version: 66.13
glider: 196
mission: 14
dive: 204
start: 8 30 117 17 40 32
data:
$ID,196
$MISSION,14
$DIVE,204
$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,63
$R_STBD_OVSHOOT,38
$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,1.4
$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,574.0
$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
$GPS1,300817,172031,7418.4922,-15353.6826,20,0.7,29,19.2,0.0,40.6,10,6.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.3
$GPS2,300817,173956,7418.3999,-15353.6836,6,0.8,10,19.2,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,3.4,173661,-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,-145.9,195,2219,492,497,0.0,0.0,0,151,0.00,0.00,-101.05,0.000,16386,0.000,0.000,194,2219,2329,2273,2386,0,0,0,0,0,0,14.52,28.83,14.57
$GC,154,-0.57,-145.9,195,2220,2276,2388,4.1,-5.5,10,203,12.80,2.80,-30.70,0.000,18724,0.456,2.145,2376,3592,3961,3940,3983,1,0,0,0,0,0,13.52,12.62,14.02
$GC,223,-0.48,-145.9,2377,3593,3943,3983,28.0,-26.9,21,229,0.20,2.33,0.00,0.000,3206,0.235,0.060,2422,2232,3962,3942,3983,0,0,0,0,0,0,13.94,14.14,14.19
$GC,534,-0.63,-145.9,2422,2231,3948,3984,68.0,-9.4,53,539,0.12,2.53,0.00,0.000,4772,0.138,0.080,2363,789,3964,3947,3982,0,0,0,0,0,0,14.23,13.98,14.27
$GC,559,-0.74,-145.9,2364,790,3948,3984,70.9,-12.1,58,565,0.00,2.47,0.00,0.000,1158,0.000,0.088,2362,2184,3965,3947,3983,0,0,0,0,0,0,14.17,14.03,14.21
$GC,876,-0.82,-145.9,2362,2186,3948,3984,110.1,-11.2,84,882,0.12,2.53,0.00,0.000,4484,0.140,0.088,2301,3613,3965,3947,3983,0,0,0,0,0,0,14.28,14.16,14.32
$GC,1032,-0.91,-145.9,2301,3615,3948,3984,130.2,-12.5,115,1037,0.00,2.40,0.00,0.000,1158,0.000,0.057,2301,2198,3964,3947,3982,0,0,0,0,0,0,14.16,14.16,14.15
$GC,1358,-0.94,-145.9,2302,2197,3948,3983,176.1,-13.9,130,1362,0.00,2.50,0.00,0.000,388,0.000,0.088,2294,3614,3964,3947,3982,0,0,0,0,0,0,14.63,14.14,14.64
$GC,1413,-1.05,-145.9,2293,3614,3948,3982,183.3,-12.0,141,1419,0.17,2.40,0.00,0.000,5254,0.112,0.057,2230,2198,3965,3947,3983,0,0,0,0,0,0,14.24,14.19,14.32
$GC,1718,-0.96,-145.9,2230,2197,3948,3983,240.9,-18.8,152,1724,0.15,2.50,0.00,0.000,2436,0.295,0.084,2254,3620,3965,3947,3983,0,0,0,0,0,0,13.79,14.14,14.00
$GC,1804,-1.02,-145.9,2255,3621,3944,3984,253.5,-12.5,169,1810,0.00,2.40,0.00,0.000,1158,0.000,0.057,2254,2199,3965,3947,3983,0,0,0,0,0,0,14.21,14.09,14.24
$GC,2109,-1.02,-145.9,2255,2199,3947,3984,293.9,-12.8,180,2115,0.00,2.47,0.00,0.000,260,0.000,0.090,2248,3614,3965,3947,3983,0,0,0,0,0,0,14.67,14.20,14.69
$GC,2247,-1.11,-145.9,2249,3614,3948,3983,309.6,-10.7,207,2251,0.00,2.40,0.00,0.000,1158,0.000,0.057,2248,2193,3964,3947,3982,0,0,0,0,0,0,14.32,14.21,14.38
$GC,2562,-1.11,-145.9,2248,2192,3947,3982,347.0,-11.6,220,2567,0.00,2.50,0.00,0.000,260,0.000,0.089,2241,3614,3964,3947,3982,0,0,0,0,0,0,14.66,14.14,14.69
$GC,2612,-1.18,-145.9,2242,3614,3947,3982,352.8,-11.4,230,2618,0.12,2.38,0.00,0.000,5254,0.142,0.056,2189,2198,3964,3946,3982,0,0,0,0,0,0,14.28,14.26,14.39
$GC,2923,-1.08,-145.9,2189,2197,3946,3983,404.4,-16.9,242,2928,0.15,2.50,0.00,0.000,2436,0.300,0.084,2212,3619,3963,3945,3982,0,0,0,0,0,0,13.84,14.15,14.03
$GC,3058,-1.08,-145.9,2213,3620,3946,3983,423.3,-13.1,269,3063,0.00,2.42,0.00,0.000,1030,0.000,0.057,2213,2195,3963,3944,3982,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3373,-1.04,-145.9,2213,2194,3946,3981,468.1,-14.2,282,3378,0.12,2.50,0.00,0.000,2436,0.315,0.086,2232,3616,3963,3945,3982,0,0,0,0,0,0,13.93,14.19,14.09
$GC,3459,-1.11,-145.9,2233,3618,3946,3982,478.6,-11.3,299,3465,0.00,2.40,0.00,0.000,1158,0.000,0.056,2232,2191,3963,3945,3982,0,0,0,0,0,0,14.33,14.20,14.36
$STATE,3491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3491,begin apogee
$GC,3497,-0.13,0.0,2235,2064,3946,3980,482.8,-11.9,301,3718,1.17,0.08,217.55,1.426,10246,0.237,0.183,2531,2111,3364,3381,3347,0,0,0,0,0,0,13.84,13.45,12.67
$STATE,3722,end apogee,CONTROL_FINISHED_OK
$STATE,3722,begin climb
$GC,3726,0.57,145.9,2531,2112,3376,3339,494.3,0.0,308,4269,0.73,2.12,207.82,1.385,10756,0.063,0.078,2781,720,2754,2792,2717,0,0,0,0,0,0,13.61,12.94,12.33
$GC,4281,0.57,145.9,2781,721,2793,2718,454.4,8.3,311,4286,0.00,2.45,0.00,0.000,1030,0.000,0.077,2781,2103,2754,2792,2716,0,0,0,0,0,0,14.03,13.91,14.07
$GC,4596,0.17,145.9,2781,2104,2791,2715,404.5,15.4,324,4601,0.60,2.45,0.00,0.000,4484,0.317,0.076,2645,3517,2751,2790,2713,0,0,0,0,0,0,13.78,14.15,14.02
$GC,4807,-0.03,145.9,2645,3518,2788,2714,381.5,10.3,366,4812,0.32,2.33,0.00,0.000,5254,0.282,0.059,2579,2129,2750,2787,2713,0,0,0,0,0,0,13.94,14.27,14.28
$GC,5137,0.03,236.8,2579,2130,2787,2713,361.5,5.8,382,5278,0.00,2.65,135.12,1.320,8740,0.000,0.088,2580,700,2394,2444,2344,0,0,0,0,0,0,14.66,13.78,13.02
$GC,5335,0.21,298.5,2580,699,2441,2340,348.2,7.2,421,5436,0.20,2.50,93.38,1.294,11430,0.100,0.081,2661,2098,2145,2197,2094,0,0,0,0,0,0,13.97,13.89,12.83
$GC,5743,0.18,298.5,2663,2098,2185,2078,297.3,12.5,452,5748,0.00,2.50,0.00,0.000,644,0.000,0.086,2672,689,2131,2185,2077,0,0,0,0,0,0,14.42,14.07,14.44
$GC,5788,0.18,298.5,2672,690,2183,2078,291.7,12.4,461,5794,0.15,2.47,0.00,0.000,5126,0.237,0.080,2639,2101,2129,2182,2077,0,0,0,0,0,0,13.95,14.12,14.21
$GC,6104,0.21,309.2,2640,2103,2182,2077,260.4,9.5,474,6116,0.00,0.00,10.12,1.558,8358,0.000,0.000,2640,2102,2105,2156,2055,0,0,0,0,0,0,14.60,14.18,13.26
$GC,6404,0.28,343.7,2639,2102,2150,2049,233.9,8.4,484,6466,0.00,2.58,56.80,1.327,8868,0.000,0.086,2644,692,1962,2008,1917,0,0,0,0,0,0,14.62,13.97,13.26
$GC,6541,0.43,384.0,2644,694,1997,1916,222.8,8.1,511,6612,0.22,2.47,65.40,1.268,11430,0.096,0.080,2733,2099,1802,1829,1775,0,0,0,0,0,0,14.12,14.05,13.10
$GC,6917,0.37,384.0,2733,2100,1818,1759,171.2,13.5,536,6922,0.12,2.47,0.00,0.000,4740,0.240,0.083,2711,688,1787,1817,1757,0,0,0,0,0,0,14.00,14.15,14.12
$GC,6967,0.43,384.0,2711,689,1815,1759,165.5,10.8,546,6972,0.00,2.47,0.00,0.000,1158,0.000,0.079,2711,2102,1786,1814,1758,0,0,0,0,0,0,14.32,14.19,14.35
$GC,7277,0.43,384.0,2711,2104,1814,1758,131.5,10.7,558,7282,0.00,2.47,0.00,0.000,516,0.000,0.086,2712,693,1785,1814,1756,0,0,0,0,0,0,14.62,14.23,14.64
$GC,7312,0.47,384.0,2713,694,1812,1757,127.9,10.3,565,7318,0.00,2.45,0.00,0.000,1158,0.000,0.080,2713,2099,1783,1811,1756,0,0,0,0,0,0,14.39,14.25,14.43
$GC,7618,0.48,399.9,2713,2101,1811,1755,98.6,9.3,580,7629,0.00,0.00,7.40,0.496,8230,0.000,0.000,2713,2097,1733,1760,1706,0,0,0,0,0,0,14.62,14.15,13.60
$GC,7928,0.56,449.6,2713,2101,1764,1706,72.1,7.7,611,7961,0.12,2.47,26.80,0.418,10916,0.129,0.085,2781,692,1531,1559,1504,0,0,0,0,0,0,14.16,13.97,13.67
$GC,8041,0.56,449.6,2780,693,1558,1505,58.9,10.5,633,8047,0.00,2.45,0.00,0.000,1030,0.000,0.078,2781,2096,1530,1558,1503,0,0,0,0,0,0,14.10,14.02,14.14
$GC,8363,0.61,522.1,2781,2097,1559,1497,33.1,6.7,665,8405,0.00,2.55,38.05,0.310,8740,0.000,0.085,2781,698,1234,1286,1182,0,0,0,0,0,0,14.46,13.97,13.72
$GC,8463,0.77,587.1,2781,699,1285,1179,26.4,7.0,682,8505,0.15,2.50,34.20,0.286,11430,0.125,0.079,2845,2107,970,1038,903,0,0,0,0,0,0,14.04,13.97,13.66
$STATE,8738,end climb,SURFACE_DEPTH_REACHED
$STATE,8738,begin surface coast
$FINISH,0.1,1.021534
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8779,63.17,0.209,0,0,499,702.78
$SM_GC,1.13,8.18,0.17,63.17,0.079,0.116,0.209,200,2233,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.17,14.17,13.88
$RAFOS_CLK,30
$RAFOS_FIX,7417.623047,-15349.572266,300817,161657,3,255,0.23
$IRIDIUM_FIX,7417.50,-15358.06,300817,173409
$TT8_MAMPS,0.085386,0.92127
$HUMID,45.07
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15982329856.000000
$PM_FREEKB_00,51874304
$24V_AH,12.33,140.984
$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,25.950,89.200,892.650,63.175,0.000,0.000,0.000,621.500,4.250,0.000,12.071,0.000,6185.718,863.013,2646.376,327.776,0.000,2636.007,0.000,1026.901,2219.000,0.539,0.000
$DEVICE_MAMPS,455.940,2145.060,1558.305,208.845,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8787.000,8765.000,8732.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.830,20.000,9.860,0.000
$MEM,323708
$DATA_FILE_SIZE,23412,716
$CAP_FILE_SIZE,107283,0
$CFSIZE,2097872896,2024636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.037,226.72,1
$GPS,300817,200914,7419.299,-15352.194,17,0.7,34,19.2,0.3,167.4,11,9.8