version: 66.13
glider: 196
mission: 14
dive: 105
start: 8 18 117 21 44 23
data:
$ID,196
$MISSION,14
$DIVE,105
$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,40
$R_STBD_OVSHOOT,20
$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,298.0
$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
$GPS1,180817,213302,7248.3130,-14849.8438,38,0.8,38,21.1,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.2
$GPS2,180817,214347,7248.3237,-14849.9932,7,0.8,10,21.1,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.3,55704,-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,-145.9,204,2179,500,482,0.0,0.0,0,139,0.00,0.00,-91.93,0.000,16386,0.000,0.000,203,2179,2241,2177,2306,0,0,0,0,0,0,14.41,28.83,14.43
$GC,142,-0.57,-145.9,204,2179,2181,2302,4.6,-6.9,9,191,12.48,2.83,-29.67,0.000,18724,0.454,2.150,2381,3610,3962,3941,3984,0,0,0,0,0,0,13.67,12.93,14.11
$GC,253,-0.57,-145.9,2376,3614,3947,3984,40.6,-19.5,30,258,0.00,2.40,0.00,0.000,1030,0.000,0.058,2374,2209,3962,3942,3983,0,0,0,0,0,0,14.21,14.10,14.23
$GC,563,-0.57,-145.9,2376,2208,3956,3985,94.6,-13.9,62,568,0.00,2.50,0.00,0.000,260,0.000,0.087,2366,3623,3967,3950,3984,0,0,0,0,0,0,14.45,14.13,14.47
$GC,675,-0.67,-145.9,2366,3624,3952,3985,107.9,-11.6,84,680,0.00,2.42,0.00,0.000,1158,0.000,0.056,2366,2193,3967,3951,3984,0,0,0,0,0,0,14.20,14.08,14.21
$GC,986,-0.73,-145.9,2366,2192,3952,3984,146.1,-11.6,96,991,0.00,2.50,0.00,0.000,388,0.000,0.087,2362,3610,3967,3951,3984,0,0,0,0,0,0,14.54,14.16,14.55
$GC,1057,-0.90,-145.9,2362,3610,3952,3984,153.4,-9.2,110,1062,0.22,2.38,0.00,0.000,5286,0.101,0.055,2271,2196,3967,3951,3983,0,0,0,0,0,0,14.29,14.26,14.38
$GC,1377,-0.81,-145.9,2270,2196,3952,3984,212.5,-18.3,124,1383,0.17,2.47,0.00,0.000,2436,0.285,0.085,2305,3610,3967,3951,3983,0,0,0,0,0,0,13.91,14.18,14.09
$GC,1573,-0.89,-145.9,2305,3611,3952,3984,237.4,-11.7,163,1578,0.00,2.40,0.00,0.000,1158,0.000,0.056,2304,2194,3967,3951,3983,0,0,0,0,0,0,14.33,14.22,14.39
$GC,1888,-0.91,-145.9,2304,2192,3952,3982,275.1,-11.4,176,1894,0.00,2.47,0.00,0.000,388,0.000,0.090,2301,3610,3967,3951,3984,0,0,0,0,0,0,14.59,14.21,14.60
$GC,1989,-1.02,-145.9,2302,3610,3952,3983,285.7,-10.0,196,1995,0.17,2.38,0.00,0.000,5254,0.119,0.056,2239,2193,3967,3951,3983,0,0,0,0,0,0,14.31,14.27,14.39
$GC,2310,-0.93,-145.9,2239,2193,3951,3984,337.3,-16.2,210,2315,0.15,2.50,0.00,0.000,2436,0.296,0.084,2263,3617,3964,3946,3983,0,0,0,0,0,0,13.93,14.19,14.13
$GC,2422,-0.95,-145.9,2264,3619,3950,3983,351.8,-11.9,232,2428,0.00,2.40,0.00,0.000,1158,0.000,0.056,2262,2194,3966,3949,3983,0,0,0,0,0,0,14.37,14.26,14.40
$GC,2733,-0.95,-145.9,2264,2193,3949,3982,392.1,-12.8,244,2738,0.00,2.47,0.00,0.000,260,0.000,0.088,2253,3610,3965,3949,3982,0,0,0,0,0,0,14.59,14.17,14.61
$GC,2854,-0.95,-145.9,2256,3610,3949,3981,407.6,-12.5,268,2859,0.00,2.38,0.00,0.000,1030,0.000,0.056,2256,2200,3964,3947,3982,0,0,0,0,0,0,14.36,14.23,14.38
$GC,3184,-0.92,-145.9,2256,2201,3949,3981,451.8,-13.3,284,3190,0.00,2.47,0.00,0.000,388,0.000,0.086,2246,3610,3964,3947,3981,0,0,0,0,0,0,14.60,14.16,14.62
$GC,3312,-0.92,-145.9,2246,3611,3947,3983,468.7,-13.2,309,3317,0.15,2.38,0.00,0.000,3078,0.256,0.055,2276,2201,3964,3947,3982,0,0,0,0,0,0,14.02,14.23,14.26
$STATE,3424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3425,begin apogee
$GC,3430,-0.13,0.0,2277,2060,3948,3983,482.4,-11.4,317,3649,0.98,0.08,214.25,1.429,10246,0.238,0.183,2530,2111,3363,3386,3340,0,0,0,0,0,0,13.98,13.44,12.76
$STATE,3653,end apogee,CONTROL_FINISHED_OK
$STATE,3653,begin climb
$GC,3657,0.57,145.9,2531,2111,3381,3333,492.6,0.0,324,3868,0.75,2.62,201.27,1.379,11012,0.065,0.076,2782,3504,2762,2808,2717,0,0,0,0,0,0,13.57,13.17,12.48
$GC,3903,0.14,145.9,2782,3505,2795,2718,490.7,16.6,357,3911,0.80,2.47,0.00,0.000,5254,0.350,0.057,2632,2132,2757,2798,2716,0,0,0,0,0,0,13.13,13.38,13.42
$GC,4208,0.06,169.5,2633,2131,2794,2714,462.2,8.9,368,4246,0.12,2.65,29.75,1.483,12964,0.298,0.086,2604,696,2669,2712,2626,0,0,0,0,0,0,13.69,13.74,12.97
$GC,4313,0.15,224.2,2604,697,2711,2623,454.2,7.5,388,4402,0.00,2.50,79.78,1.398,9382,0.000,0.078,2604,2095,2444,2505,2384,0,0,0,0,0,0,13.97,13.86,12.81
$GC,4722,0.22,261.6,2604,2096,2498,2374,420.3,8.3,420,4784,0.15,0.00,53.92,1.407,10406,0.118,0.000,2668,2095,2291,2345,2238,0,0,0,0,0,0,14.07,13.78,13.02
$GC,5082,0.17,261.6,2668,2093,2338,2231,374.0,13.0,432,5087,0.15,2.47,0.00,0.000,4740,0.259,0.082,2639,692,2284,2339,2230,0,0,0,0,0,0,13.90,14.07,14.04
$GC,5153,0.23,266.6,2640,691,2339,2231,366.5,9.8,446,5158,0.00,2.47,0.00,0.000,1190,0.000,0.078,2637,2104,2283,2337,2230,0,0,0,0,0,0,14.21,14.08,14.24
$GC,5473,0.23,266.6,2641,2109,2338,2228,333.6,10.3,460,5478,0.00,2.47,0.00,0.000,516,0.000,0.084,2646,691,2282,2337,2228,0,0,0,0,0,0,14.52,14.18,14.53
$GC,5503,0.27,266.6,2647,691,2338,2228,330.5,10.6,466,5508,0.00,2.45,0.00,0.000,1158,0.000,0.078,2646,2103,2282,2337,2228,0,0,0,0,0,0,14.32,14.20,14.35
$GC,5833,0.27,266.6,2646,2104,2337,2227,296.3,10.2,482,5838,0.00,2.47,0.00,0.000,516,0.000,0.085,2646,687,2281,2336,2227,0,0,0,0,0,0,14.57,14.21,14.59
$GC,5868,0.32,269.8,2647,685,2336,2227,292.8,9.9,489,5879,0.12,2.47,5.12,1.681,11430,0.134,0.079,2696,2113,2268,2322,2215,0,0,0,0,0,0,14.31,14.26,13.21
$GC,6196,0.23,269.8,2697,2114,2322,2213,249.9,13.0,504,6197,0.17,0.00,0.00,0.000,4230,0.233,0.000,2658,2114,2267,2321,2213,0,0,0,0,0,0,14.10,14.38,14.33
$GC,6495,0.25,302.3,2658,2115,2321,2213,222.9,8.5,514,6557,0.00,2.60,55.70,1.350,8740,0.000,0.086,2660,694,2132,2180,2084,0,0,0,0,0,0,14.55,14.01,13.31
$GC,6657,0.38,344.3,2660,690,2174,2083,209.7,8.1,546,6733,0.15,2.47,70.43,1.278,11430,0.123,0.079,2719,2100,1962,2008,1917,0,0,0,0,0,0,14.12,14.07,13.14
$GC,7038,0.35,344.3,2719,2100,1998,1899,164.3,11.5,572,7039,0.00,0.00,0.00,0.000,134,0.000,0.000,2719,2100,1949,1997,1901,0,0,0,0,0,0,14.40,14.42,14.42
$GC,7338,0.35,344.3,2719,2101,1997,1900,131.1,10.8,582,7343,0.00,2.47,0.00,0.000,516,0.000,0.086,2724,691,1946,1996,1897,0,0,0,0,0,0,14.51,14.15,14.53
$GC,7418,0.37,347.6,2726,691,1994,1898,122.9,9.8,598,7423,0.00,2.45,0.00,0.000,1190,0.000,0.079,2725,2101,1945,1993,1898,0,0,0,0,0,0,14.34,14.21,14.36
$GC,7728,0.38,359.2,2725,2101,1994,1897,91.8,9.5,614,7739,0.00,0.00,6.40,0.478,8230,0.000,0.000,2725,2101,1902,1949,1856,0,0,0,0,0,0,14.52,13.95,13.66
$GC,8038,0.43,426.9,2725,2102,1946,1857,66.6,6.9,645,8080,0.00,2.47,36.10,0.408,8484,0.000,0.082,2725,3510,1622,1662,1582,0,0,0,0,0,0,14.52,13.97,13.71
$GC,8211,0.58,489.0,2726,3511,1660,1578,53.1,7.1,676,8249,0.12,2.42,31.38,0.364,11430,0.122,0.065,2780,2102,1370,1426,1314,0,0,0,0,0,0,14.09,14.09,13.69
$GC,8546,0.68,548.7,2782,2103,1427,1306,26.7,7.2,713,8582,0.00,2.50,30.58,0.295,8868,0.000,0.090,2789,690,1126,1193,1059,0,0,0,0,0,0,14.33,13.91,13.78
$GC,8807,1.03,705.4,2788,690,1190,1053,12.7,2.8,765,8901,0.38,2.47,87.45,0.238,11430,0.096,0.078,2914,2100,498,522,475,0,0,0,0,0,0,14.04,13.97,13.81
$STATE,8936,end climb,SURFACE_DEPTH_REACHED
$STATE,8936,begin surface coast
$FINISH,0.5,1.020186
$STATE,8945,end surface coast,CONTROL_FINISHED_OK
$STATE,8945,begin surface
$SM_CCo,8965,0.80,0.269,0,0,506,702.78
$SM_GC,1.12,8.45,0.17,0.80,0.083,0.108,0.269,197,2230,506,-7.39,-0.68,702.78,0,0,0,0,0,0,14.10,14.09,13.92
$RAFOS_CLK,44
$RAFOS_FIX,7247.060547,-14853.498047,180817,202059,3,255,0.64
$IRIDIUM_FIX,7247.86,-14855.94,180817,185734
$TT8_MAMPS,0.086135,0.829892
$HUMID,45.31
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.40
$XPDR_PINGS,11
$CP_FREE,16001630208.000000
$PM_FREEKB_00,55369984
$24V_AH,12.48,92.550
$10V_AH,12.43,0.000
$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,25.700,84.825,902.125,0.800,0.000,0.000,0.000,370.375,2.750,0.000,10.765,0.000,6373.561,936.201,2030.424,288.332,0.000,2032.886,0.000,1129.265,2160.000,0.540,0.000
$DEVICE_MAMPS,454.410,2149.650,1681.470,269.280,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8971.000,8972.000,8922.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.617,20.000,16.587,0.000
$MEM,323552
$DATA_FILE_SIZE,26689,788
$CAP_FILE_SIZE,103120,0
$CFSIZE,2097872896,2056323072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.057,253.43,1
$GPS,190817,001504,7249.466,-14852.049,21,0.8,30,21.1,0.3,297.9,10,9.5