version: 66.13
glider: 196
mission: 14
dive: 404
start: 9 22 117 14 38 52
data:
$ID,196
$MISSION,14
$DIVE,404
$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,29
$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,1119.0
$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
$GPS1,220917,142321,7418.0283,-15346.2705,41,0.8,41,19.2,0.0,0.0,10,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.1
$GPS2,220917,143815,7417.9077,-15345.8447,6,0.8,6,19.2,0.0,0.0,10,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,283.0,680,-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,53,end surface,CONTROL_FINISHED_OK
$STATE,53,begin dive
$GC,56,-0.76,-64.8,198,2185,494,495,0.0,0.0,0,139,0.00,0.00,-81.12,0.000,16386,0.000,0.000,197,2186,2003,1944,2063,0,0,0,0,0,0,14.45,28.83,14.47
$GC,143,-0.81,-129.2,196,2186,1946,2066,3.2,-3.3,8,203,12.35,2.78,-40.00,0.000,18980,0.452,2.173,2308,800,3897,3878,3916,0,0,0,0,0,0,13.62,12.58,14.08
$GC,219,-0.75,-129.2,2308,798,3880,3917,27.3,-35.9,21,224,0.15,2.47,0.00,0.000,3206,0.330,0.082,2329,2201,3898,3880,3916,0,0,0,0,0,0,13.76,14.08,14.13
$GC,530,-0.96,-129.2,2330,2200,3885,3916,86.3,-14.5,53,535,0.17,2.50,0.00,0.000,4484,0.112,0.086,2246,3607,3899,3883,3916,0,0,0,0,0,0,14.14,13.97,14.18
$GC,721,-1.13,-129.2,2247,3609,3884,3913,120.6,-16.8,91,726,0.00,2.40,0.00,0.000,1158,0.000,0.057,2246,2205,3899,3883,3915,0,0,0,0,0,0,14.06,13.95,14.11
$GC,1042,-1.28,-129.2,2248,2204,3885,3915,178.4,-16.9,105,1048,0.22,2.53,0.00,0.000,4484,0.105,0.083,2148,3608,3900,3884,3916,0,0,0,0,0,0,14.14,13.99,14.17
$GC,1128,-1.28,-129.2,2148,3609,3885,3917,199.0,-24.3,122,1134,0.00,2.42,0.00,0.000,1030,0.000,0.060,2148,2202,3899,3884,3915,0,0,0,0,0,0,14.19,14.04,14.20
$GC,1433,-1.28,-129.2,2149,2200,3884,3917,275.2,-23.4,133,1438,0.00,2.55,0.00,0.000,260,0.000,0.083,2140,3614,3900,3884,3916,0,0,0,0,0,0,14.61,13.97,14.62
$GC,1609,-1.31,-129.2,2140,3617,3885,3917,312.0,-19.8,168,1615,0.00,2.45,0.00,0.000,1158,0.000,0.058,2140,2189,3900,3884,3916,0,0,0,0,0,0,14.09,14.01,14.14
$GC,1914,-1.31,-129.2,2141,2188,3885,3916,374.8,-20.1,179,1920,0.00,2.55,0.00,0.000,260,0.000,0.083,2129,3610,3901,3886,3916,0,0,0,0,0,0,14.59,14.00,14.59
$GC,2110,-1.36,-129.2,2128,3611,3882,3916,413.6,-19.4,218,2115,0.00,2.42,0.00,0.000,1158,0.000,0.057,2129,2197,3899,3882,3916,0,0,0,0,0,0,14.12,14.04,14.14
$GC,2426,-1.36,-129.2,2129,2197,3883,3916,477.7,-20.2,231,2431,0.00,2.53,0.00,0.000,260,0.000,0.084,2119,3613,3898,3882,3915,0,0,0,0,0,0,14.60,13.98,14.63
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2448,-0.13,0.0,2120,2101,3883,3910,481.0,-20.1,234,2705,1.83,0.00,252.50,1.327,10246,0.303,0.000,2527,2100,3366,3375,3357,0,0,0,0,0,0,13.59,13.54,12.78
$STATE,2708,end apogee,CONTROL_FINISHED_OK
$STATE,2708,begin climb
$GC,2711,0.81,129.2,2528,2100,3371,3350,495.2,0.0,242,2907,0.98,2.70,180.02,1.380,10756,0.058,0.078,2869,690,2831,2872,2790,0,0,0,0,0,0,13.71,13.17,12.36
$GC,3132,0.45,129.2,2870,690,2856,2790,484.7,13.5,313,3139,0.70,2.55,0.00,0.000,5254,0.363,0.073,2735,2107,2823,2856,2790,0,0,0,0,0,0,13.37,13.83,13.82
$GC,3438,0.26,129.2,2735,2109,2857,2789,452.6,10.2,324,3443,0.28,2.53,0.00,0.000,4740,0.311,0.078,2683,688,2822,2856,2788,0,0,0,0,0,0,13.65,14.01,13.87
$GC,3566,0.23,153.4,2683,688,2857,2788,442.2,7.5,349,3600,0.00,2.47,29.98,1.492,9382,0.000,0.076,2686,2093,2742,2775,2709,0,0,0,0,0,0,13.32,13.27,13.21
$GC,3923,0.15,153.4,2683,2093,2769,2698,405.8,10.3,370,3925,0.22,0.00,0.00,0.000,4230,0.298,0.000,2635,2093,2732,2768,2697,0,0,0,0,0,0,13.76,14.23,14.14
$GC,4221,0.19,169.9,2636,2094,2768,2696,380.4,8.3,380,4252,0.00,2.47,23.60,1.517,8868,0.000,0.083,2644,690,2667,2703,2632,0,0,0,0,0,0,14.59,14.11,13.29
$GC,4268,0.25,185.0,2644,691,2702,2632,376.4,8.4,389,4297,0.00,2.47,22.45,1.492,9382,0.000,0.078,2644,2108,2606,2649,2564,0,0,0,0,0,0,14.29,14.17,13.17
$GC,4615,0.29,185.0,2645,2108,2649,2554,340.9,10.3,408,4620,0.00,2.53,0.00,0.000,644,0.000,0.086,2644,688,2600,2648,2553,0,0,0,0,0,0,14.57,14.07,14.59
$GC,4641,0.36,186.8,2645,688,2649,2553,338.1,9.8,413,4647,0.15,2.47,0.00,0.000,3238,0.106,0.079,2703,2107,2603,2647,2559,0,0,0,0,0,0,14.21,14.10,14.28
$GC,4948,0.28,186.8,2704,2104,2648,2552,300.7,12.1,424,4950,0.12,0.00,0.00,0.000,4230,0.269,0.000,2678,2103,2599,2647,2552,0,0,0,0,0,0,13.87,14.17,14.11
$GC,5246,0.29,202.3,2679,2104,2648,2553,272.0,8.4,434,5277,0.00,2.53,23.58,1.463,8740,0.000,0.085,2685,689,2538,2586,2490,0,0,0,0,0,0,14.42,14.02,13.24
$GC,5346,0.32,206.4,2686,690,2585,2489,263.2,9.6,453,5355,0.00,2.50,3.50,1.466,9382,0.000,0.078,2686,2102,2523,2572,2474,0,0,0,0,0,0,14.20,14.08,12.95
$GC,5671,0.33,230.9,2686,2105,2576,2475,235.9,7.5,468,5715,0.00,0.00,42.95,1.375,8230,0.000,0.000,2686,2102,2423,2471,2376,0,0,0,0,0,0,14.42,13.96,13.19
$GC,6001,0.38,254.6,2686,2102,2464,2367,210.2,7.5,479,6045,0.00,2.53,38.25,1.339,8868,0.000,0.087,2686,689,2326,2364,2288,0,0,0,0,0,0,14.40,14.00,13.21
$GC,6066,0.47,277.5,2686,690,2362,2287,205.3,7.6,487,6111,0.15,2.50,37.70,1.313,11430,0.114,0.078,2750,2105,2229,2271,2187,0,0,0,0,0,0,14.07,14.01,13.13
$GC,6424,0.42,277.5,2746,2104,2265,2178,162.8,11.9,508,6426,0.15,0.00,0.00,0.000,4230,0.275,0.000,2722,2105,2221,2265,2177,0,0,0,0,0,0,13.81,14.16,14.14
$GC,6722,0.46,286.5,2721,2106,2263,2175,134.4,9.1,518,6737,0.00,2.53,8.95,1.546,8868,0.000,0.086,2726,684,2194,2238,2151,0,0,0,0,0,0,14.40,14.10,13.29
$GC,6862,0.54,304.7,2732,683,2233,2151,122.2,8.1,546,6893,0.00,2.53,24.85,1.361,9382,0.000,0.078,2726,2109,2122,2163,2081,0,0,0,0,0,0,14.16,14.04,13.24
$GC,7194,0.62,324.9,2727,2109,2158,2070,93.4,7.9,569,7206,0.17,0.00,10.45,0.482,10406,0.099,0.000,2794,2109,2039,2079,1999,0,0,0,0,0,0,14.14,13.97,13.54
$GC,7506,0.59,371.0,2794,2109,2078,1998,65.8,5.2,600,7535,0.00,2.55,24.62,0.399,8868,0.000,0.087,2795,690,1850,1877,1824,0,0,0,0,0,0,14.36,14.09,13.66
$GC,7576,0.64,387.4,2796,686,1875,1824,61.0,8.3,611,7593,0.00,2.47,9.20,0.381,9382,0.000,0.076,2795,2103,1784,1804,1764,0,0,0,0,0,0,14.20,14.07,13.69
$GC,7898,0.72,472.1,2795,2104,1802,1759,44.9,1.2,645,7951,0.00,2.55,43.38,0.334,8868,0.000,0.086,2795,685,1440,1477,1403,0,0,0,0,0,0,14.54,13.95,13.76
$GC,8167,0.95,521.0,2795,686,1472,1395,28.9,4.9,698,8200,0.28,2.50,25.33,0.285,11430,0.077,0.077,2896,2101,1240,1291,1190,0,0,0,0,0,0,14.10,13.98,13.67
$STATE,8482,end climb,SURFACE_DEPTH_REACHED
$STATE,8482,begin surface coast
$FINISH,0.5,1.020925
$STATE,8503,end surface coast,CONTROL_FINISHED_OK
$STATE,8503,begin surface
$SM_CCo,8525,97.30,0.210,0,0,498,702.78
$SM_GC,1.51,8.52,0.17,97.30,0.089,0.112,0.210,202,2221,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.21,14.26,13.89
$RAFOS_CLK,178
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7417.50,-15358.06,220917,142826
$TT8_MAMPS,0.038948,0.939995
$HUMID,46.45
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15895199744.000000
$PM_FREEKB_00,44648256
$24V_AH,12.36,238.117
$10V_AH,12.27,0.000
$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,26.450,75.800,801.300,97.300,0.000,0.000,0.000,528.300,3.000,0.000,13.786,0.000,6109.509,927.328,2105.004,389.180,0.000,2149.806,0.000,1054.513,2205.000,0.540,0.000
$DEVICE_MAMPS,452.115,2173.365,1546.065,210.375,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8542.000,8494.000,8475.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.119,20.000,9.910,0.000
$MEM,323416
$DATA_FILE_SIZE,26728,735
$CAP_FILE_SIZE,101619,0
$CFSIZE,2097872896,1974272000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.049,115.70,1
$GPS,220917,170341,7418.526,-15347.032,16,0.8,18,19.2,0.6,111.8,11,9.5