version: 66.13
glider: 196
mission: 14
dive: 409
start: 9 23 117 3 49 46
data:
$ID,196
$MISSION,14
$DIVE,409
$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,37
$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,1141.0
$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
$GPS1,230917,033722,7418.0913,-15344.8047,17,0.8,18,19.3,0.0,0.0,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.3
$GPS2,230917,034908,7418.1030,-15344.5801,6,0.7,15,19.3,0.0,0.0,12,8.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,235.0,1213,-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,57,-0.76,-64.8,187,2221,482,501,0.0,0.0,0,139,0.00,0.00,-80.75,0.000,16386,0.000,0.000,186,2221,1998,1933,2064,0,0,0,0,0,0,14.47,28.83,14.47
$GC,143,-0.81,-127.1,186,2222,1937,2066,3.3,-3.6,8,200,12.38,2.70,-38.45,0.000,19236,0.451,2.173,2300,3601,3887,3868,3907,0,0,0,0,0,0,13.63,12.58,14.09
$GC,248,-0.92,-127.1,2300,3602,3873,3908,37.4,-27.5,28,253,0.00,2.45,0.00,0.000,1158,0.000,0.065,2300,2201,3889,3872,3907,0,0,0,0,0,0,14.18,14.02,14.19
$GC,576,-1.08,-127.1,2300,2200,3876,3908,100.7,-16.5,60,582,0.22,2.50,0.00,0.000,4484,0.101,0.083,2210,3597,3891,3876,3906,0,0,0,0,0,0,13.97,13.84,14.09
$GC,685,-1.17,-127.1,2210,3601,3876,3908,126.0,-21.3,81,690,0.00,2.42,0.00,0.000,1158,0.000,0.059,2210,2198,3894,3882,3907,0,0,0,0,0,0,14.15,14.03,14.19
$GC,1001,-1.22,-127.1,2211,2197,3876,3908,194.6,-21.0,94,1006,0.00,2.53,0.00,0.000,388,0.000,0.084,2201,3604,3893,3880,3907,0,0,0,0,0,0,14.35,13.95,14.38
$GC,1144,-1.36,-127.1,2201,3607,3877,3907,220.8,-17.9,122,1149,0.20,2.45,0.00,0.000,5254,0.100,0.058,2138,2189,3891,3876,3907,0,0,0,0,0,0,13.94,13.89,14.06
$GC,1455,-1.32,-127.1,2134,2189,3877,3907,296.7,-23.2,134,1460,0.00,2.53,0.00,0.000,388,0.000,0.083,2127,3594,3891,3876,3907,0,0,0,0,0,0,14.36,13.90,14.40
$GC,1620,-1.32,-127.1,2127,3595,3876,3907,333.0,-20.5,167,1626,0.00,2.42,0.00,0.000,1030,0.000,0.057,2127,2196,3891,3875,3908,0,0,0,0,0,0,14.08,13.95,14.14
$GC,1937,-1.32,-127.1,2127,2193,3876,3912,401.3,-21.5,180,1942,0.00,2.47,0.00,0.000,260,0.000,0.083,2117,3595,3890,3875,3906,0,0,0,0,0,0,14.33,13.84,14.35
$GC,2112,-1.32,-127.1,2117,3596,3874,3907,438.1,-20.5,215,2119,0.17,2.42,0.00,0.000,3078,0.304,0.057,2148,2199,3890,3874,3906,0,0,0,0,0,0,13.52,13.87,13.85
$STATE,2354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2354,begin apogee
$GC,2361,-0.13,0.0,2148,2059,3874,3907,483.4,-18.3,224,2568,1.62,0.00,202.48,1.406,10246,0.278,0.000,2526,2057,3365,3374,3357,0,0,0,0,0,0,13.54,13.52,12.76
$STATE,2572,end apogee,CONTROL_FINISHED_OK
$STATE,2572,begin climb
$GC,2575,0.81,127.1,2527,2058,3374,3349,495.1,0.0,231,2898,0.95,2.58,180.45,1.367,10756,0.055,0.076,2862,730,2827,2863,2792,0,0,0,0,0,0,13.64,12.89,12.29
$GC,3129,0.46,127.1,2862,730,2860,2792,465.2,13.2,279,3135,0.60,2.40,0.00,0.000,5254,0.366,0.073,2739,2087,2825,2858,2792,0,0,0,0,0,0,13.42,13.89,13.85
$GC,3461,0.27,127.1,2739,2088,2860,2791,429.7,10.5,295,3466,0.28,2.40,0.00,0.000,4740,0.314,0.076,2686,728,2824,2859,2789,0,0,0,0,0,0,13.65,14.00,13.88
$GC,3602,0.22,141.8,2686,730,2860,2791,417.3,8.5,323,3622,0.15,2.42,14.00,1.587,13478,0.288,0.078,2657,2103,2785,2821,2749,0,0,0,0,0,0,13.76,14.08,13.29
$GC,3946,0.20,151.0,2658,2103,2811,2740,386.7,9.1,341,3950,0.00,0.00,3.62,1.346,8358,0.000,0.000,2658,2103,2749,2784,2715,0,0,0,0,0,0,14.58,14.17,13.07
$GC,4243,0.19,165.8,2658,2104,2802,2728,360.6,8.5,351,4279,0.00,2.45,31.35,1.465,8868,0.000,0.082,2664,717,2685,2719,2651,0,0,0,0,0,0,14.62,13.88,13.27
$GC,4290,0.19,170.6,2665,718,2712,2648,356.4,9.5,360,4296,0.00,2.42,1.40,0.251,9254,0.000,0.078,2665,2099,2666,2702,2631,0,0,0,0,0,0,14.14,14.02,13.95
$GC,4607,0.19,170.6,2665,2100,2712,2634,324.2,10.1,373,4612,0.00,2.42,0.00,0.000,516,0.000,0.082,2672,720,2673,2713,2633,0,0,0,0,0,0,14.57,14.12,14.59
$GC,4647,0.19,170.6,2672,721,2713,2635,320.1,10.2,381,4652,0.00,2.42,0.00,0.000,1030,0.000,0.078,2672,2101,2673,2713,2634,0,0,0,0,0,0,14.21,14.07,14.23
$GC,4968,0.17,180.4,2673,2102,2714,2634,290.2,9.0,395,4989,0.15,0.00,18.83,1.511,12454,0.295,0.000,2644,2102,2633,2673,2593,0,0,0,0,0,0,13.81,14.12,13.33
$GC,5268,0.25,205.4,2644,2102,2663,2574,266.9,7.4,405,5310,0.00,0.00,39.88,1.372,8358,0.000,0.000,2643,2102,2529,2577,2481,0,0,0,0,0,0,14.58,14.02,13.25
$GC,5598,0.35,233.2,2644,2102,2566,2461,242.6,7.1,416,5644,0.17,0.00,43.60,1.341,10406,0.096,0.000,2709,2102,2413,2459,2368,0,0,0,0,0,0,14.15,14.02,13.26
$GC,5928,0.36,241.5,2709,2102,2446,2354,211.2,9.1,427,5932,0.00,0.00,3.00,1.080,8230,0.000,0.000,2709,2102,2379,2423,2336,0,0,0,0,0,0,14.54,14.14,13.05
$GC,6228,0.37,264.7,2709,2103,2435,2345,186.9,7.6,437,6281,0.00,0.00,50.17,1.314,8742,0.000,0.000,2709,2102,2285,2326,2244,0,0,0,0,0,0,14.60,14.02,13.27
$GC,6558,0.42,277.4,2709,2103,2315,2227,157.9,8.7,453,6579,0.00,2.53,15.43,1.444,8868,0.000,0.086,2712,721,2230,2274,2187,0,0,0,0,0,0,14.53,14.14,13.32
$GC,6625,0.51,287.3,2713,721,2264,2185,152.1,9.0,466,6641,0.00,2.42,11.80,1.459,9382,0.000,0.078,2713,2103,2194,2236,2153,0,0,0,0,0,0,14.28,14.16,13.28
$GC,6954,0.58,298.0,2713,2103,2224,2137,122.1,8.9,481,6968,0.15,2.45,7.60,1.506,10916,0.111,0.082,2792,717,2153,2196,2111,0,0,0,0,0,0,14.26,14.20,13.33
$GC,7041,0.53,298.0,2793,717,2191,2111,112.2,11.6,498,7048,0.17,2.42,0.00,0.000,5254,0.291,0.076,2764,2101,2150,2190,2111,0,0,0,0,0,0,13.85,14.13,14.16
$GC,7347,0.55,321.1,2759,2102,2191,2106,85.5,7.6,521,7368,0.00,2.50,12.95,0.440,8484,0.000,0.081,2758,3517,2054,2094,2015,0,0,0,0,0,0,14.53,14.04,13.71
$GC,7373,0.56,347.2,2759,3517,2097,2018,83.3,7.3,526,7395,0.00,2.35,15.20,0.446,9254,0.000,0.060,2766,2132,1948,1986,1910,0,0,0,0,0,0,14.31,14.19,13.72
$GC,7701,0.63,400.9,2768,2132,1991,1910,57.3,4.5,561,7736,0.00,2.58,29.10,0.367,8868,0.000,0.089,2767,685,1731,1754,1708,0,0,0,0,0,0,14.55,14.05,13.72
$GC,7962,0.81,467.3,2767,687,1756,1708,46.4,3.1,613,8005,0.22,2.50,35.90,0.333,11430,0.094,0.076,2856,2105,1457,1489,1426,0,0,0,0,0,0,14.14,14.00,13.77
$GC,8302,0.92,569.0,2857,2105,1490,1426,21.5,-0.5,651,8364,0.00,2.53,54.50,0.267,8868,0.000,0.086,2863,688,1044,1111,977,0,0,0,0,0,0,14.54,14.07,13.76
$GC,8545,1.09,591.8,2863,689,1110,980,7.8,7.6,699,8567,0.22,2.50,13.38,0.226,11430,0.091,0.079,2949,2102,948,1013,883,0,0,0,0,0,0,13.97,13.94,13.80
$STATE,8602,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,0.3,1.011056
$STATE,8612,end surface coast,CONTROL_FINISHED_OK
$STATE,8612,begin surface
$SM_CCo,8683,64.35,0.205,0,0,499,703.28
$SM_GC,1.46,8.60,0.17,64.35,0.082,0.112,0.205,199,2228,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.24,14.26,13.90
$RAFOS_CLK,369
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7418.45,-15347.43,230917,010221
$TT8_MAMPS,0.038948,0.98868
$HUMID,47.71
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,6
$CP_FREE,0.000000
$PM_FREEKB_00,44507264
$24V_AH,12.29,240.141
$10V_AH,12.17,0.000
$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,26.275,69.550,784.625,64.350,0.000,0.000,0.000,396.400,1.500,0.000,17.487,0.000,6049.270,803.200,2227.618,392.213,0.000,2082.288,0.000,1020.591,2219.000,0.540,0.000
$DEVICE_MAMPS,451.350,2172.600,1587.375,205.020,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8652.000,8627.000,8632.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.124,20.000,9.899,0.000
$MEM,323420
$DATA_FILE_SIZE,23394,708
$CAP_FILE_SIZE,102028,0
$CFSIZE,2097872896,1972830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.055,89.46,1
$GPS,230917,061702,7418.151,-15346.953,38,0.8,42,19.2,0.3,78.6,9,6.8