version: 66.13
glider: 196
mission: 14
dive: 85
start: 8 16 117 14 0 5
data:
$ID,196
$MISSION,14
$DIVE,85
$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,23
$R_STBD_OVSHOOT,23
$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,244.0
$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
$GPS1,160817,134858,7227.2622,-14821.0205,16,0.7,17,21.2,0.5,202.9,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.4
$GPS2,160817,135932,7227.1714,-14821.2188,6,0.8,32,21.2,0.3,225.3,9,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.1,96446,-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,-145.9,182,2204,520,463,0.0,0.0,0,129,0.00,0.00,-81.12,0.000,16386,0.000,0.000,181,2205,2028,1950,2106,0,0,0,0,0,0,14.39,28.83,14.41
$GC,132,-0.57,-145.9,182,2206,1953,2109,3.3,-4.2,8,189,12.57,2.80,-36.90,0.000,18980,0.454,2.149,2385,794,3962,3948,3977,1,0,0,0,0,0,13.57,12.65,14.15
$GC,249,-0.57,-145.9,2385,795,3955,3976,35.0,-17.2,31,257,0.00,2.53,0.00,0.000,1030,0.000,0.090,2378,2203,3965,3954,3977,0,0,0,0,0,0,14.17,14.04,14.20
$GC,556,-0.57,-145.9,2378,2204,3959,3977,88.4,-14.4,62,561,0.00,2.53,0.00,0.000,260,0.000,0.091,2376,3620,3968,3959,3977,0,0,0,0,0,0,14.44,14.11,14.46
$GC,781,-0.70,-145.9,2376,3619,3966,3978,114.8,-10.7,107,787,0.00,2.42,0.00,0.000,1158,0.000,0.055,2376,2195,3968,3959,3977,0,0,0,0,0,0,14.28,14.16,14.33
$GC,1097,-0.78,-145.9,2376,2194,3960,3976,149.3,-10.4,120,1103,0.12,2.53,0.00,0.000,4484,0.142,0.087,2319,3616,3967,3959,3976,0,0,0,0,0,0,14.14,14.15,14.18
$GC,1215,-0.85,-145.9,2320,3618,3961,3977,164.1,-12.3,143,1221,0.00,2.40,0.00,0.000,1158,0.000,0.055,2318,2192,3968,3960,3977,0,0,0,0,0,0,14.22,14.14,14.24
$GC,1518,-0.85,-145.9,2319,2193,3960,3977,206.9,-13.7,154,1523,0.00,2.53,0.00,0.000,260,0.000,0.089,2317,3621,3968,3959,3977,0,0,0,0,0,0,14.54,14.16,14.56
$GC,1629,-0.92,-145.9,2317,3622,3960,3972,220.4,-11.8,176,1635,0.10,2.40,0.00,0.000,5254,0.155,0.057,2271,2198,3968,3959,3977,0,0,0,0,0,0,14.23,14.23,14.34
$GC,1940,-0.86,-145.9,2271,2196,3960,3975,268.6,-14.9,188,1945,0.12,2.47,0.00,0.000,2436,0.296,0.084,2290,3614,3966,3959,3974,0,0,0,0,0,0,13.98,14.21,14.15
$GC,2080,-0.92,-145.9,2290,3616,3959,3975,285.8,-11.4,216,2085,0.00,2.40,0.00,0.000,1158,0.000,0.057,2290,2198,3966,3958,3974,0,0,0,0,0,0,14.35,14.24,14.39
$GC,2390,-0.92,-145.9,2290,2198,3960,3972,323.8,-12.1,228,2395,0.00,2.50,0.00,0.000,260,0.000,0.088,2280,3627,3965,3958,3972,0,0,0,0,0,0,14.57,14.18,14.59
$GC,2470,-0.97,-145.9,2280,3621,3959,3973,333.3,-11.3,244,2475,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2194,3965,3958,3972,0,0,0,0,0,0,14.36,14.24,14.39
$GC,2780,-0.97,-145.9,2280,2193,3959,3970,371.2,-12.2,256,2785,0.00,2.53,0.00,0.000,260,0.000,0.090,2279,3620,3964,3958,3970,0,0,0,0,0,0,14.57,14.17,14.59
$GC,2886,-1.03,-145.9,2280,3621,3958,3970,383.2,-11.0,277,2891,0.00,2.40,0.00,0.000,1158,0.000,0.056,2279,2195,3964,3958,3970,0,0,0,0,0,0,14.33,14.22,14.35
$GC,3201,-1.03,-145.9,2280,2194,3958,3970,421.5,-12.3,290,3206,0.00,2.50,0.00,0.000,260,0.000,0.090,2280,3614,3963,3957,3969,0,0,0,0,0,0,14.57,14.16,14.58
$GC,3318,-1.10,-145.9,2280,3614,3958,3970,434.7,-10.9,313,3324,0.17,2.40,0.00,0.000,5254,0.117,0.054,2214,2191,3963,3957,3969,0,0,0,0,0,0,14.22,14.22,14.33
$STATE,3589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3589,begin apogee
$GC,3595,-0.13,0.0,2214,2065,3957,3967,482.8,-18.0,323,3841,1.30,0.08,242.60,1.363,10246,0.283,0.184,2526,2109,3366,3396,3337,0,0,0,0,0,0,13.88,13.40,12.78
$STATE,3844,end apogee,CONTROL_FINISHED_OK
$STATE,3844,begin climb
$GC,3849,0.57,145.9,2527,2109,3391,3327,495.0,0.0,331,4066,0.75,2.65,205.55,1.359,10756,0.067,0.080,2781,732,2757,2812,2702,0,0,0,0,0,0,13.53,13.07,12.55
$GC,4233,0.24,145.9,2781,733,2798,2700,473.3,15.3,365,4238,0.57,2.47,0.00,0.000,5254,0.321,0.076,2661,2101,2747,2797,2698,0,0,0,0,0,0,13.40,13.66,13.71
$GC,4548,0.10,149.5,2662,2102,2798,2692,441.1,9.8,378,4553,0.20,2.45,0.00,0.000,4772,0.296,0.078,2622,714,2744,2795,2693,0,0,0,0,0,0,13.75,13.98,13.93
$GC,4633,0.13,201.7,2622,714,2798,2693,434.3,7.6,395,4719,0.00,2.45,78.60,1.354,9254,0.000,0.079,2622,2103,2545,2618,2472,0,0,0,0,0,0,14.15,14.03,13.07
$GC,5029,0.15,228.5,2623,2103,2595,2450,400.4,8.8,424,5066,0.00,0.00,36.33,1.398,8230,0.000,0.000,2622,2103,2434,2503,2366,0,0,0,0,0,0,14.33,13.89,13.17
$GC,5359,0.19,252.5,2622,2103,2479,2349,371.1,8.9,435,5396,0.00,2.53,32.97,1.396,8868,0.000,0.083,2631,724,2333,2395,2272,0,0,0,0,0,0,14.39,13.93,13.25
$GC,5436,0.29,270.1,2631,725,2385,2267,364.1,9.2,450,5467,0.15,2.42,26.00,1.443,11430,0.115,0.078,2691,2100,2262,2322,2202,0,0,0,0,0,0,14.05,14.00,13.18
$GC,5785,0.21,270.1,2691,2101,2310,2183,316.4,13.9,469,5790,0.15,2.42,0.00,0.000,4740,0.252,0.082,2659,723,2246,2310,2182,0,0,0,0,0,0,13.88,14.09,14.04
$GC,5820,0.23,270.1,2660,722,2309,2182,311.8,11.6,476,5826,0.00,2.42,0.00,0.000,1158,0.000,0.078,2660,2107,2245,2308,2182,0,0,0,0,0,0,14.26,14.14,14.29
$GC,6146,0.23,270.1,2659,2108,2309,2180,275.7,11.0,491,6151,0.00,2.42,0.00,0.000,516,0.000,0.085,2659,724,2242,2306,2179,0,0,0,0,0,0,14.51,14.21,14.53
$GC,6211,0.28,270.1,2660,724,2308,2179,269.0,10.1,504,6217,0.00,2.40,0.00,0.000,1158,0.000,0.077,2660,2106,2243,2307,2179,0,0,0,0,0,0,14.34,14.23,14.38
$GC,6537,0.28,270.1,2660,2108,2307,2179,235.1,10.2,519,6542,0.00,2.45,0.00,0.000,260,0.000,0.082,2660,3513,2242,2306,2178,0,0,0,0,0,0,14.55,14.18,14.57
$GC,6587,0.28,270.1,2660,3514,2304,2178,229.5,11.0,529,6592,0.00,2.35,0.00,0.000,1030,0.000,0.062,2665,2124,2240,2302,2179,0,0,0,0,0,0,14.38,14.26,14.40
$GC,6897,0.30,294.7,2666,2125,2304,2180,201.1,8.9,541,6938,0.00,2.53,34.85,1.374,8740,0.000,0.084,2672,690,2160,2218,2103,0,0,0,0,0,0,14.57,13.95,13.39
$GC,7016,0.40,335.8,2673,690,2208,2102,191.4,8.1,564,7095,0.12,2.47,73.15,1.267,11430,0.138,0.078,2720,2103,1995,2045,1945,0,0,0,0,0,0,14.13,14.08,13.18
$GC,7410,0.36,335.8,2728,2103,2034,1925,145.6,11.4,593,7415,0.00,2.53,0.00,0.000,644,0.000,0.083,2728,683,1978,2031,1925,0,0,0,0,0,0,14.26,13.99,14.29
$GC,7490,0.36,335.8,2729,685,2027,1926,137.1,10.4,609,7495,0.12,2.50,0.00,0.000,5126,0.238,0.078,2709,2104,1976,2028,1925,0,0,0,0,0,0,13.45,14.01,13.72
$GC,7801,0.41,366.5,2704,2104,2029,1918,109.6,8.6,621,7850,0.00,0.00,48.03,1.261,8358,0.000,0.000,2704,2105,1870,1911,1830,0,0,0,0,0,0,14.35,13.90,13.26
$GC,8132,0.51,411.7,2705,2103,1896,1815,82.3,7.9,646,8164,0.12,2.58,23.30,0.444,10916,0.134,0.087,2767,698,1686,1720,1652,0,0,0,0,0,0,14.07,13.93,13.62
$GC,8236,0.51,411.7,2769,693,1724,1653,71.0,11.1,666,8241,0.00,2.47,0.00,0.000,1030,0.000,0.077,2768,2099,1689,1725,1653,0,0,0,0,0,0,14.09,13.98,14.12
$GC,8546,0.56,481.4,2769,2099,1724,1653,42.3,6.8,698,8587,0.00,0.00,38.25,0.325,8742,0.000,0.000,2768,2099,1401,1453,1349,0,0,0,0,0,0,14.29,14.03,13.71
$GC,8886,0.71,574.3,2768,2100,1454,1350,18.6,5.7,733,8939,0.12,0.00,50.83,0.259,10406,0.141,0.000,2820,2099,1022,1098,946,0,0,0,0,0,0,14.07,14.04,13.78
$GC,9236,0.94,714.3,2820,2100,1098,948,5.2,3.5,768,9290,0.17,0.00,51.28,0.216,10658,0.109,0.000,2890,2099,638,702,574,0,0,0,0,0,0,14.07,28.83,14.14
$STATE,9290,end climb,SURFACE_DEPTH_REACHED
$STATE,9290,begin surface coast
$FINISH,0.1,1.020183
$STATE,9304,end surface coast,CONTROL_FINISHED_OK
$STATE,9304,begin surface
$SM_CCo,9326,19.55,0.214,0,0,498,703.03
$SM_GC,0.79,8.35,0.17,19.55,0.080,0.109,0.214,202,2224,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.09,14.12,13.88
$RAFOS_CLK,105
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7226.88,-14829.16,160817,111033
$TT8_MAMPS,0.092127,0.856856
$HUMID,45.15
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.60
$XPDR_PINGS,9
$CP_FREE,16004907008.000000
$PM_FREEKB_00,56699456
$24V_AH,12.55,82.865
$10V_AH,12.45,0.000
$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,25.250,84.650,941.725,19.550,0.000,0.000,0.000,340.575,2.250,0.000,34.058,0.000,6650.658,866.848,2185.123,291.052,0.000,2062.857,0.000,1118.363,2218.000,0.539,0.000
$DEVICE_MAMPS,453.645,2148.885,1442.790,214.200,0.000,0.000,0.000,183.600,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9323.000,9313.000,9273.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.912,20.000,16.549,0.000
$MEM,323680
$DATA_FILE_SIZE,26655,780
$CAP_FILE_SIZE,103164,0
$CFSIZE,2097872896,2062614528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.076,242.59,1
$GPS,160817,163703,7228.185,-14822.224,26,0.8,27,21.2,0.0,290.0,11,8.0