version: 66.13
glider: 196
mission: 14
dive: 79
start: 8 15 117 21 14 44
data:
$ID,196
$MISSION,14
$DIVE,79
$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,35
$R_STBD_OVSHOOT,45
$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,229.0
$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
$GPS1,150817,210402,7222.0786,-14814.8818,23,0.7,23,21.3,0.0,0.0,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-77.8
$GPS2,150817,211410,7222.0796,-14814.7900,7,0.7,8,21.3,0.0,191.7,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.6,106272,-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,-145.9,180,2188,510,468,0.0,0.0,0,129,0.00,0.00,-81.22,0.000,16386,0.000,0.000,177,2187,2027,1949,2105,0,0,0,0,0,0,14.35,28.83,14.39
$GC,132,-0.57,-145.9,178,2188,1952,2107,3.3,-4.4,8,189,12.55,2.78,-37.42,0.000,19236,0.452,2.153,2376,3578,3963,3947,3980,1,0,0,0,0,0,13.55,12.68,14.10
$GC,414,-0.59,-145.9,2376,3579,3957,3977,62.3,-14.1,64,420,0.00,2.33,0.00,0.000,1158,0.000,0.054,2376,2207,3968,3956,3980,0,0,0,0,0,0,14.25,14.15,14.28
$GC,727,-0.62,-145.9,2377,2206,3960,3980,108.5,-13.4,92,733,0.00,2.45,0.00,0.000,388,0.000,0.086,2365,3594,3969,3959,3980,0,0,0,0,0,0,14.46,14.14,14.47
$GC,958,-0.73,-145.9,2366,3594,3960,3980,134.8,-10.7,138,963,0.00,2.35,0.00,0.000,1158,0.000,0.054,2365,2200,3968,3957,3980,0,0,0,0,0,0,14.30,14.21,14.34
$GC,1268,-0.80,-145.9,2368,2199,3960,3981,170.6,-11.3,150,1273,0.15,2.45,0.00,0.000,4484,0.126,0.086,2292,3588,3968,3956,3980,0,0,0,0,0,0,14.10,14.15,14.17
$GC,1390,-0.80,-145.9,2292,3589,3959,3980,188.9,-15.2,174,1394,0.00,2.35,0.00,0.000,1030,0.000,0.056,2291,2190,3969,3959,3979,0,0,0,0,0,0,14.33,14.23,14.36
$GC,1720,-0.75,-145.9,2292,2189,3960,3977,240.5,-14.7,190,1725,0.15,2.45,0.00,0.000,2436,0.287,0.084,2319,3587,3968,3959,3977,0,0,0,0,0,0,13.97,14.19,14.14
$GC,1816,-0.84,-145.9,2319,3587,3960,3977,251.4,-10.5,209,1821,0.00,2.35,0.00,0.000,1158,0.000,0.055,2318,2193,3968,3959,3977,0,0,0,0,0,0,14.36,14.25,14.38
$GC,2142,-0.89,-145.9,2319,2193,3960,3976,287.2,-10.6,224,2147,0.00,2.47,0.00,0.000,388,0.000,0.090,2319,3594,3966,3958,3974,0,0,0,0,0,0,14.55,14.16,14.57
$GC,2228,-1.00,-145.9,2320,3595,3959,3975,295.5,-9.5,241,2234,0.20,2.35,0.00,0.000,5286,0.105,0.054,2246,2199,3966,3959,3974,0,0,0,0,0,0,14.25,14.22,14.33
$GC,2532,-0.91,-145.9,2245,2199,3960,3973,343.5,-16.1,252,2538,0.15,2.42,0.00,0.000,2436,0.302,0.083,2270,3586,3965,3959,3972,0,0,0,0,0,0,13.89,14.17,14.09
$GC,2663,-0.91,-145.9,2271,3589,3959,3972,360.9,-12.7,278,2668,0.00,2.35,0.00,0.000,1030,0.000,0.056,2270,2198,3965,3959,3971,0,0,0,0,0,0,14.35,14.24,14.38
$GC,2984,-0.88,-145.9,2270,2197,3959,3971,403.9,-13.4,292,2989,0.00,2.45,0.00,0.000,388,0.000,0.088,2264,3594,3964,3959,3970,0,0,0,0,0,0,14.56,14.19,14.57
$GC,3099,-0.88,-145.9,2267,3595,3960,3971,419.0,-12.6,315,3105,0.00,2.38,0.00,0.000,1030,0.000,0.057,2267,2190,3966,3959,3973,0,0,0,0,0,0,14.33,14.21,14.35
$GC,3404,-0.85,-145.9,2267,2188,3960,3968,459.7,-13.3,326,3410,0.15,2.45,0.00,0.000,2436,0.309,0.084,2292,3587,3963,3959,3968,0,0,0,0,0,0,13.94,14.19,14.13
$GC,3497,-0.93,-145.9,2293,3588,3960,3968,469.5,-10.1,344,3502,0.00,2.35,0.00,0.000,1158,0.000,0.055,2292,2196,3963,3959,3968,0,0,0,0,0,0,14.35,14.25,14.39
$STATE,3616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3616,begin apogee
$GC,3621,-0.13,0.0,2293,2071,3960,3968,482.8,-10.9,353,3852,0.93,0.00,227.50,1.382,10246,0.230,0.000,2531,2070,3362,3409,3315,0,0,0,0,0,0,13.99,13.48,12.79
$STATE,3856,end apogee,CONTROL_FINISHED_OK
$STATE,3856,begin climb
$GC,3858,0.57,145.9,2532,2071,3401,3311,493.1,0.0,360,4400,0.73,2.58,203.27,1.337,10756,0.066,0.081,2781,721,2750,2801,2699,0,0,0,0,0,0,13.55,13.19,12.56
$GC,4411,0.57,145.9,2781,721,2802,2699,445.1,9.7,363,4416,0.00,2.42,0.00,0.000,1030,0.000,0.076,2781,2085,2750,2801,2699,0,0,0,0,0,0,13.95,13.84,13.98
$GC,4726,0.21,145.9,2782,2086,2799,2698,394.2,15.9,376,4732,0.57,2.50,0.00,0.000,4484,0.324,0.076,2652,3517,2747,2797,2698,0,0,0,0,0,0,13.77,14.08,13.99
$GC,4838,0.04,145.9,2653,3518,2795,2699,381.3,10.9,398,4844,0.28,2.35,0.00,0.000,5254,0.274,0.058,2600,2127,2746,2794,2698,0,0,0,0,0,0,13.92,14.15,14.20
$GC,5149,0.09,222.0,2600,2126,2796,2698,360.2,6.5,410,5276,0.00,2.60,120.07,1.276,8740,0.000,0.086,2602,693,2454,2523,2385,0,0,0,0,0,0,14.51,13.74,13.12
$GC,5328,0.26,282.3,2603,693,2509,2381,347.9,7.2,445,5429,0.17,2.53,95.25,1.263,11430,0.105,0.079,2677,2103,2215,2281,2149,0,0,0,0,0,0,13.87,13.83,12.95
$GC,5756,0.23,282.3,2677,2103,2261,2127,296.3,12.2,480,5761,0.00,2.53,0.00,0.000,644,0.000,0.085,2684,691,2193,2261,2126,0,0,0,0,0,0,14.25,13.96,14.26
$GC,5791,0.23,282.3,2683,690,2260,2126,292.0,12.3,487,5796,0.00,2.50,0.00,0.000,1030,0.000,0.078,2684,2105,2192,2259,2126,0,0,0,0,0,0,14.11,14.01,14.16
$GC,6116,0.20,282.3,2685,2106,2262,2125,252.1,12.1,502,6121,0.15,2.47,0.00,0.000,4740,0.252,0.081,2657,691,2190,2257,2124,0,0,0,0,0,0,13.90,14.14,14.06
$GC,6166,0.29,294.2,2658,690,2256,2124,246.9,9.5,512,6178,0.00,2.45,4.45,1.467,9382,0.000,0.079,2658,2100,2168,2233,2103,0,0,0,0,0,0,14.31,14.17,13.20
$GC,6477,0.33,309.8,2658,2101,2238,2111,217.6,9.3,524,6509,0.00,0.00,31.30,1.377,8358,0.000,0.000,2657,2101,2104,2166,2043,0,0,0,0,0,0,14.50,14.08,13.35
$GC,6807,0.42,345.4,2658,2100,2155,2032,188.8,8.4,535,6873,0.15,2.55,57.97,1.300,10916,0.119,0.084,2729,702,1951,2002,1900,0,0,0,0,0,0,14.16,13.91,13.24
$GC,6910,0.42,345.4,2729,703,1997,1901,176.8,12.0,555,6915,0.00,2.47,0.00,0.000,1030,0.000,0.076,2729,2100,1951,1996,1906,0,0,0,0,0,0,14.07,13.96,14.09
$GC,7230,0.38,345.4,2729,2101,1996,1894,140.0,10.9,569,7231,0.00,0.00,0.00,0.000,134,0.000,0.000,2729,2100,1944,1995,1894,0,0,0,0,0,0,14.40,14.42,14.42
$GC,7531,0.36,345.4,2729,2101,1994,1892,107.6,10.6,579,7536,0.12,2.47,0.00,0.000,4740,0.239,0.083,2698,691,1942,1994,1891,0,0,0,0,0,0,13.95,14.14,14.07
$GC,7628,0.49,394.6,2700,690,1989,1891,99.6,7.7,598,7658,0.12,2.47,25.62,0.518,11430,0.135,0.079,2755,2101,1756,1793,1719,0,0,0,0,0,0,14.14,14.19,13.66
$GC,7963,0.51,412.3,2755,2103,1793,1717,63.4,9.2,635,7975,0.00,0.00,10.02,0.393,8230,0.000,0.000,2754,2101,1681,1719,1643,0,0,0,0,0,0,14.44,14.14,13.77
$GC,8273,0.61,496.6,2755,2102,1721,1645,39.4,6.1,666,8326,0.00,2.50,45.80,0.319,8612,0.000,0.084,2755,3511,1339,1400,1278,0,0,0,0,0,0,14.45,14.09,13.84
$GC,8401,0.78,555.4,2755,3513,1398,1279,30.3,7.3,691,8440,0.22,2.45,32.08,0.290,11430,0.099,0.067,2841,2100,1099,1174,1024,0,0,0,0,0,0,14.14,14.10,13.82
$GC,8736,0.92,708.5,2842,2101,1176,1014,8.8,2.9,728,8822,0.10,2.55,80.45,0.223,10916,0.151,0.091,2890,697,494,536,452,0,0,0,0,0,0,14.10,13.47,13.93
$STATE,8842,end climb,SURFACE_DEPTH_REACHED
$STATE,8842,begin surface coast
$FINISH,-0.1,1.020202
$STATE,8860,end surface coast,CONTROL_FINISHED_OK
$STATE,8860,begin surface
$SM_CCo,8943,0.00,0.000,0,0,493,704.75
$SM_GC,0.92,8.27,2.70,0.00,0.080,0.076,0.000,202,2207,493,-7.38,-0.45,704.75,0,0,0,0,0,0,14.16,14.12,14.28
$RAFOS_CLK,384
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7223.65,-14810.98,150817,182850
$TT8_MAMPS,0.040446,0.881573
$HUMID,49.25
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,22
$CP_FREE,16006021120.000000
$PM_FREEKB_00,57142720
$24V_AH,12.56,79.999
$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,25.175,84.025,933.800,0.000,0.000,0.000,0.000,339.175,5.500,0.000,8.995,0.000,6058.319,813.626,2409.276,281.535,0.000,2328.835,0.000,1080.035,0.000,0.539,0.000
$DEVICE_MAMPS,452.115,2153.475,1466.505,0.000,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8889.000,8870.000,8836.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.779,20.000,16.562,0.000
$MEM,323632
$DATA_FILE_SIZE,26759,752
$CAP_FILE_SIZE,99992,0
$CFSIZE,2097872896,2064515072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,9667.21,0x213afc,7,24
$SOUNDSPEED,1449.8
$CURRENT,0.050,236.66,1
$GPS,150817,234455,7222.954,-14815.626,14,0.8,24,21.2,1.1,87.1,11,10.0