version: 66.13
glider: 196
mission: 14
dive: 406
start: 9 22 117 19 52 56
data:
$ID,196
$MISSION,14
$DIVE,406
$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,24
$R_STBD_OVSHOOT,48
$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,1127.0
$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
$GPS1,220917,194035,7417.7437,-15348.1963,19,0.8,21,19.2,0.0,0.0,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.9
$GPS2,220917,195219,7417.7158,-15348.0352,5,0.8,19,19.2,0.0,96.9,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,358.3,880,-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,51,begin dive
$GC,55,-0.76,-64.8,196,2233,486,494,0.0,0.0,0,137,0.00,0.00,-80.57,0.000,16386,0.000,0.000,198,2232,1991,1932,2051,0,0,0,0,0,0,14.45,28.83,14.47
$GC,141,-0.81,-128.5,196,2232,1936,2057,3.2,-3.4,8,198,12.38,2.80,-38.45,0.000,18980,0.451,2.170,2314,793,3893,3873,3914,0,0,0,0,0,0,13.54,12.58,14.05
$GC,334,-1.00,-128.5,2309,793,3881,3915,56.2,-18.5,46,339,0.15,2.47,0.00,0.000,5254,0.109,0.089,2247,2177,3896,3880,3913,0,0,0,0,0,0,14.14,14.03,14.22
$GC,679,-1.09,-128.5,2248,2178,3882,3921,132.3,-19.8,70,684,0.00,2.60,0.00,0.000,388,0.000,0.087,2237,3624,3897,3881,3914,0,0,0,0,0,0,14.40,13.88,14.41
$GC,910,-1.31,-128.5,2237,3626,3882,3915,169.7,-15.0,116,915,0.25,2.47,0.00,0.000,5254,0.090,0.058,2149,2195,3897,3881,3914,0,0,0,0,0,0,14.07,13.99,14.16
$GC,1221,-1.28,-128.5,2149,2194,3881,3917,249.0,-24.9,128,1226,0.00,2.58,0.00,0.000,388,0.000,0.081,2139,3621,3897,3881,3914,0,0,0,0,0,0,14.38,13.91,14.40
$GC,1402,-1.30,-128.5,2139,3622,3882,3914,288.7,-20.0,164,1406,0.00,2.50,0.00,0.000,1158,0.000,0.058,2138,2188,3897,3881,3914,0,0,0,0,0,0,14.07,13.93,14.10
$GC,1732,-1.30,-128.5,2139,2188,3882,3915,358.9,-20.9,180,1737,0.00,2.58,0.00,0.000,260,0.000,0.083,2131,3615,3897,3881,3914,0,0,0,0,0,0,14.35,13.90,14.39
$GC,1918,-1.34,-128.5,2130,3616,3880,3914,396.4,-19.1,217,1922,0.00,2.45,0.00,0.000,1158,0.000,0.057,2127,2201,3897,3880,3914,0,0,0,0,0,0,14.07,13.93,14.07
$GC,2243,-1.34,-128.5,2128,2198,3882,3913,462.6,-20.2,232,2248,0.00,2.55,0.00,0.000,260,0.000,0.084,2118,3609,3897,3881,3913,0,0,0,0,0,0,14.36,13.88,14.38
$STATE,2325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2325,begin apogee
$GC,2335,-0.13,0.0,2120,2094,3881,3913,480.2,-19.8,249,2529,1.83,0.00,190.70,1.438,10246,0.298,0.000,2529,2093,3364,3374,3355,0,0,0,0,0,0,13.57,13.54,12.77
$STATE,2533,end apogee,CONTROL_FINISHED_OK
$STATE,2533,begin climb
$GC,2536,0.81,128.5,2530,2094,3371,3351,490.4,0.0,255,2859,0.95,2.75,181.80,1.398,10500,0.056,0.070,2858,3520,2822,2856,2789,0,0,0,0,0,0,13.66,12.86,12.27
$GC,3093,0.38,128.5,2859,3519,2856,2789,456.3,14.9,303,3098,0.82,2.50,0.00,0.000,5254,0.382,0.056,2710,2088,2821,2854,2789,0,0,0,0,0,0,13.54,13.98,13.96
$GC,3426,0.24,135.3,2710,2089,2855,2790,423.5,9.3,319,3432,0.20,2.53,1.25,0.270,12708,0.312,0.074,2664,3517,2815,2848,2782,0,0,0,0,0,0,13.64,13.77,13.49
$GC,3553,0.13,141.6,2663,3518,2853,2790,411.6,9.3,344,3572,0.22,2.42,13.00,1.631,13478,0.325,0.058,2629,2099,2785,2819,2751,0,0,0,0,0,0,13.64,14.12,13.28
$GC,3881,0.17,164.2,2628,2100,2816,2750,386.9,7.7,359,3916,0.00,0.00,33.78,1.495,8358,0.000,0.000,2629,2098,2696,2730,2662,0,0,0,0,0,0,14.61,14.07,13.24
$GC,4208,0.24,178.1,2629,2100,2724,2649,358.8,8.6,370,4229,0.00,0.00,19.33,1.542,8358,0.000,0.000,2629,2099,2640,2678,2602,0,0,0,0,0,0,14.58,14.08,13.26
$GC,4508,0.32,185.7,2629,2099,2674,2590,331.3,9.2,380,4523,0.15,2.50,9.60,1.642,10916,0.103,0.084,2699,687,2605,2646,2564,0,0,0,0,0,0,14.26,13.92,13.28
$GC,4616,0.32,185.7,2699,688,2644,2565,319.1,11.6,401,4621,0.00,2.50,0.00,0.000,1030,0.000,0.078,2699,2110,2603,2643,2563,0,0,0,0,0,0,14.31,14.16,14.31
$GC,4932,0.26,185.7,2700,2111,2644,2560,281.9,11.3,414,4933,0.15,0.00,0.00,0.000,4230,0.261,0.000,2672,2111,2599,2643,2555,0,0,0,0,0,0,13.89,14.28,14.18
$GC,5232,0.27,206.8,2670,2111,2644,2559,255.5,7.8,424,5265,0.00,0.00,31.70,1.440,8742,0.000,0.000,2670,2111,2523,2569,2478,0,0,0,0,0,0,14.62,14.09,13.31
$GC,5562,0.33,241.0,2670,2112,2563,2467,231.4,6.5,440,5622,0.00,0.00,54.92,1.339,8614,0.000,0.000,2667,2111,2380,2423,2337,0,0,0,0,0,0,14.58,13.99,13.25
$GC,5924,0.42,263.9,2670,2112,2416,2328,204.2,7.6,462,5967,0.15,2.55,35.25,1.355,10916,0.109,0.085,2741,692,2286,2325,2248,0,0,0,0,0,0,14.25,14.07,13.28
$GC,6007,0.42,263.9,2741,692,2322,2248,195.4,11.3,474,6013,0.00,2.47,0.00,0.000,1030,0.000,0.077,2740,2099,2284,2321,2247,0,0,0,0,0,0,14.21,14.09,14.24
$GC,6313,0.39,263.9,2741,2100,2322,2240,162.4,10.4,485,6314,0.15,0.00,0.00,0.000,4230,0.264,0.000,2710,2100,2280,2321,2240,0,0,0,0,0,0,13.92,14.21,14.16
$GC,6613,0.44,282.2,2711,2101,2322,2238,137.0,8.1,495,6649,0.00,2.58,28.62,1.354,8868,0.000,0.090,2711,687,2211,2252,2171,0,0,0,0,0,0,14.57,14.10,13.32
$GC,6727,0.56,300.2,2712,686,2248,2170,127.9,8.1,517,6760,0.17,2.47,26.83,1.347,11430,0.102,0.077,2782,2100,2138,2175,2101,0,0,0,0,0,0,14.25,14.13,13.25
$GC,7066,0.51,306.4,2783,2100,2172,2087,91.4,9.4,541,7077,0.15,2.53,2.08,0.402,12708,0.300,0.079,2749,3506,2114,2156,2073,0,0,0,0,0,0,13.81,14.07,13.54
$GC,7098,0.47,316.7,2751,3506,2157,2075,88.5,8.9,547,7110,0.00,2.42,6.93,0.459,9382,0.000,0.061,2757,2092,2072,2112,2032,0,0,0,0,0,0,14.28,14.16,13.66
$GC,7408,0.51,375.0,2758,2094,2115,2028,66.6,4.0,579,7445,0.00,2.47,30.90,0.402,8740,0.000,0.086,2764,688,1835,1862,1809,0,0,0,0,0,0,14.54,14.13,13.71
$GC,7671,0.67,446.5,2762,686,1847,1811,52.1,2.6,631,7713,0.00,2.47,36.70,0.356,9382,0.000,0.076,2764,2101,1545,1574,1516,0,0,0,0,0,0,14.07,13.95,13.75
$GC,8011,0.88,494.7,2764,2103,1575,1506,33.7,5.0,669,8043,0.28,2.53,25.20,0.298,10916,0.080,0.088,2877,694,1347,1387,1308,0,0,0,0,0,0,13.76,13.91,13.74
$GC,8081,0.94,524.7,2877,695,1387,1303,28.7,6.9,682,8103,0.00,2.47,16.30,0.285,9382,0.000,0.075,2877,2101,1223,1276,1171,0,0,0,0,0,0,13.97,13.90,13.79
$GC,8409,0.99,547.0,2876,2102,1277,1162,3.5,7.7,717,8430,0.00,2.53,11.80,0.216,8612,0.000,0.077,2877,3508,1131,1191,1071,0,0,0,0,0,0,14.51,13.88,13.85
$STATE,8433,end climb,SURFACE_DEPTH_REACHED
$STATE,8433,begin surface coast
$FINISH,0.2,1.020945
$STATE,8453,end surface coast,CONTROL_FINISHED_OK
$STATE,8453,begin surface
$SM_CCo,8480,85.55,0.208,0,0,499,702.78
$SM_GC,1.45,8.40,2.28,85.55,0.083,0.055,0.208,195,2203,499,-7.38,0.93,702.78,0,0,0,0,0,0,14.23,14.13,13.92
$RAFOS_CLK,367
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,220917,170850
$TT8_MAMPS,0.040446,0.967708
$HUMID,47.51
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.40
$XPDR_PINGS,5
$CP_FREE,15894183936.000000
$PM_FREEKB_00,44594240
$24V_AH,12.27,238.918
$10V_AH,12.14,0.000
$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,26.400,70.675,756.675,85.550,0.000,0.000,0.000,386.475,1.250,0.000,22.931,0.000,5915.547,782.887,2195.700,390.192,0.000,2066.613,0.000,1041.472,2213.000,0.540,0.000
$DEVICE_MAMPS,451.350,2170.305,1641.690,208.080,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8491.000,8424.000,8428.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.214,20.000,9.913,0.000
$MEM,323420
$DATA_FILE_SIZE,26638,726
$CAP_FILE_SIZE,100488,0
$CFSIZE,2097872896,1973714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.012,96.98,1
$GPS,220917,221703,7418.334,-15346.225,34,0.7,34,19.2,0.0,0.0,11,9.8