version: 66.13
glider: 196
mission: 14
dive: 69
start: 8 14 117 17 28 2
data:
$ID,196
$MISSION,14
$DIVE,69
$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,25
$R_STBD_OVSHOOT,20
$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,200.0
$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
$GPS1,140817,170752,7210.4810,-14758.6982,17,0.8,57,21.3,0.8,245.6,11,11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-77.3
$GPS2,140817,172727,7210.5718,-14758.9609,9,1.2,50,21.3,0.0,268.2,7,11.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,320.3,128945,-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,-145.9,148,2209,516,466,0.0,0.0,0,126,0.00,0.00,-78.70,0.000,16386,0.000,0.000,144,2209,2138,2055,2222,0,0,0,0,0,0,14.37,28.83,14.39
$GC,129,-0.57,-145.9,145,2209,2067,2221,4.2,-5.8,8,180,12.62,2.75,-32.83,0.000,18724,0.448,2.143,2377,3609,3962,3951,3974,0,0,0,0,0,0,13.66,12.96,14.05
$GC,405,-0.57,-145.9,2377,3610,3961,3975,62.4,-15.6,63,411,0.00,2.40,0.00,0.000,1030,0.000,0.053,2377,2198,3967,3960,3975,0,0,0,0,0,0,14.14,14.04,14.16
$GC,710,-0.57,-145.9,2378,2201,3962,3975,108.9,-14.0,90,715,0.00,2.47,0.00,0.000,260,0.000,0.081,2368,3613,3967,3961,3974,0,0,0,0,0,0,14.46,14.09,14.47
$GC,837,-0.68,-145.9,2368,3614,3962,3974,124.1,-11.5,115,842,0.00,2.40,0.00,0.000,1158,0.000,0.054,2368,2189,3967,3961,3974,0,0,0,0,0,0,14.29,14.19,14.34
$GC,1162,-0.73,-145.9,2368,2188,3962,3972,164.6,-12.2,130,1163,0.00,0.00,0.00,0.000,134,0.000,0.000,2368,2188,3968,3962,3974,0,0,0,0,0,0,14.52,14.54,14.54
$GC,1462,-0.81,-145.9,2368,2188,3962,3972,197.8,-10.7,140,1468,0.15,2.50,0.00,0.000,4484,0.122,0.083,2291,3614,3966,3962,3971,0,0,0,0,0,0,14.18,14.21,14.23
$GC,1548,-0.81,-145.9,2291,3614,3962,3972,210.0,-13.8,157,1554,0.00,2.40,0.00,0.000,1030,0.000,0.057,2291,2195,3965,3960,3971,0,0,0,0,0,0,14.31,14.20,14.34
$GC,1853,-0.75,-145.9,2291,2195,3962,3966,255.8,-14.2,168,1859,0.15,2.50,0.00,0.000,2436,0.284,0.083,2319,3620,3964,3961,3968,0,0,0,0,0,0,13.96,14.15,14.10
$GC,1919,-0.85,-145.9,2319,3620,3962,3968,263.6,-10.4,181,1924,0.00,2.38,0.00,0.000,1158,0.000,0.056,2319,2176,3964,3961,3967,0,0,0,0,0,0,14.35,14.23,14.37
$GC,2245,-0.89,-145.9,2319,2176,3962,3965,300.2,-11.0,196,2250,0.00,2.53,0.00,0.000,388,0.000,0.087,2315,3614,3962,3961,3964,0,0,0,0,0,0,14.55,14.16,14.56
$GC,2311,-1.00,-145.9,2319,3614,3962,3964,307.0,-9.7,209,2316,0.20,2.40,0.00,0.000,5286,0.103,0.056,2246,2193,3962,3961,3964,0,0,0,0,0,0,14.30,14.25,14.38
$GC,2636,-0.89,-145.9,2246,2190,3961,3962,359.6,-16.4,224,2642,0.17,2.50,0.00,0.000,2436,0.304,0.083,2279,3619,3960,3960,3961,0,0,0,0,0,0,13.88,14.16,14.07
$GC,2744,-0.93,-145.9,2280,3621,3961,3961,373.1,-11.6,245,2749,0.00,2.40,0.00,0.000,1158,0.000,0.057,2279,2199,3960,3960,3961,0,0,0,0,0,0,14.30,14.19,14.33
$GC,3059,-0.90,-145.9,2280,2198,3961,3959,413.3,-12.6,258,3064,0.00,2.47,0.00,0.000,388,0.000,0.084,2270,3614,3960,3960,3960,0,0,0,0,0,0,14.56,14.16,14.59
$GC,3094,-0.90,-145.9,2270,3615,3964,3961,417.9,-13.2,265,3099,0.00,2.40,0.00,0.000,1030,0.000,0.057,2269,2196,3959,3959,3960,0,0,0,0,0,0,14.35,14.23,14.38
$GC,3419,-0.86,-145.9,2270,2195,3960,3959,461.4,-13.4,280,3425,0.12,2.47,0.00,0.000,2436,0.324,0.082,2287,3611,3959,3959,3959,0,0,0,0,0,0,13.94,14.19,14.12
$GC,3495,-0.92,-145.9,2288,3614,3959,3960,470.4,-10.9,295,3500,0.00,2.38,0.00,0.000,1158,0.000,0.057,2287,2201,3958,3958,3959,0,0,0,0,0,0,14.17,14.16,14.14
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3604,-0.13,0.0,2284,2058,3959,3959,482.7,-11.8,301,3826,0.95,0.08,218.45,1.387,10246,0.239,0.182,2530,2110,3364,3406,3323,0,0,0,0,0,0,13.98,13.45,12.83
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3834,0.57,145.9,2531,2110,3397,3313,492.9,0.0,308,4044,0.73,2.65,198.23,1.346,10756,0.066,0.079,2781,726,2759,2820,2699,0,0,0,0,0,0,13.59,13.12,12.61
$GC,4271,0.25,145.9,2782,726,2801,2698,460.7,15.2,354,4276,0.52,2.45,0.00,0.000,5254,0.312,0.076,2669,2093,2748,2799,2698,0,0,0,0,0,0,13.52,13.76,13.82
$GC,4581,0.10,145.9,2669,2094,2799,2692,428.4,10.1,366,4586,0.20,2.40,0.00,0.000,4740,0.294,0.076,2630,725,2745,2799,2692,0,0,0,0,0,0,13.77,14.02,13.95
$GC,4811,0.14,205.1,2631,725,2799,2691,410.5,7.3,412,4903,0.00,2.40,86.38,1.320,9254,0.000,0.079,2630,2099,2528,2598,2458,0,0,0,0,0,0,14.24,14.13,13.14
$GC,5213,0.15,221.5,2630,2100,2579,2435,374.2,9.2,442,5232,0.00,0.00,17.92,1.464,8230,0.000,0.000,2630,2099,2462,2532,2392,0,0,0,0,0,0,14.35,14.02,13.31
$GC,5513,0.16,235.5,2631,2099,2517,2377,346.2,9.4,452,5532,0.00,0.00,17.73,1.495,8230,0.000,0.000,2630,2099,2405,2472,2339,0,0,0,0,0,0,14.41,14.08,13.35
$GC,5813,0.20,248.0,2631,2099,2457,2328,318.0,9.4,462,5831,0.00,0.00,16.77,1.508,8358,0.000,0.000,2630,2099,2353,2415,2291,0,0,0,0,0,0,14.44,14.11,13.36
$GC,6113,0.24,263.4,2630,2099,2402,2278,289.8,9.3,472,6138,0.00,2.42,19.95,1.468,8868,0.000,0.082,2633,720,2287,2348,2227,0,0,0,0,0,0,14.45,13.94,13.35
$GC,6168,0.35,286.8,2636,721,2342,2228,284.8,8.9,483,6210,0.20,2.42,35.85,1.391,11430,0.102,0.079,2707,2103,2194,2254,2135,0,0,0,0,0,0,14.10,14.08,13.24
$GC,6536,0.28,286.8,2707,2104,2246,2123,233.4,13.9,506,6541,0.15,2.47,0.00,0.000,4484,0.228,0.080,2669,3515,2183,2244,2122,0,0,0,0,0,0,13.97,14.07,14.10
$GC,6556,0.23,286.8,2669,3517,2243,2122,230.7,13.6,510,6561,0.00,2.38,0.00,0.000,1158,0.000,0.061,2672,2129,2182,2242,2122,0,0,0,0,0,0,14.25,14.14,14.28
$GC,6866,0.23,294.9,2673,2128,2242,2118,199.9,9.6,522,6881,0.00,2.58,7.97,1.584,8740,0.000,0.088,2673,687,2163,2218,2108,0,0,0,0,0,0,14.48,14.16,13.39
$GC,6958,0.32,322.9,2673,688,2214,2101,191.9,8.7,540,7011,0.00,2.47,46.78,1.335,9382,0.000,0.079,2673,2106,2045,2098,1992,0,0,0,0,0,0,14.26,14.15,13.31
$GC,7318,0.40,358.2,2673,2108,2090,1983,160.5,8.4,562,7383,0.12,2.58,56.30,1.282,10916,0.139,0.084,2725,701,1903,1947,1860,0,0,0,0,0,0,14.16,13.88,13.27
$GC,7403,0.40,358.2,2729,700,1938,1861,150.9,11.3,574,7410,0.00,2.50,0.00,0.000,1030,0.000,0.078,2729,2103,1900,1941,1860,0,0,0,0,0,0,14.01,13.90,14.03
$GC,7709,0.40,358.2,2729,2104,1933,1855,116.8,10.6,585,7714,0.00,2.50,0.00,0.000,516,0.000,0.085,2728,693,1892,1932,1853,0,0,0,0,0,0,14.39,13.99,14.42
$GC,7755,0.46,371.2,2729,692,1931,1854,112.3,9.4,594,7771,0.00,2.47,12.50,1.416,9382,0.000,0.077,2729,2102,1853,1889,1817,0,0,0,0,0,0,14.17,14.07,13.35
$GC,8069,0.46,371.2,2729,2103,1881,1808,80.9,10.3,619,8074,0.00,2.47,0.00,0.000,516,0.000,0.085,2729,693,1843,1879,1807,0,0,0,0,0,0,14.41,14.05,14.42
$GC,8105,0.53,380.4,2729,694,1877,1808,77.4,9.6,626,8115,0.00,2.47,4.25,0.425,9382,0.000,0.078,2728,2102,1813,1848,1779,0,0,0,0,0,0,14.14,14.04,13.67
$GC,8421,0.61,434.9,2729,2103,1852,1779,50.7,7.5,659,8457,0.15,2.55,30.10,0.356,10916,0.119,0.086,2793,694,1589,1625,1553,0,0,0,0,0,0,13.94,14.04,13.83
$GC,8493,0.61,434.9,2794,695,1625,1553,43.0,10.4,670,8497,0.00,2.47,0.00,0.000,1030,0.000,0.079,2794,2100,1588,1624,1553,0,0,0,0,0,0,14.19,14.08,14.23
$GC,8803,0.68,529.5,2794,2102,1625,1545,17.3,5.6,702,8855,0.00,0.00,49.75,0.256,8742,0.000,0.000,2794,2101,1202,1273,1131,0,0,0,0,0,0,14.42,14.15,13.90
$FREEZE,12.84,6.594,-1.413,0,1,0
$STATE,9052,end climb,NO_VERTICAL_VELOCITY
$STATE,9052,begin surface
$SM_CCo,9059,92.57,0.242,0,0,497,703.03
$SM_GC,1.32,7.93,0.17,0.00,0.077,0.113,0.000,205,2224,494,-7.38,-0.68,703.28,0,0,0,0,0,0,14.17,14.24,14.28
$RAFOS_CLK,395
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7211.05,-14801.91,140817,171632
$TT8_MAMPS,0.040446,0.820904
$HUMID,48.85
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,14
$CP_FREE,16007659520.000000
$PM_FREEKB_00,57876928
$24V_AH,12.61,75.334
$10V_AH,12.53,0.000
$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,24.375,84.450,818.925,92.575,0.000,0.000,0.000,739.375,3.500,0.000,51.268,0.000,6865.876,839.245,2494.939,302.062,0.000,2387.269,0.000,1049.684,0.000,0.541,0.000
$DEVICE_MAMPS,447.525,2142.765,1584.315,241.740,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9079.000,9074.000,9030.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.407,20.000,16.544,0.000
$MEM,323700
$DATA_FILE_SIZE,26702,728
$CAP_FILE_SIZE,106770,0
$CFSIZE,2097872896,2067529728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1430.9
$CURRENT,0.029,288.37,1
$GPS,140817,200436,7211.788,-14759.703,36,0.8,39,21.3,0.6,309.8,10,9.7