version: 66.13
glider: 196
mission: 14
dive: 83
start: 8 16 117 8 28 1
data:
$ID,196
$MISSION,14
$DIVE,83
$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,39
$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,240.0
$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
$GPS1,160817,081052,7225.6582,-14819.5049,48,0.8,50,21.2,0.3,158.5,9,8.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.6
$GPS2,160817,082727,7225.6748,-14819.2549,6,0.8,10,21.2,0.6,50.8,9,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,320.2,99351,-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,-145.9,164,2226,507,459,0.0,0.0,0,129,0.00,0.00,-81.40,0.000,16386,0.000,0.000,162,2226,2099,2014,2184,0,0,0,0,0,0,14.25,28.83,14.27
$GC,132,-0.57,-145.9,163,2226,2018,2185,3.6,-5.2,8,185,12.93,2.88,-34.28,0.000,18980,0.457,2.135,2386,795,3963,3953,3974,1,0,0,0,0,0,13.51,12.66,14.02
$GC,336,-0.57,-145.9,2386,795,3961,3976,47.8,-16.2,48,340,0.00,2.47,0.00,0.000,1030,0.000,0.086,2378,2180,3968,3961,3975,0,0,0,0,0,0,14.10,13.96,14.13
$GC,645,-0.57,-145.9,2379,2180,3964,3974,96.7,-13.8,80,650,0.00,2.50,0.00,0.000,260,0.000,0.090,2376,3611,3968,3963,3974,0,0,0,0,0,0,14.31,13.99,14.32
$GC,822,-0.70,-145.9,2377,3613,3964,3975,116.7,-10.4,115,829,0.00,2.40,0.00,0.000,1158,0.000,0.052,2376,2205,3968,3963,3974,0,0,0,0,0,0,14.16,14.04,14.16
$GC,1126,-0.78,-145.9,2376,2200,3964,3975,150.6,-10.8,126,1131,0.12,2.53,0.00,0.000,4484,0.140,0.087,2319,3623,3969,3963,3975,0,0,0,0,0,0,14.21,14.14,14.28
$GC,1191,-0.82,-145.9,2318,3626,3964,3976,159.5,-13.9,139,1197,0.00,2.42,0.00,0.000,1158,0.000,0.055,2318,2195,3969,3963,3975,0,0,0,0,0,0,14.30,14.19,14.33
$GC,1517,-0.82,-145.9,2319,2194,3964,3975,206.7,-13.8,154,1522,0.00,2.50,0.00,0.000,260,0.000,0.087,2309,3613,3968,3962,3975,0,0,0,0,0,0,14.52,14.15,14.54
$GC,1667,-0.86,-145.9,2309,3614,3962,3974,225.0,-11.8,184,1672,0.00,2.40,0.00,0.000,1158,0.000,0.054,2309,2195,3968,3961,3975,0,0,0,0,0,0,14.31,14.21,14.34
$GC,1997,-0.86,-145.9,2309,2196,3962,3973,265.3,-11.8,200,2002,0.00,2.50,0.00,0.000,260,0.000,0.089,2305,3611,3967,3961,3973,0,0,0,0,0,0,14.55,14.20,14.56
$GC,2087,-0.93,-145.9,2306,3614,3968,3974,275.3,-10.8,218,2092,0.00,2.38,0.00,0.000,1158,0.000,0.054,2305,2201,3966,3960,3973,0,0,0,0,0,0,14.36,14.26,14.39
$GC,2418,-0.96,-145.9,2306,2199,3961,3971,313.0,-11.2,234,2423,0.12,2.47,0.00,0.000,4484,0.136,0.086,2240,3612,3965,3960,3971,0,0,0,0,0,0,14.20,14.21,14.25
$GC,2558,-0.90,-145.9,2240,3615,3959,3972,334.8,-15.8,262,2563,0.20,2.40,0.00,0.000,3206,0.274,0.057,2281,2190,3964,3958,3971,0,0,0,0,0,0,13.95,14.26,14.21
$GC,2868,-0.90,-145.9,2282,2190,3959,3971,374.2,-12.3,274,2873,0.00,2.47,0.00,0.000,260,0.000,0.088,2280,3626,3964,3958,3970,0,0,0,0,0,0,14.57,14.19,14.58
$GC,2980,-0.95,-145.9,2280,3628,3958,3971,387.2,-11.4,296,2985,0.00,2.40,0.00,0.000,1158,0.000,0.054,2280,2198,3963,3957,3970,0,0,0,0,0,0,14.32,14.23,14.32
$GC,3290,-0.95,-145.9,2280,2197,3958,3969,425.2,-12.2,308,3295,0.00,2.47,0.00,0.000,260,0.000,0.087,2272,3614,3962,3957,3968,0,0,0,0,0,0,14.57,14.22,14.59
$GC,3390,-0.99,-145.9,2272,3615,3957,3969,437.4,-11.8,328,3395,0.00,2.38,0.00,0.000,1158,0.000,0.055,2272,2196,3962,3956,3968,0,0,0,0,0,0,14.37,14.26,14.40
$GC,3710,-0.99,-145.9,2273,2195,3957,3967,477.2,-12.5,342,3715,0.00,2.47,0.00,0.000,260,0.000,0.087,2267,3613,3961,3956,3966,0,0,0,0,0,0,14.58,14.20,14.62
$STATE,3733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3733,begin apogee
$GC,3741,-0.13,0.0,2268,2096,3956,3967,480.5,-13.2,347,3949,1.02,0.00,205.85,1.444,10246,0.249,0.000,2527,2092,3366,3395,3338,0,0,0,0,0,0,13.97,13.50,12.81
$STATE,3953,end apogee,CONTROL_FINISHED_OK
$STATE,3953,begin climb
$GC,3956,0.57,145.9,2528,2095,3391,3331,490.8,0.0,354,4166,0.75,2.65,197.75,1.385,11012,0.065,0.078,2791,685,2763,2811,2715,0,0,0,0,0,0,13.59,13.15,12.56
$GC,4391,0.22,145.9,2791,686,2802,2714,459.1,15.8,435,4397,0.62,2.55,0.00,0.000,5254,0.314,0.074,2657,2108,2756,2801,2712,0,0,0,0,0,0,13.50,13.74,13.81
$GC,4707,0.10,155.9,2658,2109,2802,2708,427.4,9.5,448,4722,0.15,2.50,8.88,1.647,12964,0.311,0.081,2630,681,2724,2767,2681,0,0,0,0,0,0,13.79,14.03,13.18
$GC,4947,0.12,191.0,2631,682,2770,2682,408.2,8.4,496,5009,0.00,2.50,51.80,1.439,9254,0.000,0.079,2631,2103,2580,2640,2521,0,0,0,0,0,0,14.21,14.10,13.16
$GC,5309,0.11,206.3,2631,2104,2640,2509,375.3,9.3,518,5339,0.00,2.55,19.83,1.519,8868,0.000,0.083,2633,692,2516,2581,2451,0,0,0,0,0,0,14.38,14.02,13.27
$GC,5464,0.15,224.7,2633,688,2579,2455,360.8,9.2,549,5495,0.00,2.50,25.75,1.485,9382,0.000,0.079,2632,2105,2445,2509,2382,0,0,0,0,0,0,14.19,14.09,13.21
$GC,5822,0.16,235.4,2633,2104,2502,2375,326.4,9.5,570,5837,0.00,0.00,13.62,1.557,8230,0.000,0.000,2632,2105,2403,2462,2345,0,0,0,0,0,0,14.44,14.10,13.31
$GC,6120,0.17,247.2,2633,2106,2459,2338,297.9,9.5,580,6142,0.00,2.55,17.08,1.512,8740,0.000,0.084,2633,689,2354,2410,2298,0,0,0,0,0,0,14.47,14.09,13.36
$GC,6192,0.28,277.8,2634,690,2405,2299,291.4,8.6,594,6245,0.12,2.47,47.80,1.382,11430,0.131,0.077,2686,2107,2233,2287,2179,0,0,0,0,0,0,14.17,14.13,13.19
$GC,6544,0.23,277.8,2686,2107,2279,2166,247.6,12.3,614,6545,0.12,0.00,0.00,0.000,4230,0.245,0.000,2661,2107,2224,2284,2164,0,0,0,0,0,0,13.95,14.19,14.16
$GC,6842,0.24,289.6,2661,2108,2277,2162,218.1,9.5,624,6863,0.00,2.53,14.30,1.509,8740,0.000,0.087,2661,682,2182,2237,2127,0,0,0,0,0,0,14.52,14.14,13.37
$GC,6898,0.34,311.8,2661,682,2233,2127,213.0,9.0,635,6939,0.00,2.47,35.62,1.372,9382,0.000,0.078,2661,2100,2094,2147,2041,0,0,0,0,0,0,14.23,14.12,13.27
$GC,7266,0.43,353.6,2661,2100,2140,2027,182.2,8.1,658,7337,0.17,0.00,69.38,1.278,10406,0.112,0.000,2729,2100,1922,1966,1879,0,0,0,0,0,0,14.23,13.88,13.23
$GC,7624,0.40,353.6,2730,2101,1949,1869,140.1,11.6,670,7629,0.00,2.47,0.00,0.000,644,0.000,0.086,2729,691,1908,1948,1868,0,0,0,0,0,0,14.38,14.09,14.40
$GC,7704,0.43,353.6,2730,691,1946,1869,131.4,10.5,686,7709,0.00,2.47,0.00,0.000,1158,0.000,0.078,2732,2107,1906,1945,1868,0,0,0,0,0,0,14.23,14.12,14.26
$GC,8014,0.43,353.6,2730,2109,1946,1867,98.4,10.2,698,8019,0.00,2.50,0.00,0.000,516,0.000,0.085,2729,685,1905,1945,1866,0,0,0,0,0,0,14.48,14.19,14.50
$GC,8104,0.49,377.6,2730,685,1943,1866,90.0,8.9,716,8120,0.00,2.47,11.68,0.474,9382,0.000,0.077,2729,2109,1824,1857,1791,0,0,0,0,0,0,14.28,14.17,13.69
$GC,8425,0.56,427.5,2730,2111,1859,1790,61.7,7.7,750,8458,0.00,2.55,27.25,0.389,8612,0.000,0.083,2729,3522,1622,1656,1589,0,0,0,0,0,0,14.47,14.12,13.74
$GC,8525,0.67,466.6,2728,3525,1657,1589,53.8,8.2,769,8553,0.17,2.45,21.48,0.363,11430,0.103,0.066,2803,2099,1461,1503,1419,0,0,0,0,0,0,14.13,14.08,13.81
$GC,8849,0.69,499.2,2803,2100,1504,1412,22.4,8.5,804,8871,0.00,2.55,17.30,0.278,8740,0.000,0.088,2807,684,1328,1381,1275,0,0,0,0,0,0,14.44,14.00,13.90
$GC,9096,0.98,719.2,2808,684,1379,1272,13.4,-0.2,853,9213,0.28,2.47,110.47,0.243,11430,0.088,0.074,2907,2106,500,536,465,0,0,0,0,0,0,14.16,14.07,13.87
$STATE,9287,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FINISH,0.3,1.020113
$STATE,9297,end surface coast,CONTROL_FINISHED_OK
$STATE,9297,begin surface
$SM_CCo,9378,0.00,0.000,0,0,494,704.26
$SM_GC,0.94,8.15,0.17,0.00,0.064,0.121,0.000,203,2226,494,-7.37,-0.57,704.26,0,0,0,0,0,0,14.21,14.19,14.28
$RAFOS_CLK,395
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7227.95,-14835.24,160817,081736
$TT8_MAMPS,0.040446,0.934003
$HUMID,49.76
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,23
$CP_FREE,16005300224.000000
$PM_FREEKB_00,56840064
$24V_AH,12.56,81.912
$10V_AH,12.61,0.000
$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,24.950,90.075,895.825,0.000,0.000,0.000,0.000,607.975,5.750,0.000,11.958,0.000,6778.451,903.363,2408.073,299.639,0.000,2301.536,0.000,1265.288,0.000,0.540,0.000
$DEVICE_MAMPS,457.470,2135.115,1647.045,0.000,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9325.000,9326.000,9274.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.615,20.000,16.601,0.000
$MEM,323620
$DATA_FILE_SIZE,30039,884
$CAP_FILE_SIZE,111517,0
$CFSIZE,2097872896,2063269888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.061,225.88,1
$GPS,160817,110557,7226.539,-14819.791,55,0.7,56,21.2,0.0,0.0,11,9.0