version: 66.13
glider: 196
mission: 14
dive: 37
start: 8 10 117 21 12 26
data:
$ID,196
$MISSION,14
$DIVE,37
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$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,160
$T_MISSION,195
$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,-1
$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,702.78448
$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,24
$R_STBD_OVSHOOT,38
$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,48
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,119.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,100817,204104,7141.0342,-14726.4697,25,0.8,27,21.4,0.3,134.1,9,9.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.0
$GPS2,100817,211152,7140.8232,-14726.1357,8,0.7,10,21.4,0.9,114.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,328.3,185915,-17.9,-10.000,-21.31,2227
$D_GRID,480
$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,-145.9,165,2222,506,479,0.0,0.0,0,128,0.00,0.00,-80.88,0.000,16386,0.000,0.000,163,2222,2214,2156,2273,0,0,0,0,0,0,14.17,28.83,14.19
$GC,131,-0.57,-145.9,170,2222,2157,2272,3.5,-5.1,8,184,12.62,2.85,-31.52,0.000,18980,0.448,2.132,2385,796,3964,3949,3979,0,0,0,0,0,0,13.67,12.71,14.07
$GC,254,-0.55,-145.9,2385,797,3954,3979,37.2,-18.5,32,259,0.00,2.50,0.00,0.000,1158,0.000,0.087,2378,2187,3966,3954,3979,0,0,0,0,0,0,13.80,13.47,13.93
$GC,564,-0.55,-145.9,2379,2188,3959,3979,93.2,-15.2,64,569,0.00,2.53,0.00,0.000,260,0.000,0.087,2376,3616,3968,3958,3978,0,0,0,0,0,0,14.35,13.96,14.37
$GC,719,-0.64,-145.9,2376,3616,3960,3979,111.9,-11.3,95,725,0.00,2.42,0.00,0.000,1158,0.000,0.055,2376,2188,3968,3958,3979,0,0,0,0,0,0,14.13,14.03,14.14
$GC,1045,-0.69,-145.9,2376,2188,3959,3980,150.7,-11.5,110,1050,0.00,2.53,0.00,0.000,388,0.000,0.086,2367,3619,3969,3959,3979,0,0,0,0,0,0,14.45,14.09,14.46
$GC,1105,-0.83,-145.9,2367,3619,3959,3980,157.3,-10.3,122,1110,0.17,2.42,0.00,0.000,5254,0.108,0.055,2294,2191,3971,3964,3979,0,0,0,0,0,0,14.14,14.07,14.24
$GC,1435,-0.75,-145.9,2295,2189,3959,3978,212.3,-16.3,138,1441,0.15,2.50,0.00,0.000,2436,0.289,0.082,2320,3615,3967,3957,3978,0,0,0,0,0,0,13.95,14.15,14.12
$GC,1566,-0.82,-145.9,2320,3616,3956,3983,227.5,-10.8,164,1571,0.00,2.40,0.00,0.000,1158,0.000,0.057,2320,2198,3966,3955,3978,0,0,0,0,0,0,14.27,14.16,14.30
$GC,1886,-0.84,-145.9,2320,2197,3957,3975,265.3,-11.6,178,1891,0.00,2.50,0.00,0.000,388,0.000,0.089,2319,3614,3965,3955,3975,0,0,0,0,0,0,14.50,14.16,14.51
$GC,1966,-0.94,-145.9,2319,3616,3955,3975,274.2,-10.2,194,1971,0.12,2.40,0.00,0.000,5254,0.134,0.057,2268,2201,3964,3954,3975,0,0,0,0,0,0,14.22,14.21,14.31
$GC,2276,-0.86,-145.9,2268,2199,3955,3972,320.8,-15.1,206,2282,0.12,2.50,0.00,0.000,2436,0.310,0.083,2286,3614,3963,3953,3973,0,0,0,0,0,0,13.88,14.14,14.04
$GC,2383,-0.88,-145.9,2286,3616,3953,3974,334.4,-11.9,227,2389,0.00,2.40,0.00,0.000,1158,0.000,0.058,2286,2198,3962,3952,3973,0,0,0,0,0,0,14.32,14.21,14.35
$GC,2699,-0.85,-145.9,2286,2196,3953,3970,374.1,-12.5,240,2704,0.00,2.50,0.00,0.000,388,0.000,0.086,2280,3616,3961,3952,3970,0,0,0,0,0,0,14.51,14.12,14.53
$GC,2769,-0.85,-145.9,2281,3616,3952,3970,382.9,-12.1,254,2774,0.00,2.40,0.00,0.000,1030,0.000,0.060,2280,2202,3960,3951,3970,0,0,0,0,0,0,14.33,14.20,14.34
$GC,3089,-0.82,-145.9,2280,2201,3952,3969,423.9,-12.7,268,3095,0.12,2.50,0.00,0.000,2436,0.314,0.085,2305,3616,3960,3951,3969,0,0,0,0,0,0,13.90,14.13,14.09
$GC,3165,-0.91,-145.9,2306,3617,3950,3970,431.9,-9.6,283,3171,0.00,2.42,0.00,0.000,1190,0.000,0.057,2305,2190,3960,3951,3969,0,0,0,0,0,0,14.24,14.13,14.29
$GC,3481,-0.94,-145.9,2306,2189,3952,3967,465.0,-10.5,296,3486,0.00,2.53,0.00,0.000,388,0.000,0.088,2305,3614,3959,3951,3967,0,0,0,0,0,0,14.50,14.12,14.52
$GC,3552,-1.04,-145.9,2305,3615,3950,3968,472.1,-9.6,310,3557,0.20,2.40,0.00,0.000,5286,0.108,0.057,2235,2196,3958,3950,3966,0,0,0,0,0,0,14.21,14.19,14.29
$STATE,3629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3629,begin apogee
$GC,3635,-0.13,0.0,2236,2058,3950,3967,484.3,-16.0,316,3844,1.23,0.10,205.05,1.415,10246,0.286,0.158,2525,2123,3365,3395,3336,0,0,0,0,0,0,13.85,13.49,12.93
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3851,0.57,145.9,2527,2124,3388,3328,493.9,0.0,323,4060,0.75,2.60,193.18,1.374,10500,0.066,0.075,2780,3495,2756,2798,2715,0,0,0,0,0,0,13.62,13.17,12.70
$GC,4287,0.16,145.9,2779,3494,2787,2713,454.1,17.9,369,4292,0.73,2.38,0.00,0.000,5254,0.344,0.057,2642,2128,2750,2786,2714,0,0,0,0,0,0,13.48,13.78,13.81
$GC,4598,0.09,168.8,2642,2127,2788,2713,424.6,8.9,381,4629,0.00,2.53,26.80,1.460,8612,0.000,0.081,2642,3500,2673,2714,2632,0,0,0,0,0,0,14.26,13.90,13.26
$GC,4744,-0.01,168.8,2642,3501,2705,2626,409.4,10.7,410,4751,0.30,2.42,0.00,0.000,5254,0.259,0.059,2581,2100,2665,2705,2625,0,0,0,0,0,0,13.78,13.57,14.05
$GC,5050,0.13,258.2,2581,2101,2705,2621,390.9,5.9,421,5189,0.15,2.65,130.15,1.330,10916,0.122,0.086,2646,690,2304,2351,2257,0,0,0,0,0,0,14.14,13.63,13.09
$GC,5221,0.19,258.2,2645,691,2347,2254,374.9,10.0,450,5226,0.00,2.53,0.00,0.000,1158,0.000,0.080,2646,2086,2298,2344,2253,0,0,0,0,0,0,13.83,13.74,13.83
$GC,5531,0.19,258.2,2646,2088,2343,2243,342.7,10.3,462,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2086,2292,2342,2243,0,0,0,0,0,0,14.26,14.27,14.27
$GC,5831,0.19,258.2,2647,2086,2341,2240,311.8,10.2,472,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2086,2290,2341,2240,0,0,0,0,0,0,14.39,14.41,14.41
$GC,6131,0.20,264.3,2646,2086,2341,2240,282.2,9.7,482,6136,0.00,2.45,0.00,0.000,548,0.000,0.086,2646,690,2290,2340,2240,0,0,0,0,0,0,14.45,14.14,14.47
$GC,6172,0.29,279.5,2646,690,2339,2241,278.4,9.3,490,6208,0.00,2.47,26.77,1.405,9382,0.000,0.080,2646,2108,2222,2271,2173,0,0,0,0,0,0,14.28,14.16,13.45
$GC,6525,0.33,295.0,2646,2108,2265,2165,244.8,9.3,510,6554,0.12,0.00,22.02,1.426,10406,0.131,0.000,2696,2108,2162,2214,2111,0,0,0,0,0,0,14.16,14.07,13.40
$GC,6853,0.29,295.0,2696,2109,2204,2105,202.5,12.8,521,6858,0.00,2.50,0.00,0.000,644,0.000,0.086,2699,690,2153,2204,2103,0,0,0,0,0,0,14.38,14.08,14.42
$GC,6928,0.31,295.0,2700,690,2202,2105,193.9,11.3,536,6934,0.00,2.47,0.00,0.000,1158,0.000,0.080,2699,2105,2153,2202,2104,0,0,0,0,0,0,14.23,14.13,14.27
$GC,7244,0.29,295.0,2699,2106,2202,2104,159.4,10.3,549,7249,0.00,2.47,0.00,0.000,388,0.000,0.085,2699,3513,2151,2201,2102,0,0,0,0,0,0,14.45,14.14,14.47
$GC,7299,0.25,295.0,2699,3514,2201,2104,153.3,11.0,560,7306,0.15,2.42,0.00,0.000,5254,0.261,0.063,2667,2095,2151,2200,2103,0,0,0,0,0,0,14.00,14.14,14.21
$GC,7604,0.37,365.3,2668,2094,2201,2102,131.6,6.8,571,7730,0.00,2.55,119.20,1.206,8868,0.000,0.086,2672,690,1871,1909,1833,0,0,0,0,0,0,14.47,13.66,13.24
$GC,7797,0.57,426.5,2673,690,1899,1833,118.3,7.2,609,7902,0.30,2.53,97.78,1.148,11430,0.088,0.080,2780,2098,1625,1664,1587,0,0,0,0,0,0,13.93,13.85,13.09
$GC,8209,0.54,426.5,2782,2099,1657,1566,61.9,12.9,659,8214,0.00,2.55,0.00,0.000,644,0.000,0.089,2781,691,1611,1656,1566,0,0,0,0,0,0,14.16,13.89,14.17
$GC,8279,0.58,426.5,2781,687,1654,1567,53.7,11.0,673,8284,0.00,2.53,0.00,0.000,1158,0.000,0.080,2780,2100,1609,1653,1566,0,0,0,0,0,0,14.03,13.95,14.06
$GC,8589,0.63,492.9,2781,2102,1654,1563,27.7,6.9,705,8633,0.00,2.55,34.33,0.287,8740,0.000,0.086,2781,698,1350,1407,1294,0,0,0,0,0,0,14.32,13.98,13.78
$GC,8663,0.79,552.5,2782,699,1407,1298,22.5,7.3,719,8701,0.17,2.47,32.72,0.271,11430,0.115,0.080,2852,2100,1111,1181,1042,0,0,0,0,0,0,14.04,14.02,13.78
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9004,begin surface coast
$FINISH,0.0,1.019792
$STATE,9034,end surface coast,CONTROL_FINISHED_OK
$STATE,9034,begin surface
$SM_CCo,9055,84.10,0.207,0,0,499,703.03
$SM_GC,1.07,8.20,0.17,84.10,0.083,0.116,0.207,201,2222,499,-7.38,-0.71,703.03,0,0,0,0,0,0,14.16,14.18,13.95
$RAFOS_CLK,369
$RAFOS_FIX,7144.114746,-14721.083008,100817,202026,3,255,0.94
$IRIDIUM_FIX,7143.63,-14732.78,100817,210033
$TT8_MAMPS,0.038948,0.856107
$HUMID,49.44
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.40
$XPDR_PINGS,23
$CP_FREE,16013197312.000000
$PM_FREEKB_00,60228800
$24V_AH,12.70,60.130
$10V_AH,12.65,0.000
$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,25.625,90.225,888.000,84.100,0.000,0.000,0.000,1069.875,5.750,0.000,11.784,0.000,6741.349,874.602,2798.997,587.924,0.000,2799.329,0.000,1090.870,0.000,0.541,0.000
$DEVICE_MAMPS,448.290,2132.055,1460.385,207.315,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9068.000,9057.000,9013.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.071,111.000,16.579,0.000
$MEM,323784
$DATA_FILE_SIZE,26662,760
$CAP_FILE_SIZE,113771,0
$CFSIZE,2097872896,2071855104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1451.0
$CURRENT,0.098,216.98,1
$GPS,100817,234603,7141.616,-14727.116,32,0.7,33,21.4,0.0,128.6,11,7.8