version: 66.13
glider: 196
mission: 14
dive: 102
start: 8 18 117 13 22 12
data:
$ID,196
$MISSION,14
$DIVE,102
$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,21
$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,290.0
$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
$GPS1,180817,130633,7245.0713,-14843.9082,23,0.8,24,21.2,0.0,0.0,10,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.8
$GPS2,180817,132139,7245.0098,-14843.8760,7,0.8,11,21.2,0.0,128.9,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.0,62511,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,207,2200,510,478,0.0,0.0,0,130,0.00,0.00,-81.65,0.000,16386,0.000,0.000,206,2200,2047,1964,2130,0,0,0,0,0,0,14.40,28.83,14.42
$GC,133,-0.57,-145.9,206,2201,1966,2133,3.2,-3.8,8,189,12.48,0.00,-36.88,0.000,18982,0.455,0.000,2384,2200,3964,3951,3978,1,0,0,0,0,0,13.55,12.69,14.10
$GC,488,-0.57,-145.9,2385,2200,3962,3978,80.4,-14.8,45,493,0.00,2.50,0.00,0.000,260,0.000,0.090,2377,3614,3969,3960,3978,0,0,0,0,0,0,14.44,14.13,14.47
$GC,645,-0.69,-145.9,2379,3614,3961,3977,99.2,-11.1,76,651,0.00,2.38,0.00,0.000,1158,0.000,0.054,2377,2202,3969,3961,3978,0,0,0,0,0,0,14.17,14.08,14.21
$GC,959,-0.78,-145.9,2377,2202,3962,3979,135.4,-11.0,88,964,0.12,2.47,0.00,0.000,4484,0.142,0.085,2319,3610,3970,3962,3978,0,0,0,0,0,0,14.12,14.20,14.22
$GC,1004,-0.83,-145.9,2320,3610,3962,3977,141.5,-13.7,97,1009,0.00,2.38,0.00,0.000,1158,0.000,0.056,2319,2198,3969,3961,3978,0,0,0,0,0,0,14.35,14.25,14.37
$GC,1319,-0.83,-145.9,2320,2198,3962,3978,187.7,-14.3,110,1324,0.00,2.50,0.00,0.000,260,0.000,0.090,2319,3618,3969,3961,3978,0,0,0,0,0,0,14.57,14.22,14.59
$GC,1474,-0.91,-145.9,2320,3619,3962,3978,206.5,-11.6,141,1479,0.00,2.40,0.00,0.000,1158,0.000,0.056,2319,2195,3969,3961,3977,0,0,0,0,0,0,14.38,14.27,14.39
$GC,1799,-0.94,-145.9,2319,2195,3962,3977,245.3,-11.3,156,1804,0.12,2.47,0.00,0.000,4484,0.141,0.087,2252,3610,3968,3961,3976,0,0,0,0,0,0,14.32,14.22,14.36
$GC,1925,-0.91,-145.9,2254,3610,3962,3976,264.5,-15.5,181,1930,0.15,2.40,0.00,0.000,3206,0.270,0.057,2279,2192,3968,3961,3976,0,0,0,0,0,0,13.98,14.23,14.26
$GC,2250,-0.91,-145.9,2282,2192,3961,3970,307.0,-12.6,196,2255,0.00,2.50,0.00,0.000,260,0.000,0.089,2280,3614,3966,3958,3974,0,0,0,0,0,0,14.59,14.22,14.61
$GC,2350,-0.97,-145.9,2280,3615,3961,3975,318.7,-11.1,216,2355,0.00,2.40,0.00,0.000,1158,0.000,0.055,2280,2192,3967,3960,3974,0,0,0,0,0,0,14.38,14.24,14.41
$GC,2670,-0.97,-145.9,2280,2191,3961,3972,357.6,-12.1,230,2675,0.00,2.50,0.00,0.000,260,0.000,0.089,2278,3617,3966,3960,3972,0,0,0,0,0,0,14.61,14.23,14.62
$GC,2787,-1.05,-145.9,2279,3618,3961,3972,370.7,-10.9,253,2793,0.12,2.40,0.00,0.000,5254,0.140,0.054,2231,2189,3965,3959,3972,0,0,0,0,0,0,14.27,14.26,14.37
$GC,3090,-0.96,-145.9,2232,2191,3960,3970,419.0,-16.1,264,3095,0.15,2.50,0.00,0.000,2436,0.307,0.083,2256,3619,3964,3958,3970,0,0,0,0,0,0,13.90,14.19,14.09
$GC,3230,-0.96,-145.9,2257,3621,3959,3970,437.5,-12.5,292,3235,0.00,2.38,0.00,0.000,1030,0.000,0.055,2255,2203,3963,3957,3970,0,0,0,0,0,0,14.39,14.28,14.42
$GC,3541,-0.93,-145.9,2256,2203,3959,3970,478.8,-13.3,304,3546,0.00,2.47,0.00,0.000,388,0.000,0.087,2249,3613,3963,3958,3969,0,0,0,0,0,0,14.60,14.20,14.62
$STATE,3548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3548,begin apogee
$GC,3556,-0.13,0.0,2250,2097,3958,3970,480.0,-13.2,306,3767,1.12,0.00,207.98,1.439,10246,0.261,0.000,2527,2095,3363,3395,3331,0,0,0,0,0,0,13.95,13.50,12.78
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3773,0.57,145.9,2528,2095,3392,3329,490.7,0.0,313,3984,0.75,2.65,198.80,1.386,10500,0.063,0.073,2781,3511,2763,2817,2710,0,0,0,0,0,0,13.59,13.04,12.50
$GC,4209,0.14,145.9,2781,3512,2798,2709,456.0,17.6,394,4214,0.77,2.47,0.00,0.000,5254,0.345,0.058,2632,2100,2753,2797,2710,0,0,0,0,0,0,13.46,13.77,13.80
$GC,4525,0.07,177.9,2632,2100,2797,2711,427.6,8.5,407,4575,0.00,2.58,43.03,1.435,8612,0.000,0.080,2632,3511,2633,2683,2583,0,0,0,0,0,0,14.35,13.83,13.12
$GC,4605,-0.03,177.9,2632,3510,2678,2582,420.0,10.9,423,4611,0.28,2.42,0.00,0.000,5254,0.252,0.058,2576,2100,2628,2677,2580,0,0,0,0,0,0,13.76,13.93,14.00
$GC,4916,0.10,258.1,2577,2100,2678,2576,399.6,6.3,435,5045,0.12,2.60,117.82,1.345,10916,0.135,0.083,2642,695,2306,2363,2250,0,0,0,0,0,0,14.19,13.66,13.00
$GC,5090,0.16,258.1,2642,696,2356,2248,382.9,10.2,469,5095,0.00,2.53,0.00,0.000,1158,0.000,0.079,2642,2102,2300,2354,2247,0,0,0,0,0,0,13.89,13.78,13.92
$GC,5400,0.16,258.1,2642,2103,2355,2238,350.3,10.5,481,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2102,2295,2353,2238,0,0,0,0,0,0,14.37,14.40,14.40
$GC,5700,0.16,258.1,2642,2103,2353,2236,319.4,10.2,491,5706,0.00,2.47,0.00,0.000,516,0.000,0.085,2646,693,2294,2352,2236,0,0,0,0,0,0,14.51,14.16,14.53
$GC,5741,0.20,258.1,2646,694,2350,2237,315.2,10.1,499,5747,0.00,2.45,0.00,0.000,1158,0.000,0.079,2645,2104,2293,2351,2236,0,0,0,0,0,0,14.33,14.21,14.37
$GC,6062,0.20,258.1,2647,2105,2350,2235,282.7,10.1,513,6067,0.00,2.47,0.00,0.000,516,0.000,0.084,2646,690,2292,2350,2235,0,0,0,0,0,0,14.56,14.19,14.59
$GC,6107,0.27,273.1,2647,690,2350,2235,278.4,9.3,522,6132,0.00,2.47,17.40,1.480,9382,0.000,0.078,2646,2111,2249,2307,2192,0,0,0,0,0,0,14.36,14.23,13.39
$GC,6454,0.31,292.3,2646,2111,2305,2186,246.6,9.1,541,6489,0.00,2.58,30.10,1.415,8868,0.000,0.084,2646,688,2169,2225,2113,0,0,0,0,0,0,14.53,14.11,13.35
$GC,6524,0.43,322.8,2646,688,2220,2113,240.2,8.6,555,6581,0.22,2.47,48.62,1.330,11430,0.100,0.079,2733,2099,2046,2096,1996,0,0,0,0,0,0,14.14,14.11,13.19
$GC,6906,0.33,322.8,2734,2099,2090,1987,187.6,13.4,581,6907,0.17,0.00,0.00,0.000,4230,0.236,0.000,2694,2099,2037,2088,1987,0,0,0,0,0,0,13.97,14.23,14.16
$GC,7206,0.34,333.2,2695,2099,2089,1984,158.1,9.5,591,7226,0.00,2.50,12.30,1.488,8740,0.000,0.085,2699,696,2004,2055,1954,0,0,0,0,0,0,14.52,14.14,13.38
$GC,7276,0.42,355.1,2699,698,2052,1954,151.5,9.0,605,7321,0.00,2.45,37.72,1.332,9382,0.000,0.077,2699,2105,1913,1956,1871,0,0,0,0,0,0,14.29,14.18,13.28
$GC,7628,0.47,377.2,2700,2106,1948,1865,119.5,9.0,625,7664,0.10,2.58,30.17,1.324,10916,0.155,0.085,2755,692,1826,1859,1793,0,0,0,0,0,0,14.21,13.97,13.31
$GC,7758,0.47,377.2,2755,691,1851,1791,104.5,11.2,651,7764,0.00,2.47,0.00,0.000,1030,0.000,0.079,2755,2100,1820,1850,1791,0,0,0,0,0,0,14.10,14.00,14.12
$GC,8070,0.44,377.3,2755,2102,1851,1786,70.0,10.0,682,8071,0.15,0.00,0.00,0.000,4262,0.239,0.000,2722,2100,1818,1850,1786,0,0,0,0,0,0,14.03,14.30,14.26
$GC,8370,0.59,484.1,2722,2101,1851,1783,50.8,5.1,712,8430,0.15,0.00,53.72,0.356,10406,0.120,0.000,2784,2101,1389,1443,1335,0,0,0,0,0,0,14.26,14.15,13.81
$GC,8730,0.68,537.4,2784,2101,1444,1321,23.4,7.5,748,8762,0.00,2.53,26.88,0.285,8868,0.000,0.086,2784,694,1172,1241,1104,0,0,0,0,0,0,14.47,14.11,13.86
$GC,8849,0.90,612.1,2784,693,1238,1102,14.9,6.6,771,8892,0.28,2.50,38.03,0.256,11430,0.098,0.083,2884,2111,869,945,793,0,0,0,0,0,0,14.18,14.05,13.85
$STATE,9027,end climb,SURFACE_DEPTH_REACHED
$STATE,9027,begin surface coast
$FINISH,-0.0,1.020216
$STATE,9045,end surface coast,CONTROL_FINISHED_OK
$STATE,9045,begin surface
$SM_CCo,9066,47.58,0.216,0,0,500,703.03
$SM_GC,1.44,8.23,0.17,47.58,0.083,0.114,0.216,208,2228,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.26,14.27,14.00
$RAFOS_CLK,403
$RAFOS_FIX,7244.636230,-14842.182617,180817,121256,4,255,0.15
$IRIDIUM_FIX,7244.03,-14837.32,180817,131103
$TT8_MAMPS,0.039697,0.829143
$HUMID,48.26
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,16002121728.000000
$PM_FREEKB_00,55566656
$24V_AH,12.50,91.144
$10V_AH,12.41,0.000
$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,25.500,84.625,862.575,47.575,0.000,0.000,0.000,574.975,4.000,0.000,11.811,0.000,6594.286,925.889,2216.153,296.140,0.000,2238.784,0.000,1139.415,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,113.985,1487.925,215.730,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9072.000,9070.000,9022.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.674,20.000,16.545,0.000
$MEM,323692
$DATA_FILE_SIZE,26750,795
$CAP_FILE_SIZE,104678,0
$CFSIZE,2097872896,2057273344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.065,246.14,1
$GPS,180817,155526,7246.097,-14845.920,36,0.7,36,21.1,0.0,0.0,11,8.9