version: 66.13
glider: 196
mission: 14
dive: 194
start: 8 29 117 13 13 18
data:
$ID,196
$MISSION,14
$DIVE,194
$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,41
$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,545.0
$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
$GPS1,290817,125007,7414.1182,-15312.8379,19,0.7,22,19.5,0.6,2.5,12,8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.9
$GPS2,290817,131248,7414.1562,-15313.2461,5,0.8,19,19.5,0.6,206.2,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,278.4,23110,-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,-145.9,180,2225,510,475,0.0,0.0,0,151,0.00,0.00,-101.40,0.000,16386,0.000,0.000,179,2226,2388,2333,2443,0,0,0,0,0,0,14.49,28.83,14.50
$GC,154,-0.57,-145.9,179,2226,2336,2444,4.9,-7.8,10,201,12.73,2.70,-27.75,0.000,18724,0.454,2.144,2375,3587,3962,3941,3983,0,0,0,0,0,0,13.66,12.58,14.09
$GC,417,-0.71,-145.9,2375,3588,3949,3983,60.2,-11.8,62,421,0.00,2.30,0.00,0.000,1158,0.000,0.054,2374,2231,3965,3948,3983,0,0,0,0,0,0,14.23,14.13,14.26
$GC,727,-0.80,-145.9,2375,2230,3950,3983,100.0,-11.3,94,728,0.17,0.00,0.00,0.000,4230,0.124,0.000,2307,2230,3966,3949,3983,0,0,0,0,0,0,14.24,14.37,14.33
$GC,1037,-0.80,-145.9,2307,2231,3949,3984,147.2,-14.7,105,1043,0.00,2.40,0.00,0.000,260,0.000,0.087,2300,3593,3966,3949,3983,0,0,0,0,0,0,14.64,14.17,14.66
$GC,1098,-0.91,-145.9,2300,3594,3950,3984,155.3,-12.1,117,1104,0.00,2.38,0.00,0.000,1158,0.000,0.058,2300,2189,3966,3949,3983,0,0,0,0,0,0,14.33,14.19,14.38
$GC,1429,-0.94,-145.9,2300,2188,3950,3983,199.5,-13.1,133,1430,0.00,0.00,0.00,0.000,134,0.000,0.000,2299,2188,3966,3949,3983,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1729,-0.99,-145.9,2300,2189,3950,3984,236.7,-12.2,143,1734,0.12,2.47,0.00,0.000,4484,0.134,0.086,2236,3595,3966,3949,3983,0,0,0,0,0,0,14.32,14.22,14.35
$GC,1841,-0.99,-145.9,2237,3597,3950,3984,253.1,-14.5,165,1846,0.00,2.35,0.00,0.000,1030,0.000,0.056,2236,2196,3966,3949,3983,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2152,-0.95,-145.9,2236,2196,3950,3984,301.6,-15.0,177,2157,0.12,2.45,0.00,0.000,2436,0.293,0.084,2255,3592,3966,3949,3983,0,0,0,0,0,0,13.99,14.17,14.12
$GC,2269,-1.03,-145.9,2256,3593,3950,3984,315.2,-11.0,200,2275,0.00,2.35,0.00,0.000,1158,0.000,0.056,2255,2199,3968,3954,3983,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2573,-1.05,-145.9,2255,2199,3950,3981,351.5,-11.8,211,2578,0.00,2.45,0.00,0.000,388,0.000,0.089,2247,3591,3965,3949,3982,0,0,0,0,0,0,14.66,14.16,14.68
$GC,2638,-1.14,-145.9,2247,3593,3949,3982,359.1,-11.0,224,2643,0.10,2.35,0.00,0.000,5254,0.158,0.056,2204,2195,3965,3949,3982,0,0,0,0,0,0,14.21,14.22,14.33
$GC,2963,-1.07,-145.9,2204,2194,3950,3980,410.2,-15.8,239,2968,0.12,2.45,0.00,0.000,2436,0.308,0.084,2222,3595,3964,3949,3980,0,0,0,0,0,0,13.97,14.21,14.16
$GC,3048,-1.09,-145.9,2222,3596,3950,3981,421.7,-12.5,256,3054,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2190,3964,3949,3980,0,0,0,0,0,0,14.37,14.24,14.41
$GC,3353,-1.06,-145.9,2223,2189,3950,3980,463.5,-13.7,267,3358,0.00,2.47,0.00,0.000,388,0.000,0.086,2214,3594,3964,3949,3980,0,0,0,0,0,0,14.69,14.21,14.69
$GC,3438,-1.06,-145.9,2216,3595,3950,3980,475.0,-12.9,284,3445,0.00,2.35,0.00,0.000,1030,0.000,0.056,2213,2198,3964,3949,3979,0,0,0,0,0,0,14.35,14.23,14.39
$STATE,3501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3501,begin apogee
$GC,3507,-0.13,0.0,2214,2056,3950,3982,484.0,-13.9,287,3738,1.25,0.00,227.35,1.411,10246,0.252,0.000,2528,2054,3365,3387,3343,0,0,0,0,0,0,13.93,13.47,12.67
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3742,begin climb
$GC,3744,0.57,145.9,2529,2054,3380,3334,494.6,0.0,294,3969,0.75,2.55,213.00,1.354,10756,0.064,0.080,2781,733,2758,2800,2716,0,0,0,0,0,0,13.58,12.94,12.35
$GC,4004,0.19,145.9,2781,734,2801,2710,499.7,13.2,303,4010,0.65,2.50,0.00,0.000,5254,0.329,0.075,2652,2080,2752,2800,2705,0,0,0,0,0,0,13.05,13.33,13.38
$GC,4325,0.03,148.9,2652,2081,2798,2700,467.2,9.9,317,4327,0.25,0.00,0.00,0.000,4262,0.265,0.000,2596,2081,2748,2797,2699,0,0,0,0,0,0,13.71,14.08,14.02
$GC,4626,0.03,210.0,2596,2081,2797,2699,445.3,7.2,327,4730,0.00,2.47,97.88,1.355,8868,0.000,0.083,2602,708,2502,2563,2442,0,0,0,0,0,0,14.54,13.82,13.03
$GC,4757,0.08,236.8,2600,708,2554,2435,435.1,8.8,348,4801,0.00,2.50,38.33,1.392,9382,0.000,0.080,2602,2108,2398,2459,2338,0,0,0,0,0,0,13.98,13.87,12.94
$GC,5108,0.12,258.7,2602,2108,2441,2317,403.2,9.0,368,5139,0.00,0.00,29.08,1.437,8358,0.000,0.000,2602,2108,2309,2366,2252,0,0,0,0,0,0,14.45,14.02,13.19
$GC,5436,0.19,288.5,2602,2109,2349,2234,374.3,8.6,379,5487,0.12,2.45,44.25,1.385,10916,0.132,0.086,2672,730,2182,2235,2130,0,0,0,0,0,0,14.26,14.04,13.21
$GC,5519,0.15,288.5,2668,730,2224,2128,364.2,13.8,395,5525,0.17,2.40,0.00,0.000,5254,0.245,0.079,2633,2105,2174,2223,2126,0,0,0,0,0,0,13.88,14.05,14.14
$GC,5830,0.15,288.5,2633,2101,2224,2117,329.8,10.8,407,5836,0.00,2.40,0.00,0.000,516,0.000,0.084,2640,727,2169,2222,2116,0,0,0,0,0,0,14.57,14.21,14.59
$GC,5871,0.20,288.5,2641,727,2221,2116,325.5,10.5,415,5877,0.00,2.38,0.00,0.000,1158,0.000,0.079,2640,2095,2168,2220,2116,0,0,0,0,0,0,14.33,14.21,14.37
$GC,6192,0.20,288.5,2641,2096,2221,2115,291.3,10.6,429,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2096,2167,2219,2115,0,0,0,0,0,0,14.66,14.70,14.67
$GC,6492,0.21,297.1,2640,2097,2220,2114,261.9,9.6,439,6499,0.00,2.45,1.58,0.250,8740,0.000,0.083,2644,721,2153,2206,2101,0,0,0,0,0,0,14.68,14.29,14.03
$GC,6529,0.29,316.5,2644,721,2210,2108,258.5,9.1,446,6574,0.00,2.38,40.33,1.387,9382,0.000,0.078,2644,2099,2074,2125,2024,0,0,0,0,0,0,14.42,14.30,13.31
$GC,6886,0.35,349.5,2644,2099,2114,2011,227.8,8.5,467,6946,0.12,2.50,53.83,1.335,10916,0.128,0.084,2709,730,1935,1979,1892,0,0,0,0,0,0,14.33,13.62,13.24
$GC,6978,0.33,349.5,2711,730,1970,1892,217.2,12.0,485,6983,0.00,2.42,0.00,0.000,1158,0.000,0.076,2710,2103,1927,1964,1891,0,0,0,0,0,0,14.19,14.04,14.21
$GC,7308,0.28,349.5,2711,2105,1965,1887,176.9,11.8,501,7313,0.12,2.42,0.00,0.000,4740,0.239,0.081,2685,720,1925,1963,1887,0,0,0,0,0,0,13.94,14.13,14.06
$GC,7344,0.34,349.5,2686,721,1962,1888,173.2,10.1,508,7348,0.00,2.40,0.00,0.000,1158,0.000,0.080,2685,2102,1924,1961,1887,0,0,0,0,0,0,14.35,14.23,14.40
$GC,7669,0.38,372.7,2686,2103,1962,1886,143.0,8.9,523,7714,0.00,2.50,36.75,1.341,8868,0.000,0.085,2690,725,1841,1871,1811,0,0,0,0,0,0,14.64,14.10,13.33
$GC,7767,0.50,410.1,2686,727,1866,1812,134.7,8.3,542,7836,0.17,2.42,64.82,1.262,11430,0.112,0.079,2760,2105,1696,1719,1673,0,0,0,0,0,0,14.21,14.13,13.17
$GC,8142,0.44,410.1,2760,2105,1712,1652,86.1,11.7,576,8147,0.12,2.42,0.00,0.000,4740,0.257,0.081,2739,729,1681,1710,1652,0,0,0,0,0,0,13.94,14.13,14.09
$GC,8192,0.50,424.0,2739,730,1711,1653,81.1,9.4,586,8204,0.00,2.42,7.12,0.427,9382,0.000,0.078,2739,2109,1634,1664,1604,0,0,0,0,0,0,14.28,14.19,13.68
$GC,8502,0.58,493.5,2739,2109,1669,1604,53.8,6.8,618,8550,0.00,2.47,39.45,0.362,8868,0.000,0.085,2749,734,1352,1399,1306,0,0,0,0,0,0,14.56,14.07,13.77
$GC,8585,0.78,572.1,2743,736,1399,1308,48.4,6.4,634,8639,0.28,2.40,45.03,0.343,11430,0.090,0.079,2848,2105,1029,1101,958,0,0,0,0,0,0,14.12,14.14,13.71
$GC,8935,0.76,606.8,2848,2106,1101,953,12.1,8.4,674,8962,0.00,2.47,19.12,0.240,8868,0.000,0.086,2850,729,889,962,817,0,0,0,0,0,0,14.54,14.09,13.95
$GC,9044,0.84,622.4,2850,730,963,818,2.2,9.3,695,9052,0.00,2.42,4.50,0.223,9378,0.000,0.080,2850,2109,857,931,784,0,0,0,0,0,0,14.28,14.13,14.32
$STATE,9053,end climb,SURFACE_DEPTH_REACHED
$STATE,9053,begin surface coast
$FINISH,0.8,1.021522
$STATE,9055,end surface coast,CONTROL_FINISHED_OK
$STATE,9055,begin surface
$SM_CCo,9075,52.62,0.207,0,0,498,702.78
$SM_GC,1.29,8.12,0.17,52.62,0.079,0.112,0.207,198,2234,498,-7.39,-0.42,702.78,0,0,0,0,0,0,14.31,14.31,14.00
$RAFOS_CLK,411
$RAFOS_FIX,7413.061035,-15312.512695,290817,121205,3,255,0.28
$IRIDIUM_FIX,7416.61,-15315.45,290817,130428
$TT8_MAMPS,0.040446,0.904043
$HUMID,46.57
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.40
$XPDR_PINGS,19
$CP_FREE,15984951296.000000
$PM_FREEKB_00,52158464
$24V_AH,12.35,136.130
$10V_AH,12.22,0.000
$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,25.525,87.975,962.400,52.625,0.000,0.000,0.000,823.075,4.750,0.000,20.492,0.000,6788.537,909.446,2470.195,330.494,0.000,2564.959,0.000,1000.741,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2144.295,1437.435,206.550,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9085.000,9071.000,9029.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.983,20.000,9.861,0.000
$MEM,323500
$DATA_FILE_SIZE,23449,697
$CAP_FILE_SIZE,109354,0
$CFSIZE,2097872896,2028011520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$CURRENT,0.046,228.22,1
$GPS,290817,154651,7414.847,-15317.324,39,0.8,40,19.5,0.0,0.0,10,8.4