version: 66.13
glider: 196
mission: 14
dive: 126
start: 8 21 117 9 9 36
data:
$ID,196
$MISSION,14
$DIVE,126
$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,41
$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,358.0
$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
$GPS1,210817,084803,7308.7480,-14942.6797,34,0.8,35,20.9,0.0,0.0,9,7.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.8
$GPS2,210817,090902,7308.6758,-14942.9727,6,0.8,11,20.9,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,282.8,9156,-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,-145.9,206,2227,505,488,0.0,0.0,0,129,0.00,0.00,-80.85,0.000,16386,0.000,0.000,205,2226,2003,1919,2087,0,0,0,0,0,0,14.45,28.83,14.47
$GC,132,-0.57,-145.9,205,2227,1921,2090,3.2,-3.4,8,189,12.57,2.83,-39.72,0.000,18980,0.457,2.150,2386,795,3958,3942,3974,0,0,0,0,0,0,13.69,12.91,14.12
$GC,365,-0.70,-145.9,2387,795,3950,3976,55.7,-13.3,54,370,0.00,2.47,0.00,0.000,1158,0.000,0.090,2386,2179,3961,3949,3974,0,0,0,0,0,0,14.13,14.00,14.18
$GC,675,-0.76,-145.9,2387,2183,3952,3975,99.9,-11.9,86,680,0.15,2.55,0.00,0.000,4484,0.122,0.088,2318,3622,3962,3950,3975,0,0,0,0,0,0,14.21,14.07,14.24
$GC,905,-0.82,-145.9,2319,3622,3951,3975,132.8,-13.1,132,910,0.00,2.40,0.00,0.000,1158,0.000,0.056,2320,2198,3962,3950,3975,0,0,0,0,0,0,14.32,14.21,14.35
$GC,1215,-0.82,-145.9,2319,2197,3951,3976,178.4,-14.2,144,1220,0.00,2.50,0.00,0.000,260,0.000,0.088,2310,3617,3962,3950,3974,0,0,0,0,0,0,14.60,14.07,14.62
$GC,1385,-0.91,-145.9,2311,3619,3951,3975,199.9,-12.0,178,1390,0.00,2.40,0.00,0.000,1158,0.000,0.056,2310,2189,3962,3950,3975,0,0,0,0,0,0,14.38,14.25,14.38
$GC,1695,-0.93,-145.9,2311,2188,3952,3975,240.1,-12.4,190,1700,0.00,2.53,0.00,0.000,388,0.000,0.089,2305,3623,3964,3954,3975,0,0,0,0,0,0,14.61,14.18,14.64
$GC,1785,-1.03,-145.9,2306,3625,3951,3976,250.2,-10.5,208,1791,0.20,2.40,0.00,0.000,5254,0.103,0.055,2233,2195,3962,3950,3974,0,0,0,0,0,0,14.34,14.20,14.42
$GC,2116,-0.93,-145.9,2233,2195,3951,3975,307.1,-17.3,224,2121,0.17,2.50,0.00,0.000,2436,0.294,0.084,2264,3621,3961,3950,3973,0,0,0,0,0,0,13.95,14.26,14.16
$GC,2271,-0.97,-145.9,2264,3622,3951,3972,327.7,-12.8,255,2277,0.00,2.40,0.00,0.000,1158,0.000,0.055,2264,2199,3961,3950,3973,0,0,0,0,0,0,14.39,14.30,14.40
$GC,2597,-0.97,-145.9,2265,2198,3951,3971,370.3,-13.0,270,2602,0.00,2.47,0.00,0.000,260,0.000,0.088,2256,3612,3960,3950,3971,0,0,0,0,0,0,14.64,14.21,14.65
$GC,2714,-1.02,-145.9,2256,3617,3949,3971,384.6,-11.6,293,2720,0.00,2.38,0.00,0.000,1158,0.000,0.056,2256,2202,3959,3949,3970,0,0,0,0,0,0,14.40,14.26,14.40
$GC,3017,-1.02,-145.9,2256,2201,3950,3970,424.0,-12.9,304,3022,0.00,2.50,0.00,0.000,260,0.000,0.087,2249,3624,3959,3949,3970,0,0,0,0,0,0,14.63,14.20,14.64
$GC,3129,-1.05,-145.9,2249,3625,3950,3970,438.2,-12.4,326,3134,0.00,2.40,0.00,0.000,1158,0.000,0.057,2249,2196,3959,3949,3970,0,0,0,0,0,0,14.40,14.28,14.43
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3437,begin apogee
$GC,3442,-0.13,0.0,2249,2065,3949,3968,480.2,-13.6,338,3666,1.10,0.08,219.32,1.427,10246,0.246,0.184,2527,2115,3364,3390,3338,0,0,0,0,0,0,13.97,13.43,12.72
$STATE,3670,end apogee,CONTROL_FINISHED_OK
$STATE,3670,begin climb
$GC,3674,0.57,145.9,2527,2115,3382,3329,491.2,0.0,345,3890,0.75,2.62,204.18,1.372,10756,0.063,0.076,2790,722,2761,2808,2715,0,0,0,0,0,0,13.57,13.01,12.44
$GC,4000,0.20,145.9,2790,722,2795,2712,481.2,15.4,404,4006,0.68,2.50,0.00,0.000,5254,0.317,0.074,2650,2093,2752,2794,2710,0,0,0,0,0,0,13.28,13.53,13.57
$GC,4311,0.07,159.4,2650,2094,2793,2705,451.0,9.4,416,4332,0.15,2.45,13.52,1.610,12964,0.296,0.083,2614,721,2709,2754,2665,0,0,0,0,0,0,13.75,13.95,13.08
$GC,4394,0.10,203.9,2616,721,2750,2661,444.5,7.9,432,4468,0.00,2.42,67.25,1.401,9254,0.000,0.079,2616,2099,2531,2595,2467,0,0,0,0,0,0,14.12,14.01,12.98
$GC,4793,0.11,222.1,2616,2100,2585,2451,408.7,9.2,462,4824,0.00,0.00,24.50,1.494,8230,0.000,0.000,2613,2099,2451,2516,2386,0,0,0,0,0,0,14.40,14.00,13.19
$GC,5123,0.12,236.4,2616,2100,2509,2376,377.9,9.3,473,5148,0.00,2.47,17.20,1.553,8740,0.000,0.084,2616,729,2398,2456,2341,0,0,0,0,0,0,14.49,14.12,13.28
$GC,5205,0.22,258.9,2616,728,2450,2334,370.7,9.0,489,5246,0.10,2.40,33.53,1.452,11430,0.154,0.078,2662,2098,2307,2364,2251,0,0,0,0,0,0,14.16,14.14,13.19
$GC,5545,0.16,258.9,2665,2099,2352,2235,328.3,12.7,507,5546,0.00,0.00,0.00,0.000,134,0.000,0.000,2664,2099,2292,2351,2234,0,0,0,0,0,0,14.47,14.50,14.49
$GC,5843,0.11,258.9,2664,2100,2349,2236,291.9,12.1,517,5848,0.15,2.38,0.00,0.000,4740,0.258,0.080,2634,729,2291,2348,2235,0,0,0,0,0,0,13.96,14.20,14.11
$GC,5913,0.20,280.7,2634,729,2349,2243,285.1,9.0,531,5954,0.00,2.38,32.88,1.403,9382,0.000,0.077,2633,2103,2216,2271,2162,0,0,0,0,0,0,14.39,14.27,13.31
$GC,6266,0.26,305.8,2634,2104,2263,2149,253.3,8.8,551,6305,0.00,0.00,37.50,1.379,8870,0.000,0.000,2634,2103,2121,2178,2064,0,0,0,0,0,0,14.54,14.06,13.28
$GC,6594,0.37,356.6,2634,2104,2158,2049,226.9,7.7,567,6681,0.17,2.55,81.05,1.290,10916,0.106,0.086,2709,724,1907,1948,1867,0,0,0,0,0,0,14.27,13.88,13.16
$GC,6731,0.40,356.6,2709,724,1937,1866,211.3,11.4,594,6736,0.00,2.45,0.00,0.000,1158,0.000,0.076,2709,2106,1901,1937,1865,0,0,0,0,0,0,14.07,13.95,14.12
$GC,7046,0.40,356.6,2709,2107,1935,1860,175.5,10.9,607,7052,0.00,2.42,0.00,0.000,516,0.000,0.086,2709,728,1896,1934,1859,0,0,0,0,0,0,14.48,14.18,14.51
$GC,7117,0.44,357.4,2709,729,1932,1859,168.3,10.0,621,7122,0.00,2.40,0.00,0.000,1190,0.000,0.076,2709,2100,1895,1931,1860,0,0,0,0,0,0,14.35,14.20,14.35
$GC,7437,0.44,360.2,2710,2101,1931,1864,135.9,9.9,635,7438,0.00,0.00,0.00,0.000,38,0.000,0.000,2709,2101,1893,1930,1857,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7737,0.45,379.1,2709,2102,1930,1856,107.7,9.1,645,7774,0.00,2.47,28.88,1.331,8740,0.000,0.085,2709,727,1815,1844,1787,0,0,0,0,0,0,14.59,14.15,13.38
$GC,7836,0.58,413.4,2710,727,1839,1786,99.1,8.4,664,7858,0.17,2.42,18.08,0.509,11430,0.112,0.079,2779,2106,1678,1704,1653,0,0,0,0,0,0,14.18,14.04,13.69
$GC,8164,0.52,413.4,2780,2106,1705,1649,61.5,10.1,699,8170,0.12,2.45,0.00,0.000,4484,0.275,0.080,2752,3511,1676,1703,1649,0,0,0,0,0,0,13.95,14.16,14.11
$GC,8271,0.59,499.9,2752,3512,1704,1650,53.4,6.0,720,8324,0.00,2.35,44.65,0.363,9254,0.000,0.063,2756,2135,1324,1378,1270,0,0,0,0,0,0,14.28,14.17,13.74
$GC,8629,0.78,600.0,2757,2134,1379,1262,33.2,5.4,761,8688,0.22,2.58,51.35,0.300,10916,0.101,0.091,2860,696,919,989,850,0,0,0,0,0,0,14.19,14.09,13.84
$GC,8778,0.83,614.5,2860,690,996,846,17.1,9.3,790,8790,0.00,2.47,8.00,0.269,9382,0.000,0.078,2860,2107,856,929,784,0,0,0,0,0,0,14.26,14.13,13.88
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9015,begin surface coast
$FINISH,0.1,1.012048
$STATE,9043,end surface coast,CONTROL_FINISHED_OK
$STATE,9043,begin surface
$SM_CCo,9108,48.62,0.213,0,0,499,702.78
$SM_GC,1.03,8.12,0.17,48.62,0.080,0.124,0.213,204,2219,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.32,14.29,14.03
$RAFOS_CLK,407
$RAFOS_FIX,7307.903320,-14944.436523,210817,080828,3,255,0.35
$IRIDIUM_FIX,7308.36,-14950.48,210817,090152
$TT8_MAMPS,0.039697,0.873334
$HUMID,48.30
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,54273344
$24V_AH,12.44,102.829
$10V_AH,12.47,0.000
$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,24.850,79.325,881.875,48.625,0.000,0.000,0.000,796.325,3.000,0.000,11.556,0.000,6670.348,930.184,2494.221,334.714,0.000,2478.790,0.000,1171.757,0.000,0.540,0.000
$DEVICE_MAMPS,456.705,2150.415,1609.560,213.435,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9069.000,9114.000,9061.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.580,20.000,10.204,0.000
$MEM,323620
$DATA_FILE_SIZE,26723,818
$CAP_FILE_SIZE,108570,0
$CFSIZE,2097872896,2049605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.2
$CURRENT,0.026,246.70,1
$GPS,210817,114332,7309.587,-14945.812,36,0.8,36,20.8,0.0,0.0,10,9.2