version: 66.13
glider: 196
mission: 14
dive: 139
start: 8 22 117 22 7 35
data:
$ID,196
$MISSION,14
$DIVE,139
$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,23
$R_STBD_OVSHOOT,35
$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,392.0
$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
$GPS1,220817,215530,7320.2695,-15011.1934,17,0.7,19,20.7,0.0,0.0,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.9
$GPS2,220817,220700,7320.3062,-15011.3320,5,0.9,45,20.7,0.4,273.0,10,8.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.8,155704,-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,-145.9,197,2223,498,486,0.0,0.0,0,140,0.00,0.00,-91.90,0.000,16386,0.000,0.000,195,2224,2218,2153,2284,0,0,0,0,0,0,14.49,28.83,14.50
$GC,143,-0.57,-145.9,196,2224,2156,2285,4.6,-7.0,9,196,12.55,2.72,-31.33,0.000,18724,0.457,2.149,2377,3594,3965,3947,3983,0,0,0,0,0,0,13.72,12.57,14.17
$GC,421,-0.57,-145.9,2377,3594,3955,3984,66.3,-16.6,64,428,0.00,2.40,0.00,0.000,1030,0.000,0.060,2377,2198,3968,3954,3983,0,0,0,0,0,0,14.26,14.15,14.30
$GC,748,-0.63,-145.9,2377,2197,3956,3983,111.3,-12.4,91,753,0.00,2.47,0.00,0.000,388,0.000,0.090,2370,3603,3969,3955,3983,0,0,0,0,0,0,14.54,14.19,14.54
$GC,895,-0.79,-145.9,2372,3604,3956,3984,125.9,-9.6,120,902,0.15,2.38,0.00,0.000,5286,0.120,0.055,2311,2195,3969,3955,3983,0,0,0,0,0,0,14.16,14.16,14.28
$GC,1198,-0.79,-145.9,2312,2195,3956,3983,172.6,-15.4,131,1203,0.00,2.45,0.00,0.000,260,0.000,0.088,2306,3595,3969,3955,3983,0,0,0,0,0,0,14.62,14.23,14.63
$GC,1268,-0.87,-145.9,2306,3597,3956,3983,182.4,-12.8,145,1273,0.00,2.35,0.00,0.000,1158,0.000,0.058,2306,2201,3969,3955,3983,0,0,0,0,0,0,14.37,14.25,14.41
$GC,1588,-0.87,-145.9,2306,2200,3956,3983,227.3,-13.4,159,1593,0.00,2.45,0.00,0.000,260,0.000,0.089,2302,3601,3969,3955,3983,0,0,0,0,0,0,14.66,14.25,14.65
$GC,1693,-0.97,-145.9,2303,3602,3956,3983,239.6,-11.1,180,1699,0.00,2.38,0.00,0.000,1158,0.000,0.058,2302,2201,3968,3954,3983,0,0,0,0,0,0,14.40,14.29,14.44
$GC,2009,-1.01,-145.9,2303,2196,3956,3983,276.4,-11.2,193,2014,0.12,2.45,0.00,0.000,4484,0.142,0.087,2240,3595,3969,3955,3983,0,0,0,0,0,0,14.35,14.20,14.39
$GC,2090,-0.98,-145.9,2240,3596,3956,3984,288.1,-14.9,209,2095,0.00,2.38,0.00,0.000,1158,0.000,0.059,2239,2192,3969,3956,3982,0,0,0,0,0,0,14.41,14.30,14.44
$GC,2400,-0.92,-145.9,2241,2191,3955,3980,335.8,-15.1,221,2405,0.15,2.47,0.00,0.000,2436,0.294,0.085,2265,3601,3967,3955,3980,0,0,0,0,0,0,13.94,14.19,14.12
$GC,2540,-0.99,-145.9,2266,3602,3956,3980,352.6,-10.9,249,2545,0.00,2.35,0.00,0.000,1158,0.000,0.058,2265,2199,3967,3955,3980,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2850,-0.99,-145.9,2266,2198,3956,3979,390.1,-12.1,261,2855,0.00,2.45,0.00,0.000,260,0.000,0.088,2255,3595,3967,3955,3979,0,0,0,0,0,0,14.66,14.23,14.68
$GC,2955,-1.04,-145.9,2256,3597,3956,3978,402.6,-11.6,282,2960,0.00,2.35,0.00,0.000,1158,0.000,0.057,2255,2199,3967,3955,3979,0,0,0,0,0,0,14.41,14.30,14.46
$GC,3270,-1.04,-145.9,2256,2198,3956,3978,442.0,-12.5,295,3275,0.00,2.45,0.00,0.000,260,0.000,0.088,2249,3595,3966,3955,3978,0,0,0,0,0,0,14.67,14.26,14.69
$GC,3365,-1.09,-145.9,2250,3597,3956,3978,453.6,-11.7,314,3370,0.00,2.35,0.00,0.000,1158,0.000,0.057,2249,2199,3966,3955,3978,0,0,0,0,0,0,14.42,14.29,14.45
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3604,-0.13,0.0,2250,2055,3956,3978,483.6,-12.8,326,3822,1.10,0.05,214.20,1.449,10246,0.244,0.219,2530,2087,3364,3395,3334,0,0,0,0,0,0,13.98,13.40,12.71
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3830,0.57,145.9,2530,2087,3393,3330,494.1,0.0,333,4222,0.75,2.00,207.38,1.393,10756,0.065,0.078,2792,723,2757,2806,2708,0,0,0,0,0,0,13.58,13.16,12.41
$GC,4227,0.57,145.9,2792,724,2805,2709,470.9,6.0,336,4232,0.00,2.50,0.00,0.000,1030,0.000,0.075,2796,2105,2755,2804,2707,0,0,0,0,0,0,13.76,13.66,13.80
$GC,4543,0.16,145.9,2792,2106,2802,2705,418.4,16.6,349,4548,0.68,2.47,0.00,0.000,4484,0.326,0.076,2642,3513,2752,2800,2704,0,0,0,0,0,0,13.68,14.03,13.92
$GC,4583,-0.00,145.9,2638,3516,2801,2705,413.2,11.4,357,4589,0.28,2.35,0.00,0.000,5254,0.280,0.057,2588,2134,2751,2800,2703,0,0,0,0,0,0,13.82,14.08,14.12
$GC,4904,0.06,227.4,2589,2132,2801,2703,392.2,6.2,371,5031,0.00,2.67,117.93,1.356,8740,0.000,0.087,2589,691,2432,2500,2365,0,0,0,0,0,0,14.55,13.74,13.02
$GC,5103,0.22,289.6,2589,692,2494,2369,378.5,7.1,410,5203,0.20,2.53,93.72,1.333,11430,0.102,0.080,2672,2103,2185,2250,2120,0,0,0,0,0,0,13.95,13.88,12.82
$GC,5510,0.18,289.6,2670,2104,2236,2104,327.4,12.7,441,5515,0.00,2.53,0.00,0.000,644,0.000,0.087,2672,690,2169,2236,2102,0,0,0,0,0,0,14.33,13.99,14.34
$GC,5545,0.18,289.6,2672,691,2233,2104,322.9,12.7,448,5550,0.15,2.50,0.00,0.000,5126,0.239,0.078,2640,2106,2168,2234,2102,0,0,0,0,0,0,13.81,13.93,14.04
$GC,5871,0.21,291.7,2642,2105,2234,2101,290.0,9.9,463,5876,0.00,2.47,0.00,0.000,676,0.000,0.086,2644,694,2168,2232,2105,0,0,0,0,0,0,14.54,14.21,14.55
$GC,5901,0.27,295.7,2644,695,2230,2102,287.0,9.8,469,5906,0.00,2.45,0.00,0.000,1190,0.000,0.079,2644,2101,2165,2230,2101,0,0,0,0,0,0,14.35,14.23,14.38
$GC,6231,0.31,314.8,2644,2102,2231,2102,255.2,9.1,485,6272,0.12,0.00,36.70,1.380,10918,0.133,0.000,2697,2102,2077,2135,2019,0,0,0,0,0,0,14.37,13.87,13.29
$GC,6592,0.27,314.8,2698,2102,2128,2013,212.6,11.4,502,6598,0.00,2.47,0.00,0.000,644,0.000,0.086,2698,691,2070,2126,2014,0,0,0,0,0,0,14.57,14.18,14.55
$GC,6668,0.27,314.8,2699,692,2125,2015,204.5,10.3,517,6673,0.00,2.45,0.00,0.000,1030,0.000,0.078,2699,2103,2069,2125,2014,0,0,0,0,0,0,14.36,14.24,14.42
$GC,6985,0.24,314.8,2700,2106,2125,2012,171.5,10.2,530,6991,0.12,2.50,0.00,0.000,4740,0.232,0.083,2672,687,2068,2124,2012,0,0,0,0,0,0,14.04,14.04,14.15
$GC,7037,0.37,363.3,2673,686,2123,2012,167.2,7.8,540,7126,0.00,2.47,80.32,1.283,9382,0.000,0.079,2672,2103,1882,1925,1840,0,0,0,0,0,0,14.26,14.14,13.19
$GC,7437,0.50,417.8,2672,2104,1916,1833,135.2,7.5,570,7542,0.20,2.62,95.45,1.219,10916,0.104,0.087,2768,694,1654,1688,1621,0,0,0,0,0,0,14.09,13.76,13.08
$GC,7604,0.50,417.8,2768,695,1682,1620,112.8,13.5,603,7609,0.00,2.55,0.00,0.000,1030,0.000,0.077,2768,2106,1653,1681,1625,0,0,0,0,0,0,13.95,13.79,13.95
$GC,7911,0.47,417.8,2768,2108,1681,1612,74.0,11.9,629,7916,0.12,2.50,0.00,0.000,4740,0.275,0.082,2747,694,1646,1681,1611,0,0,0,0,0,0,13.83,14.02,13.98
$GC,7962,0.57,442.7,2748,695,1679,1612,69.1,8.9,639,7978,0.00,2.50,11.75,0.409,9382,0.000,0.078,2754,2108,1561,1599,1524,0,0,0,0,0,0,14.16,14.04,13.67
$GC,8283,0.69,535.5,2749,2109,1599,1521,46.3,5.7,673,8337,0.15,2.60,47.83,0.341,10916,0.117,0.088,2811,692,1182,1247,1118,0,0,0,0,0,0,14.06,14.01,13.73
$GC,8427,0.78,560.7,2812,693,1246,1118,33.3,8.8,701,8449,0.00,2.50,13.65,0.312,9382,0.000,0.077,2811,2108,1077,1147,1007,0,0,0,0,0,0,14.14,14.01,13.72
$GC,8748,0.97,679.6,2818,2107,1148,1010,12.3,4.5,735,8815,0.22,2.60,62.28,0.242,10916,0.096,0.087,2903,691,593,639,548,0,0,0,0,0,0,14.02,13.90,13.85
$GC,8830,0.97,679.6,2903,692,635,548,5.4,10.5,750,8836,0.00,2.50,0.00,0.000,1030,0.000,0.077,2903,2100,590,634,547,0,0,0,0,0,0,14.07,13.97,14.09
$STATE,8869,end climb,SURFACE_DEPTH_REACHED
$STATE,8869,begin surface coast
$FINISH,0.2,1.020587
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8900,12.60,0.219,0,0,498,702.78
$SM_GC,2.14,8.27,0.17,12.60,0.073,0.116,0.219,198,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.14,14.15,13.89
$RAFOS_CLK,104
$RAFOS_FIX,7318.028320,-15010.394531,220817,202021,2,255,0.86
$IRIDIUM_FIX,7319.48,-15011.59,220817,191401
$TT8_MAMPS,0.08988,0.89131
$HUMID,43.66
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,15995830272.000000
$PM_FREEKB_00,53877824
$24V_AH,12.41,109.222
$10V_AH,12.31,0.000
$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,25.350,94.000,981.200,12.600,0.000,0.000,0.000,378.800,4.750,0.000,47.153,0.000,6096.646,873.105,2353.032,294.470,0.000,2302.036,0.000,1083.693,2134.000,0.539,0.000
$DEVICE_MAMPS,456.705,2148.885,1448.910,218.790,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8907.000,8894.000,8853.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.522,20.000,9.878,0.000
$MEM,323416
$DATA_FILE_SIZE,26713,756
$CAP_FILE_SIZE,103414,0
$CFSIZE,2097872896,2045411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.015,310.14,1
$GPS,230817,003724,7321.432,-15013.220,19,1.1,32,20.7,0.0,94.2,9,9.6