version: 66.13
glider: 196
mission: 14
dive: 11
start: 8 7 117 18 6 32
data:
$ID,196
$MISSION,14
$DIVE,11
$N_DIVES,12
$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,29
$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,70.0
$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
$GPS1,070817,174736,7115.1934,-14735.2158,32,0.8,33,21.2,0.0,0.0,11,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.8
$GPS2,070817,180558,7115.2017,-14735.1113,9,0.7,12,21.2,0.0,0.0,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7126.001,-14735.111
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,329.0,20000,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,207,2216,504,464,0.0,0.0,0,132,0.00,0.00,-84.78,0.000,16386,0.000,0.000,206,2216,2237,2170,2305,0,0,0,0,0,0,14.26,28.83,14.28
$GC,134,-0.57,-145.9,207,2216,2173,2305,3.7,-7.9,15,184,12.30,2.78,-30.38,0.000,18724,0.449,2.149,2374,3607,3963,3950,3977,0,0,0,0,0,0,13.64,12.78,13.88
$GC,325,-0.51,-145.9,2376,3608,3959,3977,53.5,-18.2,51,331,0.17,2.45,0.00,0.000,3206,0.264,0.064,2412,2199,3966,3956,3977,0,0,0,0,0,0,13.77,13.91,13.99
$GC,512,-0.51,-145.9,2411,2204,3962,3977,84.6,-14.7,88,518,0.00,2.53,0.00,0.000,260,0.000,0.090,2403,3601,3966,3961,3972,0,0,0,0,0,0,14.28,13.97,14.30
$GC,553,-0.57,-145.9,2404,3602,3962,3977,90.4,-13.3,96,559,0.00,2.45,0.00,0.000,1158,0.000,0.062,2403,2190,3968,3961,3976,0,0,0,0,0,0,14.15,14.01,14.15
$GC,740,-0.62,-145.9,2403,2190,3963,3977,114.9,-11.8,133,746,0.00,2.53,0.00,0.000,388,0.000,0.090,2395,3601,3968,3961,3975,0,0,0,0,0,0,14.32,13.97,14.33
$GC,781,-0.74,-145.9,2395,3601,3962,3977,119.6,-10.3,141,788,0.20,2.45,0.00,0.000,5254,0.102,0.064,2322,2195,3970,3961,3980,0,0,0,0,0,0,14.08,14.03,14.15
$GC,968,-0.66,-145.9,2323,2194,3962,3977,150.5,-17.0,178,975,0.15,2.53,0.00,0.000,2436,0.298,0.089,2349,3602,3968,3961,3976,0,0,0,0,0,0,13.81,14.01,13.98
$GC,1025,-0.71,-145.9,2346,3601,3962,3977,158.7,-12.6,189,1031,0.00,2.45,0.00,0.000,1158,0.000,0.064,2346,2188,3968,3961,3976,0,0,0,0,0,0,14.14,14.04,14.16
$GC,1211,-0.71,-145.9,2346,2188,3962,3977,181.8,-11.7,226,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2187,3969,3962,3976,0,0,0,0,0,0,14.37,14.38,14.38
$GC,1398,-0.73,-145.9,2345,2187,3962,3978,201.6,-10.7,263,1404,0.00,2.53,0.00,0.000,388,0.000,0.093,2340,3601,3968,3961,3975,0,0,0,0,0,0,14.36,14.03,14.39
$GC,1521,-0.82,-145.9,2340,3602,3961,3977,214.6,-10.6,287,1527,0.00,2.42,0.00,0.000,1158,0.000,0.063,2340,2196,3969,3960,3979,0,0,0,0,0,0,14.19,14.07,14.21
$GC,1707,-0.85,-145.9,2341,2198,3960,3974,235.0,-10.5,324,1713,0.12,0.00,0.00,0.000,4230,0.148,0.000,2293,2197,3967,3960,3974,0,0,0,0,0,0,14.00,14.08,14.06
$GC,1893,-0.79,-145.9,2293,2198,3961,3974,261.0,-14.3,361,1899,0.12,2.53,0.00,0.000,2436,0.272,0.091,2307,3617,3963,3958,3969,0,0,0,0,0,0,13.93,13.93,13.86
$GC,1960,-0.82,-145.9,2307,3611,3958,3975,269.6,-12.2,374,1967,0.00,2.45,0.00,0.000,1158,0.000,0.065,2306,2202,3965,3957,3974,0,0,0,0,0,0,14.18,14.08,14.21
$GC,2147,-0.80,-145.9,2307,2202,3959,3973,293.2,-12.3,411,2153,0.00,2.50,0.00,0.000,388,0.000,0.093,2297,3601,3964,3956,3972,0,0,0,0,0,0,14.38,14.03,14.41
$GC,2183,-0.80,-145.9,2298,3601,3956,3974,297.8,-12.8,418,2190,0.00,2.42,0.00,0.000,1030,0.000,0.066,2297,2201,3964,3956,3973,0,0,0,0,0,0,14.16,14.05,14.20
$GC,2370,-0.76,-145.9,2297,2201,3957,3972,321.6,-12.7,455,2377,0.12,2.50,0.00,0.000,2436,0.292,0.090,2317,3600,3963,3956,3971,0,0,0,0,0,0,13.87,14.02,14.04
$GC,2427,-0.82,-145.9,2317,3600,3956,3972,327.9,-10.4,466,2434,0.00,2.42,0.00,0.000,1158,0.000,0.067,2317,2194,3963,3955,3971,0,0,0,0,0,0,14.19,14.07,14.21
$GC,2614,-0.82,-145.9,2317,2196,3955,3971,349.5,-11.8,503,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2195,3963,3955,3971,0,0,0,0,0,0,14.41,14.42,14.42
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2718,-0.13,0.0,2317,2084,3956,3971,361.3,-11.8,508,2926,0.85,0.00,204.00,1.365,10246,0.243,0.000,2532,2080,3359,3385,3333,0,0,0,0,0,0,13.88,13.52,12.98
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2932,0.57,145.9,2531,2080,3384,3334,371.2,0.0,515,3142,0.75,2.62,196.02,1.290,10756,0.072,0.086,2782,713,2762,2805,2720,0,0,0,0,0,0,13.59,13.19,12.76
$GC,3339,0.28,145.9,2782,713,2797,2720,342.0,15.0,555,3345,0.50,2.53,0.00,0.000,5254,0.311,0.083,2678,2094,2756,2796,2717,0,0,0,0,0,0,13.50,13.69,13.76
$GC,3526,0.15,145.9,2678,2095,2797,2714,321.9,10.3,592,3532,0.17,0.00,0.00,0.000,4230,0.295,0.000,2637,2095,2755,2796,2714,0,0,0,0,0,0,13.64,13.88,13.81
$GC,3712,0.15,188.2,2637,2095,2797,2713,306.5,8.0,629,3772,0.00,0.00,57.85,1.312,8358,0.000,0.000,2638,2095,2600,2651,2550,0,0,0,0,0,0,14.20,13.74,13.18
$GC,3952,0.16,202.5,2637,2095,2644,2539,284.9,9.3,675,3976,0.00,0.00,18.95,1.417,8230,0.000,0.000,2637,2095,2535,2592,2478,0,0,0,0,0,0,14.13,13.71,13.24
$GC,4156,0.19,223.9,2637,2096,2589,2471,266.3,9.0,715,4192,0.00,2.50,29.80,1.369,8868,0.000,0.087,2645,715,2449,2505,2393,0,0,0,0,0,0,14.19,13.63,13.24
$GC,4208,0.25,250.3,2646,713,2502,2393,261.6,8.8,724,4256,0.00,2.53,40.15,1.314,9382,0.000,0.088,2645,2105,2342,2397,2288,0,0,0,0,0,0,13.91,13.81,13.15
$GC,4436,0.32,266.5,2646,2106,2385,2280,240.2,9.3,768,4468,0.12,2.62,21.67,1.377,10660,0.134,0.090,2697,3513,2273,2321,2225,0,0,0,0,0,0,13.93,13.75,13.24
$GC,4493,0.24,266.5,2696,3513,2317,2226,233.0,14.5,778,4499,0.20,2.45,0.00,0.000,5254,0.255,0.066,2661,2119,2270,2316,2224,0,0,0,0,0,0,13.71,13.82,13.90
$GC,4680,0.27,271.5,2662,2119,2317,2217,213.8,9.8,815,4686,0.00,2.60,0.00,0.000,676,0.000,0.095,2670,685,2266,2315,2217,0,0,0,0,0,0,14.18,13.89,14.20
$GC,4766,0.35,279.8,2670,685,2314,2217,205.4,9.6,832,4791,0.00,2.55,17.67,1.405,9382,0.000,0.087,2669,2105,2221,2270,2173,0,0,0,0,0,0,14.06,13.94,13.30
$GC,4971,0.38,286.0,2670,2106,2267,2166,184.9,9.7,872,4979,0.12,2.60,4.25,1.515,10660,0.139,0.091,2718,3517,2201,2251,2151,0,0,0,0,0,0,13.96,13.97,13.20
$GC,5051,0.30,286.0,2718,3517,2253,2153,173.8,14.5,887,5058,0.20,2.47,0.00,0.000,5254,0.260,0.069,2685,2099,2202,2251,2153,0,0,0,0,0,0,13.82,13.97,14.03
$GC,5238,0.31,296.8,2685,2099,2252,2154,155.3,9.5,924,5262,0.00,2.60,20.10,1.398,8740,0.000,0.096,2687,693,2153,2203,2104,0,0,0,0,0,0,14.29,13.90,13.35
$GC,5298,0.41,313.1,2685,692,2196,2104,149.6,9.2,935,5334,0.00,2.53,26.50,1.332,9382,0.000,0.088,2685,2101,2085,2132,2038,0,0,0,0,0,0,14.00,13.90,13.28
$GC,5515,0.48,351.3,2685,2102,2130,2030,130.4,8.2,977,5579,0.12,0.00,60.60,1.230,10406,0.145,0.000,2741,2098,1930,1969,1891,0,0,0,0,0,0,13.95,13.75,13.21
$GC,5760,0.48,351.3,2741,2101,1959,1882,102.5,10.7,1024,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2101,1920,1958,1882,0,0,0,0,0,0,14.14,14.16,14.16
$GC,5947,0.50,379.1,2747,2102,1956,1880,84.3,8.7,1061,5970,0.00,2.60,14.65,0.455,8740,0.000,0.091,2741,687,1817,1848,1786,0,0,0,0,0,0,14.21,13.93,13.65
$GC,6026,0.61,419.1,2742,688,1849,1787,77.6,8.2,1076,6057,0.12,2.55,22.98,0.435,11430,0.135,0.088,2788,2101,1656,1685,1627,0,0,0,0,0,0,13.60,13.95,13.66
$GC,6237,0.61,419.1,2788,2102,1685,1624,53.8,11.1,1117,6244,0.00,2.55,0.00,0.000,516,0.000,0.092,2793,687,1654,1685,1623,0,0,0,0,0,0,14.23,13.92,14.26
$GC,6274,0.65,419.1,2794,686,1683,1623,49.9,10.5,1124,6281,0.00,2.55,0.00,0.000,1158,0.000,0.087,2794,2100,1651,1683,1619,0,0,0,0,0,0,14.10,13.99,14.12
$GC,6461,0.68,468.2,2794,2100,1684,1618,33.5,7.7,1161,6497,0.00,2.58,27.02,0.300,8740,0.000,0.093,2794,694,1453,1494,1413,0,0,0,0,0,0,14.28,13.95,13.78
$GC,6569,0.83,541.6,2794,697,1494,1414,25.6,6.6,1181,6617,0.17,2.53,41.28,0.271,11430,0.117,0.087,2864,2107,1154,1220,1088,0,0,0,0,0,0,14.04,13.98,13.81
$GC,6812,0.95,711.0,2862,2108,1221,1083,12.2,2.2,1225,6908,0.00,2.62,90.68,0.236,8484,0.000,0.090,2862,3518,497,535,460,0,0,0,0,0,0,14.20,13.84,13.75
$STATE,6986,end climb,SURFACE_DEPTH_REACHED
$STATE,6986,begin surface coast
$FINISH,0.1,1.019962
$STATE,7011,end surface coast,CONTROL_FINISHED_OK
$STATE,7011,begin surface
$SM_CCo,7094,0.00,0.000,0,0,494,704.26
$SM_GC,1.12,8.38,2.35,0.00,0.089,0.060,0.000,208,2192,494,-7.37,0.74,704.26,0,0,0,0,0,0,13.96,13.96,14.04
$RAFOS_CLK,19
$RAFOS_FIX,7109.520996,-14750.911133,070817,161645,2,255,10.14
$IRIDIUM_FIX,7114.30,-14732.75,070817,175902
$TT8_MAMPS,0.086135,0.817159
$HUMID,47.55
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.60
$XPDR_PINGS,3
$CP_FREE,16016736256.000000
$PM_FREEKB_00,61883328
$24V_AH,12.76,47.352
$10V_AH,12.72,0.000
$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,24.925,91.000,894.175,0.000,0.000,0.000,0.000,692.675,0.750,0.000,12.594,0.000,3651.778,847.527,3356.384,348.350,0.000,2709.930,0.000,1838.330,2218.000,0.540,0.000
$DEVICE_MAMPS,449.055,2148.885,1515.465,0.000,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7035.000,6987.000,6987.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.071,111.000,16.558,0.000
$MEM,324736
$DATA_FILE_SIZE,43372,1262
$CAP_FILE_SIZE,135656,0
$CFSIZE,2097872896,2084929536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.1
$CURRENT,0.085,336.24,1
$GPS,070817,200552,7116.401,-14735.665,7,1.0,24,21.2,0.0,0.0,7,9.8