version: 66.13
glider: 196
mission: 14
dive: 183
start: 8 28 117 5 48 21
data:
$ID,196
$MISSION,14
$DIVE,183
$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,30
$R_STBD_OVSHOOT,21
$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,518.0
$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
$GPS1,280817,053451,7405.0850,-15231.3340,17,0.6,21,19.8,0.0,28.4,12,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-77.8
$GPS2,280817,054748,7405.1094,-15231.2949,6,0.7,26,19.8,0.0,53.2,11,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,286.0,49226,-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,-145.9,198,2213,501,497,0.0,0.0,0,141,0.00,0.00,-91.95,0.000,16386,0.000,0.000,197,2212,2188,2118,2259,0,0,0,0,0,0,14.49,28.83,14.50
$GC,144,-0.57,-145.9,197,2212,2122,2260,4.1,-5.6,9,197,12.55,2.78,-33.47,0.000,18724,0.452,2.143,2376,3613,3961,3942,3981,0,0,0,0,0,0,13.58,12.87,14.03
$GC,377,-0.67,-145.9,2377,3614,3950,3981,55.2,-14.5,55,382,0.00,2.40,0.00,0.000,1158,0.000,0.057,2376,2205,3964,3948,3981,0,0,0,0,0,0,14.26,14.14,14.29
$GC,687,-0.75,-145.9,2377,2205,3950,3982,100.1,-11.8,87,689,0.12,0.00,0.00,0.000,4230,0.143,0.000,2334,2204,3965,3950,3981,0,0,0,0,0,0,14.18,14.27,14.24
$GC,988,-0.79,-145.9,2334,2205,3951,3982,141.7,-13.0,97,992,0.00,2.47,0.00,0.000,388,0.000,0.091,2332,3607,3965,3950,3981,0,0,0,0,0,0,14.63,14.16,14.64
$GC,1053,-0.96,-145.9,2333,3609,3951,3981,149.0,-10.0,110,1058,0.20,2.38,0.00,0.000,5254,0.103,0.057,2253,2199,3965,3950,3981,0,0,0,0,0,0,14.28,14.21,14.37
$GC,1378,-0.88,-145.9,2253,2198,3951,3981,210.0,-18.7,125,1383,0.15,2.47,0.00,0.000,2436,0.292,0.085,2277,3607,3965,3950,3981,0,0,0,0,0,0,13.88,14.22,14.07
$GC,1523,-0.95,-145.9,2278,3607,3945,3981,229.7,-12.1,154,1529,0.00,2.40,0.00,0.000,1158,0.000,0.057,2277,2196,3964,3947,3981,0,0,0,0,0,0,14.34,14.22,14.38
$GC,1828,-0.95,-145.9,2278,2195,3951,3982,270.7,-12.9,165,1833,0.00,2.47,0.00,0.000,260,0.000,0.088,2268,3610,3965,3950,3981,0,0,0,0,0,0,14.66,14.22,14.68
$GC,1903,-1.05,-145.9,2268,3611,3951,3981,279.8,-11.5,180,1909,0.00,2.35,0.00,0.000,1158,0.000,0.057,2268,2183,3965,3950,3980,0,0,0,0,0,0,14.40,14.26,14.43
$GC,2220,-1.08,-145.9,2268,2182,3951,3982,317.7,-11.6,193,2225,0.00,2.53,0.00,0.000,388,0.000,0.090,2266,3617,3965,3950,3980,0,0,0,0,0,0,14.68,14.22,14.67
$GC,2300,-1.17,-145.9,2267,3617,3950,3981,326.3,-10.4,209,2305,0.20,2.40,0.00,0.000,5254,0.116,0.057,2194,2190,3965,3950,3981,0,0,0,0,0,0,14.25,14.25,14.35
$GC,2611,-1.07,-145.9,2195,2188,3951,3980,379.9,-17.7,221,2616,0.15,2.50,0.00,0.000,2436,0.301,0.086,2222,3614,3965,3950,3980,0,0,0,0,0,0,13.93,14.22,14.11
$GC,2722,-1.07,-145.9,2229,3619,3950,3980,395.6,-12.9,243,2727,0.00,2.40,0.00,0.000,1030,0.000,0.056,2222,2194,3964,3949,3979,0,0,0,0,0,0,14.32,14.14,14.36
$GC,3033,-1.02,-145.9,2223,2193,3949,3979,440.7,-14.4,255,3037,0.00,2.50,0.00,0.000,388,0.000,0.090,2228,3610,3964,3950,3979,0,0,0,0,0,0,14.66,14.17,14.72
$GC,3128,-1.02,-145.9,2223,3612,3951,3980,453.5,-13.0,274,3133,0.00,2.40,0.00,0.000,1030,0.000,0.055,2222,2197,3964,3950,3979,0,0,0,0,0,0,14.33,14.20,14.36
$STATE,3330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3331,begin apogee
$GC,3336,-0.13,0.0,2223,2065,3951,3978,482.6,-14.2,285,3565,1.23,0.08,224.62,1.427,10246,0.248,0.183,2532,2111,3364,3389,3339,0,0,0,0,0,0,13.88,13.41,12.66
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3573,0.57,145.9,2533,2111,3380,3330,494.3,0.0,292,3793,0.73,2.70,208.12,1.375,10500,0.065,0.076,2776,3504,2759,2804,2715,0,0,0,0,0,0,13.57,13.14,12.35
$GC,3883,0.12,145.9,2776,3506,2788,2714,489.8,16.3,347,3889,0.80,2.45,0.00,0.000,5254,0.348,0.056,2628,2135,2749,2787,2712,0,0,0,0,0,0,13.16,13.50,13.52
$GC,4210,0.03,178.7,2629,2135,2788,2711,461.0,8.5,362,4260,0.12,2.65,45.42,1.445,12964,0.298,0.085,2602,694,2631,2681,2582,0,0,0,0,0,0,13.77,13.85,13.02
$GC,4345,0.08,226.2,2602,694,2673,2572,450.4,7.8,389,4422,0.00,2.50,72.00,1.379,9382,0.000,0.080,2602,2099,2444,2507,2381,0,0,0,0,0,0,14.10,13.97,12.88
$GC,4720,0.12,250.3,2603,2099,2490,2359,417.4,8.9,414,4755,0.00,0.00,33.38,1.450,8358,0.000,0.000,2602,2099,2348,2407,2289,0,0,0,0,0,0,14.45,13.96,13.14
$GC,5050,0.18,272.3,2603,2098,2388,2271,387.7,9.0,425,5087,0.12,2.55,32.05,1.455,10916,0.132,0.086,2672,694,2251,2306,2197,0,0,0,0,0,0,14.16,14.07,13.25
$GC,5112,0.12,272.3,2672,695,2295,2194,379.9,13.2,437,5118,0.20,2.47,0.00,0.000,5254,0.239,0.080,2625,2100,2243,2294,2192,0,0,0,0,0,0,13.93,14.08,14.17
$GC,5444,0.12,272.3,2622,2101,2295,2185,345.5,10.2,453,5449,0.00,2.45,0.00,0.000,516,0.000,0.084,2630,694,2239,2294,2184,0,0,0,0,0,0,14.58,14.22,14.59
$GC,5479,0.17,273.8,2631,693,2294,2184,341.8,9.9,460,5484,0.00,2.45,0.00,0.000,1190,0.000,0.079,2630,2103,2238,2293,2184,0,0,0,0,0,0,14.37,14.24,14.41
$GC,5804,0.18,276.3,2630,2106,2294,2184,309.5,9.9,475,5805,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2105,2238,2293,2183,0,0,0,0,0,0,14.64,14.65,14.65
$GC,6105,0.21,292.8,2629,2106,2293,2183,281.0,9.2,485,6140,0.00,2.47,29.60,1.428,8868,0.000,0.085,2630,693,2168,2221,2116,0,0,0,0,0,0,14.67,14.16,13.35
$GC,6192,0.33,332.1,2630,694,2210,2113,273.5,8.2,502,6266,0.17,2.45,68.18,1.314,11430,0.109,0.078,2696,2101,2012,2059,1966,0,0,0,0,0,0,14.23,14.15,13.17
$GC,6586,0.29,332.1,2697,2101,2046,1945,224.3,12.0,531,6591,0.00,2.47,0.00,0.000,644,0.000,0.084,2699,690,1995,2045,1945,0,0,0,0,0,0,14.52,14.16,14.53
$GC,6656,0.29,332.1,2699,691,2043,1946,216.4,10.9,545,6662,0.00,2.50,0.00,0.000,1030,0.000,0.080,2699,2108,1992,2042,1942,0,0,0,0,0,0,14.33,14.21,14.38
$GC,6977,0.26,332.1,2699,2110,2041,1943,181.7,10.5,559,6982,0.12,2.45,0.00,0.000,4740,0.230,0.083,2672,694,1992,2042,1942,0,0,0,0,0,0,14.14,14.19,14.26
$GC,7023,0.37,367.4,2672,695,2041,1943,177.7,8.4,568,7088,0.00,2.45,58.90,1.295,9382,0.000,0.080,2673,2104,1868,1905,1831,0,0,0,0,0,0,14.35,14.22,13.28
$GC,7398,0.48,407.4,2673,2108,1891,1818,146.5,8.2,593,7478,0.20,2.58,73.20,1.239,10916,0.106,0.088,2757,698,1698,1725,1671,0,0,0,0,0,0,14.30,13.93,13.22
$GC,7499,0.42,407.4,2756,699,1718,1669,133.5,13.9,603,7504,0.17,2.50,0.00,0.000,5254,0.242,0.079,2720,2111,1692,1717,1667,0,0,0,0,0,0,13.85,13.99,14.08
$GC,7819,0.45,412.0,2719,2113,1717,1657,100.7,9.8,617,7825,0.00,2.50,0.00,0.000,676,0.000,0.085,2731,694,1686,1716,1656,0,0,0,0,0,0,14.52,14.14,14.53
$GC,7897,0.54,437.1,2728,694,1715,1660,93.7,8.8,629,7918,0.00,2.45,14.23,0.469,9382,0.000,0.077,2726,2098,1581,1614,1549,0,0,0,0,0,0,14.26,14.12,13.58
$GC,8215,0.65,502.4,2726,2105,1618,1555,67.0,7.0,663,8258,0.17,2.53,35.20,0.398,10916,0.107,0.087,2807,688,1315,1365,1265,0,0,0,0,0,0,14.16,13.98,13.64
$GC,8314,0.65,502.4,2808,686,1366,1270,56.8,10.4,682,8320,0.00,2.50,0.00,0.000,1030,0.000,0.079,2808,2101,1316,1364,1269,0,0,0,0,0,0,14.16,14.07,14.19
$GC,8618,0.67,533.9,2808,2101,1366,1269,30.3,8.5,713,8639,0.00,0.00,17.60,0.301,8230,0.000,0.000,2808,2101,1185,1244,1127,0,0,0,0,0,0,14.40,14.00,13.70
$GC,8938,0.83,655.3,2808,2102,1245,1136,9.6,4.4,745,9011,0.12,2.58,64.82,0.231,10916,0.133,0.088,2876,692,689,749,629,0,0,0,0,0,0,14.16,13.89,13.81
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9035,begin surface coast
$FINISH,0.8,1.021070
$STATE,9044,end surface coast,CONTROL_FINISHED_OK
$STATE,9044,begin surface
$SM_CCo,9067,26.00,0.213,0,0,500,702.78
$SM_GC,1.40,8.20,2.70,26.00,0.072,0.074,0.213,207,2204,500,-7.36,-0.62,702.78,0,0,0,0,0,0,14.16,14.08,13.88
$RAFOS_CLK,63
$RAFOS_FIX,7403.962891,-15227.045898,280817,040416,3,255,0.21
$IRIDIUM_FIX,7402.36,-15230.15,280817,030554
$TT8_MAMPS,0.085386,1.06807
$HUMID,43.69
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,15987834880.000000
$PM_FREEKB_00,52505152
$24V_AH,12.35,130.742
$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,25.750,90.025,977.325,26.000,0.000,0.000,0.000,476.825,4.500,0.000,27.859,0.000,6457.872,1003.767,2110.218,310.887,0.000,2216.432,0.000,1098.095,2217.000,0.540,0.000
$DEVICE_MAMPS,452.115,2142.765,1455.030,213.435,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9072.000,9068.000,9018.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.375,20.000,10.029,0.000
$MEM,323408
$DATA_FILE_SIZE,26724,766
$CAP_FILE_SIZE,105151,0
$CFSIZE,2097872896,2031517696
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3639.27,0x2341e8,1,24
$INTR,1,3721.49,0x2341e8,1,24
$SOUNDSPEED,1448.2
$CURRENT,0.031,202.69,1
$GPS,280817,082120,7405.969,-15234.431,42,0.8,42,19.8,0.0,0.0,9,8.9