version: 66.13
glider: 196
mission: 14
dive: 190
start: 8 29 117 1 50 59
data:
$ID,196
$MISSION,14
$DIVE,190
$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,62
$R_STBD_OVSHOOT,39
$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,536.0
$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
$GPS1,290817,012311,7411.2109,-15255.4023,20,0.7,28,19.6,0.6,315.2,11,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.8
$GPS2,290817,015026,7411.3672,-15256.1699,8,0.7,29,19.6,0.5,284.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,277.2,32933,-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,-145.9,176,2224,498,490,0.0,0.0,0,141,0.00,0.00,-91.75,0.000,16386,0.000,0.000,176,2222,2161,2088,2235,0,0,0,0,0,0,14.48,28.83,14.50
$GC,144,-0.57,-145.9,176,2224,2091,2237,3.3,-4.3,9,201,12.88,2.70,-37.83,0.000,18724,0.458,2.145,2375,3594,3963,3947,3980,1,0,0,0,0,0,13.52,12.59,14.02
$GC,427,-0.72,-145.9,2375,3595,3955,3982,58.3,-13.2,65,432,0.10,2.33,0.00,0.000,5254,0.148,0.059,2335,2233,3967,3954,3981,0,0,0,0,0,0,14.13,14.16,14.24
$GC,737,-0.72,-145.9,2335,2233,3956,3980,110.2,-15.4,93,742,0.00,2.40,0.00,0.000,260,0.000,0.086,2332,3593,3967,3955,3980,0,0,0,0,0,0,14.57,14.14,14.60
$GC,807,-0.86,-145.9,2333,3593,3956,3981,119.1,-11.1,107,812,0.00,2.38,0.00,0.000,1158,0.000,0.056,2332,2198,3967,3954,3981,0,0,0,0,0,0,14.36,14.24,14.40
$GC,1127,-0.92,-145.9,2332,2198,3955,3981,159.3,-12.2,121,1129,0.15,0.00,0.00,0.000,4230,0.123,0.000,2271,2197,3968,3955,3981,0,0,0,0,0,0,14.22,14.28,14.25
$GC,1427,-0.89,-145.9,2271,2197,3955,3982,208.2,-16.0,131,1432,0.00,2.47,0.00,0.000,388,0.000,0.088,2263,3595,3967,3954,3980,0,0,0,0,0,0,14.64,13.47,14.68
$GC,1559,-0.94,-145.9,2263,3596,3955,3982,226.8,-13.1,157,1564,0.00,2.35,0.00,0.000,1158,0.000,0.057,2262,2199,3968,3955,3981,0,0,0,0,0,0,14.38,14.28,14.43
$GC,1879,-0.94,-145.9,2263,2199,3955,3982,273.5,-14.0,171,1884,0.00,2.45,0.00,0.000,260,0.000,0.088,2254,3593,3967,3955,3980,0,0,0,0,0,0,14.67,14.21,14.69
$GC,1949,-0.99,-145.9,2253,3594,3956,3981,282.9,-12.7,185,1954,0.00,2.35,0.00,0.000,1158,0.000,0.057,2253,2198,3967,3955,3980,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2269,-0.99,-145.9,2252,2198,3955,3981,324.0,-12.5,199,2274,0.00,2.45,0.00,0.000,260,0.000,0.088,2244,3594,3967,3955,3980,0,0,0,0,0,0,14.68,14.21,14.69
$GC,2369,-1.05,-145.9,2245,3594,3956,3980,336.0,-11.5,219,2374,0.00,2.35,0.00,0.000,1158,0.000,0.057,2246,2195,3967,3954,3980,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2689,-1.05,-145.9,2244,2194,3954,3981,376.4,-12.6,233,2694,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3600,3971,3962,3980,0,0,0,0,0,0,14.67,14.21,14.69
$GC,2769,-1.11,-145.9,2237,3601,3954,3980,386.2,-11.7,249,2774,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2196,3966,3953,3980,0,0,0,0,0,0,14.40,14.27,14.43
$GC,3079,-1.11,-145.9,2236,2196,3954,3981,425.6,-12.6,261,3084,0.00,2.47,0.00,0.000,260,0.000,0.090,2235,3600,3964,3953,3976,0,0,0,0,0,0,14.69,14.20,14.70
$GC,3140,-1.18,-145.9,2236,3601,3953,3980,432.9,-11.6,273,3144,0.00,2.35,0.00,0.000,1158,0.000,0.056,2235,2201,3966,3953,3980,0,0,0,0,0,0,14.40,14.27,14.43
$GC,3469,-1.18,-145.9,2236,2200,3953,3981,474.0,-12.4,289,3474,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3594,3966,3953,3979,0,0,0,0,0,0,14.69,14.20,14.71
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3525,-0.13,0.0,2237,2102,3953,3979,480.1,-11.6,299,3745,1.15,0.00,216.00,1.442,10246,0.233,0.000,2532,2101,3362,3381,3344,0,0,0,0,0,0,13.95,13.49,12.69
$STATE,3749,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3751,0.57,145.9,2533,2101,3378,3338,491.5,0.0,306,3973,0.73,2.28,207.25,1.388,11012,0.064,0.071,2777,3507,2759,2796,2723,0,0,0,0,0,0,13.59,12.95,12.36
$GC,4108,0.12,145.9,2777,3508,2787,2723,477.2,17.2,335,4115,0.80,2.50,0.00,0.000,5254,0.349,0.057,2632,2099,2754,2786,2722,0,0,0,0,0,0,13.24,13.58,13.60
$GC,4414,0.03,176.7,2628,2099,2787,2721,449.6,8.6,346,4463,0.12,2.55,42.15,1.450,12964,0.295,0.084,2602,699,2639,2681,2597,0,0,0,0,0,0,13.79,13.87,13.06
$GC,4534,0.07,213.8,2602,699,2680,2594,440.2,8.3,370,4595,0.00,2.45,53.50,1.428,9382,0.000,0.079,2602,2084,2489,2546,2433,0,0,0,0,0,0,14.09,13.97,13.00
$GC,4896,0.10,244.3,2603,2085,2544,2422,409.3,8.6,392,4943,0.00,0.00,45.38,1.434,8230,0.000,0.000,2602,2084,2370,2429,2312,0,0,0,0,0,0,14.46,13.95,13.14
$GC,5224,0.15,277.6,2603,2086,2409,2302,381.1,8.5,403,5279,0.00,2.47,49.50,1.410,8868,0.000,0.083,2602,694,2228,2279,2178,0,0,0,0,0,0,14.51,13.78,13.16
$GC,5299,0.28,323.7,2602,692,2275,2179,374.7,7.9,418,5377,0.20,2.47,70.00,1.353,11430,0.099,0.078,2685,2098,2042,2088,1997,0,0,0,0,0,0,14.09,14.02,12.97
$GC,5674,0.22,323.7,2681,2100,2081,1983,321.1,14.5,443,5679,0.00,2.47,0.00,0.000,644,0.000,0.088,2684,693,2031,2080,1983,0,0,0,0,0,0,14.47,14.08,14.49
$GC,5744,0.22,323.7,2685,694,2077,1983,311.3,13.6,457,5749,0.12,2.45,0.00,0.000,5126,0.245,0.079,2660,2101,2029,2077,1982,0,0,0,0,0,0,14.02,14.18,14.27
$GC,6065,0.22,323.7,2659,2102,2077,1980,274.5,11.1,471,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2101,2028,2076,1980,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6365,0.22,326.1,2658,2102,2077,1979,243.7,9.9,481,6370,0.00,2.45,0.00,0.000,548,0.000,0.086,2660,692,2027,2076,1978,0,0,0,0,0,0,14.66,14.23,14.67
$GC,6420,0.31,341.5,2660,691,2076,1978,238.4,9.3,492,6451,0.00,2.45,24.35,1.423,9382,0.000,0.079,2659,2109,1970,2017,1923,0,0,0,0,0,0,14.38,14.23,13.36
$GC,6758,0.37,365.0,2661,2109,2013,1916,207.6,8.9,509,6802,0.12,2.50,38.72,1.369,10916,0.135,0.083,2727,687,1872,1907,1838,0,0,0,0,0,0,14.34,13.89,13.31
$GC,6839,0.35,365.0,2728,688,1900,1840,197.9,12.8,525,6844,0.15,2.47,0.00,0.000,5254,0.230,0.078,2695,2100,1869,1900,1839,0,0,0,0,0,0,13.97,14.12,14.21
$GC,7149,0.35,365.0,2696,2101,1899,1833,165.5,10.1,537,7154,0.00,2.47,0.00,0.000,516,0.000,0.086,2699,689,1864,1897,1832,0,0,0,0,0,0,14.59,14.17,14.60
$GC,7204,0.41,378.5,2699,691,1895,1833,160.2,9.4,548,7230,0.00,2.45,19.45,1.428,9382,0.000,0.078,2699,2101,1821,1849,1793,0,0,0,0,0,0,14.33,14.20,13.31
$GC,7543,0.45,390.3,2699,2099,1843,1788,127.5,9.5,565,7562,0.00,2.53,14.55,1.461,8868,0.000,0.086,2699,693,1770,1796,1745,0,0,0,0,0,0,14.60,14.22,13.33
$GC,7592,0.56,420.2,2699,694,1792,1746,123.0,8.6,575,7651,0.20,2.45,48.35,1.283,11430,0.100,0.078,2779,2099,1647,1672,1623,0,0,0,0,0,0,14.29,14.21,13.21
$GC,7957,0.48,420.2,2780,2099,1672,1611,74.3,12.3,610,7962,0.15,2.53,0.00,0.000,4740,0.270,0.082,2753,688,1640,1670,1611,0,0,0,0,0,0,13.81,13.98,14.02
$GC,8003,0.53,428.4,2755,688,1669,1611,69.6,9.6,619,8014,0.00,2.50,3.38,0.399,9382,0.000,0.080,2754,2096,1617,1647,1588,0,0,0,0,0,0,14.20,14.07,13.59
$GC,8319,0.60,531.2,2754,2103,1648,1587,45.2,5.3,652,8381,0.00,2.55,53.75,0.337,8740,0.000,0.085,2755,697,1197,1256,1139,0,0,0,0,0,0,14.42,13.97,13.66
$GC,8452,0.82,602.6,2754,698,1256,1136,37.3,6.7,678,8495,0.28,2.50,37.15,0.312,11430,0.089,0.079,2859,2110,907,977,838,0,0,0,0,0,0,14.02,13.94,13.72
$STATE,8779,end climb,SURFACE_DEPTH_REACHED
$STATE,8779,begin surface coast
$FINISH,0.6,1.021395
$STATE,8789,end surface coast,CONTROL_FINISHED_OK
$STATE,8789,begin surface
$SM_CCo,8811,56.72,0.207,0,0,500,703.03
$SM_GC,1.27,8.25,0.17,56.72,0.082,0.117,0.207,204,2235,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.21,14.19,13.95
$RAFOS_CLK,60
$RAFOS_FIX,7410.698730,-15249.871094,290817,000056,4,255,0.22
$IRIDIUM_FIX,7410.43,-15250.84,290817,013913
$TT8_MAMPS,0.083888,0.92127
$HUMID,44.80
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,27
$CP_FREE,15985999872.000000
$PM_FREEKB_00,52276800
$24V_AH,12.36,134.179
$10V_AH,12.20,0.000
$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,25.400,88.600,923.475,56.725,0.000,0.000,0.000,1081.400,6.750,0.000,30.331,0.000,6522.484,872.969,2763.644,359.714,0.000,2796.426,0.000,1029.008,2207.000,0.540,0.000
$DEVICE_MAMPS,458.235,2145.060,1461.150,206.550,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8820.000,8808.000,8765.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.140,20.000,9.873,0.000
$MEM,323404
$DATA_FILE_SIZE,23389,716
$CAP_FILE_SIZE,109484,0
$CFSIZE,2097872896,2029256704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,7642.52,0x2341ea,1,24
$SOUNDSPEED,1448.0
$CURRENT,0.027,247.28,1
$GPS,290817,042003,7412.189,-15300.104,31,0.8,32,19.6,0.0,0.0,11,8.9