version: 66.13
glider: 196
mission: 14
dive: 405
start: 9 22 117 17 16 37
data:
$ID,196
$MISSION,14
$DIVE,405
$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,23
$R_STBD_OVSHOOT,41
$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,1122.0
$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
$GPS1,220917,170341,7418.5259,-15347.0322,16,0.8,18,19.2,0.6,111.8,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-77.7
$GPS2,220917,171601,7418.4663,-15346.7598,34,1.0,34,19.2,0.0,0.0,7,6.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,186.7,689,-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,51,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,55,-0.76,-64.8,199,2224,485,494,0.0,0.0,0,137,0.00,0.00,-80.28,0.000,16386,0.000,0.000,198,2224,1983,1920,2046,0,0,0,0,0,0,14.45,28.83,14.47
$GC,141,-0.81,-129.7,199,2226,1922,2047,3.2,-3.3,8,198,12.35,2.67,-40.20,0.000,18724,0.452,2.176,2298,3588,3896,3878,3915,0,0,0,0,0,0,13.55,13.04,13.99
$GC,419,-1.03,-129.7,2300,3588,3886,3915,69.7,-15.7,63,426,0.17,2.40,0.00,0.000,5254,0.106,0.060,2237,2195,3900,3886,3915,0,0,0,0,0,0,14.09,14.02,14.19
$GC,736,-1.11,-129.7,2238,2194,3887,3915,139.9,-20.9,83,743,0.00,2.50,0.00,0.000,388,0.000,0.085,2228,3597,3900,3886,3914,0,0,0,0,0,0,14.55,14.04,14.57
$GC,886,-1.28,-129.7,2229,3597,3887,3916,165.8,-16.3,112,892,0.20,2.40,0.00,0.000,5254,0.101,0.058,2154,2202,3899,3885,3913,0,0,0,0,0,0,14.12,14.02,14.19
$GC,1188,-1.26,-129.7,2154,2202,3887,3916,243.5,-25.0,123,1194,0.00,2.47,0.00,0.000,388,0.000,0.082,2143,3590,3900,3886,3915,0,0,0,0,0,0,14.54,13.87,14.56
$GC,1380,-1.29,-129.7,2144,3592,3888,3915,285.8,-20.6,161,1385,0.00,2.40,0.00,0.000,1158,0.000,0.057,2143,2195,3900,3886,3915,0,0,0,0,0,0,14.18,14.04,14.22
$GC,1700,-1.29,-129.7,2144,2194,3890,3915,353.6,-20.4,175,1706,0.00,2.50,0.00,0.000,260,0.000,0.084,2133,3593,3900,3886,3915,0,0,0,0,0,0,14.57,13.97,14.62
$GC,1867,-1.33,-129.7,2133,3595,3886,3916,386.6,-19.1,208,1871,0.00,2.40,0.00,0.000,1158,0.000,0.057,2133,2192,3900,3886,3915,0,0,0,0,0,0,14.19,14.04,14.21
$GC,2182,-1.33,-129.7,2132,2191,3886,3916,450.6,-20.1,221,2187,0.00,2.50,0.00,0.000,260,0.000,0.085,2127,3590,3900,3885,3915,0,0,0,0,0,0,14.57,13.95,14.59
$STATE,2330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2330,begin apogee
$GC,2339,-0.13,0.0,2128,2096,3885,3915,480.1,-18.8,251,2534,1.75,0.00,191.20,1.435,10246,0.290,0.000,2526,2095,3365,3373,3357,0,0,0,0,0,0,13.61,13.63,12.85
$STATE,2538,end apogee,CONTROL_FINISHED_OK
$STATE,2538,begin climb
$GC,2541,0.81,129.7,2527,2096,3369,3352,490.5,0.0,257,2862,0.95,2.70,183.62,1.384,10756,0.057,0.077,2866,688,2822,2855,2789,0,0,0,0,0,0,13.76,12.97,12.38
$GC,3070,0.45,129.7,2866,688,2854,2789,465.7,13.6,300,3075,0.68,2.47,0.00,0.000,5254,0.370,0.073,2735,2091,2823,2857,2789,0,0,0,0,0,0,13.51,14.04,14.01
$GC,3396,0.27,129.7,2735,2091,2854,2786,431.3,10.3,315,3402,0.28,2.47,0.00,0.000,4740,0.317,0.076,2686,688,2819,2852,2786,0,0,0,0,0,0,13.14,13.62,13.32
$GC,3515,0.22,147.2,2686,689,2854,2787,421.2,8.2,338,3545,0.15,2.47,20.83,1.525,13478,0.285,0.076,2658,2099,2760,2792,2728,0,0,0,0,0,0,13.71,13.99,13.24
$GC,3853,0.20,156.3,2658,2100,2791,2724,390.9,9.1,355,3872,0.00,2.53,11.77,1.659,8868,0.000,0.084,2664,688,2723,2755,2691,0,0,0,0,0,0,14.60,14.16,13.27
$GC,3882,0.21,167.7,2665,688,2754,2691,388.1,8.8,361,3902,0.00,2.45,15.50,1.565,9254,0.000,0.079,2664,2097,2681,2715,2648,0,0,0,0,0,0,14.26,14.14,13.21
$GC,4213,0.21,167.7,2665,2097,2713,2638,353.7,10.3,377,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2098,2675,2712,2638,0,0,0,0,0,0,14.59,14.61,14.61
$GC,4513,0.21,169.1,2664,2099,2712,2639,323.6,9.9,387,4519,0.00,2.50,0.00,0.000,548,0.000,0.083,2672,688,2675,2712,2638,0,0,0,0,0,0,14.60,14.06,14.62
$GC,4535,0.21,172.4,2672,690,2710,2639,321.5,9.7,391,4546,0.00,2.47,3.55,1.546,9254,0.000,0.077,2672,2105,2664,2703,2626,0,0,0,0,0,0,14.26,14.13,13.09
$GC,4845,0.19,180.5,2673,2105,2706,2625,292.1,9.2,403,4865,0.00,2.58,15.60,1.563,8868,0.000,0.085,2672,682,2627,2667,2588,0,0,0,0,0,0,14.59,14.19,13.33
$GC,4926,0.23,194.8,2673,682,2667,2586,285.1,8.5,419,4952,0.00,2.47,21.73,1.474,9382,0.000,0.079,2672,2096,2571,2616,2527,0,0,0,0,0,0,14.20,14.11,13.26
$GC,5270,0.24,211.7,2673,2097,2612,2516,254.3,8.3,437,5299,0.00,2.55,24.88,1.437,8484,0.000,0.082,2672,3515,2499,2546,2452,0,0,0,0,0,0,14.57,14.12,13.29
$GC,5357,0.22,217.3,2672,3516,2538,2453,246.8,9.4,454,5369,0.00,2.45,4.20,1.604,9382,0.000,0.060,2680,2090,2482,2524,2440,0,0,0,0,0,0,14.26,14.13,13.21
$GC,5695,0.24,246.5,2680,2097,2521,2438,220.8,7.0,471,5748,0.00,0.00,52.40,1.337,8230,0.000,0.000,2679,2088,2362,2402,2322,0,0,0,0,0,0,14.58,14.01,13.24
$GC,6025,0.32,263.3,2680,2092,2391,2311,195.1,8.3,482,6057,0.00,2.47,25.42,1.388,8868,0.000,0.086,2685,692,2289,2328,2251,0,0,0,0,0,0,14.54,13.88,13.29
$GC,6083,0.43,288.8,2686,691,2326,2250,190.6,7.4,493,6132,0.10,2.47,42.75,1.295,11430,0.155,0.079,2735,2106,2185,2224,2147,0,0,0,0,0,0,14.12,14.07,13.19
$GC,6448,0.43,288.8,2735,2107,2220,2134,148.8,11.2,516,6453,0.00,2.50,0.00,0.000,516,0.000,0.083,2745,694,2175,2218,2133,0,0,0,0,0,0,14.54,14.09,14.55
$GC,6494,0.46,288.8,2745,691,2220,2135,143.8,10.9,525,6498,0.00,2.47,0.00,0.000,1158,0.000,0.078,2745,2102,2174,2216,2133,0,0,0,0,0,0,14.20,14.07,14.27
$GC,6809,0.46,292.3,2745,2104,2216,2131,111.0,9.6,538,6810,0.00,0.00,0.00,0.000,38,0.000,0.000,2745,2099,2173,2216,2130,0,0,0,0,0,0,14.56,14.58,14.58
$GC,7109,0.48,324.6,2745,2104,2216,2130,88.0,6.7,558,7131,0.00,2.58,17.52,0.469,8740,0.000,0.083,2751,692,2042,2081,2003,0,0,0,0,0,0,14.56,14.12,13.63
$GC,7234,0.57,346.9,2752,693,2080,2004,78.8,7.7,582,7251,0.00,2.47,12.65,0.435,9382,0.000,0.078,2751,2100,1952,1988,1916,0,0,0,0,0,0,14.23,14.10,13.66
$GC,7557,0.68,416.2,2752,2100,1987,1906,57.0,2.8,616,7600,0.12,2.55,36.25,0.371,10660,0.121,0.080,2805,3511,1665,1687,1644,0,0,0,0,0,0,14.19,14.05,13.64
$GC,7826,0.71,459.8,2805,3511,1687,1637,40.2,5.5,669,7853,0.00,2.45,22.50,0.319,9254,0.000,0.062,2814,2090,1488,1518,1458,0,0,0,0,0,0,14.00,13.88,13.73
$GC,8151,0.87,546.6,2814,2093,1519,1448,22.9,1.0,704,8204,0.15,2.50,44.95,0.275,10660,0.108,0.076,2875,3511,1134,1192,1076,0,0,0,0,0,0,14.21,13.94,13.73
$GC,8252,0.88,553.6,2876,3512,1192,1076,16.6,9.3,721,8263,0.00,2.47,3.88,0.269,9254,0.000,0.067,2877,2104,1106,1168,1045,0,0,0,0,0,0,14.12,13.99,13.66
$STATE,8448,end climb,SURFACE_DEPTH_REACHED
$STATE,8448,begin surface coast
$FINISH,0.4,1.004061
$STATE,8466,end surface coast,CONTROL_FINISHED_OK
$STATE,8466,begin surface
$SM_CCo,8489,80.40,0.209,0,0,498,702.78
$SM_GC,1.45,8.43,0.17,80.40,0.085,0.109,0.209,202,2229,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.21,14.23,13.88
$RAFOS_CLK,381
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,220917,143110
$TT8_MAMPS,0.038948,0.884569
$HUMID,48.18
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,12
$CP_FREE,15894708224.000000
$PM_FREEKB_00,44622528
$24V_AH,12.38,238.502
$10V_AH,12.28,0.000
$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,25.325,80.125,751.200,80.400,0.000,0.000,0.000,405.525,3.000,0.000,37.896,0.000,5914.811,782.319,2235.206,389.488,0.000,2100.306,0.000,1067.441,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2175.660,1659.285,208.845,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8505.000,8438.000,8439.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.330,20.000,9.865,0.000
$MEM,323384
$DATA_FILE_SIZE,26706,744
$CAP_FILE_SIZE,100558,0
$CFSIZE,2097872896,1974009856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.7
$CURRENT,0.056,118.93,1
$GPS,220917,194035,7417.744,-15348.196,19,0.8,21,19.2,0.0,0.0,10,8.2