version: 66.13
glider: 196
mission: 14
dive: 133
start: 8 22 117 5 16 55
data:
$ID,196
$MISSION,14
$DIVE,133
$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,36
$R_STBD_OVSHOOT,55
$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,376.0
$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
$GPS1,220817,050407,7314.2310,-14959.9395,16,0.7,18,20.8,0.5,68.1,12,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.5
$GPS2,220817,051620,7314.2241,-14959.5586,5,0.7,37,20.8,0.9,116.9,11,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.0,167783,-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,-145.9,192,2188,513,481,0.0,0.0,0,130,0.00,0.00,-81.38,0.000,16386,0.000,0.000,190,2189,1976,1903,2050,0,0,0,0,0,0,14.45,28.83,14.47
$GC,133,-0.57,-145.9,191,2189,1905,2052,3.2,-3.6,8,197,12.57,2.75,-40.60,0.000,19236,0.456,2.143,2393,802,3964,3949,3980,0,0,0,0,0,0,13.71,12.57,14.17
$GC,332,-0.62,-145.9,2387,801,3955,3979,49.9,-17.1,47,339,0.00,2.42,0.00,0.000,1158,0.000,0.087,2379,2165,3966,3954,3979,0,0,0,0,0,0,14.21,14.09,14.24
$GC,639,-0.65,-145.9,2380,2165,3956,3979,100.1,-13.1,78,644,0.00,2.55,0.00,0.000,388,0.000,0.091,2371,3614,3967,3955,3979,0,0,0,0,0,0,14.53,14.16,14.51
$GC,819,-0.81,-145.9,2372,3614,3957,3979,119.8,-10.2,114,824,0.17,2.38,0.00,0.000,5254,0.111,0.054,2300,2208,3967,3955,3979,0,0,0,0,0,0,14.23,14.22,14.28
$GC,1150,-0.76,-145.9,2301,2208,3956,3980,176.5,-16.7,130,1155,0.12,2.47,0.00,0.000,2436,0.285,0.086,2319,3616,3967,3955,3979,0,0,0,0,0,0,14.01,14.20,14.16
$GC,1247,-0.87,-145.9,2320,3617,3956,3979,188.9,-11.6,149,1251,0.00,2.38,0.00,0.000,1158,0.000,0.056,2319,2201,3967,3955,3979,0,0,0,0,0,0,14.40,14.29,14.42
$GC,1572,-0.91,-145.9,2320,2201,3956,3980,231.2,-12.4,164,1576,0.00,2.47,0.00,0.000,388,0.000,0.092,2319,3613,3967,3955,3979,0,0,0,0,0,0,14.62,14.21,14.62
$GC,1626,-1.05,-145.9,2319,3614,3955,3980,237.2,-10.1,175,1634,0.25,2.38,0.00,0.000,5254,0.096,0.057,2230,2201,3967,3955,3979,0,0,0,0,0,0,14.30,14.26,14.39
$GC,1932,-0.93,-145.9,2230,2199,3956,3982,292.5,-17.8,186,1937,0.17,2.47,0.00,0.000,2436,0.298,0.085,2261,3612,3966,3955,3978,0,0,0,0,0,0,13.93,14.21,14.13
$GC,2082,-0.95,-145.9,2261,3615,3956,3978,313.0,-12.6,216,2087,0.00,2.40,0.00,0.000,1158,0.000,0.056,2259,2195,3966,3955,3978,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2412,-0.93,-145.9,2267,2195,3953,3977,356.6,-13.0,232,2417,0.00,2.47,0.00,0.000,388,0.000,0.089,2252,3613,3966,3955,3977,0,0,0,0,0,0,14.64,14.25,14.66
$GC,2529,-0.96,-145.9,2252,3613,3957,3976,371.1,-12.1,255,2536,0.00,2.40,0.00,0.000,1158,0.000,0.056,2253,2194,3965,3955,3976,0,0,0,0,0,0,14.39,14.28,14.42
$GC,2833,-0.93,-145.9,2253,2194,3957,3974,411.6,-13.2,266,2837,0.00,2.50,0.00,0.000,388,0.000,0.088,2246,3620,3969,3963,3975,0,0,0,0,0,0,14.65,14.22,14.67
$GC,2977,-0.95,-145.9,2246,3621,3956,3976,430.4,-12.7,295,2984,0.00,2.40,0.00,0.000,1158,0.000,0.056,2247,2195,3965,3955,3975,0,0,0,0,0,0,14.32,14.21,14.35
$GC,3283,-0.93,-145.9,2247,2195,3957,3974,471.7,-13.5,306,3288,0.12,2.50,0.00,0.000,2436,0.289,0.086,2267,3615,3965,3955,3975,0,0,0,0,0,0,14.00,14.21,14.16
$STATE,3356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3356,begin apogee
$GC,3364,-0.13,0.0,2267,2106,3956,3975,480.4,-10.5,321,3599,1.00,0.00,231.15,1.401,10246,0.223,0.000,2528,2102,3360,3390,3330,0,0,0,0,0,0,13.84,13.45,12.69
$STATE,3603,end apogee,CONTROL_FINISHED_OK
$STATE,3603,begin climb
$GC,3606,0.57,145.9,2530,2104,3389,3325,492.9,0.0,329,3828,0.75,1.88,207.77,1.377,11012,0.067,0.075,2780,3506,2755,2806,2704,0,0,0,0,0,0,13.54,13.16,12.42
$GC,3958,0.13,145.9,2780,3506,2793,2707,475.5,17.4,357,3963,0.80,2.50,0.00,0.000,5254,0.353,0.059,2630,2099,2749,2791,2707,0,0,0,0,0,0,13.27,13.57,13.62
$GC,4269,0.05,176.4,2629,2099,2792,2705,447.2,8.6,369,4318,0.00,2.58,42.10,1.442,8868,0.000,0.083,2639,690,2637,2690,2585,0,0,0,0,0,0,14.31,13.82,13.07
$GC,4391,0.02,188.6,2639,691,2683,2578,436.1,9.4,393,4410,0.22,2.53,12.80,1.599,13478,0.250,0.079,2590,2105,2595,2657,2533,0,0,0,0,0,0,13.69,13.85,13.05
$GC,4722,0.10,249.8,2590,2106,2652,2514,411.7,7.2,409,4822,0.00,0.00,98.22,1.365,8358,0.000,0.000,2590,2105,2344,2408,2281,0,0,0,0,0,0,14.45,13.80,13.04
$GC,5110,0.23,308.4,2590,2106,2391,2261,383.1,7.3,422,5203,0.20,0.00,91.32,1.329,10406,0.102,0.000,2672,2105,2109,2168,2051,0,0,0,0,0,0,14.18,13.76,13.04
$GC,5500,0.20,308.4,2672,2106,2149,2034,332.6,13.4,435,5506,0.00,2.50,0.00,0.000,644,0.000,0.090,2672,691,2091,2149,2033,0,0,0,0,0,0,14.40,14.09,14.42
$GC,5571,0.22,308.4,2672,691,2146,2033,323.4,12.6,449,5576,0.00,2.47,0.00,0.000,1158,0.000,0.079,2672,2105,2088,2144,2033,0,0,0,0,0,0,14.21,14.11,14.26
$GC,5891,0.22,308.4,2673,2107,2145,2031,283.4,12.1,463,5896,0.00,2.47,0.00,0.000,516,0.000,0.088,2672,692,2087,2144,2031,0,0,0,0,0,0,14.56,14.12,14.57
$GC,5932,0.25,308.4,2672,694,2142,2032,278.6,11.5,471,5937,0.00,2.45,0.00,0.000,1158,0.000,0.079,2673,2105,2086,2142,2031,0,0,0,0,0,0,14.38,14.26,14.42
$GC,6253,0.25,308.4,2672,2105,2142,2032,241.9,11.0,485,6257,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,691,2086,2142,2030,0,0,0,0,0,0,14.64,14.25,14.64
$GC,6338,0.29,308.9,2673,692,2141,2031,233.4,10.0,502,6344,0.00,2.42,0.00,0.000,1190,0.000,0.078,2673,2100,2084,2139,2030,0,0,0,0,0,0,14.40,14.26,14.42
$GC,6643,0.31,325.6,2673,2102,2141,2032,203.9,9.2,513,6674,0.00,2.53,23.23,1.411,8740,0.000,0.086,2673,687,2030,2082,1979,0,0,0,0,0,0,14.62,14.19,13.38
$GC,6704,0.40,350.2,2673,686,2075,1978,198.4,8.9,525,6753,0.12,2.47,40.92,1.330,11430,0.140,0.079,2726,2106,1933,1980,1887,0,0,0,0,0,0,14.22,14.19,13.24
$GC,7064,0.35,350.2,2727,2106,1962,1879,155.2,11.7,547,7070,0.12,2.47,0.00,0.000,4740,0.242,0.083,2696,692,1919,1960,1879,0,0,0,0,0,0,14.04,14.15,14.20
$GC,7120,0.43,373.1,2699,692,1958,1879,149.8,8.9,558,7161,0.00,2.45,36.08,1.319,9382,0.000,0.076,2699,2103,1841,1874,1809,0,0,0,0,0,0,14.19,14.07,13.30
$GC,7489,0.49,400.1,2699,2104,1865,1794,116.8,8.8,581,7537,0.12,2.50,42.95,1.288,10916,0.132,0.084,2768,693,1730,1759,1701,0,0,0,0,0,0,14.20,13.85,13.35
$GC,7569,0.45,400.1,2769,693,1750,1699,107.3,12.9,597,7574,0.17,2.47,0.00,0.000,5254,0.236,0.080,2729,2098,1723,1749,1697,0,0,0,0,0,0,13.92,14.05,14.14
$GC,7880,0.51,422.1,2729,2100,1750,1689,77.2,9.0,625,7896,0.00,2.47,10.70,0.415,8612,0.000,0.080,2729,3515,1642,1676,1608,0,0,0,0,0,0,14.49,14.02,13.73
$GC,7957,0.61,447.8,2729,3516,1679,1619,70.2,8.8,640,7979,0.12,2.45,15.68,0.404,11430,0.125,0.067,2785,2101,1536,1572,1501,0,0,0,0,0,0,14.23,14.11,13.76
$GC,8284,0.66,525.5,2785,2102,1576,1506,43.8,6.4,675,8332,0.00,2.47,42.35,0.332,8484,0.000,0.076,2785,3513,1221,1283,1160,0,0,0,0,0,0,14.52,14.07,13.84
$GC,8367,0.74,552.2,2786,3514,1284,1166,37.6,8.8,691,8389,0.00,2.45,15.45,0.311,9382,0.000,0.067,2786,2096,1114,1181,1047,0,0,0,0,0,0,14.23,14.12,13.83
$GC,8687,0.98,657.8,2786,2096,1181,1052,15.5,5.1,725,8752,0.30,2.50,58.05,0.247,10916,0.087,0.088,2903,687,681,743,619,0,0,0,0,0,0,14.23,14.02,13.87
$STATE,8835,end climb,SURFACE_DEPTH_REACHED
$STATE,8835,begin surface coast
$FINISH,0.2,1.020569
$STATE,8855,end surface coast,CONTROL_FINISHED_OK
$STATE,8855,begin surface
$SM_CCo,8878,26.00,0.214,0,0,498,703.03
$SM_GC,0.91,8.27,2.67,26.00,0.081,0.071,0.214,201,2203,498,-7.39,-0.51,703.03,0,0,0,0,0,0,14.26,14.21,14.01
$RAFOS_CLK,400
$RAFOS_FIX,7312.612305,-15000.722656,220817,040419,4,255,0.30
$IRIDIUM_FIX,7314.61,-14955.88,220817,022432
$TT8_MAMPS,0.039697,0.930258
$HUMID,46.73
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15996813312.000000
$PM_FREEKB_00,54056000
$24V_AH,12.42,106.327
$10V_AH,12.28,0.000
$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,25.650,93.800,968.775,26.000,0.000,0.000,0.000,427.900,3.000,0.000,39.066,0.000,6211.625,922.326,2220.280,297.252,0.000,2202.075,0.000,1086.529,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2142.765,1598.850,214.200,0.000,0.000,0.000,187.425,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8885.000,8874.000,8831.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.654,20.000,10.056,0.000
$MEM,323552
$DATA_FILE_SIZE,26735,758
$CAP_FILE_SIZE,103307,0
$CFSIZE,2097872896,2047311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.018,142.68,1
$GPS,220817,074627,7315.173,-15001.562,18,0.8,23,20.8,0.0,0.0,10,8.7