version: 66.13
glider: 196
mission: 14
dive: 49
start: 8 12 117 9 20 45
data:
$ID,196
$MISSION,14
$DIVE,49
$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,26
$R_STBD_OVSHOOT,25
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,148.0
$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
$GPS1,120817,090825,7148.6274,-14731.6670,20,0.8,40,21.4,0.0,146.0,10,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.9
$GPS2,120817,092010,7148.5493,-14731.6533,6,0.8,10,21.4,0.0,38.0,9,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.3,171792,-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,-145.9,192,2212,508,461,0.0,0.0,0,129,0.00,0.00,-81.45,0.000,16386,0.000,0.000,191,2213,2133,2056,2211,0,0,0,0,0,0,14.30,28.83,14.32
$GC,132,-0.57,-145.9,192,2213,2059,2213,3.8,-5.3,8,179,12.60,0.00,-32.92,0.000,18726,0.454,0.000,2384,2214,3962,3950,3975,1,0,0,0,0,0,13.51,12.59,14.07
$GC,477,-0.55,-145.9,2384,2214,3964,3980,79.5,-15.3,44,482,0.00,2.47,0.00,0.000,388,0.000,0.084,2377,3608,3970,3964,3976,0,0,0,0,0,0,14.37,14.04,14.39
$GC,662,-0.64,-145.9,2378,3609,3965,3976,102.5,-11.4,81,667,0.00,2.42,0.00,0.000,1158,0.000,0.055,2377,2190,3969,3963,3976,0,0,0,0,0,0,14.20,14.09,14.21
$GC,987,-0.70,-145.9,2378,2190,3964,3977,141.3,-11.3,96,992,0.00,2.50,0.00,0.000,388,0.000,0.086,2368,3607,3970,3964,3976,0,0,0,0,0,0,14.47,14.14,14.50
$GC,1052,-0.84,-145.9,2369,3609,3964,3976,148.1,-9.7,109,1058,0.20,2.40,0.00,0.000,5286,0.104,0.054,2287,2199,3969,3963,3976,0,0,0,0,0,0,14.13,14.13,14.21
$GC,1378,-0.76,-145.9,2288,2198,3964,3977,204.7,-17.0,124,1383,0.15,2.47,0.00,0.000,2436,0.285,0.083,2317,3608,3969,3964,3975,0,0,0,0,0,0,13.86,14.13,14.04
$GC,1480,-0.83,-145.9,2317,3609,3964,3976,217.7,-11.4,144,1485,0.00,2.38,0.00,0.000,1158,0.000,0.055,2317,2199,3968,3963,3974,0,0,0,0,0,0,14.22,14.12,14.28
$GC,1800,-0.83,-145.9,2316,2199,3964,3974,255.5,-11.3,158,1805,0.00,2.47,0.00,0.000,260,0.000,0.086,2308,3607,3968,3963,3973,0,0,0,0,0,0,14.54,14.14,14.54
$GC,1906,-0.90,-145.9,2308,3609,3963,3973,267.2,-10.6,179,1910,0.00,2.38,0.00,0.000,1158,0.000,0.057,2308,2201,3967,3962,3972,0,0,0,0,0,0,14.21,14.17,14.21
$GC,2220,-0.90,-145.9,2308,2200,3962,3971,303.6,-11.5,192,2225,0.00,2.47,0.00,0.000,260,0.000,0.088,2305,3607,3966,3962,3970,0,0,0,0,0,0,14.54,14.19,14.56
$GC,2260,-0.97,-145.9,2306,3608,3962,3971,308.1,-11.2,200,2266,0.12,2.40,0.00,0.000,5254,0.132,0.059,2256,2196,3965,3961,3970,0,0,0,0,0,0,14.21,14.19,14.31
$GC,2581,-0.89,-145.9,2256,2196,3962,3970,357.2,-15.4,214,2587,0.12,2.47,0.00,0.000,2436,0.320,0.083,2275,3607,3965,3961,3969,0,0,0,0,0,0,13.90,14.12,14.09
$GC,2698,-0.89,-145.9,2275,3608,3961,3969,372.6,-12.5,237,2704,0.00,2.40,0.00,0.000,1030,0.000,0.057,2275,2195,3964,3960,3969,0,0,0,0,0,0,14.28,14.15,14.31
$GC,3002,-0.85,-145.9,2275,2195,3961,3968,413.5,-13.4,248,3007,0.12,2.50,0.00,0.000,2436,0.318,0.084,2293,3613,3964,3960,3968,0,0,0,0,0,0,13.95,14.16,14.18
$GC,3082,-0.92,-145.9,2294,3614,3960,3967,422.7,-10.5,264,3087,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2201,3964,3960,3968,0,0,0,0,0,0,14.31,14.20,14.33
$GC,3393,-0.92,-145.9,2293,2199,3961,3966,457.9,-11.3,276,3397,0.00,2.50,0.00,0.000,260,0.000,0.087,2293,3613,3967,3968,3966,0,0,0,0,0,0,14.52,14.12,14.53
$GC,3468,-1.01,-145.9,2293,3614,3961,3966,466.0,-10.3,291,3473,0.12,2.40,0.00,0.000,5254,0.135,0.057,2248,2196,3963,3959,3967,0,0,0,0,0,0,14.15,14.14,14.25
$STATE,3570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3570,begin apogee
$GC,3576,-0.13,0.0,2249,2070,3960,3967,481.2,-14.9,297,3787,1.15,0.00,208.05,1.428,10246,0.269,0.000,2528,2067,3366,3396,3337,0,0,0,0,0,0,13.88,13.51,12.87
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3793,0.57,145.9,2529,2067,3392,3327,491.4,0.0,304,4003,0.75,2.75,196.10,1.378,10500,0.065,0.076,2783,3505,2759,2809,2709,0,0,0,0,0,0,13.58,13.22,12.64
$GC,4228,0.16,145.9,2781,3507,2790,2710,452.0,18.1,385,4234,0.75,2.42,0.00,0.000,5254,0.343,0.057,2637,2120,2749,2789,2709,0,0,0,0,0,0,13.47,13.74,13.79
$GC,4544,0.10,172.0,2637,2120,2791,2706,422.5,8.8,398,4584,0.00,2.53,32.90,1.444,8612,0.000,0.081,2637,3502,2657,2705,2609,0,0,0,0,0,0,14.26,13.86,13.20
$GC,4609,-0.00,172.0,2637,3503,2698,2608,416.2,10.4,411,4614,0.28,2.42,0.00,0.000,5254,0.249,0.058,2582,2103,2652,2697,2607,0,0,0,0,0,0,13.73,13.85,13.96
$GC,4935,0.13,255.6,2583,2103,2698,2603,395.4,6.1,426,5071,0.12,2.65,130.32,1.320,10916,0.132,0.086,2633,689,2319,2374,2264,0,0,0,0,0,0,14.12,13.61,13.05
$GC,5106,0.23,272.1,2633,692,2363,2259,379.9,9.2,450,5133,0.00,2.55,22.55,1.432,9382,0.000,0.078,2633,2095,2256,2314,2199,0,0,0,0,0,0,13.79,13.70,12.99
$GC,5450,0.29,289.8,2633,2096,2298,2176,348.3,9.2,468,5480,0.12,0.00,22.12,1.460,10406,0.129,0.000,2686,2095,2176,2234,2119,0,0,0,0,0,0,14.03,13.90,13.21
$GC,5778,0.24,289.8,2686,2095,2226,2110,304.6,13.3,479,5783,0.00,2.50,0.00,0.000,644,0.000,0.086,2686,688,2167,2225,2110,0,0,0,0,0,0,14.34,13.97,14.35
$GC,5823,0.24,289.8,2687,688,2225,2110,298.7,12.7,488,5828,0.00,2.50,0.00,0.000,1030,0.000,0.080,2686,2109,2167,2224,2110,0,0,0,0,0,0,14.19,14.08,14.23
$GC,6139,0.20,289.8,2686,2112,2224,2109,257.3,12.9,501,6144,0.15,2.50,0.00,0.000,4740,0.242,0.082,2658,686,2165,2223,2108,0,0,0,0,0,0,13.97,14.07,14.13
$GC,6194,0.28,291.6,2658,686,2223,2109,251.5,9.9,512,6200,0.00,2.47,0.00,0.000,1190,0.000,0.080,2659,2106,2165,2222,2108,0,0,0,0,0,0,14.26,14.13,14.28
$GC,6499,0.31,294.7,2658,2104,2223,2108,220.5,9.9,523,6500,0.00,0.00,0.00,0.000,166,0.000,0.000,2658,2103,2163,2220,2107,0,0,0,0,0,0,14.48,14.50,14.50
$GC,6799,0.38,326.4,2658,2104,2222,2107,193.9,8.5,533,6866,0.15,2.58,59.85,1.301,10916,0.121,0.086,2725,693,2026,2075,1978,0,0,0,0,0,0,14.27,13.93,13.36
$GC,6886,0.35,326.4,2725,693,2071,1977,183.6,13.2,540,6893,0.15,2.50,0.00,0.000,5254,0.235,0.080,2694,2097,2022,2070,1975,0,0,0,0,0,0,13.86,13.95,14.05
$GC,7191,0.35,327.8,2692,2099,2068,1969,152.5,9.9,551,7192,0.00,0.00,0.00,0.000,38,0.000,0.000,2694,2097,2017,2067,1968,0,0,0,0,0,0,14.37,14.39,14.39
$GC,7491,0.41,359.1,2694,2099,2067,1966,126.1,8.6,561,7552,0.00,2.55,52.25,1.274,8868,0.000,0.086,2704,698,1895,1935,1855,0,0,0,0,0,0,14.44,13.93,13.34
$GC,7589,0.55,391.8,2698,698,1927,1854,117.8,8.5,580,7650,0.20,2.50,53.95,1.222,11430,0.099,0.078,2782,2104,1766,1801,1732,0,0,0,0,0,0,14.03,13.97,13.22
$GC,7955,0.50,391.8,2776,2108,1789,1713,67.8,12.7,621,7960,0.12,2.53,0.00,0.000,4740,0.270,0.083,2756,691,1747,1783,1712,0,0,0,0,0,0,13.74,13.93,13.89
$GC,8048,0.56,411.6,2755,691,1784,1712,58.6,9.1,639,8063,0.00,2.50,8.85,0.368,9382,0.000,0.080,2756,2106,1686,1721,1651,0,0,0,0,0,0,14.07,13.96,13.70
$GC,8368,0.65,485.8,2757,2106,1726,1655,33.1,6.6,673,8410,0.10,0.00,40.08,0.304,10406,0.151,0.000,2796,2105,1384,1436,1333,0,0,0,0,0,0,14.11,14.11,13.83
$GC,8708,0.91,682.9,2797,2106,1437,1330,12.2,0.9,707,8819,0.20,2.50,104.30,0.242,10660,0.109,0.082,2880,3512,579,639,520,0,0,0,0,0,0,14.12,13.93,13.81
$STATE,8894,end climb,SURFACE_DEPTH_REACHED
$STATE,8894,begin surface coast
$FINISH,0.6,1.019968
$STATE,8904,end surface coast,CONTROL_FINISHED_OK
$STATE,8904,begin surface
$SM_CCo,8927,11.07,0.219,0,0,499,703.03
$SM_GC,2.17,8.32,2.30,11.07,0.085,0.052,0.219,203,2190,499,-7.38,0.57,703.03,0,0,0,0,0,0,14.13,14.10,13.91
$RAFOS_CLK,383
$RAFOS_FIX,7325.362305,-14308.439453,120817,080823,4,255,37.31
$IRIDIUM_FIX,7146.45,-14734.89,120817,062929
$TT8_MAMPS,0.041195,0.863597
$HUMID,49.01
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,19
$CP_FREE,16011100160.000000
$PM_FREEKB_00,59369344
$24V_AH,12.59,66.065
$10V_AH,12.68,0.000
$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,26.025,84.450,931.325,11.075,0.000,0.000,0.000,439.300,4.750,0.000,11.554,0.000,6396.614,963.402,2027.034,272.448,0.000,2100.148,0.000,1083.419,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,113.985,1459.620,218.790,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8933.000,8933.000,8881.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.500,20.000,16.570,0.000
$MEM,323604
$DATA_FILE_SIZE,26697,745
$CAP_FILE_SIZE,101601,0
$CFSIZE,2097872896,2073264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1452.1
$CURRENT,0.076,182.00,1
$GPS,120817,115049,7149.356,-14732.460,18,0.7,22,21.4,0.0,0.0,12,10.0