version: 66.13
glider: 196
mission: 14
dive: 52
start: 8 12 117 17 31 38
data:
$ID,196
$MISSION,14
$DIVE,52
$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,20
$R_STBD_OVSHOOT,36
$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,155.0
$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
$GPS1,120817,172433,7151.4819,-14733.7637,30,0.8,31,21.4,0.0,0.0,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.7
$GPS2,120817,173105,7151.4932,-14733.6992,5,0.7,11,21.4,0.0,82.4,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.4,166447,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,196,2218,515,458,0.0,0.0,0,130,0.00,0.00,-81.05,0.000,16386,0.000,0.000,195,2216,2026,1950,2102,0,0,0,0,0,0,14.38,28.83,14.38
$GC,133,-0.57,-145.9,196,2216,1952,2103,3.1,-3.7,8,190,12.45,2.72,-36.88,0.000,18724,0.453,2.153,2376,3594,3968,3953,3983,0,0,0,0,0,0,13.69,12.69,14.13
$GC,365,-0.57,-145.9,2377,3595,3955,3983,58.5,-17.5,54,370,0.00,2.40,0.00,0.000,1030,0.000,0.059,2376,2195,3966,3949,3983,0,0,0,0,0,0,14.20,14.09,14.23
$GC,695,-0.57,-145.9,2378,2195,3958,3984,108.6,-13.4,84,700,0.00,2.47,0.00,0.000,260,0.000,0.086,2376,3597,3970,3958,3983,0,0,0,0,0,0,14.39,14.06,14.41
$GC,800,-0.70,-145.9,2376,3599,3959,3984,120.4,-10.4,105,805,0.00,2.38,0.00,0.000,1158,0.000,0.055,2376,2194,3970,3958,3983,0,0,0,0,0,0,14.21,14.11,14.24
$GC,1115,-0.76,-145.9,2376,2193,3959,3983,155.7,-11.0,118,1120,0.12,2.47,0.00,0.000,4484,0.140,0.085,2319,3600,3970,3958,3983,0,0,0,0,0,0,14.21,14.10,14.25
$GC,1150,-0.76,-145.9,2320,3600,3959,3983,160.4,-14.2,125,1155,0.00,2.40,0.00,0.000,1030,0.000,0.057,2318,2188,3970,3958,3983,0,0,0,0,0,0,14.26,14.14,14.28
$GC,1476,-0.76,-145.9,2319,2188,3957,3984,207.3,-13.4,140,1480,0.00,2.47,0.00,0.000,260,0.000,0.088,2319,3595,3970,3958,3983,0,0,0,0,0,0,14.50,14.12,14.51
$GC,1530,-0.82,-145.9,2319,3595,3959,3984,213.9,-11.2,151,1538,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2190,3970,3958,3983,0,0,0,0,0,0,14.25,14.16,14.27
$GC,1835,-0.82,-145.9,2319,2191,3959,3982,249.2,-11.4,162,1840,0.00,2.47,0.00,0.000,260,0.000,0.088,2318,3595,3970,3958,3982,0,0,0,0,0,0,14.51,14.09,14.52
$GC,1886,-0.91,-145.9,2319,3596,3957,3983,254.5,-10.2,172,1890,0.00,2.38,0.00,0.000,1158,0.000,0.059,2318,2193,3969,3956,3982,0,0,0,0,0,0,14.31,14.21,14.34
$GC,2196,-0.95,-145.9,2319,2194,3957,3981,287.7,-10.6,184,2201,0.12,2.47,0.00,0.000,4484,0.139,0.085,2258,3598,3968,3956,3981,0,0,0,0,0,0,14.26,14.14,14.28
$GC,2281,-0.89,-145.9,2254,3600,3955,3981,300.2,-15.0,201,2287,0.15,2.40,0.00,0.000,3206,0.275,0.059,2283,2198,3968,3955,3981,0,0,0,0,0,0,13.85,14.15,14.12
$GC,2586,-0.87,-145.9,2283,2197,3954,3981,340.4,-12.9,212,2591,0.00,2.45,0.00,0.000,388,0.000,0.086,2280,3595,3967,3954,3980,0,0,0,0,0,0,14.52,14.16,14.53
$GC,2661,-0.89,-145.9,2280,3596,3955,3980,349.9,-12.2,227,2667,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2195,3967,3954,3980,0,0,0,0,0,0,14.31,14.21,14.34
$GC,2977,-0.86,-145.9,2280,2194,3955,3979,391.2,-13.1,240,2982,0.00,2.50,0.00,0.000,388,0.000,0.086,2271,3604,3966,3954,3979,0,0,0,0,0,0,14.50,14.13,14.53
$GC,3067,-0.86,-145.9,2271,3603,3954,3980,402.7,-12.4,258,3072,0.12,2.40,0.00,0.000,3078,0.261,0.059,2295,2194,3967,3957,3978,0,0,0,0,0,0,13.95,14.16,14.19
$GC,3398,-0.86,-145.9,2296,2193,3955,3977,439.9,-11.0,274,3403,0.00,2.47,0.00,0.000,260,0.000,0.086,2293,3595,3965,3953,3978,0,0,0,0,0,0,14.50,14.11,14.52
$GC,3468,-0.92,-145.9,2293,3597,3954,3977,447.5,-10.7,288,3473,0.00,2.40,0.00,0.000,1158,0.000,0.058,2293,2193,3965,3953,3978,0,0,0,0,0,0,14.31,14.19,14.33
$STATE,3756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3756,begin apogee
$GC,3761,-0.13,0.0,2294,2070,3954,3977,481.3,-11.7,301,4000,0.93,0.00,235.10,1.372,10246,0.237,0.000,2529,2069,3368,3393,3344,0,0,0,0,0,0,13.91,13.46,12.84
$STATE,4004,end apogee,CONTROL_FINISHED_OK
$STATE,4004,begin climb
$GC,4006,0.57,145.9,2529,2070,3384,3336,492.8,0.0,309,4548,0.75,2.58,204.38,1.346,10756,0.068,0.080,2782,726,2752,2795,2709,0,0,0,0,0,0,13.53,13.21,12.63
$GC,4667,0.24,145.9,2784,727,2795,2709,425.2,15.4,334,4673,0.55,2.42,0.00,0.000,5254,0.321,0.077,2667,2087,2751,2794,2708,0,0,0,0,0,0,13.64,13.90,13.96
$GC,4993,0.11,148.6,2666,2088,2794,2705,391.9,9.9,349,4999,0.17,2.50,0.00,0.000,4516,0.308,0.081,2625,3509,2748,2794,2703,0,0,0,0,0,0,13.81,14.06,13.98
$GC,5224,0.05,176.5,2626,3510,2792,2704,371.0,8.7,395,5275,0.15,2.35,44.33,1.354,13478,0.277,0.059,2602,2127,2643,2690,2597,0,0,0,0,0,0,13.94,14.16,13.31
$GC,5596,0.13,247.1,2599,2129,2679,2580,345.3,6.7,419,5717,0.00,2.53,114.45,1.289,8612,0.000,0.080,2602,3507,2349,2404,2294,0,0,0,0,0,0,14.38,13.58,13.10
$GC,5855,0.25,286.9,2602,3509,2381,2292,325.6,8.2,470,5920,0.17,2.45,59.62,1.296,11430,0.103,0.061,2673,2100,2195,2246,2145,0,0,0,0,0,0,13.93,13.89,13.08
$GC,6230,0.23,286.9,2673,2101,2228,2124,280.2,12.4,495,6235,0.00,2.53,0.00,0.000,644,0.000,0.090,2673,687,2173,2226,2121,0,0,0,0,0,0,14.25,13.95,14.26
$GC,6321,0.27,286.9,2673,687,2225,2122,269.8,11.0,513,6326,0.00,2.50,0.00,0.000,1158,0.000,0.080,2673,2106,2172,2224,2121,0,0,0,0,0,0,14.16,14.03,14.18
$GC,6651,0.27,286.9,2673,2107,2225,2123,231.3,11.4,529,6655,0.00,2.50,0.00,0.000,516,0.000,0.086,2674,690,2171,2224,2119,0,0,0,0,0,0,14.42,14.14,14.43
$GC,6686,0.31,286.9,2673,690,2224,2119,227.6,10.5,536,6691,0.00,2.47,0.00,0.000,1158,0.000,0.081,2677,2102,2170,2222,2119,0,0,0,0,0,0,14.23,14.11,14.30
$GC,7011,0.31,286.9,2673,2104,2224,2119,192.6,10.1,551,7016,0.00,2.47,0.00,0.000,516,0.000,0.085,2673,691,2170,2223,2118,0,0,0,0,0,0,14.47,14.16,14.48
$GC,7057,0.40,310.7,2673,691,2223,2118,188.4,8.9,560,7098,0.12,2.47,32.90,1.330,11430,0.143,0.080,2726,2109,2094,2144,2045,0,0,0,0,0,0,14.21,14.19,13.40
$GC,7405,0.33,310.7,2728,2109,2136,2036,146.1,12.0,579,7410,0.12,2.50,0.00,0.000,4740,0.242,0.082,2699,687,2085,2135,2035,0,0,0,0,0,0,13.90,14.10,14.04
$GC,7492,0.40,339.4,2700,689,2134,2036,137.9,8.7,596,7546,0.00,2.47,48.17,1.287,9382,0.000,0.079,2699,2102,1980,2029,1931,0,0,0,0,0,0,14.14,14.03,13.33
$GC,7858,0.46,375.4,2700,2102,2016,1914,106.1,8.3,619,7918,0.00,0.00,58.72,1.237,8358,0.000,0.000,2699,2102,1836,1874,1798,0,0,0,0,0,0,14.35,13.85,13.26
$GC,8216,0.58,431.3,2699,2103,1858,1780,76.8,7.4,649,8249,0.17,2.60,28.12,0.431,10916,0.112,0.086,2781,687,1605,1643,1568,0,0,0,0,0,0,14.09,13.97,13.63
$GC,8299,0.58,431.3,2781,690,1646,1571,67.4,11.8,665,8304,0.00,2.53,0.00,0.000,1030,0.000,0.080,2781,2104,1608,1645,1571,0,0,0,0,0,0,14.11,14.00,14.13
$GC,8609,0.60,463.3,2781,2106,1646,1569,36.2,8.5,697,8632,0.00,2.47,17.23,0.311,8484,0.000,0.082,2784,3511,1474,1519,1430,0,0,0,0,0,0,14.37,14.00,13.79
$GC,8677,0.64,476.8,2781,3512,1522,1434,29.9,9.4,710,8695,0.00,2.45,8.27,0.298,9382,0.000,0.067,2781,2100,1416,1464,1368,0,0,0,0,0,0,14.11,14.00,13.83
$GC,9004,0.95,716.2,2781,2100,1474,1372,15.0,-1.0,743,9133,0.30,2.60,119.07,0.249,10660,0.088,0.080,2895,3516,498,538,459,0,0,0,0,0,0,14.06,13.87,13.76
$STATE,9203,end climb,SURFACE_DEPTH_REACHED
$STATE,9203,begin surface coast
$FINISH,0.5,1.020051
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9296,0.00,0.000,0,0,499,703.03
$SM_GC,1.03,8.40,2.33,0.00,0.082,0.050,0.000,207,2188,499,-7.37,0.54,703.03,0,0,0,0,0,0,14.01,13.99,14.09
$RAFOS_CLK,25
$RAFOS_FIX,7146.153809,-14802.952148,120817,161616,2,255,3.40
$IRIDIUM_FIX,7148.85,-14731.20,120817,144324
$TT8_MAMPS,0.085386,0.865095
$HUMID,48.11
$INTERNAL_PRESSURE,7.81082
$TCM_TEMP,13.60
$XPDR_PINGS,16
$CP_FREE,16010575872.000000
$PM_FREEKB_00,59161408
$24V_AH,12.63,67.449
$10V_AH,12.55,0.000
$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,24.825,93.900,970.375,0.000,0.000,0.000,0.000,181.700,4.000,0.000,12.582,0.000,6297.039,858.534,2331.799,214.125,0.000,2244.954,0.000,1123.276,2212.000,0.539,0.000
$DEVICE_MAMPS,452.880,2152.710,1371.645,0.000,0.000,0.000,0.000,139.995,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9201.000,9223.000,9187.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.733,20.000,16.571,0.000
$MEM,323684
$DATA_FILE_SIZE,26750,784
$CAP_FILE_SIZE,101610,0
$CFSIZE,2097872896,2072444928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.6
$CURRENT,0.043,96.85,1
$GPS,120817,200755,7152.361,-14734.384,22,0.8,38,21.4,0.3,190.0,10,7.4