version: 66.13
glider: 196
mission: 14
dive: 109
start: 8 19 117 9 0 6
data:
$ID,196
$MISSION,14
$DIVE,109
$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,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,309.0
$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
$GPS1,190817,084432,7252.7197,-14859.2959,31,0.8,31,21.1,0.5,284.9,9,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.0
$GPS2,190817,085924,7252.6797,-14859.9521,7,0.8,9,21.1,0.7,300.5,9,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.9,45905,-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,-145.9,183,2188,518,482,0.0,0.0,0,129,0.00,0.00,-80.78,0.000,16386,0.000,0.000,181,2187,2015,1938,2093,0,0,0,0,0,0,14.30,28.83,14.31
$GC,132,-0.57,-145.9,182,2188,1941,2095,3.2,-4.1,8,191,12.70,2.83,-38.90,0.000,19236,0.457,2.150,2379,3607,3963,3947,3980,0,0,0,0,0,0,13.71,12.87,14.12
$GC,271,-0.57,-145.9,2380,3607,3952,3980,39.2,-19.2,35,277,0.00,2.40,0.00,0.000,1030,0.000,0.058,2379,2207,3966,3952,3980,0,0,0,0,0,0,14.12,14.01,14.14
$GC,582,-0.57,-145.9,2379,2207,3955,3981,96.1,-13.7,67,587,0.00,2.47,0.00,0.000,260,0.000,0.088,2373,3610,3967,3955,3980,0,0,0,0,0,0,14.47,14.13,14.49
$GC,725,-0.70,-145.9,2374,3612,3955,3981,112.1,-10.6,95,730,0.00,2.40,0.00,0.000,1158,0.000,0.054,2374,2188,3967,3955,3979,0,0,0,0,0,0,14.28,14.21,14.28
$GC,1036,-0.78,-145.9,2374,2188,3956,3980,147.5,-10.9,107,1042,0.12,2.50,0.00,0.000,4484,0.143,0.086,2319,3607,3967,3955,3980,0,0,0,0,0,0,14.21,14.18,14.26
$GC,1082,-0.82,-145.9,2320,3609,3956,3979,153.7,-13.8,116,1087,0.00,2.38,0.00,0.000,1158,0.000,0.055,2319,2202,3967,3955,3980,0,0,0,0,0,0,14.36,14.25,14.38
$GC,1397,-0.82,-145.9,2319,2202,3954,3980,200.5,-14.5,129,1402,0.00,2.47,0.00,0.000,260,0.000,0.090,2319,3609,3967,3955,3980,0,0,0,0,0,0,14.57,14.19,14.59
$GC,1524,-0.90,-145.9,2319,3611,3955,3980,215.8,-11.5,154,1529,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2198,3968,3957,3979,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1849,-0.94,-145.9,2319,2197,3955,3978,255.5,-11.6,169,1854,0.12,2.47,0.00,0.000,4484,0.139,0.086,2248,3608,3966,3955,3977,0,0,0,0,0,0,14.33,14.20,14.36
$GC,1956,-0.89,-145.9,2249,3609,3955,3978,271.5,-15.3,190,1961,0.17,2.38,0.00,0.000,3206,0.270,0.057,2284,2201,3966,3955,3977,0,0,0,0,0,0,14.00,14.28,14.28
$GC,2272,-0.89,-145.9,2285,2200,3956,3975,311.7,-12.1,203,2277,0.00,2.47,0.00,0.000,260,0.000,0.089,2280,3609,3965,3955,3975,0,0,0,0,0,0,14.59,14.21,14.64
$GC,2372,-0.95,-145.9,2281,3610,3956,3975,323.4,-11.4,223,2378,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2194,3964,3954,3975,0,0,0,0,0,0,14.39,14.28,14.42
$GC,2693,-0.95,-145.9,2281,2195,3956,3973,362.0,-12.0,237,2698,0.00,2.47,0.00,0.000,260,0.000,0.089,2275,3609,3964,3955,3973,0,0,0,0,0,0,14.62,14.19,14.65
$GC,2805,-1.01,-145.9,2275,3611,3955,3974,374.5,-11.0,259,2810,0.00,2.38,0.00,0.000,1158,0.000,0.056,2275,2196,3964,3955,3973,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3115,-1.01,-145.9,2275,2195,3956,3972,412.1,-12.0,271,3121,0.00,2.50,0.00,0.000,260,0.000,0.088,2267,3611,3962,3954,3971,0,0,0,0,0,0,14.62,14.11,14.64
$GC,3201,-1.06,-145.9,2267,3613,3956,3971,422.3,-11.1,288,3207,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2198,3963,3955,3971,0,0,0,0,0,0,14.35,14.24,14.39
$GC,3506,-1.06,-145.9,2265,2197,3955,3971,460.2,-12.3,299,3512,0.00,2.50,0.00,0.000,260,0.000,0.087,2258,3615,3962,3954,3970,0,0,0,0,0,0,14.59,14.23,14.63
$GC,3639,-1.09,-145.9,2258,3616,3955,3971,476.2,-12.1,325,3644,0.00,2.40,0.00,0.000,1158,0.000,0.056,2256,2190,3962,3955,3970,0,0,0,0,0,0,14.34,14.23,14.37
$STATE,3686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3692,-0.13,0.0,2259,2066,3961,3971,482.8,-12.9,330,3940,1.08,0.08,244.93,1.349,10246,0.246,0.179,2530,2111,3365,3401,3329,0,0,0,0,0,0,13.97,13.38,12.75
$STATE,3944,end apogee,CONTROL_FINISHED_OK
$STATE,3944,begin climb
$GC,3948,0.57,145.9,2531,2111,3396,3320,494.9,0.0,338,4170,0.73,2.03,207.88,1.342,11012,0.065,0.085,2781,723,2759,2815,2703,0,0,0,0,0,0,13.53,13.16,12.49
$GC,4395,0.23,145.9,2782,724,2802,2703,464.1,15.7,385,4402,0.57,2.47,0.00,0.000,5254,0.317,0.076,2661,2095,2750,2801,2700,0,0,0,0,0,0,13.45,13.76,13.78
$GC,4701,0.08,145.9,2661,2096,2802,2696,432.1,10.1,396,4706,0.20,2.42,0.00,0.000,4740,0.295,0.078,2621,716,2749,2801,2697,0,0,0,0,0,0,13.80,14.03,13.97
$GC,4931,0.11,196.3,2622,715,2802,2697,413.9,7.7,442,5012,0.00,2.42,74.43,1.347,9254,0.000,0.079,2621,2101,2560,2628,2492,0,0,0,0,0,0,14.23,14.12,13.14
$GC,5332,0.13,214.4,2622,2101,2619,2474,377.7,9.2,472,5363,0.00,2.47,22.67,1.471,8740,0.000,0.082,2630,726,2483,2551,2415,0,0,0,0,0,0,14.41,14.01,13.25
$GC,5450,0.18,236.8,2631,725,2546,2412,367.0,9.0,495,5489,0.00,2.40,32.55,1.418,9382,0.000,0.079,2631,2099,2396,2461,2331,0,0,0,0,0,0,14.21,14.07,13.15
$GC,5816,0.19,248.8,2631,2100,2449,2322,332.1,9.4,518,5832,0.00,0.00,14.62,1.537,8230,0.000,0.000,2630,2099,2350,2412,2288,0,0,0,0,0,0,14.45,14.10,13.28
$GC,6114,0.20,262.3,2630,2101,2403,2278,303.9,9.4,528,6140,0.00,2.45,17.90,1.506,8740,0.000,0.083,2633,730,2292,2353,2232,0,0,0,0,0,0,14.50,14.13,13.32
$GC,6185,0.30,290.9,2628,733,2349,2232,297.5,8.7,542,6237,0.15,2.40,44.67,1.379,11430,0.118,0.077,2692,2103,2177,2237,2117,0,0,0,0,0,0,14.18,14.11,13.19
$GC,6537,0.24,290.9,2692,2104,2231,2107,250.8,13.1,562,6542,0.12,2.40,0.00,0.000,4740,0.243,0.080,2673,726,2168,2230,2106,0,0,0,0,0,0,13.95,14.14,14.09
$GC,6607,0.29,295.1,2671,726,2229,2106,243.2,9.8,576,6612,0.00,2.38,0.00,0.000,1190,0.000,0.078,2671,2099,2167,2228,2106,0,0,0,0,0,0,14.31,14.19,14.33
$GC,6927,0.30,313.5,2671,2101,2228,2106,212.2,9.1,590,6963,0.00,0.00,34.72,1.366,8486,0.000,0.000,2670,2100,2085,2144,2026,0,0,0,0,0,0,14.55,14.09,13.34
$GC,7257,0.36,345.4,2670,2101,2134,2020,183.0,8.5,606,7312,0.00,0.00,53.47,1.315,8358,0.000,0.000,2671,2100,1956,2008,1905,0,0,0,0,0,0,14.49,13.96,13.24
$GC,7587,0.45,383.0,2671,2100,1998,1892,155.7,8.3,617,7658,0.17,2.53,62.88,1.265,10916,0.111,0.086,2746,726,1797,1832,1763,0,0,0,0,0,0,14.22,13.92,13.20
$GC,7688,0.45,383.0,2746,727,1826,1764,142.8,13.3,632,7693,0.00,2.45,0.00,0.000,1030,0.000,0.077,2746,2101,1793,1824,1762,0,0,0,0,0,0,13.97,13.88,14.00
$GC,8009,0.42,383.0,2746,2103,1826,1754,103.3,11.7,646,8014,0.12,2.42,0.00,0.000,4740,0.247,0.082,2724,719,1789,1825,1753,0,0,0,0,0,0,14.02,14.10,14.14
$GC,8054,0.51,392.4,2724,720,1821,1755,98.7,9.6,655,8065,0.00,2.42,3.88,0.470,9382,0.000,0.078,2724,2107,1763,1798,1728,0,0,0,0,0,0,14.21,14.10,13.59
$GC,8370,0.60,450.3,2725,2106,1800,1731,72.2,7.3,688,8407,0.12,2.45,31.12,0.420,10660,0.131,0.080,2786,3511,1528,1567,1490,0,0,0,0,0,0,14.26,13.97,13.71
$GC,8592,0.59,480.3,2786,3511,1567,1487,47.1,8.6,732,8614,0.00,2.35,16.05,0.350,9382,0.000,0.063,2794,2132,1404,1454,1354,0,0,0,0,0,0,14.28,14.17,13.76
$GC,8912,0.65,535.0,2794,2132,1455,1348,23.0,7.5,766,8943,0.00,0.00,28.98,0.282,8358,0.000,0.000,2794,2131,1179,1244,1115,0,0,0,0,0,0,14.51,14.14,13.83
$GC,9242,0.94,707.0,2794,2132,1246,1108,10.1,2.1,799,9342,0.25,2.45,93.28,0.230,10660,0.094,0.082,2893,3517,500,532,469,0,0,0,0,0,0,14.26,14.10,13.86
$STATE,9360,end climb,SURFACE_DEPTH_REACHED
$STATE,9360,begin surface coast
$FINISH,0.5,1.020308
$STATE,9370,end surface coast,CONTROL_FINISHED_OK
$STATE,9370,begin surface
$SM_CCo,9392,0.45,0.352,0,0,500,703.03
$SM_GC,1.48,8.18,2.30,0.45,0.071,0.054,0.352,205,2196,500,-7.37,0.62,703.03,0,0,0,0,0,0,14.22,14.16,14.03
$RAFOS_CLK,416
$RAFOS_FIX,7251.576172,-14902.786133,190817,080821,3,255,0.41
$IRIDIUM_FIX,7252.38,-14904.68,190817,084909
$TT8_MAMPS,0.036701,0.911533
$HUMID,47.24
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,21
$CP_FREE,16000843776.000000
$PM_FREEKB_00,55066432
$24V_AH,12.49,94.540
$10V_AH,12.37,0.000
$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,24.825,87.625,984.025,0.450,0.000,0.000,0.000,556.725,5.250,0.000,10.744,0.000,6680.890,888.319,2428.291,311.899,0.000,2344.135,0.000,1180.393,0.000,0.541,0.000
$DEVICE_MAMPS,456.705,2149.650,1536.885,351.900,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9396.000,9388.000,9345.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.520,20.000,16.584,0.000
$MEM,323532
$DATA_FILE_SIZE,30021,824
$CAP_FILE_SIZE,107939,0
$CFSIZE,2097872896,2055045120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.8
$CURRENT,0.067,264.29,1
$GPS,190817,113802,7253.832,-14902.136,36,0.9,36,21.1,0.0,0.0,9,10.0