version: 66.13
glider: 196
mission: 14
dive: 12
start: 8 7 117 20 28 17
data:
$ID,196
$MISSION,14
$DIVE,12
$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,25
$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,73.0
$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
$GPS1,070817,200552,7116.4014,-14735.6650,7,1.0,24,21.2,0.0,0.0,7,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.5
$GPS2,070817,202743,7116.4546,-14735.8418,10,0.9,38,21.2,0.0,286.2,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7127.254,-14735.842
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,346.5,20000,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,208,2191,512,465,0.0,0.0,0,131,0.00,0.00,-83.62,0.000,16386,0.000,0.000,208,2191,2237,2166,2308,0,0,0,0,0,0,14.12,28.83,14.12
$GC,134,-0.57,-145.9,208,2193,2170,2309,3.4,-6.9,15,183,12.35,2.88,-30.73,0.000,18724,0.446,2.137,2378,3610,3965,3953,3977,0,0,0,0,0,0,13.62,12.74,13.83
$GC,403,-0.52,-145.9,2377,3611,3962,3978,67.5,-17.9,67,409,0.15,2.47,0.00,0.000,3206,0.268,0.063,2405,2191,3969,3962,3977,0,0,0,0,0,0,13.74,13.91,13.96
$GC,589,-0.52,-145.9,2406,2196,3964,3978,96.9,-14.1,104,595,0.00,2.55,0.00,0.000,260,0.000,0.088,2400,3612,3970,3963,3977,0,0,0,0,0,0,14.16,13.92,14.19
$GC,606,-0.52,-145.9,2400,3620,3964,3977,99.2,-14.1,107,612,0.00,2.45,0.00,0.000,1030,0.000,0.059,2400,2202,3970,3964,3977,0,0,0,0,0,0,13.98,13.88,13.98
$GC,793,-0.57,-145.9,2400,2202,3964,3978,122.0,-10.2,144,798,0.00,0.00,0.00,0.000,134,0.000,0.000,2400,2201,3970,3963,3977,0,0,0,0,0,0,14.19,14.21,14.21
$GC,980,-0.66,-145.9,2400,2201,3965,3977,140.9,-10.2,181,986,0.00,2.55,0.00,0.000,388,0.000,0.093,2392,3610,3970,3964,3977,0,0,0,0,0,0,14.26,13.56,14.28
$GC,1062,-0.84,-145.9,2392,3611,3963,3977,148.5,-8.0,197,1068,0.28,2.42,0.00,0.000,5286,0.090,0.059,2289,2198,3970,3963,3977,0,0,0,0,0,0,14.05,14.02,14.13
$GC,1248,-0.73,-145.9,2289,2198,3964,3978,180.2,-15.9,234,1256,0.20,2.55,0.00,0.000,2436,0.284,0.088,2326,3617,3969,3963,3976,0,0,0,0,0,0,13.81,13.97,13.99
$GC,1363,-0.77,-145.9,2327,3617,3964,3976,195.2,-12.5,256,1369,0.00,2.45,0.00,0.000,1158,0.000,0.063,2326,2192,3968,3959,3977,0,0,0,0,0,0,14.12,14.00,14.17
$GC,1549,-0.77,-145.9,2327,2193,3964,3975,218.5,-11.9,293,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2192,3968,3963,3974,0,0,0,0,0,0,14.37,14.39,14.40
$GC,1734,-0.77,-145.9,2327,2192,3964,3973,239.9,-11.4,330,1741,0.00,2.55,0.00,0.000,260,0.000,0.094,2319,3614,3967,3963,3972,0,0,0,0,0,0,14.36,14.01,14.38
$GC,1858,-0.81,-145.9,2319,3615,3963,3973,253.8,-11.1,354,1865,0.00,2.42,0.00,0.000,1158,0.000,0.063,2319,2197,3967,3962,3973,0,0,0,0,0,0,14.16,14.05,14.18
$GC,2045,-0.81,-145.9,2319,2199,3963,3971,277.3,-12.8,391,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2199,3966,3962,3971,0,0,0,0,0,0,14.38,14.40,14.40
$GC,2230,-0.81,-145.9,2319,2199,3963,3970,300.3,-12.2,428,2237,0.00,2.53,0.00,0.000,260,0.000,0.093,2312,3606,3965,3961,3970,0,0,0,0,0,0,14.40,14.05,14.42
$GC,2332,-0.87,-145.9,2313,3608,3962,3970,312.1,-10.6,448,2338,0.00,2.45,0.00,0.000,1158,0.000,0.063,2312,2197,3965,3961,3970,0,0,0,0,0,0,14.20,14.07,14.23
$GC,2518,-0.87,-145.9,2312,2199,3962,3970,333.9,-11.6,485,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2198,3965,3961,3969,0,0,0,0,0,0,14.40,14.42,14.42
$GC,2721,-0.87,-145.9,2311,2199,3962,3969,357.2,-11.6,515,2726,0.00,2.55,0.00,0.000,260,0.000,0.093,2306,3617,3964,3961,3968,0,0,0,0,0,0,14.42,14.08,14.44
$STATE,2743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2743,begin apogee
$GC,2751,-0.13,0.0,2307,2101,3961,3967,360.4,-12.2,520,2958,0.88,0.00,200.57,1.356,10246,0.241,0.000,2527,2100,3363,3393,3333,0,0,0,0,0,0,13.87,13.54,13.00
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2964,0.57,145.9,2527,2101,3391,3331,369.5,0.0,527,3169,0.75,2.72,191.50,1.291,11012,0.072,0.086,2777,3512,2761,2809,2713,0,0,0,0,0,0,13.62,13.28,12.78
$GC,3269,0.19,145.9,2777,3513,2795,2713,351.3,17.9,582,3275,0.68,2.53,0.00,0.000,5254,0.342,0.062,2651,2097,2753,2794,2713,0,0,0,0,0,0,13.35,13.62,13.62
$GC,3455,0.13,164.4,2651,2096,2795,2710,332.6,9.1,619,3479,0.00,0.00,20.52,1.418,8870,0.000,0.000,2651,2096,2695,2742,2648,0,0,0,0,0,0,14.00,13.74,13.14
$GC,3660,0.09,180.9,2651,2096,2737,2640,313.6,9.2,659,3690,0.15,2.55,23.30,1.422,12964,0.288,0.091,2616,691,2623,2674,2572,0,0,0,0,0,0,13.69,13.76,13.19
$GC,3726,0.23,242.4,2616,691,2672,2571,308.7,7.2,671,3822,0.12,2.55,88.85,1.285,11430,0.133,0.087,2667,2100,2374,2430,2318,0,0,0,0,0,0,13.85,13.80,13.02
$GC,4002,0.24,247.8,2667,2101,2419,2307,280.5,9.8,723,4008,0.00,0.00,1.00,0.303,8230,0.000,0.000,2667,2101,2356,2410,2302,0,0,0,0,0,0,14.03,13.77,13.58
$GC,4188,0.24,247.8,2667,2101,2414,2306,261.5,10.2,760,4194,0.00,0.00,0.70,0.320,8198,0.000,0.000,2667,2099,2353,2406,2300,0,0,0,0,0,0,14.15,13.89,13.75
$GC,4374,0.24,247.8,2665,2102,2411,2304,241.3,10.9,797,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2101,2357,2410,2305,0,0,0,0,0,0,14.24,14.26,14.24
$GC,4560,0.24,250.9,2667,2101,2410,2306,222.2,9.9,834,4567,0.00,0.00,3.80,1.479,8486,0.000,0.000,2669,2101,2342,2394,2291,0,0,0,0,0,0,14.30,14.05,13.02
$GC,4747,0.25,262.8,2667,2102,2399,2296,204.1,9.4,871,4771,0.00,0.00,22.02,1.408,8230,0.000,0.000,2667,2100,2297,2351,2243,0,0,0,0,0,0,14.32,13.99,13.39
$GC,4951,0.26,281.6,2667,2102,2343,2235,185.0,9.1,911,4987,0.00,2.55,29.10,1.350,8484,0.000,0.090,2667,3511,2213,2265,2162,0,0,0,0,0,0,14.28,13.80,13.32
$GC,5052,0.26,281.6,2667,3512,2257,2163,174.6,10.4,930,5059,0.00,2.47,0.00,0.000,1030,0.000,0.067,2673,2102,2208,2255,2161,0,0,0,0,0,0,14.04,13.93,14.05
$GC,5240,0.32,306.1,2674,2102,2256,2158,157.8,8.9,967,5280,0.00,0.00,37.50,1.302,8870,0.000,0.000,2673,2101,2117,2167,2067,0,0,0,0,0,0,14.27,13.88,13.31
$GC,5461,0.42,343.6,2674,2102,2159,2057,139.2,8.3,1010,5527,0.12,2.65,60.47,1.232,10916,0.143,0.093,2729,687,1962,2007,1917,0,0,0,0,0,0,13.99,13.74,13.21
$GC,5559,0.42,343.6,2728,687,2000,1916,128.7,11.0,1027,5565,0.00,2.55,0.00,0.000,1030,0.000,0.085,2728,2100,1956,1998,1915,0,0,0,0,0,0,13.90,13.80,13.92
$GC,5745,0.42,343.6,2729,2102,1998,1908,108.5,10.8,1064,5751,0.00,2.58,0.00,0.000,260,0.000,0.091,2729,3517,1951,1995,1907,0,0,0,0,0,0,14.17,13.85,14.19
$GC,5781,0.42,343.6,2729,3517,1997,1907,104.5,11.6,1071,5788,0.00,2.50,0.00,0.000,1030,0.000,0.069,2737,2097,1951,1996,1907,0,0,0,0,0,0,14.04,13.95,14.07
$GC,5968,0.42,355.0,2737,2097,1997,1905,86.7,9.5,1108,5979,0.00,2.53,4.82,0.442,8740,0.000,0.093,2742,685,1914,1955,1874,0,0,0,0,0,0,14.24,13.96,13.60
$GC,6135,0.51,396.1,2743,684,1961,1877,72.1,8.1,1141,6165,0.00,2.53,22.55,0.421,9382,0.000,0.087,2738,2098,1749,1780,1719,0,0,0,0,0,0,14.05,13.93,13.70
$GC,6345,0.61,456.9,2742,2099,1782,1719,54.8,7.2,1182,6383,0.12,2.58,32.67,0.364,10916,0.135,0.092,2794,689,1503,1548,1458,0,0,0,0,0,0,14.08,13.95,13.75
$GC,6435,0.70,483.2,2795,690,1543,1458,46.6,8.8,1198,6454,0.00,2.53,14.43,0.340,9382,0.000,0.086,2794,2103,1393,1446,1340,0,0,0,0,0,0,14.02,13.90,13.71
$GC,6634,0.78,516.7,2795,2103,1446,1336,29.0,8.5,1237,6659,0.12,2.55,18.10,0.288,10916,0.141,0.090,2860,685,1256,1318,1194,0,0,0,0,0,0,14.05,13.90,13.73
$GC,6726,0.78,516.7,2860,686,1319,1196,19.0,10.9,1254,6733,0.00,2.53,0.00,0.000,1030,0.000,0.086,2860,2101,1256,1318,1195,0,0,0,0,0,0,14.12,13.96,14.11
$GC,6913,0.94,736.4,2856,2101,1314,1191,14.1,-0.1,1291,6939,0.00,0.00,24.40,0.253,8738,0.000,0.000,2860,2100,1071,1140,1002,0,0,0,0,0,0,14.29,28.83,14.31
$FREEZE,13.93,5.303,-1.378,0,1,0
$STATE,6940,end climb,NO_VERTICAL_VELOCITY
$STATE,6940,begin surface
$SM_CCo,6946,76.93,0.241,0,0,499,703.03
$SM_GC,1.24,8.23,0.17,0.00,0.084,0.122,0.000,206,2220,495,-7.37,-0.74,703.77,0,0,0,0,0,0,14.12,14.14,14.22
$RAFOS_CLK,247
$RAFOS_FIX,7109.520996,-14750.911133,070817,161645,2,255,10.14
$IRIDIUM_FIX,7116.48,-14744.06,070817,201030
$TT8_MAMPS,0.040446,0.873334
$HUMID,47.48
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,17
$CP_FREE,16016572416.000000
$PM_FREEKB_00,61837120
$24V_AH,12.74,47.792
$10V_AH,12.78,0.000
$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,24.150,76.550,796.325,76.925,0.000,0.000,0.000,939.175,4.250,0.000,39.963,0.000,3712.262,932.325,3499.694,404.542,0.000,2912.635,0.000,1866.673,0.000,0.541,0.000
$DEVICE_MAMPS,445.995,2137.410,1478.745,240.975,0.000,0.000,0.000,187.425,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6964.000,6958.000,6915.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.828,111.000,16.565,0.000
$MEM,324708
$DATA_FILE_SIZE,43220,1295
$CAP_FILE_SIZE,138342,0
$CFSIZE,2097872896,2084601856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.8
$CURRENT,0.106,298.51,1
$GPS,070817,223004,7117.584,-14735.861,20,0.9,35,21.2,0.0,301.8,9,9.4