version: 66.13
glider: 196
mission: 14
dive: 9
start: 8 7 117 13 42 11
data:
$ID,196
$MISSION,14
$DIVE,9
$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,22
$R_STBD_OVSHOOT,31
$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,66.0
$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
$GPS1,070817,133056,7112.7861,-14735.7656,7,0.8,34,21.2,0.4,61.7,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.2
$GPS2,070817,134139,7112.8613,-14735.5342,8,0.7,13,21.2,0.0,308.2,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7123.661,-14735.534
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.3,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.57,-145.9,205,2218,562,505,0.0,0.0,0,106,0.00,0.00,-83.43,0.000,16386,0.000,0.000,204,2218,2162,2086,2239,0,0,0,0,0,0,14.21,28.83,14.21
$GC,109,-0.57,-145.9,205,2218,2089,2240,3.7,-9.1,15,163,12.32,2.75,-32.80,0.000,18724,0.448,2.152,2375,3599,3967,3949,3985,0,0,0,0,0,0,13.64,12.76,13.88
$GC,388,-0.51,-145.9,2375,3601,3958,3986,73.0,-18.3,69,395,0.17,2.45,0.00,0.000,3206,0.269,0.063,2410,2189,3969,3954,3985,0,0,0,0,0,0,13.80,13.95,14.02
$GC,575,-0.51,-145.9,2411,2189,3960,3985,100.3,-12.8,106,582,0.00,2.55,0.00,0.000,260,0.000,0.092,2402,3605,3972,3960,3985,0,0,0,0,0,0,14.26,13.96,14.28
$GC,714,-0.60,-145.9,2402,3608,3960,3986,115.6,-10.7,133,720,0.00,2.45,0.00,0.000,1158,0.000,0.063,2402,2187,3972,3960,3984,0,0,0,0,0,0,14.11,14.00,14.13
$GC,900,-0.66,-145.9,2402,2188,3961,3985,137.1,-10.9,170,907,0.00,2.47,0.00,0.000,644,0.000,0.089,2402,794,3972,3960,3985,0,0,0,0,0,0,14.33,14.01,14.34
$GC,962,-0.79,-145.9,2402,794,3961,3985,143.5,-9.2,182,970,0.25,2.53,0.00,0.000,5286,0.099,0.094,2316,2197,3972,3960,3984,0,0,0,0,0,0,14.07,14.01,14.15
$GC,1150,-0.70,-145.9,2315,2198,3959,3985,174.3,-16.8,219,1157,0.15,2.55,0.00,0.000,2436,0.286,0.095,2345,3607,3972,3960,3984,0,0,0,0,0,0,13.82,13.74,14.00
$GC,1222,-0.74,-145.9,2346,3607,3961,3984,183.3,-11.2,233,1228,0.00,2.47,0.00,0.000,1158,0.000,0.070,2344,2195,3972,3960,3984,0,0,0,0,0,0,14.16,14.04,14.19
$GC,1408,-0.74,-145.9,2346,2195,3960,3984,206.3,-12.3,270,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2194,3971,3960,3983,0,0,0,0,0,0,14.35,14.40,14.38
$GC,1594,-0.74,-145.9,2345,2195,3961,3984,227.2,-11.1,307,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2194,3971,3959,3983,0,0,0,0,0,0,14.36,14.38,14.38
$GC,1780,-0.77,-145.9,2346,2194,3961,3982,248.2,-10.7,344,1786,0.00,2.55,0.00,0.000,388,0.000,0.097,2337,3608,3971,3960,3982,0,0,0,0,0,0,14.37,13.88,14.39
$GC,1913,-0.84,-145.9,2337,3609,3961,3982,261.8,-10.1,370,1920,0.00,2.42,0.00,0.000,1158,0.000,0.065,2337,2202,3970,3960,3981,0,0,0,0,0,0,14.16,14.04,14.20
$GC,2100,-0.87,-145.9,2337,2203,3960,3981,282.4,-10.8,407,2106,0.12,0.00,0.00,0.000,4230,0.145,0.000,2287,2201,3969,3959,3979,0,0,0,0,0,0,14.11,14.19,14.18
$GC,2286,-0.79,-145.9,2288,2202,3960,3979,310.3,-15.3,444,2293,0.15,2.53,0.00,0.000,2436,0.277,0.093,2313,3608,3967,3955,3979,0,0,0,0,0,0,13.83,14.01,13.99
$GC,2348,-0.82,-145.9,2313,3609,3960,3979,318.5,-12.4,456,2354,0.00,2.45,0.00,0.000,1158,0.000,0.067,2313,2194,3969,3960,3978,0,0,0,0,0,0,14.15,14.03,14.19
$GC,2534,-0.80,-145.9,2313,2194,3960,3978,342.6,-12.7,493,2540,0.00,2.55,0.00,0.000,388,0.000,0.096,2305,3610,3968,3959,3977,0,0,0,0,0,0,14.39,14.02,14.41
$GC,2590,-0.80,-145.9,2306,3611,3960,3978,349.9,-12.5,504,2596,0.00,2.45,0.00,0.000,1030,0.000,0.067,2305,2199,3968,3960,3977,0,0,0,0,0,0,14.02,13.52,14.12
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2683,begin apogee
$GC,2689,-0.13,0.0,2306,2074,3961,3977,362.5,-13.2,508,2907,0.90,0.00,214.43,1.350,10246,0.257,0.000,2527,2072,3366,3394,3339,0,0,0,0,0,0,13.84,13.50,12.95
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2911,begin climb
$GC,2913,0.57,145.9,2528,2073,3388,3335,372.9,0.0,515,3127,0.75,2.80,204.60,1.269,10500,0.073,0.088,2776,3509,2764,2813,2715,0,0,0,0,0,0,13.57,13.26,12.76
$GC,3354,0.21,145.9,2776,3510,2790,2713,338.5,16.0,602,3361,0.62,2.45,0.00,0.000,5254,0.336,0.063,2657,2121,2751,2788,2714,0,0,0,0,0,0,13.46,13.72,13.77
$GC,3541,0.16,181.7,2658,2121,2790,2712,322.2,8.4,639,3595,0.00,2.62,49.67,1.315,8612,0.000,0.091,2657,3509,2619,2668,2571,0,0,0,0,0,0,14.10,13.64,13.12
$GC,3730,0.11,181.7,2658,3509,2654,2562,303.6,10.5,675,3737,0.20,2.50,0.00,0.000,5254,0.274,0.067,2621,2101,2607,2653,2561,0,0,0,0,0,0,13.65,13.81,13.86
$GC,3917,0.19,238.9,2622,2100,2654,2560,289.6,7.4,712,4013,0.00,2.70,90.03,1.249,8868,0.000,0.096,2618,681,2387,2439,2336,0,0,0,0,0,0,14.14,13.59,13.10
$GC,4050,0.38,286.0,2622,685,2428,2334,279.5,7.8,735,4134,0.28,2.60,76.57,1.220,11430,0.093,0.088,2715,2101,2196,2249,2144,0,0,0,0,0,0,13.73,13.69,13.00
$GC,4315,0.34,286.0,2715,2100,2237,2126,242.8,13.7,785,4320,0.00,0.00,0.00,0.000,134,0.000,0.000,2715,2101,2180,2235,2126,0,0,0,0,0,0,14.00,14.02,14.02
$GC,4501,0.27,286.0,2715,2102,2235,2124,218.9,12.6,822,4507,0.17,2.55,0.00,0.000,4484,0.231,0.090,2673,3504,2178,2233,2123,0,0,0,0,0,0,13.66,13.83,13.80
$GC,4537,0.29,286.0,2673,3509,2230,2124,214.5,11.6,829,4543,0.00,2.47,0.00,0.000,1158,0.000,0.070,2679,2101,2176,2229,2123,0,0,0,0,0,0,13.99,13.88,14.02
$GC,4723,0.30,295.5,2679,2101,2230,2122,194.9,9.6,866,4730,0.00,2.60,2.60,0.813,8740,0.000,0.096,2685,691,2159,2213,2105,0,0,0,0,0,0,14.23,13.98,12.87
$GC,4837,0.35,295.5,2685,692,2219,2118,183.8,10.1,888,4845,0.00,2.53,1.67,0.260,9350,0.000,0.090,2685,2100,2160,2211,2109,0,0,0,0,0,0,14.08,13.96,13.74
$GC,5025,0.39,313.9,2686,2101,2223,2114,165.3,9.1,925,5072,0.00,0.00,40.25,1.278,8358,0.000,0.000,2685,2101,2077,2128,2027,0,0,0,0,0,0,14.28,13.88,13.32
$GC,5253,0.45,331.0,2685,2101,2120,2020,144.2,9.2,969,5283,0.12,2.55,24.73,1.310,10916,0.144,0.090,2749,691,2011,2056,1966,0,0,0,0,0,0,14.00,13.77,13.31
$GC,5368,0.45,331.0,2750,690,2045,1962,130.0,12.2,991,5375,0.00,2.55,0.00,0.000,1030,0.000,0.088,2750,2101,2003,2044,1962,0,0,0,0,0,0,13.95,13.83,13.97
$GC,5555,0.40,331.0,2750,2102,2045,1957,107.4,11.3,1028,5562,0.15,2.55,0.00,0.000,4740,0.248,0.089,2726,690,2000,2043,1958,0,0,0,0,0,0,13.81,13.95,13.95
$GC,5592,0.49,357.5,2721,690,2042,1957,103.7,8.8,1035,5641,0.00,2.55,40.80,1.251,9382,0.000,0.089,2721,2108,1903,1940,1867,0,0,0,0,0,0,14.08,13.95,13.28
$GC,5821,0.58,399.8,2721,2108,1932,1856,84.7,8.0,1079,5852,0.12,2.55,24.52,0.450,10660,0.137,0.090,2774,3511,1732,1761,1704,0,0,0,0,0,0,13.90,13.79,13.57
$GC,5924,0.56,399.8,2775,3513,1762,1709,72.8,12.3,1098,5930,0.00,2.50,0.00,0.000,1158,0.000,0.074,2783,2099,1735,1761,1709,0,0,0,0,0,0,13.95,13.86,13.97
$GC,6110,0.57,423.3,2782,2099,1762,1709,53.4,8.9,1135,6129,0.00,2.62,14.32,0.356,8740,0.000,0.096,2792,685,1638,1669,1607,0,0,0,0,0,0,14.23,13.95,13.69
$GC,6169,0.62,449.2,2793,686,1671,1611,48.0,8.8,1146,6194,0.00,2.55,16.92,0.342,9382,0.000,0.090,2793,2101,1531,1567,1495,0,0,0,0,0,0,14.07,13.95,13.70
$GC,6374,0.71,505.0,2793,2102,1570,1497,31.0,7.4,1186,6416,0.00,2.60,33.20,0.291,8612,0.000,0.094,2793,3511,1303,1362,1244,0,0,0,0,0,0,14.25,13.85,13.77
$GC,6457,0.83,540.8,2793,3513,1362,1251,24.6,8.3,1201,6487,0.17,2.50,22.17,0.274,11430,0.116,0.076,2862,2099,1157,1225,1090,0,0,0,0,0,0,14.02,13.95,13.77
$GC,6667,0.98,705.3,2862,2099,1225,1094,12.0,2.4,1242,6775,0.00,2.60,97.78,0.233,8868,0.000,0.096,2861,692,496,538,454,0,0,0,0,0,0,14.24,13.86,13.74
$STATE,6852,end climb,SURFACE_DEPTH_REACHED
$STATE,6852,begin surface coast
$FINISH,0.3,1.011245
$STATE,6878,end surface coast,CONTROL_FINISHED_OK
$STATE,6878,begin surface
$SM_CCo,6960,0.00,0.000,0,0,497,703.77
$SM_GC,1.19,8.30,2.75,0.00,0.085,0.079,0.000,205,2213,497,-7.38,-0.34,703.77,0,0,0,0,0,0,14.03,14.00,14.12
$RAFOS_CLK,260
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7111.88,-14736.33,070817,112642
$TT8_MAMPS,0.041195,0.880824
$HUMID,48.18
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.60
$XPDR_PINGS,4
$CP_FREE,0.000000
$PM_FREEKB_00,61989184
$24V_AH,12.76,46.444
$10V_AH,12.71,0.000
$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,24.975,92.050,954.275,0.000,0.000,0.000,0.000,410.400,1.000,0.000,14.629,0.000,3424.007,1006.191,2850.642,327.309,0.000,2453.427,0.000,1833.574,0.000,0.539,0.000
$DEVICE_MAMPS,447.525,2151.945,1350.225,0.000,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6902.000,6862.000,6879.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.092,111.000,16.566,0.000
$MEM,324740
$DATA_FILE_SIZE,43322,1281
$CAP_FILE_SIZE,124073,0
$CFSIZE,2097872896,2085552128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.4
$CURRENT,0.148,43.74,1
$GPS,070817,153912,7113.976,-14735.618,7,0.9,18,21.2,0.3,76.3,8,9.5