version: 66.13
glider: 196
mission: 14
dive: 170
start: 8 26 117 17 30 25
data:
$ID,196
$MISSION,14
$DIVE,170
$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,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,48
$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,478.0
$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
$GPS1,260817,170932,7352.4785,-15146.0947,40,0.7,42,20.1,0.2,291.8,11,8.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.1
$GPS2,260817,172951,7352.4731,-15146.1230,5,0.7,12,20.1,0.0,0.0,12,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,286.7,80954,-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,-145.9,192,2221,511,486,0.0,0.0,0,140,0.00,0.00,-91.95,0.000,16386,0.000,0.000,190,2221,2218,2147,2290,0,0,0,0,0,0,14.54,28.83,14.56
$GC,143,-0.57,-145.9,191,2222,2151,2293,4.7,-7.2,9,196,12.57,2.78,-31.38,0.000,18724,0.455,2.153,2382,3592,3961,3942,3981,0,0,0,0,0,0,13.69,12.64,14.16
$GC,361,-0.69,-145.9,2377,3593,3948,3984,53.8,-14.5,52,368,0.00,2.40,0.00,0.000,1158,0.000,0.062,2377,2198,3965,3947,3984,0,0,0,0,0,0,14.25,14.14,14.30
$GC,666,-0.76,-145.9,2377,2199,3949,3984,100.3,-12.0,83,668,0.15,0.00,0.00,0.000,4230,0.143,0.000,2327,2197,3966,3949,3983,0,0,0,0,0,0,14.16,14.28,14.25
$GC,966,-0.78,-145.9,2327,2199,3949,3984,144.2,-14.0,93,971,0.00,2.47,0.00,0.000,388,0.000,0.090,2319,3600,3965,3948,3983,0,0,0,0,0,0,14.62,14.19,14.63
$GC,1046,-0.89,-145.9,2319,3601,3950,3984,154.2,-11.6,109,1051,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2199,3966,3949,3983,0,0,0,0,0,0,13.91,13.93,13.93
$GC,1357,-0.94,-145.9,2320,2199,3949,3985,193.0,-12.1,121,1362,0.12,2.45,0.00,0.000,4484,0.143,0.087,2256,3595,3966,3949,3983,0,0,0,0,0,0,14.23,14.15,14.27
$GC,1427,-0.94,-145.9,2256,3596,3949,3984,203.9,-15.7,135,1432,0.00,2.38,0.00,0.000,1030,0.000,0.060,2255,2194,3966,3949,3983,0,0,0,0,0,0,14.40,14.26,14.42
$GC,1747,-0.89,-145.9,2256,2193,3950,3984,257.3,-15.9,149,1752,0.12,2.47,0.00,0.000,2436,0.304,0.086,2274,3601,3966,3949,3983,0,0,0,0,0,0,13.89,14.16,14.05
$GC,1817,-0.98,-145.9,2275,3603,3950,3982,266.2,-11.3,163,1822,0.00,2.38,0.00,0.000,1158,0.000,0.059,2274,2198,3966,3949,3983,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2138,-1.01,-145.9,2279,2197,3955,3983,304.8,-11.9,177,2143,0.00,2.45,0.00,0.000,388,0.000,0.090,2267,3594,3966,3949,3983,0,0,0,0,0,0,14.66,14.21,14.68
$GC,2228,-1.11,-145.9,2267,3595,3950,3983,314.8,-10.5,195,2233,0.15,2.35,0.00,0.000,5254,0.131,0.059,2211,2198,3966,3949,3983,0,0,0,0,0,0,14.26,14.24,14.35
$GC,2558,-1.03,-145.9,2212,2198,3950,3983,367.9,-16.2,211,2563,0.12,2.45,0.00,0.000,2436,0.308,0.087,2235,3595,3965,3949,3982,0,0,0,0,0,0,13.95,14.21,14.13
$GC,2650,-1.06,-145.9,2236,3596,3950,3982,380.1,-12.6,229,2655,0.00,2.35,0.00,0.000,1158,0.000,0.059,2235,2201,3964,3946,3982,0,0,0,0,0,0,14.38,14.23,14.42
$GC,2981,-1.03,-145.9,2236,2200,3951,3981,425.5,-13.5,245,2985,0.00,2.47,0.00,0.000,388,0.000,0.090,2236,3600,3965,3949,3982,0,0,0,0,0,0,14.65,14.15,14.67
$GC,3081,-1.08,-145.9,2236,3602,3950,3982,437.9,-11.9,265,3085,0.00,2.38,0.00,0.000,1158,0.000,0.059,2235,2193,3965,3949,3982,0,0,0,0,0,0,14.38,14.26,14.42
$STATE,3398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3398,begin apogee
$GC,3404,-0.13,0.0,2236,2064,3949,3982,480.1,-13.2,279,3642,1.15,0.00,235.18,1.394,10246,0.245,0.000,2529,2060,3366,3387,3345,0,0,0,0,0,0,13.94,13.45,12.66
$STATE,3646,end apogee,CONTROL_FINISHED_OK
$STATE,3646,begin climb
$GC,3649,0.57,145.9,2529,2062,3379,3335,492.2,0.0,287,3871,0.75,2.58,209.88,1.368,10756,0.065,0.080,2789,726,2759,2804,2715,0,0,0,0,0,0,13.55,12.95,12.40
$GC,3981,0.19,145.9,2789,727,2797,2710,483.6,15.4,311,3986,0.65,2.50,0.00,0.000,5254,0.317,0.077,2653,2087,2751,2796,2707,0,0,0,0,0,0,13.23,13.51,13.61
$GC,4313,0.04,154.6,2654,2088,2797,2702,450.6,9.6,327,4324,0.22,2.47,1.95,0.268,12964,0.292,0.083,2602,726,2738,2785,2692,0,0,0,0,0,0,13.75,14.00,13.49
$GC,4401,0.09,221.4,2602,727,2789,2705,444.1,6.9,344,4526,0.00,2.40,113.57,1.346,9254,0.000,0.080,2602,2099,2456,2516,2397,0,0,0,0,0,0,14.19,14.06,12.94
$GC,4824,0.13,252.4,2602,2099,2508,2382,408.8,8.6,379,4876,0.00,2.53,45.90,1.392,8868,0.000,0.085,2602,726,2333,2390,2276,0,0,0,0,0,0,14.41,13.93,13.14
$GC,4913,0.24,275.1,2603,726,2379,2270,401.4,8.9,396,4953,0.17,2.45,34.55,1.416,11430,0.107,0.080,2672,2105,2242,2300,2184,0,0,0,0,0,0,14.03,13.96,13.05
$GC,5278,0.17,275.1,2674,2106,2287,2161,351.4,13.7,419,5283,0.15,2.42,0.00,0.000,4740,0.263,0.083,2646,720,2225,2286,2164,0,0,0,0,0,0,13.93,14.15,14.11
$GC,5319,0.20,275.1,2646,723,2286,2165,346.6,11.4,427,5323,0.00,2.42,0.00,0.000,1158,0.000,0.080,2646,2105,2224,2283,2165,0,0,0,0,0,0,14.30,14.18,14.37
$GC,5639,0.20,275.1,2647,2106,2284,2162,310.2,11.3,441,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2106,2223,2283,2163,0,0,0,0,0,0,14.60,14.62,14.62
$GC,5938,0.20,275.1,2647,2107,2283,2163,278.6,10.3,451,5943,0.00,2.40,0.00,0.000,516,0.000,0.086,2647,729,2221,2281,2161,0,0,0,0,0,0,14.64,14.26,14.66
$GC,6009,0.24,283.2,2647,729,2282,2166,271.7,9.6,465,6014,0.00,2.38,1.45,0.265,9382,0.000,0.080,2647,2101,2209,2267,2151,0,0,0,0,0,0,14.42,14.28,13.99
$GC,6329,0.26,307.5,2647,2103,2276,2162,241.6,8.9,479,6385,0.00,2.42,49.62,1.350,8740,0.000,0.082,2647,722,2106,2157,2055,0,0,0,0,0,0,14.66,13.90,13.33
$GC,6432,0.38,347.4,2647,723,2150,2054,233.2,8.2,499,6501,0.17,2.42,63.70,1.298,11430,0.110,0.080,2713,2103,1948,1995,1901,0,0,0,0,0,0,14.15,14.09,13.13
$GC,6812,0.33,347.4,2713,2104,1985,1888,186.0,12.2,525,6817,0.00,2.42,0.00,0.000,644,0.000,0.085,2713,729,1936,1985,1887,0,0,0,0,0,0,14.47,14.12,14.49
$GC,6842,0.31,347.4,2714,730,1983,1888,182.4,12.1,531,6847,0.15,2.40,0.00,0.000,5254,0.230,0.078,2680,2103,1934,1982,1887,0,0,0,0,0,0,14.02,14.17,14.26
$GC,7172,0.36,374.7,2680,2103,1983,1884,151.8,8.7,547,7223,0.00,2.45,43.72,1.317,8868,0.000,0.086,2683,725,1834,1869,1800,0,0,0,0,0,0,14.61,14.08,13.31
$GC,7265,0.50,407.2,2683,726,1860,1801,144.0,8.5,565,7326,0.17,2.42,56.20,1.258,11430,0.112,0.079,2758,2107,1708,1733,1683,0,0,0,0,0,0,14.16,14.09,13.16
$GC,7623,0.44,407.2,2758,2107,1727,1661,97.4,12.5,587,7629,0.15,2.42,0.00,0.000,4740,0.256,0.084,2734,725,1693,1725,1661,0,0,0,0,0,0,13.95,14.10,14.21
$GC,7694,0.50,419.3,2734,725,1722,1663,90.4,9.4,601,7705,0.00,2.42,5.38,0.462,9382,0.000,0.079,2734,2110,1656,1689,1623,0,0,0,0,0,0,14.19,14.07,13.60
$GC,8004,0.59,480.0,2734,2112,1691,1623,64.3,7.2,633,8041,0.12,2.42,32.10,0.396,10916,0.130,0.086,2793,730,1406,1449,1364,0,0,0,0,0,0,14.28,13.90,13.64
$GC,8116,0.61,508.7,2795,735,1445,1364,53.8,8.7,655,8138,0.00,2.40,15.52,0.364,9254,0.000,0.076,2799,2102,1286,1336,1236,0,0,0,0,0,0,14.26,14.13,13.76
$GC,8436,0.68,562.9,2795,2102,1349,1232,28.5,7.5,689,8469,0.00,2.50,28.30,0.298,8868,0.000,0.086,2795,727,1068,1133,1003,0,0,0,0,0,0,14.54,14.15,13.83
$GC,8566,0.94,670.3,2796,727,1134,1002,19.6,5.0,714,8630,0.28,2.40,56.30,0.266,11430,0.090,0.078,2895,2100,629,681,578,0,0,0,0,0,0,14.27,14.13,13.41
$STATE,8743,end climb,SURFACE_DEPTH_REACHED
$STATE,8743,begin surface coast
$FINISH,0.7,1.020766
$STATE,8753,end surface coast,CONTROL_FINISHED_OK
$STATE,8753,begin surface
$SM_CCo,8773,17.25,0.217,0,0,500,702.78
$SM_GC,1.66,8.25,0.17,17.25,0.080,0.120,0.217,196,2215,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.98
$RAFOS_CLK,400
$RAFOS_FIX,7351.044434,-15146.083984,260817,161606,3,255,0.19
$IRIDIUM_FIX,7355.97,-15148.80,260817,172400
$TT8_MAMPS,0.040446,0.927262
$HUMID,46.02
$INTERNAL_PRESSURE,7.72292
$TCM_TEMP,13.10
$XPDR_PINGS,17
$CP_FREE,15990784000.000000
$PM_FREEKB_00,52987200
$24V_AH,12.40,124.356
$10V_AH,12.23,0.000
$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,25.650,88.150,993.325,17.250,0.000,0.000,0.000,690.025,4.250,0.000,13.617,0.000,6431.572,868.431,2408.363,315.167,0.000,2428.174,0.000,1059.899,0.000,0.539,0.000
$DEVICE_MAMPS,455.175,2153.475,1416.015,217.260,0.000,0.000,0.000,154.530,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8782.000,8768.000,8729.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.381,20.000,9.882,0.000
$MEM,323540
$DATA_FILE_SIZE,26705,739
$CAP_FILE_SIZE,107021,0
$CFSIZE,2097872896,2035318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.015,277.34,1
$GPS,260817,195804,7353.486,-15149.423,16,0.7,22,20.1,0.0,0.0,12,10.0