version: 66.13
glider: 196
mission: 14
dive: 151
start: 8 24 117 8 35 51
data:
$ID,196
$MISSION,14
$DIVE,151
$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,24
$R_STBD_OVSHOOT,27
$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,424.0
$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
$GPS1,240817,081330,7333.3506,-15046.1943,40,0.7,44,20.5,0.8,191.8,11,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.9
$GPS2,240817,083518,7333.2422,-15046.4922,5,0.8,30,20.5,0.4,156.7,9,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.7,126550,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,188,2212,497,486,0.0,0.0,0,141,0.00,0.00,-90.80,0.000,16386,0.000,0.000,187,2212,2184,2109,2260,0,0,0,0,0,0,14.34,28.83,14.36
$GC,144,-0.57,-145.9,188,2213,2117,2262,4.3,-6.3,9,198,12.80,2.75,-33.38,0.000,18724,0.461,2.144,2376,3601,3963,3948,3978,0,0,0,0,0,0,13.64,12.63,14.08
$GC,289,-0.61,-145.9,2377,3601,3955,3981,39.9,-17.6,37,294,0.00,2.38,0.00,0.000,1158,0.000,0.060,2377,2198,3967,3954,3981,0,0,0,0,0,0,14.14,14.02,14.16
$GC,599,-0.65,-145.9,2376,2196,3956,3981,94.9,-13.6,69,604,0.00,2.50,0.00,0.000,388,0.000,0.086,2365,3608,3965,3950,3981,0,0,0,0,0,0,14.51,14.10,14.50
$GC,674,-0.80,-145.9,2365,3606,3952,3982,103.8,-10.3,84,680,0.15,2.38,0.00,0.000,5254,0.121,0.056,2308,2196,3967,3954,3981,0,0,0,0,0,0,14.23,14.21,14.33
$GC,990,-0.80,-145.9,2308,2196,3956,3982,155.7,-15.7,97,995,0.00,2.47,0.00,0.000,260,0.000,0.089,2305,3606,3968,3955,3981,0,0,0,0,0,0,14.60,14.20,14.62
$GC,1065,-0.89,-145.9,2306,3608,3955,3982,166.1,-12.7,112,1071,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2199,3968,3955,3981,0,0,0,0,0,0,14.34,14.23,14.38
$GC,1381,-0.89,-145.9,2306,2199,3956,3982,210.9,-13.8,125,1386,0.00,2.45,0.00,0.000,260,0.000,0.087,2298,3604,3968,3955,3981,0,0,0,0,0,0,14.63,14.20,14.64
$GC,1476,-1.00,-145.9,2298,3606,3956,3981,222.4,-11.2,144,1482,0.15,2.38,0.00,0.000,5254,0.118,0.059,2242,2200,3968,3955,3981,0,0,0,0,0,0,14.31,14.26,14.41
$GC,1802,-0.92,-145.9,2242,2199,3956,3982,279.1,-16.5,159,1808,0.12,2.45,0.00,0.000,2436,0.301,0.084,2261,3603,3968,3955,3981,0,0,0,0,0,0,13.96,14.23,14.14
$GC,1878,-0.96,-145.9,2262,3604,3956,3981,289.6,-12.8,174,1883,0.00,2.38,0.00,0.000,1158,0.000,0.058,2262,2202,3968,3955,3981,0,0,0,0,0,0,14.39,14.28,14.44
$GC,2193,-0.96,-145.9,2262,2202,3955,3981,331.6,-13.1,187,2198,0.00,2.45,0.00,0.000,260,0.000,0.088,2252,3605,3967,3955,3980,0,0,0,0,0,0,14.65,14.24,14.65
$GC,2278,-1.00,-145.9,2253,3606,3956,3980,342.5,-12.2,204,2285,0.00,2.38,0.00,0.000,1158,0.000,0.059,2253,2197,3968,3955,3981,0,0,0,0,0,0,14.37,14.24,14.40
$GC,2583,-1.00,-145.9,2253,2197,3955,3980,382.1,-12.9,215,2588,0.00,2.47,0.00,0.000,260,0.000,0.088,2243,3607,3967,3954,3980,0,0,0,0,0,0,14.66,14.23,14.66
$GC,2668,-1.03,-145.9,2244,3608,3955,3980,393.0,-12.4,232,2675,0.00,2.38,0.00,0.000,1158,0.000,0.059,2244,2201,3967,3954,3980,0,0,0,0,0,0,14.37,14.24,14.40
$GC,2973,-1.01,-145.9,2243,2199,3955,3980,433.4,-13.1,243,2978,0.00,2.47,0.00,0.000,388,0.000,0.088,2236,3616,3967,3954,3980,0,0,0,0,0,0,14.65,14.23,14.68
$GC,3048,-1.04,-145.9,2237,3616,3954,3980,443.1,-12.4,258,3053,0.00,2.40,0.00,0.000,1158,0.000,0.058,2236,2191,3966,3953,3979,0,0,0,0,0,0,14.41,14.28,14.45
$STATE,3331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3331,begin apogee
$GC,3337,-0.13,0.0,2237,2066,3954,3980,481.4,-13.4,270,3555,1.15,0.05,214.25,1.447,10246,0.247,0.223,2526,2096,3362,3383,3341,0,0,0,0,0,0,13.99,13.38,12.69
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3563,0.57,145.9,2529,2097,3380,3336,492.0,0.0,277,3779,0.75,0.00,204.18,1.388,10758,0.063,0.000,2782,2096,2763,2807,2719,0,0,0,0,0,0,13.57,13.14,12.41
$GC,4054,0.17,145.9,2782,2097,2796,2714,452.8,16.4,324,4059,0.62,2.45,0.00,0.000,4740,0.327,0.080,2655,726,2754,2795,2714,0,0,0,0,0,0,13.49,13.83,13.71
$GC,4146,0.07,160.5,2656,727,2797,2713,443.1,9.3,342,4171,0.22,2.45,16.73,1.536,13478,0.285,0.080,2609,2104,2707,2752,2663,0,0,0,0,0,0,13.69,13.90,13.01
$GC,4478,0.06,208.1,2609,2102,2748,2658,416.6,7.8,358,4556,0.00,2.47,71.10,1.404,8868,0.000,0.085,2615,725,2510,2568,2452,0,0,0,0,0,0,14.48,13.86,13.08
$GC,4598,0.12,235.6,2616,726,2569,2452,406.6,8.7,382,4642,0.00,2.42,38.60,1.427,9382,0.000,0.079,2616,2096,2404,2462,2347,0,0,0,0,0,0,14.00,13.90,12.98
$GC,4959,0.15,251.4,2616,2097,2452,2335,373.3,9.3,404,4981,0.00,0.00,21.10,1.486,8358,0.000,0.000,2616,2096,2343,2396,2290,0,0,0,0,0,0,14.43,13.97,13.19
$GC,5257,0.20,269.5,2616,2097,2387,2280,345.6,9.2,414,5289,0.00,2.50,26.55,1.472,8868,0.000,0.086,2616,721,2265,2317,2213,0,0,0,0,0,0,14.52,14.10,13.25
$GC,5330,0.33,293.0,2616,722,2310,2212,339.1,8.9,428,5370,0.22,2.42,35.72,1.414,11430,0.092,0.079,2700,2101,2172,2220,2124,0,0,0,0,0,0,14.19,14.12,13.15
$GC,5683,0.24,293.0,2700,2101,2211,2109,287.6,14.6,448,5688,0.15,2.40,0.00,0.000,4740,0.238,0.082,2672,726,2159,2210,2109,0,0,0,0,0,0,14.03,14.19,14.17
$GC,5718,0.24,293.0,2672,726,2209,2111,282.9,11.9,455,5723,0.00,2.40,0.00,0.000,1030,0.000,0.079,2672,2099,2159,2209,2109,0,0,0,0,0,0,14.26,14.14,14.31
$GC,6043,0.22,293.0,2674,2101,2210,2107,246.7,10.7,470,6048,0.00,2.40,0.00,0.000,644,0.000,0.086,2672,718,2158,2209,2107,0,0,0,0,0,0,14.61,14.14,14.62
$GC,6094,0.26,298.1,2672,718,2208,2107,241.6,9.8,480,6098,0.00,2.40,0.00,0.000,1190,0.000,0.080,2672,2101,2156,2206,2107,0,0,0,0,0,0,14.40,14.28,14.44
$GC,6404,0.27,318.4,2673,2101,2208,2106,212.6,9.1,492,6449,0.00,2.42,39.50,1.375,8740,0.000,0.083,2673,719,2064,2112,2016,0,0,0,0,0,0,14.64,14.10,13.37
$GC,6501,0.38,351.7,2673,719,2103,2017,204.2,8.5,511,6561,0.00,2.42,55.17,1.310,9382,0.000,0.079,2672,2107,1929,1972,1887,0,0,0,0,0,0,14.29,14.14,13.18
$GC,6886,0.47,385.7,2673,2107,1958,1878,171.5,8.4,538,6948,0.15,2.47,54.75,1.287,10916,0.125,0.084,2751,717,1788,1814,1763,0,0,0,0,0,0,14.16,13.78,13.22
$GC,6970,0.41,385.7,2752,717,1813,1763,161.1,14.0,554,6976,0.15,2.45,0.00,0.000,5254,0.246,0.078,2720,2101,1785,1809,1762,0,0,0,0,0,0,13.85,13.98,14.06
$GC,7281,0.41,385.7,2721,2103,1808,1760,126.6,10.5,566,7286,0.00,2.42,0.00,0.000,516,0.000,0.085,2727,724,1779,1807,1752,0,0,0,0,0,0,14.50,14.16,14.52
$GC,7347,0.46,390.8,2727,724,1807,1751,120.0,9.8,579,7351,0.00,2.40,0.00,0.000,1190,0.000,0.077,2727,2104,1778,1805,1752,0,0,0,0,0,0,14.31,14.19,14.33
$GC,7652,0.47,407.4,2727,2106,1806,1751,90.3,9.2,600,7668,0.00,2.42,10.30,0.478,8740,0.000,0.083,2729,723,1706,1732,1680,0,0,0,0,0,0,14.57,14.02,13.69
$GC,7693,0.55,432.8,2729,723,1731,1680,86.6,8.8,608,7716,0.00,2.40,14.90,0.465,9382,0.000,0.079,2729,2103,1597,1625,1570,0,0,0,0,0,0,14.25,14.13,13.66
$GC,8013,0.69,511.8,2729,2101,1625,1566,61.3,6.4,642,8056,0.22,0.00,41.10,0.389,10406,0.096,0.000,2812,2100,1274,1326,1223,0,0,0,0,0,0,14.31,14.09,13.72
$GC,8353,0.70,526.6,2813,2100,1327,1215,28.8,9.3,676,8364,0.00,0.00,7.40,0.307,8230,0.000,0.000,2812,2097,1217,1276,1159,0,0,0,0,0,0,14.54,14.10,13.78
$GC,8663,0.89,695.3,2812,2101,1277,1158,10.2,2.2,707,8762,0.15,2.53,90.32,0.233,10660,0.118,0.078,2883,3511,531,560,502,0,0,0,0,0,0,14.30,14.07,13.88
$GC,8779,0.89,695.3,2883,3512,562,505,2.1,11.6,728,8784,0.00,2.38,0.00,0.000,1030,0.000,0.065,2888,2129,532,561,504,0,0,0,0,0,0,14.22,14.08,14.28
$STATE,8786,end climb,SURFACE_DEPTH_REACHED
$STATE,8786,begin surface coast
$FINISH,0.0,1.009418
$STATE,8797,end surface coast,CONTROL_FINISHED_OK
$STATE,8797,begin surface
$SM_CCo,8817,13.95,0.190,0,0,497,702.78
$SM_GC,1.26,8.20,0.12,13.95,0.077,0.151,0.190,204,2207,497,-7.37,-0.82,702.78,0,0,0,0,0,0,14.27,14.19,14.00
$RAFOS_CLK,393
$RAFOS_FIX,7332.196777,-15037.294922,240817,040412,3,255,0.40
$IRIDIUM_FIX,7333.20,-15046.40,240817,082810
$TT8_MAMPS,0.040446,0.847119
$HUMID,46.53
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,20
$CP_FREE,15993864192.000000
$PM_FREEKB_00,53508736
$24V_AH,12.41,115.005
$10V_AH,12.45,0.000
$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,25.225,88.025,941.675,13.950,0.000,0.000,0.000,822.050,5.000,0.000,31.356,0.000,6495.376,957.425,2378.159,321.853,0.000,2500.899,0.000,1048.859,0.000,0.539,0.000
$DEVICE_MAMPS,461.295,2144.295,1536.120,189.720,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8824.000,8821.000,8770.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.747,20.000,9.939,0.000
$MEM,323452
$DATA_FILE_SIZE,26728,731
$CAP_FILE_SIZE,110433,0
$CFSIZE,2097872896,2041577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.054,269.83,1
$GPS,240817,110428,7334.348,-15049.812,38,0.8,40,20.5,0.4,251.1,11,7.7