version: 66.13
glider: 196
mission: 14
dive: 119
start: 8 20 117 13 29 32
data:
$ID,196
$MISSION,14
$DIVE,119
$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,25
$R_STBD_OVSHOOT,46
$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,337.0
$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
$GPS1,200817,131801,7303.2817,-14922.3955,19,0.7,29,21.0,0.0,0.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.8
$GPS2,200817,132857,7303.3574,-14922.2646,3,0.8,9,21.0,0.0,0.0,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,285.5,23770,-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,-145.9,209,2226,505,482,0.0,0.0,0,130,0.00,0.00,-81.32,0.000,16386,0.000,0.000,209,2227,1975,1901,2049,0,0,0,0,0,0,14.42,28.83,14.45
$GC,133,-0.57,-145.9,210,2231,1899,2051,3.1,-3.1,8,197,12.48,2.88,-40.62,0.000,18980,0.454,2.151,2386,796,3965,3945,3986,0,0,0,0,0,0,13.69,12.59,14.12
$GC,267,-0.57,-145.9,2386,796,3952,3986,39.1,-18.1,34,272,0.00,2.47,0.00,0.000,1030,0.000,0.087,2380,2182,3968,3951,3986,0,0,0,0,0,0,14.19,14.06,14.23
$GC,577,-0.57,-145.9,2380,2184,3953,3987,95.2,-14.0,66,582,0.00,2.53,0.00,0.000,260,0.000,0.092,2375,3611,3969,3953,3986,0,0,0,0,0,0,14.53,14.12,14.52
$GC,727,-0.73,-145.9,2376,3613,3954,3986,112.2,-10.0,96,732,0.00,2.40,0.00,0.000,1190,0.000,0.054,2375,2194,3973,3953,3994,0,0,0,0,0,0,14.31,14.21,14.33
$GC,1057,-0.83,-145.9,2376,2192,3955,3986,147.7,-10.3,112,1062,0.17,2.50,0.00,0.000,4484,0.117,0.086,2292,3614,3970,3954,3986,0,0,0,0,0,0,14.19,14.21,14.24
$GC,1122,-0.83,-145.9,2293,3614,3955,3985,157.4,-15.5,125,1127,0.00,2.40,0.00,0.000,1030,0.000,0.057,2292,2186,3970,3954,3986,0,0,0,0,0,0,14.38,14.26,14.40
$GC,1448,-0.79,-145.9,2292,2186,3954,3988,210.6,-16.2,140,1453,0.12,2.53,0.00,0.000,2436,0.288,0.088,2319,3620,3969,3953,3986,0,0,0,0,0,0,13.97,14.19,14.09
$GC,1565,-0.87,-145.9,2319,3621,3954,3986,224.6,-11.3,163,1571,0.00,2.40,0.00,0.000,1158,0.000,0.055,2319,2193,3970,3954,3986,0,0,0,0,0,0,14.28,14.21,14.30
$GC,1868,-0.93,-145.9,2319,2192,3955,3987,259.7,-11.1,174,1873,0.12,2.50,0.00,0.000,4484,0.138,0.087,2254,3617,3969,3953,3986,0,0,0,0,0,0,14.26,14.23,14.29
$GC,1975,-0.93,-145.9,2254,3619,3955,3987,274.8,-14.3,195,1980,0.00,2.38,0.00,0.000,1030,0.000,0.056,2254,2200,3969,3953,3986,0,0,0,0,0,0,14.40,14.29,14.43
$GC,2291,-0.88,-145.9,2253,2200,3954,3986,322.4,-14.6,208,2296,0.15,2.47,0.00,0.000,2436,0.292,0.086,2279,3613,3969,3953,3985,0,0,0,0,0,0,13.96,14.20,14.13
$GC,2383,-0.96,-145.9,2280,3614,3953,3985,333.6,-11.5,226,2388,0.00,2.38,0.00,0.000,1158,0.000,0.057,2279,2202,3969,3953,3985,0,0,0,0,0,0,14.33,14.20,14.35
$GC,2713,-0.96,-145.9,2280,2201,3954,3982,372.9,-11.7,242,2718,0.00,2.50,0.00,0.000,260,0.000,0.089,2270,3616,3968,3953,3984,0,0,0,0,0,0,14.63,14.21,14.64
$GC,2808,-1.03,-145.9,2270,3617,3957,3985,383.5,-10.7,261,2813,0.00,2.40,0.00,0.000,1158,0.000,0.057,2270,2194,3968,3953,3983,0,0,0,0,0,0,14.41,14.30,14.45
$GC,3133,-1.03,-145.9,2271,2193,3954,3983,421.9,-11.8,276,3138,0.00,2.50,0.00,0.000,260,0.000,0.090,2266,3620,3968,3953,3983,0,0,0,0,0,0,14.63,14.23,14.65
$GC,3228,-1.10,-145.9,2266,3620,3953,3983,432.7,-10.8,295,3234,0.12,2.40,0.00,0.000,5254,0.138,0.056,2217,2195,3967,3953,3982,0,0,0,0,0,0,14.31,14.30,14.41
$STATE,3522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3528,-0.13,0.0,2217,2067,3954,3982,480.5,-16.5,309,3747,1.27,0.08,215.65,1.427,10246,0.270,0.182,2527,2115,3365,3388,3342,0,0,0,0,0,0,13.90,13.43,12.73
$STATE,3751,end apogee,CONTROL_FINISHED_OK
$STATE,3751,begin climb
$GC,3755,0.57,145.9,2528,2116,3381,3334,491.0,0.0,316,3970,0.75,2.60,204.85,1.369,10500,0.067,0.075,2779,3503,2762,2809,2716,0,0,0,0,0,0,13.57,13.00,12.45
$GC,4195,0.14,145.9,2779,3504,2787,2717,457.3,17.6,398,4201,0.75,2.40,0.00,0.000,5254,0.351,0.059,2633,2131,2751,2787,2715,0,0,0,0,0,0,13.44,13.76,13.80
$GC,4506,0.06,171.4,2635,2131,2788,2716,428.1,8.8,410,4547,0.12,2.50,31.83,1.463,12708,0.299,0.081,2605,3504,2662,2703,2621,0,0,0,0,0,0,13.87,13.92,13.14
$GC,4618,0.03,188.9,2606,3504,2700,2619,418.4,9.2,432,4649,0.00,2.40,25.20,1.496,9382,0.000,0.060,2606,2104,2593,2643,2544,0,0,0,0,0,0,14.14,14.04,13.10
$GC,4960,0.06,226.7,2607,2104,2641,2530,390.1,8.3,450,5022,0.00,2.60,55.55,1.407,8740,0.000,0.086,2605,690,2436,2491,2381,0,0,0,0,0,0,14.44,13.90,13.14
$GC,5084,0.19,273.4,2606,691,2487,2378,380.2,7.8,474,5163,0.12,2.47,70.90,1.347,11430,0.132,0.079,2661,2090,2246,2300,2192,0,0,0,0,0,0,14.00,13.96,12.97
$GC,5473,0.16,273.4,2661,2091,2297,2179,333.5,12.0,502,5478,0.12,2.47,0.00,0.000,4740,0.260,0.082,2640,684,2236,2293,2179,0,0,0,0,0,0,13.90,14.07,14.01
$GC,5518,0.23,274.7,2641,684,2292,2180,328.7,9.9,511,5523,0.00,2.47,0.00,0.000,1190,0.000,0.077,2640,2102,2235,2291,2179,0,0,0,0,0,0,14.24,14.13,14.27
$GC,5833,0.23,276.9,2641,2104,2291,2177,297.1,9.9,524,5838,0.00,2.45,0.00,0.000,548,0.000,0.085,2640,692,2233,2290,2176,0,0,0,0,0,0,14.54,14.22,14.56
$GC,5889,0.32,295.4,2641,692,2290,2178,291.9,9.1,535,5926,0.15,2.45,29.50,1.412,11430,0.119,0.078,2699,2107,2162,2217,2107,0,0,0,0,0,0,14.28,14.22,13.32
$GC,6225,0.24,295.4,2699,2107,2207,2101,247.2,13.0,552,6230,0.15,2.47,0.00,0.000,4740,0.233,0.082,2669,686,2152,2204,2101,0,0,0,0,0,0,14.07,14.21,14.20
$GC,6291,0.30,307.2,2670,687,2204,2102,240.3,9.5,565,6317,0.00,2.45,17.12,1.466,9382,0.000,0.079,2668,2101,2109,2159,2059,0,0,0,0,0,0,14.35,14.23,13.35
$GC,6615,0.31,322.2,2670,2102,2158,2053,209.4,9.3,580,6645,0.00,0.00,24.00,1.414,8230,0.000,0.000,2669,2101,2047,2097,1998,0,0,0,0,0,0,14.55,14.12,13.33
$GC,6946,0.37,358.5,2670,2101,2095,1992,181.0,8.3,591,7012,0.00,2.53,60.78,1.298,8868,0.000,0.085,2672,691,1900,1940,1861,0,0,0,0,0,0,14.53,13.79,13.24
$GC,7087,0.53,391.7,2673,691,1930,1861,169.1,8.5,619,7148,0.25,2.50,54.65,1.261,11430,0.096,0.080,2769,2107,1768,1796,1741,0,0,0,0,0,0,14.11,14.03,13.14
$GC,7458,0.45,391.7,2769,2107,1791,1726,116.0,13.9,643,7463,0.15,2.50,0.00,0.000,4740,0.272,0.082,2743,682,1757,1789,1726,0,0,0,0,0,0,13.90,14.10,14.07
$GC,7550,0.48,391.7,2744,683,1784,1727,105.9,10.4,661,7556,0.00,2.50,0.00,0.000,1158,0.000,0.077,2743,2112,1755,1784,1726,0,0,0,0,0,0,14.20,14.07,14.22
$GC,7861,0.49,402.7,2744,2112,1785,1723,73.8,9.5,693,7873,0.00,2.47,4.60,0.417,8484,0.000,0.084,2743,3519,1722,1754,1691,0,0,0,0,0,0,14.51,14.06,13.78
$GC,7903,0.49,402.7,2744,3519,1756,1694,69.5,10.4,701,7908,0.00,2.45,0.00,0.000,1030,0.000,0.065,2751,2095,1724,1754,1694,0,0,0,0,0,0,14.32,14.21,14.35
$GC,8214,0.57,519.3,2752,2094,1755,1695,48.1,4.6,733,8282,0.00,2.53,60.30,0.346,8740,0.000,0.086,2756,688,1246,1307,1185,0,0,0,0,0,0,14.54,14.03,13.81
$GC,8363,0.79,603.8,2756,689,1306,1182,39.6,6.1,762,8412,0.25,2.47,43.42,0.317,11430,0.098,0.080,2852,2101,900,975,826,0,0,0,0,0,0,14.20,14.13,13.82
$GC,8708,0.92,683.7,2853,2101,976,817,7.8,6.3,801,8756,0.00,2.50,41.80,0.229,8868,0.000,0.086,2859,689,572,619,526,0,0,0,0,0,0,14.48,14.04,13.91
$STATE,8794,end climb,SURFACE_DEPTH_REACHED
$STATE,8794,begin surface coast
$FINISH,0.5,1.020369
$STATE,8813,end surface coast,CONTROL_FINISHED_OK
$STATE,8814,begin surface
$SM_CCo,8836,9.75,0.217,0,0,498,703.03
$SM_GC,2.62,8.02,2.67,9.75,0.069,0.067,0.217,205,2215,498,-7.37,-0.34,703.03,0,0,0,0,0,0,14.26,14.21,14.01
$RAFOS_CLK,399
$RAFOS_FIX,7301.546875,-14927.672852,200817,121237,3,255,0.75
$IRIDIUM_FIX,7302.52,-14918.61,200817,103830
$TT8_MAMPS,0.038199,0.829143
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,17
$CP_FREE,15999172608.000000
$PM_FREEKB_00,54475840
$24V_AH,12.45,99.464
$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,25.300,94.725,940.150,9.750,0.000,0.000,0.000,383.250,4.250,0.000,9.768,0.000,6187.263,955.174,2073.406,301.473,0.000,2112.463,0.000,1176.913,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2151.180,1495.575,217.260,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8840.000,8838.000,8787.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.595,20.000,11.038,0.000
$MEM,323472
$DATA_FILE_SIZE,30041,822
$CAP_FILE_SIZE,105211,0
$CFSIZE,2097872896,2051866624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.3
$CURRENT,0.025,240.98,1
$GPS,200817,155814,7304.220,-14925.022,26,0.7,32,21.0,0.3,85.7,12,9.8