version: 66.13
glider: 196
mission: 14
dive: 55
start: 8 13 117 2 4 1
data:
$ID,196
$MISSION,14
$DIVE,55
$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,34
$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,164.0
$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
$GPS1,130817,014656,7154.4731,-14737.2275,17,0.7,20,21.4,0.2,285.0,12,9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.6
$GPS2,130817,020326,7154.4736,-14737.5654,6,0.9,40,21.4,0.4,283.2,9,6.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.6,160599,-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,-145.9,188,2216,497,483,0.0,0.0,0,129,0.00,0.00,-81.28,0.000,16386,0.000,0.000,188,2216,2169,2098,2240,0,0,0,0,0,0,14.35,28.83,14.38
$GC,132,-0.57,-145.9,189,2216,2101,2246,3.7,-4.9,8,181,12.65,2.78,-31.20,0.000,18724,0.455,2.145,2377,3598,3965,3950,3980,1,0,0,0,0,0,13.57,12.71,14.10
$GC,277,-0.53,-145.9,2377,3601,3959,3980,45.0,-19.9,35,281,0.12,2.42,0.00,0.000,3206,0.276,0.057,2400,2198,3968,3958,3979,0,0,0,0,0,0,13.83,14.07,14.07
$GC,587,-0.53,-145.9,2400,2199,3963,3979,94.8,-14.4,67,591,0.00,2.47,0.00,0.000,260,0.000,0.083,2392,3601,3972,3962,3982,0,0,0,0,0,0,14.40,14.04,14.42
$GC,662,-0.65,-145.9,2392,3602,3963,3981,104.2,-11.2,82,668,0.00,2.38,0.00,0.000,1158,0.000,0.052,2392,2193,3970,3962,3979,0,0,0,0,0,0,14.27,14.15,14.28
$GC,979,-0.75,-145.9,2392,2196,3963,3979,138.3,-9.7,95,984,0.15,2.47,0.00,0.000,4516,0.120,0.083,2318,3604,3970,3962,3979,0,0,0,0,0,0,13.99,14.14,14.13
$GC,1064,-0.79,-145.9,2320,3604,3963,3979,149.0,-12.5,112,1070,0.00,2.38,0.00,0.000,1158,0.000,0.054,2320,2202,3970,3962,3979,0,0,0,0,0,0,14.27,14.17,14.30
$GC,1369,-0.79,-145.9,2320,2201,3963,3978,190.9,-13.3,123,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2201,3969,3962,3977,0,0,0,0,0,0,14.50,14.52,14.52
$GC,1669,-0.79,-145.9,2320,2201,3963,3975,227.2,-11.5,133,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2200,3968,3962,3975,0,0,0,0,0,0,14.51,14.53,14.52
$GC,1969,-0.82,-145.9,2320,2202,3963,3973,259.6,-10.6,143,1974,0.00,2.47,0.00,0.000,388,0.000,0.088,2319,3603,3967,3962,3972,0,0,0,0,0,0,14.52,14.18,14.54
$GC,2049,-0.94,-145.9,2319,3603,3963,3972,267.7,-9.6,159,2054,0.15,2.38,0.00,0.000,5286,0.119,0.056,2259,2198,3967,3962,3972,0,0,0,0,0,0,14.26,14.19,14.35
$GC,2360,-0.86,-145.9,2260,2196,3963,3970,313.6,-14.8,171,2365,0.15,2.45,0.00,0.000,2436,0.307,0.082,2283,3597,3965,3962,3969,0,0,0,0,0,0,13.92,14.18,14.11
$GC,2420,-0.89,-145.9,2284,3600,3962,3970,321.3,-11.7,183,2425,0.00,2.38,0.00,0.000,1158,0.000,0.058,2284,2198,3965,3961,3969,0,0,0,0,0,0,14.31,14.19,14.34
$GC,2750,-0.87,-145.9,2284,2197,3962,3968,362.0,-12.4,199,2755,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3605,3965,3963,3967,0,0,0,0,0,0,14.54,14.15,14.55
$GC,2825,-0.90,-145.9,2281,3607,3962,3967,371.3,-11.9,214,2831,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2198,3964,3961,3967,0,0,0,0,0,0,14.33,14.22,14.36
$GC,3141,-0.88,-145.9,2280,2198,3962,3966,412.2,-13.0,227,3146,0.00,2.47,0.00,0.000,388,0.000,0.086,2279,3600,3963,3961,3965,0,0,0,0,0,0,14.54,14.17,14.54
$GC,3211,-0.90,-145.9,2280,3600,3961,3965,421.1,-12.2,241,3216,0.00,2.38,0.00,0.000,1158,0.000,0.057,2279,2198,3962,3960,3965,0,0,0,0,0,0,14.33,14.21,14.35
$GC,3531,-0.90,-145.9,2280,2197,3961,3964,462.8,-13.1,255,3536,0.00,2.47,0.00,0.000,260,0.000,0.086,2279,3606,3962,3960,3964,0,0,0,0,0,0,14.54,14.14,14.56
$GC,3631,-0.94,-145.9,2280,3607,3961,3964,475.4,-12.2,275,3636,0.00,2.40,0.00,0.000,1158,0.000,0.057,2279,2190,3962,3960,3964,0,0,0,0,0,0,14.31,14.20,14.35
$STATE,3679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3679,begin apogee
$GC,3685,-0.13,0.0,2280,2063,3961,3964,481.9,-13.2,280,3893,1.00,0.00,200.38,1.460,10246,0.246,0.000,2532,2061,3360,3396,3324,0,0,0,0,0,0,13.90,13.52,12.87
$STATE,3897,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3899,0.57,145.9,2533,2061,3396,3324,492.7,0.0,287,4104,0.73,2.72,192.77,1.404,10500,0.067,0.076,2779,3491,2762,2821,2703,0,0,0,0,0,0,13.60,13.21,12.62
$GC,4329,0.16,145.9,2780,3491,2804,2705,455.4,17.6,367,4335,0.73,2.38,0.00,0.000,5254,0.346,0.057,2640,2128,2754,2804,2704,0,0,0,0,0,0,13.47,13.77,13.81
$GC,4650,0.10,180.1,2641,2131,2804,2704,426.7,8.4,381,4700,0.00,2.47,45.08,1.435,8612,0.000,0.079,2641,3502,2626,2683,2570,0,0,0,0,0,0,14.28,13.69,13.15
$GC,4925,0.01,180.1,2641,3506,2672,2566,398.2,10.8,436,4932,0.25,2.42,0.00,0.000,5254,0.252,0.058,2592,2103,2618,2671,2565,0,0,0,0,0,0,13.84,14.03,14.09
$GC,5252,0.13,260.0,2592,2102,2672,2564,377.0,6.3,451,5378,0.00,2.65,117.50,1.348,8868,0.000,0.088,2592,690,2299,2358,2240,0,0,0,0,0,0,14.42,13.68,13.07
$GC,5393,0.33,336.5,2591,688,2354,2240,367.7,6.5,459,5515,0.30,2.53,111.25,1.302,11430,0.086,0.079,2697,2087,1988,2046,1931,0,0,0,0,0,0,13.79,13.74,12.86
$GC,5825,0.29,336.5,2697,2088,2033,1919,305.9,14.7,495,5833,0.00,2.50,0.00,0.000,644,0.000,0.087,2699,690,1975,2033,1918,0,0,0,0,0,0,14.16,13.88,14.19
$GC,5873,0.29,336.5,2699,690,2032,1918,298.9,14.3,504,5879,0.00,2.50,0.00,0.000,1030,0.000,0.077,2699,2100,1974,2031,1918,0,0,0,0,0,0,14.08,13.95,14.09
$GC,6189,0.26,336.5,2699,2101,2031,1916,252.8,14.5,517,6194,0.12,2.47,0.00,0.000,4740,0.233,0.085,2672,694,1972,2029,1916,0,0,0,0,0,0,13.96,14.07,14.09
$GC,6244,0.34,336.5,2672,695,2028,1916,246.0,11.3,528,6251,0.00,2.47,0.00,0.000,1158,0.000,0.078,2672,2103,1971,2027,1916,0,0,0,0,0,0,14.13,14.01,14.16
$GC,6550,0.37,336.5,2672,2105,2028,1916,211.7,10.9,539,6550,0.00,0.00,0.00,0.000,134,0.000,0.000,2672,2105,1970,2026,1915,0,0,0,0,0,0,14.46,14.47,14.48
$GC,6850,0.40,336.5,2672,2106,2028,1915,179.5,10.7,549,6855,0.12,2.47,0.00,0.000,2692,0.138,0.081,2742,684,1970,2026,1914,0,0,0,0,0,0,14.26,14.19,14.30
$GC,6900,0.36,336.5,2742,684,2026,1914,172.7,14.2,559,6922,0.17,2.47,0.00,0.000,5254,0.249,0.079,2705,2106,1972,2025,1919,0,0,0,0,0,0,14.00,14.16,14.24
$GC,7228,0.36,336.5,2704,2105,2025,1915,134.5,11.4,571,7233,0.00,2.50,0.00,0.000,516,0.000,0.084,2712,692,1969,2024,1915,0,0,0,0,0,0,14.35,14.07,14.39
$GC,7283,0.41,336.5,2712,692,2024,1914,128.4,10.4,582,7289,0.00,2.47,0.00,0.000,1158,0.000,0.079,2712,2100,1968,2022,1914,0,0,0,0,0,0,14.18,14.07,14.21
$GC,7588,0.44,372.4,2712,2101,2023,1915,101.5,8.3,593,7641,0.00,0.00,51.25,1.249,8230,0.000,0.000,2712,2101,1848,1891,1805,0,0,0,0,0,0,14.35,13.93,13.33
$GC,7938,0.54,427.8,2712,2101,1878,1796,74.2,7.4,626,7971,0.12,2.58,27.12,0.427,10660,0.129,0.082,2769,3513,1621,1662,1581,0,0,0,0,0,0,14.02,13.91,13.64
$GC,7986,0.50,427.8,2769,3511,1663,1586,69.4,11.2,634,7993,0.15,2.47,0.00,0.000,5254,0.267,0.063,2748,2092,1625,1663,1587,0,0,0,0,0,0,13.76,13.93,13.98
$GC,8292,0.63,498.4,2748,2095,1664,1576,44.5,6.7,665,8334,0.12,2.50,35.38,0.337,10916,0.128,0.083,2807,691,1330,1389,1272,0,0,0,0,0,0,13.95,13.87,13.66
$GC,8465,0.71,519.1,2807,691,1388,1271,28.6,9.0,699,8481,0.00,2.50,10.73,0.304,9382,0.000,0.078,2807,2100,1246,1310,1182,0,0,0,0,0,0,14.01,13.90,13.72
$GC,8786,0.99,727.6,2807,2101,1311,1180,14.0,0.4,733,8889,0.28,2.58,92.47,0.252,10660,0.088,0.081,2905,3513,500,535,466,0,0,0,0,0,0,13.97,13.82,13.79
$GC,8900,1.00,745.5,2906,3514,536,466,7.7,9.2,750,8905,0.00,2.47,0.00,0.000,1062,0.000,0.067,2915,2103,501,535,467,0,0,0,0,0,0,14.00,13.91,14.02
$STATE,8958,end climb,SURFACE_DEPTH_REACHED
$STATE,8958,begin surface coast
$FINISH,0.0,1.019958
$STATE,8968,end surface coast,CONTROL_FINISHED_OK
$STATE,8968,begin surface
$SM_CCo,9048,0.00,0.000,0,0,500,702.78
$SM_GC,1.13,8.27,0.17,0.00,0.064,0.119,0.000,201,2216,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.04,14.02,14.11
$RAFOS_CLK,103
$RAFOS_FIX,7202.124023,-14620.304688,130817,000019,2,255,11.06
$IRIDIUM_FIX,7154.49,-14735.45,130817,015539
$TT8_MAMPS,0.090629,0.85386
$HUMID,46.25
$INTERNAL_PRESSURE,7.81082
$TCM_TEMP,13.80
$XPDR_PINGS,15
$CP_FREE,16009986048.000000
$PM_FREEKB_00,58943104
$24V_AH,12.62,68.807
$10V_AH,12.66,0.000
$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,25.600,89.625,883.925,0.000,0.000,0.000,0.000,593.425,3.750,0.000,41.628,0.000,6627.561,928.991,2226.958,269.202,0.000,2241.696,0.000,1089.773,2217.000,0.540,0.000
$DEVICE_MAMPS,455.175,2145.060,1459.620,0.000,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8982.000,9001.000,8944.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.125,20.000,16.552,0.000
$MEM,323804
$DATA_FILE_SIZE,26747,758
$CAP_FILE_SIZE,106086,0
$CFSIZE,2097872896,2071592960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,5825.23,0x2341e8,1,24
$SOUNDSPEED,1451.1
$CURRENT,0.067,315.08,1
$GPS,130817,043602,7155.800,-14739.665,15,0.8,31,21.4,0.3,322.5,11,10.0