version: 66.13
glider: 196
mission: 14
dive: 3
start: 8 7 117 1 16 38
data:
$ID,196
$MISSION,14
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,195
$D_ABORT,225
$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,65
$T_MISSION,90
$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,0
$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,692.78448
$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,2650
$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,2300
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,11
$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
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,44.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,070817,011134,7107.9868,-14740.0039,4,0.8,39,21.2,0.0,116.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.2
$GPS2,070817,011606,7107.9917,-14739.9541,9,0.8,13,21.2,0.0,0.0,10,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7118.791,-14739.954
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-17.9,-10.000,-21.31,2227
$D_GRID,195
$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,55,end surface,CONTROL_FINISHED_OK
$STATE,55,begin dive
$GC,58,-0.57,-145.9,210,2290,545,464,0.0,0.0,0,134,0.00,0.00,-73.60,0.000,16386,0.000,0.000,209,2289,1996,1940,2052,0,0,0,0,0,0,14.43,28.83,14.45
$GC,136,-0.57,-145.9,210,2290,1944,2053,3.2,-6.0,13,197,12.75,2.70,-40.25,0.000,18980,0.457,2.170,2453,895,3965,3952,3978,0,0,0,0,0,0,13.84,12.95,14.09
$GC,423,-0.60,-145.9,2454,896,3951,3979,55.4,-13.4,68,431,0.00,2.55,0.00,0.000,1158,0.000,0.094,2448,2311,3964,3950,3978,0,0,0,0,0,0,14.23,14.09,14.26
$GC,611,-0.60,-145.9,2449,2311,3952,3978,82.3,-13.5,105,617,0.00,2.53,0.00,0.000,260,0.000,0.098,2441,3718,3964,3950,3978,0,0,0,0,0,0,14.41,13.98,14.42
$GC,692,-0.72,-145.9,2441,3718,3951,3978,92.1,-10.8,121,698,0.00,2.45,0.00,0.000,1158,0.000,0.063,2440,2296,3964,3950,3978,0,0,0,0,0,0,14.23,14.12,14.26
$GC,878,-0.78,-145.9,2441,2295,3952,3978,114.5,-11.9,158,884,0.17,2.47,0.00,0.000,4740,0.123,0.087,2369,892,3963,3949,3978,0,0,0,0,0,0,14.06,14.07,14.11
$GC,910,-0.73,-145.9,2369,892,3952,3980,119.4,-17.2,164,917,0.22,2.53,0.00,0.000,3206,0.276,0.095,2407,2300,3965,3951,3979,0,0,0,0,0,0,13.81,14.07,14.08
$GC,1097,-0.73,-145.9,2408,2300,3951,3978,145.7,-13.4,201,1103,0.00,2.53,0.00,0.000,260,0.000,0.097,2399,3714,3964,3951,3978,0,0,0,0,0,0,14.45,14.08,14.47
$GC,1144,-0.83,-145.9,2400,3714,3952,3978,151.8,-12.4,210,1150,0.00,2.45,0.00,0.000,1158,0.000,0.067,2400,2297,3964,3951,3978,0,0,0,0,0,0,14.25,14.14,14.28
$GC,1330,-0.85,-145.9,2400,2295,3950,3978,175.4,-12.2,247,1335,0.00,0.00,0.00,0.000,134,0.000,0.000,2400,2294,3964,3950,3978,0,0,0,0,0,0,14.46,14.48,14.48
$STATE,1503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1509,-0.13,0.0,2401,2122,3952,3978,195.3,-10.9,282,1774,0.75,0.03,256.05,1.161,10246,0.225,0.163,2595,2147,3359,3385,3333,0,0,0,0,0,0,13.91,13.51,13.13
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1778,0.57,145.9,2596,2147,3382,3330,208.1,0.0,327,2000,0.75,2.58,208.82,1.109,11012,0.070,0.087,2857,753,2761,2801,2722,0,0,0,0,0,0,13.69,13.43,12.98
$GC,2225,0.22,145.9,2857,757,2782,2710,186.0,10.5,397,2232,0.62,2.55,0.00,0.000,5254,0.337,0.090,2728,2152,2744,2781,2708,0,0,0,0,0,0,13.54,13.74,13.87
$GC,2412,0.16,255.2,2729,2153,2782,2703,175.2,5.0,434,2598,0.00,2.62,178.12,1.099,8868,0.000,0.091,2732,762,2320,2369,2271,0,0,0,0,0,0,14.20,13.57,13.12
$GC,2823,0.24,316.7,2732,765,2340,2256,145.5,7.2,510,2954,0.00,2.53,124.75,1.062,9382,0.000,0.093,2732,2150,2073,2120,2027,0,0,0,0,0,0,13.98,13.84,13.16
$GC,3136,0.34,366.0,2733,2151,2099,2004,121.5,7.7,568,3243,0.00,2.58,99.80,1.058,8868,0.000,0.096,2734,768,1867,1898,1837,0,0,0,0,0,0,14.09,13.63,13.18
$GC,3334,0.52,419.3,2734,768,1878,1831,106.7,7.5,604,3453,0.28,2.53,112.22,1.037,11430,0.092,0.093,2829,2150,1657,1680,1635,0,0,0,0,0,0,13.80,13.81,13.13
$GC,3635,0.48,419.3,2830,2148,1667,1601,65.8,13.9,660,3642,0.00,2.53,0.00,0.000,644,0.000,0.096,2835,765,1632,1665,1600,0,0,0,0,0,0,14.05,13.76,14.07
$GC,3667,0.45,419.3,2836,765,1671,1601,61.2,14.3,666,3673,0.17,2.53,0.00,0.000,5254,0.245,0.092,2798,2150,1632,1663,1601,0,0,0,0,0,0,13.68,13.81,13.90
$GC,3854,0.51,436.4,2798,2151,1664,1597,41.6,9.2,703,3866,0.00,0.00,7.45,0.276,8358,0.000,0.000,2798,2150,1583,1616,1550,0,0,0,0,0,0,14.19,14.00,13.72
$GC,4046,0.64,504.2,2798,2151,1635,1566,26.6,6.9,741,4095,0.15,2.58,42.22,0.268,10916,0.120,0.096,2869,761,1310,1361,1260,0,0,0,0,0,0,14.02,13.90,13.82
$GC,4125,0.64,504.2,2869,762,1357,1267,18.5,10.9,755,4131,0.00,2.53,0.00,0.000,1030,0.000,0.093,2869,2154,1313,1360,1267,0,0,0,0,0,0,13.99,13.90,14.01
$GC,4312,0.87,756.6,2869,2154,1362,1270,10.7,-1.7,792,4438,0.15,2.62,119.38,0.226,10660,0.125,0.097,2929,3565,497,544,450,0,0,0,0,0,0,13.97,13.93,13.78
$STATE,4478,end climb,SURFACE_DEPTH_REACHED
$STATE,4478,begin surface coast
$FINISH,0.3,1.018891
$STATE,4503,end surface coast,CONTROL_FINISHED_OK
$STATE,4503,begin surface
$SM_CCo,4585,0.00,0.000,0,0,505,701.56
$SM_GC,1.15,8.57,2.20,0.00,0.091,0.062,0.000,207,2320,505,-7.60,1.47,701.56,0,0,0,0,0,0,14.03,14.04,14.13
$RAFOS_CLK,149
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7110.16,-14739.90,070817,010621
$TT8_MAMPS,0.038948,0.830641
$HUMID,48.66
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,18
$CP_FREE,16017817600.000000
$PM_FREEKB_00,62264448
$24V_AH,12.95,43.710
$10V_AH,12.92,0.000
$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,24.600,50.825,1148.825,0.000,0.000,0.000,0.000,0.000,4.500,0.000,14.148,0.000,1870.137,1000.086,1695.117,110.459,0.000,1818.755,0.000,1202.195,0.000,0.540,0.000
$DEVICE_MAMPS,456.705,2170.305,1160.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4492.000,2745.000,4452.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.896,111.000,16.919,0.000
$MEM,324828
$DATA_FILE_SIZE,26690,826
$CAP_FILE_SIZE,91681,0
$CFSIZE,2097872896,2087354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.2
$CURRENT,0.176,83.19,1
$GPS,070817,023400,7108.395,-14739.386,7,0.9,15,21.2,0.0,0.0,9,9.3