8.1,562,7715,0.12,2.47,18.23,0.456,10916,0.122,0.087,2769,732,1679,1697,1661,0,0,0,0,0,0,14.12,14.02,13.59
$GC,7771,0.47,413.1,2768,732,1698,1663,75.6,12.6,577,7777,0.15,2.45,0.00,0.000,5254,0.259,0.079,2737,2105,1680,1697,1663,0,0,0,0,0,0,13.83,14.01,14.07
$GC,8076,0.57,496.2,2738,2106,1698,1653,50.0,5.4,608,8125,0.00,0.00,43.40,0.350,8358,0.000,0.000,2737,2106,1340,1383,1297,0,0,0,0,0,0,14.52,14.12,13.76
$GC,8426,0.78,591.8,2738,2106,1384,1286,29.9,4.7,643,8478,0.30,0.00,50.38,0.285,10406,0.077,0.000,2852,2106,950,1014,886,0,0,0,0,0,0,14.07,14.09,13.78
$STATE,8743,end climb,SURFACE_DEPTH_REACHED
$STATE,8743,begin surface coast
$FINISH,0.4,1.011046
$STATE,8763,end surface coast,CONTROL_FINISHED_OK
$STATE,8763,begin surface
$SM_CCo,8786,62.83,0.206,0,0,497,703.28
$SM_GC,1.57,8.18,0.17,62.83,0.071,0.114,0.206,206,2224,497,-7.36,-0.54,703.28,0,0,0,0,0,0,14.24,14.23,13.90
$RAFOS_CLK,171
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,220917,034655
$TT8_MAMPS,0.038948,0.885318
$HUMID,46.29
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15896707072.000000
$PM_FREEKB_00,44737792
$24V_AH,12.29,236.818
$10V_AH,12.08,0.000
$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,26.050,79.950,872.025,62.825,0.000,0.000,0.000,390.400,2.250,0.000,19.024,0.000,6334.960,928.118,1904.096,390.533,0.000,2015.695,0.000,973.062,2208.000,0.539,0.000
$DEVICE_MAMPS,455.175,178.245,1569.780,205.785,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8795.000,8745.000,8728.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.577,20.000,9.927,0.000
$MEM,323404
$DATA_FILE_SIZE,23354,677
$CAP_FILE_SIZE,101075,0
$CFSIZE,2097872896,1975058432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.7
$CURRENT,0.042,124.23,1
$GPS,220917,090049,7418.112,-15347.150,14,0.7,18,19.2,0.4,339.0,12,9.3