version: 66.13
glider: 196
mission: 14
dive: 403
start: 9 22 117 11 49 5
data:
$ID,196
$MISSION,14
$DIVE,403
$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,54
$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,1117.0
$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
$GPS1,220917,113725,7417.6064,-15344.3301,15,0.8,19,19.3,0.5,96.2,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.8
$GPS2,220917,114830,7417.6152,-15344.1787,20,0.7,23,19.3,0.0,0.0,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,271.5,1675,-24.2,-10.000,-27.12,1256
$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,53,end surface,CONTROL_FINISHED_OK
$STATE,53,begin dive
$GC,57,-0.70,-82.0,192,2234,523,478,0.0,0.0,0,139,0.00,0.00,-80.38,0.000,16386,0.000,0.000,191,2233,1990,1921,2060,0,0,0,0,0,0,14.48,28.83,14.48
$GC,143,-0.74,-145.9,192,2234,1922,2063,3.1,-3.3,8,206,12.45,2.88,-41.65,0.000,18980,0.449,2.177,2334,800,3963,3945,3982,0,0,0,0,0,0,13.60,12.59,14.03
$GC,249,-0.88,-145.9,2333,796,3951,3982,33.4,-20.9,28,255,0.12,2.47,0.00,0.000,5254,0.131,0.089,2277,2175,3966,3950,3982,0,0,0,0,0,0,14.16,14.09,14.28
$GC,580,-0.96,-145.9,2278,2169,3952,3982,106.2,-18.0,60,585,0.00,2.58,0.00,0.000,388,0.000,0.087,2267,3611,3966,3951,3982,0,0,0,0,0,0,14.57,14.08,14.57
$GC,797,-1.17,-145.9,2266,3614,3952,3979,137.8,-13.1,100,802,0.20,2.42,0.00,0.000,5254,0.102,0.059,2188,2202,3966,3951,3982,0,0,0,0,0,0,14.09,14.04,14.19
$GC,1108,-1.17,-145.9,2188,2201,3953,3982,207.8,-22.2,112,1113,0.00,2.53,0.00,0.000,260,0.000,0.083,2176,3614,3965,3949,3982,0,0,0,0,0,0,14.40,13.97,14.42
$GC,1241,-1.21,-145.9,2178,3616,3952,3983,234.6,-19.4,138,1245,0.00,2.45,0.00,0.000,1158,0.000,0.058,2177,2200,3972,3959,3986,0,0,0,0,0,0,14.12,14.00,14.16
$GC,1561,-1.21,-145.9,2177,2200,3952,3983,298.0,-18.7,152,1566,0.00,2.53,0.00,0.000,260,0.000,0.084,2167,3607,3966,3951,3982,0,0,0,0,0,0,14.38,13.93,14.39
$GC,1689,-1.28,-145.9,2168,3608,3952,3983,319.9,-16.8,177,1694,0.00,2.47,0.00,0.000,1158,0.000,0.057,2168,2198,3966,3951,3982,0,0,0,0,0,0,14.09,13.96,14.13
$GC,2015,-1.31,-145.9,2168,2197,3953,3982,377.6,-17.3,192,2020,0.00,2.55,0.00,0.000,388,0.000,0.085,2155,3606,3966,3951,3982,0,0,0,0,0,0,14.37,13.87,14.38
$GC,2148,-1.38,-145.9,2158,3608,3951,3983,399.3,-16.1,218,2153,0.00,2.45,0.00,0.000,1158,0.000,0.057,2158,2192,3966,3950,3982,0,0,0,0,0,0,14.07,13.94,14.12
$GC,2468,-1.41,-145.9,2158,2193,3953,3980,455.9,-17.5,232,2473,0.00,2.58,0.00,0.000,388,0.000,0.085,2149,3607,3966,3951,3982,0,0,0,0,0,0,14.36,13.87,14.38
$GC,2601,-1.46,-145.9,2150,3608,3951,3983,478.3,-16.9,258,2606,0.12,2.45,0.00,0.000,5254,0.137,0.056,2103,2198,3966,3950,3982,0,0,0,0,0,0,13.89,13.87,14.02
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2616,-0.13,0.0,2104,2073,3952,3983,480.4,-16.7,260,3072,1.90,0.00,451.30,1.175,10246,0.299,0.000,2530,2071,3369,3378,3360,0,0,0,0,0,0,13.54,13.24,12.55
$STATE,3123,end apogee,CONTROL_FINISHED_OK
$STATE,3123,begin climb
$GC,3126,0.74,145.9,2530,2071,3371,3343,507.0,0.0,275,3351,0.90,2.78,213.20,1.310,10500,0.056,0.073,2832,3502,2759,2783,2736,0,0,0,0,0,0,13.47,13.01,12.21
$GC,3576,0.30,145.9,2833,3506,2767,2716,481.3,18.2,326,3582,0.82,2.42,0.00,0.000,5254,0.363,0.055,2683,2119,2740,2766,2715,0,0,0,0,0,0,13.33,13.84,13.78
$GC,3893,0.16,145.9,2684,2119,2767,2714,445.3,10.9,339,3898,0.17,2.47,0.00,0.000,4484,0.301,0.076,2643,3514,2739,2766,2713,0,0,0,0,0,0,13.71,14.03,13.90
$GC,4123,0.06,145.9,2644,3516,2767,2713,420.9,10.4,385,4128,0.22,2.42,0.00,0.000,5254,0.294,0.060,2604,2101,2739,2766,2712,0,0,0,0,0,0,13.73,14.12,14.09
$GC,4434,0.11,179.2,2604,2101,2768,2712,397.5,7.3,397,4496,0.00,2.55,52.00,1.298,8612,0.000,0.081,2603,3510,2627,2663,2592,0,0,0,0,0,0,14.59,14.02,13.23
$GC,4544,0.14,180.1,2601,3510,2657,2584,388.2,9.9,418,4549,0.00,2.42,0.00,0.000,1190,0.000,0.061,2604,2100,2619,2655,2583,0,0,0,0,0,0,14.22,14.11,14.26
$GC,4860,0.23,200.8,2604,2099,2656,2579,361.2,8.3,431,4897,0.15,2.58,31.42,1.349,10916,0.109,0.087,2680,682,2539,2580,2498,0,0,0,0,0,0,14.26,14.09,13.28
$GC,4907,0.18,200.8,2677,683,2572,2494,356.0,10.7,435,4913,0.17,2.47,0.00,0.000,5254,0.267,0.078,2644,2098,2530,2570,2490,0,0,0,0,0,0,13.92,14.12,14.19
$GC,5224,0.18,200.8,2645,2099,2570,2478,321.4,10.6,448,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2099,2524,2570,2478,0,0,0,0,0,0,14.57,14.59,14.59
$GC,5523,0.18,203.2,2645,2099,2570,2477,291.5,9.8,458,5528,0.00,2.47,0.00,0.000,548,0.000,0.085,2651,691,2523,2570,2476,0,0,0,0,0,0,14.60,14.12,14.62
$GC,5574,0.23,212.7,2651,690,2571,2477,286.7,9.2,468,5586,0.00,2.47,3.65,1.170,9382,0.000,0.078,2650,2106,2496,2544,2449,0,0,0,0,0,0,14.23,14.09,13.19
$GC,5884,0.24,231.3,2651,2106,2563,2460,259.1,8.5,480,5930,0.00,2.58,40.90,1.301,8740,0.000,0.086,2651,691,2418,2464,2373,0,0,0,0,0,0,14.60,14.09,13.29
$GC,5978,0.33,250.1,2651,691,2452,2366,251.2,8.5,498,6013,0.12,2.47,27.95,1.304,11430,0.124,0.079,2703,2100,2343,2383,2304,0,0,0,0,0,0,14.16,14.09,13.20
$GC,6338,0.29,250.1,2703,2102,2368,2284,212.5,10.1,520,6344,0.00,2.50,0.00,0.000,644,0.000,0.084,2709,690,2325,2367,2284,0,0,0,0,0,0,14.57,14.07,14.59
$GC,6375,0.29,256.3,2710,689,2366,2285,209.0,9.5,527,6380,0.15,2.47,0.00,0.000,5158,0.256,0.077,2679,2109,2325,2366,2284,0,0,0,0,0,0,13.91,14.14,14.17
$GC,6701,0.31,284.2,2679,2109,2367,2281,183.0,7.7,542,6769,0.00,0.00,66.85,1.213,8742,0.000,0.000,2679,2109,2207,2248,2166,0,0,0,0,0,0,14.60,13.97,13.24
$GC,7061,0.39,308.9,2679,2109,2236,2145,153.4,8.0,559,7101,0.00,0.00,39.35,1.241,8358,0.000,0.000,2678,2109,2104,2148,2061,0,0,0,0,0,0,14.55,14.04,13.28
$GC,7391,0.51,335.0,2679,2110,2133,2041,127.1,7.9,570,7440,0.17,2.60,41.05,1.228,10916,0.103,0.087,2766,689,1989,2031,1948,0,0,0,0,0,0,14.24,14.05,13.27
$GC,7473,0.48,335.0,2767,689,2021,1948,117.8,13.1,586,7478,0.00,2.47,0.00,0.000,1158,0.000,0.077,2766,2101,1983,2019,1947,0,0,0,0,0,0,14.25,14.12,14.28
$GC,7787,0.43,335.0,2767,2103,2019,1937,81.0,10.2,608,7793,0.17,2.53,0.00,0.000,4740,0.287,0.083,2732,684,1977,2018,1936,0,0,0,0,0,0,13.76,14.05,13.96
$GC,7923,0.54,373.7,2734,684,2018,1936,70.2,6.8,635,7946,0.00,2.50,18.42,0.395,9382,0.000,0.079,2740,2101,1841,1870,1813,0,0,0,0,0,0,14.22,14.10,13.72
$GC,8252,0.68,461.7,2735,2101,1880,1813,53.1,2.8,670,8305,0.17,2.58,47.10,0.352,10916,0.097,0.086,2814,685,1484,1521,1447,0,0,0,0,0,0,14.22,14.12,13.74
$GC,8516,0.77,499.0,2814,685,1522,1448,33.3,6.9,722,8542,0.00,2.53,20.77,0.291,9382,0.000,0.077,2814,2115,1328,1375,1282,0,0,0,0,0,0,14.04,13.92,13.78
$GC,8848,0.90,556.7,2814,2115,1380,1292,16.2,5.3,758,8886,0.15,2.53,32.03,0.249,10660,0.109,0.078,2885,3513,1092,1151,1033,0,0,0,0,0,0,14.09,13.94,13.81
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,0.2,1.020979
$STATE,9018,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9088,80.45,0.207,0,0,498,702.78
$SM_GC,1.31,8.43,2.30,80.45,0.083,0.054,0.207,203,2187,498,-7.38,0.57,702.78,0,0,0,0,0,0,14.22,14.16,13.90
$RAFOS_CLK,383
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7417.50,-15358.06,220917,090552
$TT8_MAMPS,0.039697,0.926513
$HUMID,47.75
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,11
$CP_FREE,0.000000
$PM_FREEKB_00,44677504
$24V_AH,12.21,237.679
$10V_AH,12.09,0.000
$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,26.625,85.650,1086.000,80.450,0.000,0.000,0.000,354.850,2.750,0.000,25.090,0.000,6127.438,1070.368,2266.647,382.254,0.000,2284.931,0.000,1134.880,2217.000,0.539,0.000
$DEVICE_MAMPS,449.055,2177.190,1349.460,207.315,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9009.000,9064.000,9035.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.382,20.000,9.917,0.000
$MEM,323708
$DATA_FILE_SIZE,26709,792
$CAP_FILE_SIZE,102339,0
$CFSIZE,2097872896,1974534144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.038,124.39,1
$GPS,220917,142321,7418.028,-15346.271,41,0.8,41,19.2,0.0,0.0,10,9.7