version: 66.13
glider: 196
mission: 14
dive: 7
start: 8 7 117 9 25 57
data:
$ID,196
$MISSION,14
$DIVE,7
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,165
$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,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,27
$R_STBD_OVSHOOT,19
$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,62.0
$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
$GPS1,070817,091506,7110.6401,-14737.2793,37,0.8,39,21.2,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.3
$GPS2,070817,092523,7110.6709,-14737.2090,8,0.8,8,21.2,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7121.470,-14737.209
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-17.9,-10.000,-21.31,2227
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.57,-145.9,208,2196,531,465,0.0,0.0,0,109,0.00,0.00,-83.70,0.000,16386,0.000,0.000,207,2195,2147,2067,2227,0,0,0,0,0,0,14.21,28.83,14.23
$GC,112,-0.57,-145.9,210,2195,2072,2228,3.5,-7.9,15,166,12.35,2.83,-33.78,0.000,18724,0.450,2.154,2370,3621,3964,3946,3982,0,0,0,0,0,0,13.67,12.78,13.91
$GC,391,-0.49,-145.9,2371,3623,3954,3982,70.9,-18.3,69,397,0.20,2.47,0.00,0.000,3206,0.270,0.063,2415,2200,3967,3953,3982,0,0,0,0,0,0,13.81,14.02,14.04
$GC,577,-0.49,-145.9,2415,2200,3956,3982,99.8,-14.4,106,585,0.00,2.55,0.00,0.000,260,0.000,0.095,2406,3609,3968,3955,3982,0,0,0,0,0,0,14.28,13.98,14.29
$GC,765,-0.58,-145.9,2406,3610,3956,3982,121.4,-10.5,143,771,0.00,2.45,0.00,0.000,1158,0.000,0.063,2401,2198,3968,3954,3982,0,0,0,0,0,0,14.14,14.04,14.17
$GC,951,-0.62,-145.9,2406,2196,3956,3982,143.0,-11.1,180,956,0.00,0.00,0.00,0.000,134,0.000,0.000,2406,2196,3968,3955,3982,0,0,0,0,0,0,14.34,14.35,14.35
$GC,1137,-0.70,-145.9,2406,2197,3956,3983,162.4,-10.0,217,1143,0.12,2.50,0.00,0.000,4772,0.142,0.086,2354,790,3968,3955,3982,0,0,0,0,0,0,14.12,14.01,14.17
$GC,1153,-0.73,-145.9,2354,788,3956,3982,164.3,-11.8,220,1159,0.00,2.55,0.00,0.000,1158,0.000,0.096,2346,2206,3968,3954,3982,0,0,0,0,0,0,14.14,14.02,14.19
$GC,1339,-0.71,-145.9,2347,2206,3956,3982,190.9,-14.1,257,1345,0.00,0.00,0.00,0.000,134,0.000,0.000,2344,2207,3967,3954,3981,0,0,0,0,0,0,14.38,14.39,14.38
$GC,1525,-0.71,-145.9,2346,2209,3956,3983,215.7,-13.2,294,1532,0.00,2.53,0.00,0.000,260,0.000,0.099,2346,3610,3968,3955,3982,0,0,0,0,0,0,14.38,14.03,14.40
$GC,1644,-0.79,-145.9,2346,3612,3955,3983,229.2,-10.4,317,1650,0.00,2.45,0.00,0.000,1158,0.000,0.065,2346,2190,3968,3955,3982,0,0,0,0,0,0,14.18,14.06,14.21
$GC,1830,-0.79,-145.9,2346,2192,3955,3981,250.2,-11.0,354,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2191,3968,3955,3982,0,0,0,0,0,0,14.44,14.40,14.40
$GC,2017,-0.82,-145.9,2346,2192,3955,3980,270.5,-10.9,391,2023,0.00,2.58,0.00,0.000,388,0.000,0.100,2346,3614,3964,3952,3976,0,0,0,0,0,0,14.39,14.03,14.41
$GC,2103,-0.92,-145.9,2346,3614,3956,3979,278.9,-9.3,408,2110,0.20,2.45,0.00,0.000,5286,0.116,0.067,2274,2202,3966,3955,3978,0,0,0,0,0,0,14.09,14.07,14.19
$GC,2290,-0.80,-145.9,2275,2203,3955,3978,308.4,-16.5,445,2296,0.17,2.53,0.00,0.000,2436,0.292,0.094,2305,3610,3966,3955,3977,0,0,0,0,0,0,13.83,14.03,14.01
$GC,2367,-0.80,-145.9,2305,3611,3955,3977,319.3,-12.5,460,2373,0.00,2.45,0.00,0.000,1030,0.000,0.067,2305,2197,3965,3955,3976,0,0,0,0,0,0,14.16,14.04,14.19
$GC,2553,-0.75,-145.9,2305,2197,3955,3977,344.9,-13.6,497,2559,0.12,2.55,0.00,0.000,2436,0.295,0.096,2320,3612,3965,3954,3976,0,0,0,0,0,0,13.86,14.02,14.07
$GC,2609,-0.79,-145.9,2321,3612,3955,3975,351.7,-11.5,508,2615,0.00,2.45,0.00,0.000,1158,0.000,0.067,2318,2199,3965,3955,3975,0,0,0,0,0,0,14.11,14.00,14.14
$STATE,2702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2702,begin apogee
$GC,2708,-0.13,0.0,2321,2076,3956,3975,363.2,-12.1,512,2936,0.85,0.00,225.10,1.317,10246,0.253,0.000,2524,2074,3363,3389,3338,0,0,0,0,0,0,13.83,13.50,12.97
$STATE,2939,end apogee,CONTROL_FINISHED_OK
$STATE,2939,begin climb
$GC,2942,0.57,145.9,2530,2075,3382,3329,372.6,0.0,519,3162,0.75,2.75,212.20,1.228,10500,0.073,0.089,2777,3512,2763,2809,2718,0,0,0,0,0,0,13.56,13.19,12.78
$GC,3389,0.22,145.9,2778,3511,2780,2711,334.7,16.4,607,3396,0.62,2.47,0.00,0.000,5254,0.339,0.065,2660,2114,2745,2779,2711,0,0,0,0,0,0,13.46,13.70,13.77
$GC,3576,0.19,182.9,2660,2115,2781,2711,317.7,8.3,644,3636,0.00,2.62,51.62,1.262,8612,0.000,0.093,2660,3508,2609,2653,2566,0,0,0,0,0,0,14.11,13.64,13.13
$GC,3861,0.15,182.9,2661,3508,2641,2555,289.2,10.5,699,3868,0.15,2.47,0.00,0.000,5254,0.275,0.068,2637,2100,2596,2640,2553,0,0,0,0,0,0,13.70,13.88,13.95
$GC,4048,0.23,235.6,2637,2102,2641,2552,274.6,7.6,736,4138,0.00,2.60,82.57,1.217,8868,0.000,0.093,2646,686,2397,2443,2351,0,0,0,0,0,0,14.23,13.64,13.17
$GC,4160,0.35,277.7,2646,686,2434,2345,266.1,8.1,755,4233,0.15,2.60,65.82,1.184,11430,0.120,0.091,2704,2106,2231,2279,2183,0,0,0,0,0,0,13.76,13.72,13.08
$GC,4413,0.35,277.7,2700,2106,2262,2159,236.5,11.7,803,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,2206,2255,2158,0,0,0,0,0,0,14.04,14.04,14.07
$GC,4599,0.35,277.7,2700,2106,2260,2155,214.6,11.5,840,4606,0.00,2.58,0.00,0.000,516,0.000,0.093,2707,690,2207,2259,2155,0,0,0,0,0,0,14.16,13.85,14.18
$GC,4636,0.38,277.7,2708,690,2258,2155,210.3,11.3,847,4642,0.00,2.55,0.00,0.000,1158,0.000,0.088,2707,2100,2206,2256,2156,0,0,0,0,0,0,14.01,13.87,14.04
$GC,4822,0.38,277.7,2708,2101,2257,2154,188.7,11.3,884,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2100,2207,2261,2154,0,0,0,0,0,0,14.24,14.26,14.26
$GC,5008,0.38,277.7,2708,2101,2257,2153,168.6,10.1,921,5015,0.00,2.55,0.00,0.000,516,0.000,0.090,2710,691,2204,2255,2153,0,0,0,0,0,0,14.29,13.99,14.31
$GC,5117,0.44,292.2,2710,691,2256,2153,158.3,9.3,942,5129,0.00,2.53,6.45,1.327,9382,0.000,0.088,2710,2105,2174,2226,2123,0,0,0,0,0,0,14.08,13.95,13.35
$GC,5309,0.45,317.9,2710,2106,2230,2129,141.0,8.8,980,5370,0.00,2.62,51.97,1.199,8740,0.000,0.092,2710,690,2060,2105,2016,0,0,0,0,0,0,14.31,13.82,13.33
$GC,5450,0.55,342.6,2711,689,2093,2012,128.4,8.9,1006,5493,0.15,2.55,38.42,1.180,11430,0.123,0.089,2767,2101,1968,2009,1928,0,0,0,0,0,0,13.95,13.90,13.25
$GC,5673,0.50,342.6,2766,2101,1990,1904,101.9,11.5,1049,5679,0.00,0.00,0.00,0.000,134,0.000,0.000,2767,2101,1944,1989,1899,0,0,0,0,0,0,14.15,14.17,14.17
$GC,5859,0.47,342.6,2768,2102,1989,1902,81.4,10.8,1086,5866,0.15,2.53,0.00,0.000,4740,0.240,0.089,2739,691,1943,1988,1898,0,0,0,0,0,0,13.76,13.93,13.89
$GC,5926,0.60,385.3,2741,691,1986,1900,75.7,8.0,1099,5957,0.12,2.53,23.27,0.415,11430,0.132,0.090,2786,2100,1791,1819,1763,0,0,0,0,0,0,13.97,13.93,13.68
$GC,6137,0.61,404.3,2786,2101,1833,1769,53.5,9.1,1140,6156,0.00,2.55,13.18,0.344,8484,0.000,0.093,2786,3513,1714,1742,1686,0,0,0,0,0,0,14.24,13.86,13.66
$GC,6258,0.63,428.6,2786,3513,1744,1701,42.7,8.9,1163,6282,0.00,2.47,16.45,0.321,9254,0.000,0.072,2794,2102,1613,1643,1583,0,0,0,0,0,0,14.09,13.95,13.75
$GC,6463,0.72,509.0,2794,2102,1656,1586,28.7,6.3,1203,6523,0.00,2.58,51.30,0.279,8868,0.000,0.098,2794,683,1288,1349,1227,0,0,0,0,0,0,14.27,13.94,13.72
$GC,6575,0.92,570.4,2795,686,1345,1227,21.3,7.2,1223,6618,0.28,2.55,36.80,0.256,11430,0.096,0.089,2890,2100,1034,1110,959,0,0,0,0,0,0,14.00,13.97,13.74
$GC,6798,1.00,685.8,2890,2101,1111,950,7.6,4.7,1266,6870,0.00,0.00,69.00,0.217,8486,0.000,0.000,2890,2101,567,624,511,0,0,0,0,0,0,14.23,14.01,13.79
$STATE,6892,end climb,SURFACE_DEPTH_REACHED
$STATE,6892,begin surface coast
$FINISH,0.2,1.019993
$STATE,6919,end surface coast,CONTROL_FINISHED_OK
$STATE,6919,begin surface
$SM_CCo,6940,3.67,0.228,0,0,540,692.97
$SM_GC,2.34,8.45,0.17,3.67,0.093,0.125,0.228,209,2213,540,-7.38,-0.74,692.97,0,0,0,0,0,0,14.02,14.03,13.85
$RAFOS_CLK,256
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7110.16,-14739.90,070817,070931
$TT8_MAMPS,0.040446,0.80892
$HUMID,49.17
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.50
$XPDR_PINGS,2
$CP_FREE,0.000000
$PM_FREEKB_00,62087360
$24V_AH,12.78,45.571
$10V_AH,12.77,0.000
$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,24.850,81.775,944.175,3.675,0.000,0.000,0.000,390.325,0.500,0.000,9.555,0.000,3401.354,994.983,2844.994,329.679,0.000,2422.334,0.000,1846.717,0.000,0.540,0.000
$DEVICE_MAMPS,449.820,2154.240,1327.275,227.970,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6944.000,6908.000,6917.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.976,111.000,16.591,0.000
$MEM,324780
$DATA_FILE_SIZE,43260,1288
$CAP_FILE_SIZE,122177,0
$CFSIZE,2097872896,2086141952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.8
$CURRENT,0.197,64.49,1
$GPS,070817,112259,7111.606,-14736.467,7,0.9,32,21.2,0.0,50.4,10,9.8