version: 66.13
glider: 196
mission: 14
dive: 122
start: 8 20 117 21 58 32
data:
$ID,196
$MISSION,14
$DIVE,122
$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,31
$R_STBD_OVSHOOT,52
$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,347.0
$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
$GPS1,200817,214151,7305.6621,-14930.7285,39,0.8,40,20.9,0.0,0.0,10,8.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.8
$GPS2,200817,215758,7305.6182,-14931.1094,3,0.9,10,20.9,0.0,331.8,9,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.3,17493,-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,-145.9,203,2197,511,484,0.0,0.0,0,129,0.00,0.00,-81.07,0.000,16386,0.000,0.000,202,2197,2002,1929,2076,0,0,0,0,0,0,14.44,28.83,14.46
$GC,132,-0.57,-145.9,203,2197,1931,2078,3.2,-3.2,8,189,12.48,2.72,-39.83,0.000,18980,0.454,2.144,2385,800,3961,3940,3983,0,0,0,0,0,0,13.72,12.92,14.18
$GC,305,-0.63,-145.9,2386,800,3948,3983,45.8,-16.0,42,309,0.00,2.42,0.00,0.000,1158,0.000,0.087,2379,2172,3964,3946,3983,0,0,0,0,0,0,14.16,14.03,14.19
$GC,615,-0.65,-145.9,2378,2175,3949,3984,99.1,-13.7,74,619,0.00,2.55,0.00,0.000,388,0.000,0.093,2375,3614,3966,3949,3983,0,0,0,0,0,0,14.52,14.04,14.53
$GC,780,-0.82,-145.9,2375,3615,3950,3982,116.5,-9.5,107,786,0.20,2.38,0.00,0.000,5286,0.104,0.054,2293,2199,3965,3949,3982,0,0,0,0,0,0,14.20,14.16,14.29
$GC,1096,-0.75,-145.9,2293,2199,3949,3985,171.7,-17.1,120,1101,0.15,2.50,0.00,0.000,2436,0.275,0.085,2320,3620,3966,3949,3983,0,0,0,0,0,0,14.00,14.23,14.16
$GC,1198,-0.83,-145.9,2320,3620,3948,3983,184.6,-11.5,140,1203,0.00,2.40,0.00,0.000,1158,0.000,0.057,2319,2196,3966,3949,3983,0,0,0,0,0,0,14.39,14.28,14.42
$GC,1518,-0.85,-145.9,2320,2196,3949,3983,227.7,-13.1,154,1523,0.00,2.50,0.00,0.000,388,0.000,0.091,2319,3614,3965,3949,3982,0,0,0,0,0,0,14.60,14.20,14.62
$GC,1553,-0.94,-145.9,2319,3614,3950,3983,231.8,-11.5,161,1558,0.12,2.40,0.00,0.000,5254,0.132,0.058,2266,2195,3965,3949,3982,0,0,0,0,0,0,14.31,14.28,14.40
$GC,1879,-0.89,-145.9,2266,2193,3950,3981,280.7,-14.6,176,1884,0.00,2.47,0.00,0.000,388,0.000,0.088,2255,3614,3965,3949,3981,0,0,0,0,0,0,14.65,14.25,14.63
$GC,1989,-0.89,-145.9,2255,3617,3949,3981,296.7,-13.5,198,1994,0.17,2.38,0.00,0.000,3078,0.257,0.056,2292,2198,3964,3948,3981,0,0,0,0,0,0,14.03,14.31,14.31
$GC,2299,-0.92,-145.9,2292,2198,3948,3979,331.5,-10.9,210,2304,0.00,2.50,0.00,0.000,388,0.000,0.089,2286,3614,3962,3949,3976,0,0,0,0,0,0,14.63,14.22,14.64
$GC,2379,-1.01,-145.9,2286,3616,3949,3980,340.0,-10.1,226,2384,0.00,2.38,0.00,0.000,1158,0.000,0.057,2285,2202,3964,3949,3979,0,0,0,0,0,0,14.37,14.26,14.40
$GC,2690,-1.04,-145.9,2286,2201,3950,3978,374.4,-11.0,238,2695,0.12,2.47,0.00,0.000,4484,0.142,0.086,2228,3616,3962,3948,3977,0,0,0,0,0,0,14.35,14.26,14.39
$GC,2755,-1.01,-145.9,2229,3617,3950,3977,383.7,-14.8,251,2760,0.00,2.38,0.00,0.000,1158,0.000,0.060,2228,2200,3963,3949,3977,0,0,0,0,0,0,14.36,14.24,14.40
$GC,3081,-0.92,-145.9,2229,2200,3950,3977,435.5,-15.9,266,3086,0.20,2.47,0.00,0.000,2436,0.296,0.084,2267,3616,3962,3949,3976,0,0,0,0,0,0,13.93,14.21,14.13
$GC,3173,-0.99,-145.9,2267,3617,3954,3977,446.6,-11.5,284,3177,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2200,3963,3949,3977,0,0,0,0,0,0,14.38,14.27,14.40
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3476,-0.13,0.0,2267,2058,3948,3977,483.3,-12.3,299,3694,1.02,0.10,214.85,1.424,10246,0.235,0.159,2528,2122,3366,3392,3341,0,0,0,0,0,0,13.96,13.44,12.74
$STATE,3698,end apogee,CONTROL_FINISHED_OK
$STATE,3698,begin climb
$GC,3702,0.57,145.9,2531,2122,3382,3328,494.4,0.0,306,3917,0.73,2.60,203.45,1.369,10500,0.065,0.076,2777,3505,2762,2811,2713,0,0,0,0,0,0,13.57,13.19,12.43
$GC,4064,0.14,145.9,2778,3506,2789,2712,475.0,17.5,372,4070,0.75,2.42,0.00,0.000,5254,0.349,0.058,2634,2133,2749,2788,2711,0,0,0,0,0,0,13.33,13.64,13.67
$GC,4397,0.05,168.1,2634,2134,2789,2709,443.4,9.0,388,4431,0.12,2.58,27.98,1.472,12964,0.299,0.084,2606,691,2673,2719,2628,0,0,0,0,0,0,13.82,13.92,13.12
$GC,4511,0.11,220.7,2606,691,2711,2625,434.4,7.6,411,4598,0.00,2.47,81.43,1.362,9382,0.000,0.079,2606,2094,2464,2528,2400,0,0,0,0,0,0,14.10,13.99,12.94
$GC,4908,0.17,253.2,2606,2095,2511,2380,400.8,8.5,440,4958,0.00,0.00,48.95,1.374,8358,0.000,0.000,2606,2094,2333,2392,2275,0,0,0,0,0,0,14.37,13.88,13.13
$GC,5238,0.26,288.5,2606,2094,2378,2256,372.7,8.4,451,5299,0.15,2.53,54.65,1.362,10916,0.118,0.084,2685,684,2183,2238,2128,0,0,0,0,0,0,14.19,13.74,13.16
$GC,5341,0.23,288.5,2685,685,2233,2127,359.5,13.3,471,5347,0.12,2.50,0.00,0.000,5254,0.247,0.076,2660,2100,2175,2225,2125,0,0,0,0,0,0,13.82,13.95,14.04
$GC,5662,0.23,288.5,2661,2101,2225,2116,321.4,11.6,485,5667,0.00,2.47,0.00,0.000,516,0.000,0.088,2661,693,2170,2224,2116,0,0,0,0,0,0,14.49,14.16,14.50
$GC,5702,0.26,288.5,2661,693,2224,2117,316.8,11.4,493,5707,0.00,2.45,0.00,0.000,1158,0.000,0.078,2661,2101,2170,2224,2116,0,0,0,0,0,0,14.31,14.19,14.34
$GC,6022,0.26,288.5,2661,2103,2224,2113,280.4,11.1,507,6028,0.00,2.45,0.00,0.000,516,0.000,0.086,2661,691,2168,2224,2113,0,0,0,0,0,0,14.59,14.25,14.60
$GC,6063,0.30,288.5,2662,692,2224,2114,276.1,10.3,515,6069,0.00,2.45,0.00,0.000,1158,0.000,0.078,2661,2108,2165,2218,2113,0,0,0,0,0,0,14.40,14.28,14.42
$GC,6385,0.30,291.1,2661,2110,2224,2114,243.2,9.9,529,6385,0.00,0.00,0.00,0.000,38,0.000,0.000,2661,2109,2168,2223,2113,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6684,0.33,327.3,2661,2109,2224,2112,216.6,8.3,539,6755,0.00,2.53,64.53,1.297,8740,0.000,0.086,2661,690,2025,2076,1975,0,0,0,0,0,0,14.63,14.00,13.28
$GC,6846,0.47,378.7,2661,690,2063,1976,203.7,7.6,571,6945,0.22,2.47,90.80,1.220,11430,0.099,0.079,2749,2098,1818,1850,1786,0,0,0,0,0,0,14.15,14.09,13.09
$GC,7258,0.40,378.7,2751,2097,1840,1769,146.1,13.8,603,7264,0.15,2.47,0.00,0.000,4740,0.238,0.083,2721,693,1803,1838,1768,0,0,0,0,0,0,13.95,14.08,14.09
$GC,7279,0.38,378.7,2721,693,1836,1770,143.5,11.8,607,7285,0.00,2.47,0.00,0.000,1158,0.000,0.077,2720,2101,1802,1835,1769,0,0,0,0,0,0,14.23,14.09,14.25
$GC,7590,0.38,378.7,2720,2101,1836,1766,110.6,10.1,619,7596,0.00,2.50,0.00,0.000,516,0.000,0.086,2727,691,1800,1835,1766,0,0,0,0,0,0,14.41,14.07,14.43
$GC,7636,0.44,384.0,2723,690,1834,1766,105.9,9.8,628,7641,0.00,2.47,0.00,0.000,1190,0.000,0.078,2727,2108,1799,1832,1766,0,0,0,0,0,0,14.25,14.13,14.26
$GC,7941,0.47,424.0,2728,2112,1838,1764,77.7,8.2,656,7967,0.00,2.50,21.50,0.430,8740,0.000,0.083,2729,692,1635,1669,1602,0,0,0,0,0,0,14.40,13.96,13.67
$GC,8069,0.61,486.2,2730,692,1674,1604,67.9,7.1,681,8108,0.15,2.47,33.22,0.402,11430,0.116,0.076,2788,2103,1381,1429,1334,0,0,0,0,0,0,14.09,14.04,13.62
$GC,8403,0.68,547.2,2789,2103,1430,1335,37.2,7.2,718,8441,0.00,2.42,32.05,0.311,8612,0.000,0.080,2789,3510,1133,1200,1067,0,0,0,0,0,0,14.38,13.88,13.69
$GC,8471,0.78,579.4,2789,3511,1201,1071,32.0,8.5,731,8493,0.12,2.45,17.58,0.299,11430,0.130,0.066,2848,2097,1001,1073,930,0,0,0,0,0,0,14.03,14.03,13.78
$GC,8799,0.91,689.1,2849,2097,1074,936,6.6,4.9,766,8862,0.00,2.55,58.10,0.222,8868,0.000,0.090,2850,693,552,592,512,0,0,0,0,0,0,14.37,13.91,13.82
$STATE,8879,end climb,SURFACE_DEPTH_REACHED
$STATE,8880,begin surface coast
$FINISH,0.2,1.011874
$STATE,8910,end surface coast,CONTROL_FINISHED_OK
$STATE,8910,begin surface
$SM_CCo,8932,7.55,0.220,0,0,499,702.78
$SM_GC,2.61,8.18,2.70,7.55,0.078,0.070,0.220,205,2211,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.12,14.07,13.88
$RAFOS_CLK,79
$RAFOS_FIX,7304.318359,-14929.333984,200817,202026,2,255,0.30
$IRIDIUM_FIX,7306.39,-14927.56,200817,215152
$TT8_MAMPS,0.080143,0.824649
$HUMID,44.13
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15998681088.000000
$PM_FREEKB_00,54386944
$24V_AH,12.43,100.957
$10V_AH,12.49,0.000
$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,25.175,94.575,949.075,7.550,0.000,0.000,0.000,575.475,3.750,0.000,11.759,0.000,6449.663,946.984,2216.304,312.155,0.000,2271.521,0.000,1128.995,2131.000,0.540,0.000
$DEVICE_MAMPS,453.645,2144.295,1471.860,219.555,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8937.000,8935.000,8884.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.431,20.000,10.128,0.000
$MEM,323320
$DATA_FILE_SIZE,26724,788
$CAP_FILE_SIZE,107687,0
$CFSIZE,2097872896,2050916352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$CURRENT,0.041,245.65,1
$GPS,210817,002856,7306.533,-14933.965,17,0.8,40,20.9,0.0,0.0,11,7.6