version: 66.13
glider: 196
mission: 14
dive: 76
start: 8 15 117 13 2 28
data:
$ID,196
$MISSION,14
$DIVE,76
$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,27
$R_STBD_OVSHOOT,31
$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,220.0
$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
$GPS1,150817,125051,7218.5205,-14810.0059,51,0.8,52,21.3,0.9,266.2,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.8
$GPS2,150817,130156,7218.4766,-14810.4092,7,0.7,9,21.3,0.0,310.1,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.8,113202,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,168,2214,522,473,0.0,0.0,0,131,0.00,0.00,-81.38,0.000,16386,0.000,0.000,166,2213,2063,1984,2142,0,0,0,0,0,0,14.35,28.83,14.37
$GC,134,-0.57,-145.9,167,2215,1986,2144,3.2,-4.1,8,187,12.65,2.78,-36.03,0.000,18724,0.453,2.142,2377,3597,3963,3945,3981,1,0,0,0,0,0,13.54,12.68,14.09
$GC,393,-0.59,-145.9,2377,3600,3955,3982,63.1,-14.4,59,399,0.00,2.40,0.00,0.000,1158,0.000,0.056,2377,2189,3968,3955,3981,0,0,0,0,0,0,14.12,14.01,14.17
$GC,719,-0.59,-145.9,2377,2188,3959,3982,112.2,-13.5,86,724,0.00,2.47,0.00,0.000,260,0.000,0.083,2366,3601,3969,3958,3981,0,0,0,0,0,0,14.47,14.14,14.48
$GC,774,-0.72,-145.9,2366,3603,3958,3981,119.3,-11.3,97,780,0.00,2.40,0.00,0.000,1158,0.000,0.055,2366,2192,3969,3958,3981,0,0,0,0,0,0,14.26,14.16,14.29
$GC,1080,-0.76,-145.9,2367,2190,3960,3981,157.4,-12.2,108,1085,0.00,2.50,0.00,0.000,388,0.000,0.086,2361,3607,3969,3958,3981,0,0,0,0,0,0,14.51,14.16,14.53
$GC,1125,-0.89,-145.9,2363,3607,3959,3981,162.4,-10.5,117,1130,0.22,2.40,0.00,0.000,5254,0.097,0.055,2274,2195,3970,3958,3982,0,0,0,0,0,0,14.28,14.22,14.35
$GC,1440,-0.78,-145.9,2274,2194,3959,3980,222.0,-18.3,130,1445,0.20,2.45,0.00,0.000,2436,0.294,0.081,2313,3602,3968,3958,3979,0,0,0,0,0,0,13.96,14.21,14.14
$GC,1595,-0.86,-145.9,2313,3603,3959,3979,241.2,-11.1,161,1600,0.00,2.38,0.00,0.000,1158,0.000,0.054,2313,2195,3968,3958,3979,0,0,0,0,0,0,14.31,14.21,14.34
$GC,1921,-0.86,-145.9,2313,2195,3959,3976,280.0,-11.7,176,1925,0.00,2.45,0.00,0.000,260,0.000,0.086,2306,3601,3966,3957,3976,0,0,0,0,0,0,14.54,14.21,14.57
$GC,1986,-0.95,-145.9,2308,3602,3959,3976,287.2,-10.4,189,1990,0.00,2.38,0.00,0.000,1158,0.000,0.056,2308,2197,3967,3958,3976,0,0,0,0,0,0,14.35,14.21,14.35
$GC,2311,-0.97,-145.9,2308,2195,3959,3973,324.6,-11.5,204,2316,0.12,2.45,0.00,0.000,4484,0.139,0.084,2249,3601,3965,3958,3973,0,0,0,0,0,0,14.29,14.21,14.33
$GC,2361,-0.91,-145.9,2249,3601,3959,3973,332.0,-15.6,214,2366,0.15,2.38,0.00,0.000,3206,0.278,0.059,2277,2199,3965,3958,3973,0,0,0,0,0,0,13.94,14.21,14.22
$GC,2671,-0.88,-145.9,2278,2200,3959,3972,374.6,-13.5,226,2676,0.00,2.45,0.00,0.000,388,0.000,0.084,2271,3601,3964,3957,3971,0,0,0,0,0,0,14.57,14.19,14.58
$GC,2716,-0.88,-145.9,2271,3603,3959,3971,380.8,-13.6,235,2722,0.00,2.38,0.00,0.000,1030,0.000,0.060,2270,2202,3964,3958,3971,0,0,0,0,0,0,14.36,14.24,14.40
$GC,3033,-0.84,-145.9,2274,2201,3967,3970,424.9,-13.8,248,3038,0.12,2.45,0.00,0.000,2436,0.324,0.081,2292,3601,3964,3958,3970,0,0,0,0,0,0,13.93,14.18,14.11
$GC,3124,-0.93,-145.9,2293,3603,3958,3970,435.4,-11.0,266,3130,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2198,3963,3958,3969,0,0,0,0,0,0,14.33,14.21,14.35
$GC,3455,-0.93,-145.9,2293,2197,3958,3970,473.8,-11.6,282,3460,0.00,2.47,0.00,0.000,260,0.000,0.086,2288,3607,3963,3958,3968,0,0,0,0,0,0,14.55,14.16,14.57
$GC,3485,-0.96,-145.9,2288,3605,3958,3968,477.4,-12.2,288,3490,0.00,2.40,0.00,0.000,1158,0.000,0.060,2287,2191,3963,3958,3968,0,0,0,0,0,0,14.33,14.21,14.36
$STATE,3507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3507,begin apogee
$GC,3513,-0.13,0.0,2288,2071,3958,3968,480.3,-11.9,293,3726,0.95,0.00,209.77,1.416,10246,0.241,0.000,2528,2069,3364,3405,3323,0,0,0,0,0,0,13.95,13.52,12.83
$STATE,3730,end apogee,CONTROL_FINISHED_OK
$STATE,3730,begin climb
$GC,3732,0.57,145.9,2529,2070,3398,3315,490.7,0.0,300,3942,0.75,2.67,200.43,1.372,10500,0.065,0.073,2784,3501,2763,2824,2702,0,0,0,0,0,0,13.59,13.09,12.56
$GC,4144,0.16,145.9,2781,3502,2800,2701,457.9,17.9,341,4151,0.77,2.42,0.00,0.000,5254,0.344,0.057,2632,2123,2750,2799,2701,0,0,0,0,0,0,13.42,13.72,13.76
$GC,4449,0.10,174.5,2633,2122,2800,2700,429.7,8.7,352,4494,0.00,2.60,37.42,1.434,8868,0.000,0.082,2643,696,2647,2702,2593,0,0,0,0,0,0,14.28,13.79,13.16
$GC,4551,0.11,188.9,2644,696,2694,2589,420.6,9.3,372,4576,0.00,2.50,18.75,1.521,9254,0.000,0.079,2643,2098,2590,2655,2526,0,0,0,0,0,0,14.02,13.92,13.12
$GC,4903,0.05,189.6,2643,2098,2648,2509,385.6,10.0,392,4904,0.20,0.00,0.00,0.000,4262,0.246,0.000,2599,2098,2578,2648,2508,0,0,0,0,0,0,13.93,14.21,14.16
$GC,5201,0.14,253.2,2599,2098,2649,2507,363.8,7.1,402,5306,0.00,0.00,103.30,1.321,8358,0.000,0.000,2599,2098,2333,2399,2268,0,0,0,0,0,0,14.48,13.79,13.15
$GC,5591,0.28,313.3,2599,2098,2382,2251,335.5,7.2,415,5692,0.22,0.00,96.57,1.279,10918,0.093,0.000,2686,2098,2083,2142,2024,0,0,0,0,0,0,14.15,13.58,13.08
$GC,6014,0.26,313.3,2686,2098,2126,2009,280.0,13.2,434,6019,0.00,2.50,0.00,0.000,644,0.000,0.087,2686,690,2067,2125,2009,0,0,0,0,0,0,14.33,14.04,14.35
$GC,6079,0.29,313.3,2686,690,2121,2010,271.8,11.7,447,6084,0.00,2.50,0.00,0.000,1158,0.000,0.077,2686,2099,2064,2120,2008,0,0,0,0,0,0,14.21,14.09,14.23
$GC,6404,0.29,313.3,2686,2100,2120,2007,231.6,12.2,462,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,2063,2120,2007,0,0,0,0,0,0,14.47,14.49,14.49
$GC,6704,0.29,313.3,2686,2101,2120,2007,198.8,10.5,472,6709,0.00,2.47,0.00,0.000,516,0.000,0.086,2685,685,2062,2119,2006,0,0,0,0,0,0,14.52,14.17,14.54
$GC,6774,0.37,335.4,2692,685,2114,2007,192.2,9.0,486,6809,0.00,2.45,29.62,1.350,9382,0.000,0.077,2685,2099,1997,2051,1944,0,0,0,0,0,0,14.33,14.22,13.40
$GC,7126,0.41,352.7,2686,2099,2038,1930,159.3,9.2,506,7156,0.00,2.58,25.20,1.357,8612,0.000,0.083,2686,3519,1925,1972,1878,0,0,0,0,0,0,14.45,14.04,13.37
$GC,7166,0.46,352.7,2686,3520,1965,1878,155.3,10.3,514,7171,0.12,2.45,0.00,0.000,3206,0.135,0.062,2736,2096,1919,1961,1878,0,0,0,0,0,0,14.09,14.06,14.18
$GC,7487,0.42,352.7,2738,2100,1956,1874,117.3,11.4,528,7492,0.00,2.47,0.00,0.000,644,0.000,0.086,2742,688,1913,1954,1873,0,0,0,0,0,0,14.47,14.04,14.49
$GC,7557,0.44,352.7,2742,689,1953,1874,109.9,10.3,542,7562,0.00,2.45,0.00,0.000,1158,0.000,0.079,2742,2100,1912,1952,1873,0,0,0,0,0,0,14.24,14.19,14.25
$GC,7869,0.41,354.3,2744,2104,1952,1871,77.1,9.9,569,7870,0.12,0.00,0.00,0.000,4262,0.240,0.000,2716,2102,1911,1952,1871,0,0,0,0,0,0,14.07,14.31,14.27
$GC,8167,0.52,417.3,2717,2102,1953,1869,54.7,7.1,599,8205,0.00,2.53,32.95,0.368,8868,0.000,0.086,2715,693,1662,1701,1624,0,0,0,0,0,0,14.49,14.10,13.75
$GC,8287,0.70,488.3,2717,693,1702,1626,46.8,6.7,622,8335,0.28,2.47,38.72,0.337,11430,0.090,0.078,2815,2106,1369,1429,1310,0,0,0,0,0,0,14.13,14.10,13.81
$GC,8630,0.89,637.8,2815,2109,1430,1313,15.4,3.1,661,8714,0.15,0.00,79.78,0.256,10918,0.122,0.000,2880,2108,762,844,681,0,0,0,0,0,0,14.12,14.07,13.81
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,-0.1,1.011983
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8898,begin surface
$SM_CCo,8919,35.83,0.210,0,0,499,702.78
$SM_GC,1.27,8.15,0.17,35.83,0.073,0.129,0.210,201,2209,499,-7.37,-0.62,702.78,0,0,0,0,0,0,14.22,14.21,13.97
$RAFOS_CLK,385
$RAFOS_FIX,7223.598145,-14745.448242,150817,121246,2,255,2.37
$IRIDIUM_FIX,7219.51,-14818.45,150817,101120
$TT8_MAMPS,0.040446,0.858354
$HUMID,50.03
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,13
$CP_FREE,16006512640.000000
$PM_FREEKB_00,57354112
$24V_AH,12.56,78.597
$10V_AH,12.48,0.000
$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,25.200,79.350,872.525,35.825,0.000,0.000,0.000,398.275,3.250,0.000,10.031,0.000,6464.375,840.310,2058.129,270.773,0.000,2014.837,0.000,993.149,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2142.000,1520.820,210.375,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8926.000,8916.000,8873.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.553,20.000,16.544,0.000
$MEM,323644
$DATA_FILE_SIZE,23431,691
$CAP_FILE_SIZE,97274,0
$CFSIZE,2097872896,2065465344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.090,261.60,1
$GPS,150817,153303,7219.607,-14812.068,29,0.7,35,21.3,0.5,275.9,12,8.7