version: 66.13
glider: 196
mission: 14
dive: 173
start: 8 27 117 1 50 25
data:
$ID,196
$MISSION,14
$DIVE,173
$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,61
$R_STBD_OVSHOOT,33
$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,487.0
$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
$GPS1,270817,012739,7355.5293,-15156.2041,21,0.8,27,20.0,0.0,0.0,10,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.3
$GPS2,270817,014950,7355.5806,-15156.3984,6,0.9,41,20.0,0.2,3.2,9,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.4,73427,-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,45,begin dive
$GC,48,-0.57,-145.9,194,2220,506,485,0.0,0.0,0,140,0.00,0.00,-91.18,0.000,16386,0.000,0.000,192,2216,2173,2102,2244,0,0,0,0,0,0,14.54,28.83,14.55
$GC,143,-0.57,-145.9,193,2217,2097,2248,4.1,-5.6,9,196,12.60,2.72,-33.17,0.000,18724,0.455,2.148,2380,3592,3965,3949,3982,0,0,0,0,0,0,13.68,12.90,14.16
$GC,336,-0.66,-145.9,2377,3594,3955,3983,50.0,-16.1,47,341,0.00,2.33,0.00,0.000,1158,0.000,0.059,2376,2234,3967,3953,3982,0,0,0,0,0,0,14.28,14.16,14.31
$GC,646,-0.72,-145.9,2377,2235,3956,3983,99.0,-12.2,79,647,0.00,0.00,0.00,0.000,134,0.000,0.000,2376,2234,3966,3954,3978,0,0,0,0,0,0,14.54,14.56,14.56
$GC,957,-0.85,-145.9,2377,2234,3957,3982,130.4,-9.1,90,962,0.20,2.40,0.00,0.000,4516,0.111,0.087,2288,3597,3968,3955,3982,0,0,0,0,0,0,14.16,14.18,14.21
$GC,1007,-0.88,-145.9,2288,3598,3956,3982,137.3,-14.5,100,1013,0.00,2.38,0.00,0.000,1158,0.000,0.058,2288,2196,3968,3955,3982,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1318,-0.86,-145.9,2288,2196,3955,3983,188.3,-16.1,112,1324,0.00,2.47,0.00,0.000,388,0.000,0.088,2280,3600,3968,3955,3982,0,0,0,0,0,0,14.64,14.21,14.64
$GC,1384,-0.93,-145.9,2281,3600,3956,3982,197.9,-13.2,125,1389,0.00,2.35,0.00,0.000,1158,0.000,0.059,2280,2202,3968,3955,3982,0,0,0,0,0,0,14.38,14.29,14.47
$GC,1709,-0.93,-145.9,2280,2202,3956,3983,245.4,-13.9,140,1715,0.00,2.45,0.00,0.000,260,0.000,0.089,2271,3600,3968,3956,3981,0,0,0,0,0,0,14.63,14.14,14.65
$GC,1800,-1.01,-145.9,2271,3600,3956,3982,256.8,-11.9,158,1805,0.00,2.38,0.00,0.000,1158,0.000,0.057,2271,2199,3968,3955,3982,0,0,0,0,0,0,14.35,14.21,14.40
$GC,2131,-1.03,-145.9,2271,2199,3956,3983,299.1,-12.5,174,2136,0.00,2.47,0.00,0.000,388,0.000,0.090,2266,3599,3968,3955,3982,0,0,0,0,0,0,14.66,14.17,14.68
$GC,2201,-1.13,-145.9,2267,3600,3956,3982,307.5,-11.2,188,2207,0.15,2.38,0.00,0.000,5254,0.127,0.057,2210,2197,3968,3955,3982,0,0,0,0,0,0,14.30,14.26,14.39
$GC,2522,-1.04,-145.9,2211,2197,3956,3982,360.6,-16.3,202,2527,0.12,2.47,0.00,0.000,2436,0.305,0.087,2235,3601,3968,3955,3981,0,0,0,0,0,0,13.91,14.20,14.09
$GC,2647,-1.08,-145.9,2235,3601,3956,3982,377.3,-12.4,227,2652,0.00,2.38,0.00,0.000,1158,0.000,0.059,2235,2191,3968,3955,3981,0,0,0,0,0,0,14.35,14.27,14.35
$GC,2972,-1.08,-145.9,2235,2196,3955,3980,421.1,-13.5,242,2977,0.00,2.47,0.00,0.000,260,0.000,0.088,2226,3599,3967,3955,3980,0,0,0,0,0,0,14.68,14.21,14.69
$GC,3057,-1.11,-145.9,2226,3601,3956,3981,432.5,-12.9,259,3063,0.00,2.38,0.00,0.000,1158,0.000,0.057,2226,2193,3968,3955,3981,0,0,0,0,0,0,14.29,14.16,14.33
$GC,3362,-1.07,-145.9,2226,2192,3955,3981,475.4,-14.1,270,3367,0.00,2.50,0.00,0.000,388,0.000,0.089,2222,3605,3967,3955,3980,0,0,0,0,0,0,14.68,14.21,14.69
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3395,begin apogee
$GC,3403,-0.13,0.0,2223,2096,3956,3980,480.5,-14.1,277,3625,1.23,0.00,217.77,1.434,10246,0.251,0.000,2531,2095,3362,3388,3337,0,0,0,0,0,0,13.94,13.48,12.71
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3631,0.57,145.9,2532,2095,3384,3334,492.0,0.0,284,3854,0.73,2.30,209.05,1.383,10756,0.067,0.085,2781,690,2762,2808,2716,0,0,0,0,0,0,13.57,13.11,12.37
$GC,3859,0.57,145.9,2781,691,2807,2717,500.3,-3.6,287,3864,0.00,2.62,0.00,0.000,1030,0.000,0.076,2781,2088,2760,2806,2715,0,0,0,0,0,0,13.33,13.23,13.36
$GC,4174,0.17,145.9,2781,2089,2801,2711,452.3,15.5,300,4180,0.62,2.50,0.00,0.000,4740,0.327,0.077,2653,690,2755,2800,2710,0,0,0,0,0,0,13.52,13.88,13.76
$GC,4262,0.05,158.9,2654,691,2801,2711,443.3,9.4,317,4283,0.25,2.50,14.65,1.559,13478,0.279,0.080,2599,2101,2714,2762,2667,0,0,0,0,0,0,13.71,13.95,13.05
$GC,4600,0.05,215.1,2601,2102,2760,2662,417.9,7.4,334,4690,0.00,2.60,84.32,1.395,8868,0.000,0.084,2602,691,2483,2548,2418,0,0,0,0,0,0,14.48,13.81,13.05
$GC,4725,0.14,250.9,2602,695,2544,2418,407.9,8.3,359,4783,0.00,2.53,52.92,1.398,9382,0.000,0.079,2602,2106,2340,2398,2282,0,0,0,0,0,0,13.97,13.86,12.91
$GC,5082,0.20,275.0,2602,2108,2391,2271,376.4,8.9,380,5119,0.12,0.00,35.40,1.431,10406,0.133,0.000,2663,2106,2243,2301,2186,0,0,0,0,0,0,14.18,13.94,13.14
$GC,5410,0.15,275.0,2663,2107,2292,2174,335.1,12.6,391,5415,0.12,2.47,0.00,0.000,4740,0.266,0.082,2641,690,2235,2290,2181,0,0,0,0,0,0,14.01,14.16,14.16
$GC,5475,0.20,275.0,2642,689,2290,2174,327.9,10.3,404,5480,0.00,2.45,0.00,0.000,1158,0.000,0.080,2641,2100,2231,2288,2174,0,0,0,0,0,0,14.33,14.21,14.37
$GC,5800,0.20,275.0,2642,2101,2289,2173,293.1,10.4,419,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2101,2230,2288,2173,0,0,0,0,0,0,14.62,14.64,14.63
$GC,6100,0.20,276.3,2641,2102,2289,2173,263.2,9.9,429,6106,0.00,2.45,0.00,0.000,548,0.000,0.083,2647,692,2230,2288,2172,0,0,0,0,0,0,14.67,14.27,14.65
$GC,6147,0.27,286.8,2647,693,2287,2172,258.8,9.5,438,6168,0.00,2.45,14.55,1.522,9382,0.000,0.080,2647,2100,2193,2249,2137,0,0,0,0,0,0,14.37,14.23,13.35
$GC,6495,0.29,324.1,2647,2100,2246,2133,228.5,8.3,457,6564,0.00,2.50,63.53,1.336,8740,0.000,0.083,2647,694,2038,2089,1988,0,0,0,0,0,0,14.62,13.81,13.23
$GC,6584,0.40,370.0,2647,694,2084,1989,221.0,7.9,465,6664,0.20,2.50,73.97,1.266,11430,0.103,0.080,2724,2106,1855,1887,1823,0,0,0,0,0,0,14.07,14.00,13.05
$GC,6975,0.36,370.0,2724,2108,1878,1814,171.2,12.5,493,6975,0.00,0.00,0.00,0.000,134,0.000,0.000,2724,2107,1845,1877,1813,0,0,0,0,0,0,14.45,14.47,14.47
$GC,7275,0.33,370.0,2724,2108,1876,1812,136.5,11.2,503,7280,0.12,2.47,0.00,0.000,4740,0.244,0.083,2699,688,1843,1875,1811,0,0,0,0,0,0,14.09,14.21,14.23
$GC,7405,0.43,404.1,2699,689,1872,1812,125.1,8.4,529,7465,0.00,2.47,52.90,1.265,9382,0.000,0.080,2699,2112,1713,1741,1686,0,0,0,0,0,0,14.38,14.25,13.28
$GC,7774,0.54,453.3,2699,2110,1738,1677,93.8,7.7,559,7806,0.15,2.53,25.27,0.488,10916,0.117,0.085,2779,688,1515,1546,1484,0,0,0,0,0,0,14.06,13.88,13.58
$GC,7868,0.54,453.3,2779,689,1548,1492,83.1,11.3,577,7874,0.00,2.50,0.00,0.000,1030,0.000,0.080,2778,2100,1513,1543,1483,0,0,0,0,0,0,14.20,14.07,14.24
$GC,8179,0.59,523.6,2779,2099,1548,1477,51.9,6.8,609,8220,0.00,0.00,36.62,0.359,8230,0.000,0.000,2778,2100,1230,1288,1172,0,0,0,0,0,0,14.41,14.04,13.69
$GC,8519,0.71,591.5,2779,2099,1288,1166,27.7,6.9,643,8562,0.00,2.50,35.70,0.294,8868,0.000,0.086,2779,699,948,1018,878,0,0,0,0,0,0,14.38,13.96,13.78
$GC,8619,0.95,659.2,2779,694,1020,881,20.9,6.9,662,8662,0.32,2.50,36.00,0.272,11430,0.086,0.080,2895,2099,674,732,617,0,0,0,0,0,0,14.04,13.98,13.77
$STATE,8794,end climb,SURFACE_DEPTH_REACHED
$STATE,8794,begin surface coast
$FINISH,0.8,1.020883
$STATE,8804,end surface coast,CONTROL_FINISHED_OK
$STATE,8804,begin surface
$SM_CCo,8825,23.70,0.215,0,0,500,702.78
$SM_GC,0.88,8.25,0.17,23.70,0.075,0.126,0.215,199,2212,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.13,13.90
$RAFOS_CLK,56
$RAFOS_FIX,7354.074707,-15153.484375,270817,000005,3,255,0.16
$IRIDIUM_FIX,7356.95,-15155.65,270817,014307
$TT8_MAMPS,0.086135,0.922768
$HUMID,43.89
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,15990292480.000000
$PM_FREEKB_00,52867008
$24V_AH,12.37,125.860
$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,25.200,84.150,952.675,23.700,0.000,0.000,0.000,767.225,5.000,0.000,42.952,0.000,6558.891,868.260,2437.012,331.481,0.000,2450.291,0.000,985.147,2213.000,0.540,0.000
$DEVICE_MAMPS,455.175,2148.120,1559.070,214.965,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8835.000,8822.000,8780.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.546,20.000,12.472,0.000
$MEM,323672
$DATA_FILE_SIZE,23415,685
$CAP_FILE_SIZE,104487,0
$CFSIZE,2097872896,2034466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.5
$CURRENT,0.029,304.72,1
$GPS,270817,041906,7356.646,-15159.820,20,0.8,28,20.0,0.3,338.7,11,9.3