version: 66.13
glider: 196
mission: 14
dive: 207
start: 8 31 117 1 23 27
data:
$ID,196
$MISSION,14
$DIVE,207
$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,24
$R_STBD_OVSHOOT,43
$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,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,584.0
$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
$GPS1,310817,005852,7419.9268,-15349.2090,36,0.7,37,19.2,0.4,163.8,11,7.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.0
$GPS2,310817,012253,7419.8091,-15349.3555,7,0.7,7,19.2,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,10.9,170456,-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,-145.9,196,2228,503,478,0.0,0.0,0,141,0.00,0.00,-92.07,0.000,16386,0.000,0.000,195,2228,2143,2066,2221,0,0,0,0,0,0,14.50,28.83,14.52
$GC,144,-0.57,-145.9,196,2228,2071,2223,3.2,-3.8,9,201,12.73,2.75,-36.80,0.000,18724,0.456,2.146,2375,3581,3961,3943,3979,0,0,0,0,0,0,13.59,12.61,14.07
$GC,267,-0.71,-145.9,2376,3582,3949,3979,35.2,-14.1,33,272,0.00,2.35,0.00,0.000,1158,0.000,0.058,2375,2199,3963,3948,3979,0,0,0,0,0,0,14.28,14.16,14.35
$GC,579,-0.79,-145.9,2375,2200,3951,3980,83.1,-11.9,65,584,0.15,2.45,0.00,0.000,4484,0.136,0.085,2305,3587,3964,3950,3979,0,0,0,0,0,0,14.14,14.04,14.19
$GC,609,-0.79,-145.9,2305,3588,3950,3980,87.6,-16.0,71,614,0.00,2.38,0.00,0.000,1030,0.000,0.059,2301,2199,3964,3950,3978,0,0,0,0,0,0,14.29,14.16,14.33
$GC,929,-0.79,-145.9,2305,2198,3952,3979,138.4,-15.1,88,935,0.00,2.45,0.00,0.000,260,0.000,0.087,2298,3594,3964,3950,3979,0,0,0,0,0,0,14.62,14.14,14.64
$GC,1010,-0.90,-145.9,2299,3594,3951,3979,149.1,-11.9,104,1016,0.00,2.35,0.00,0.000,1158,0.000,0.058,2298,2202,3964,3950,3979,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1321,-0.93,-145.9,2299,2198,3951,3979,192.0,-13.4,116,1327,0.00,2.42,0.00,0.000,388,0.000,0.088,2293,3588,3967,3950,3985,0,0,0,0,0,0,14.64,14.19,14.66
$GC,1377,-1.05,-145.9,2293,3589,3952,3979,198.5,-11.3,127,1383,0.17,2.38,0.00,0.000,5254,0.111,0.057,2230,2184,3964,3950,3978,0,0,0,0,0,0,14.27,14.23,14.35
$GC,1682,-0.98,-145.9,2231,2187,3951,3980,252.9,-17.4,138,1687,0.12,2.45,0.00,0.000,2436,0.295,0.085,2246,3588,3964,3950,3978,0,0,0,0,0,0,13.97,14.19,14.19
$GC,1767,-1.03,-145.9,2246,3589,3951,3980,264.5,-12.7,155,1774,0.00,2.38,0.00,0.000,1158,0.000,0.058,2243,2196,3964,3950,3978,0,0,0,0,0,0,14.35,14.21,14.36
$GC,2072,-1.03,-145.9,2249,2195,3951,3978,306.0,-13.6,166,2077,0.00,2.42,0.00,0.000,260,0.000,0.089,2239,3588,3965,3952,3978,0,0,0,0,0,0,14.67,14.20,14.69
$GC,2127,-1.09,-145.9,2240,3589,3951,3979,313.3,-12.6,177,2133,0.00,2.35,0.00,0.000,1158,0.000,0.057,2239,2197,3964,3950,3978,0,0,0,0,0,0,14.35,14.21,14.39
$GC,2432,-1.09,-145.9,2240,2197,3951,3979,353.9,-13.2,188,2438,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3592,3964,3950,3978,0,0,0,0,0,0,14.68,14.20,14.69
$GC,2508,-1.17,-145.9,2237,3598,3949,3979,363.4,-11.9,203,2513,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2195,3964,3950,3978,0,0,0,0,0,0,14.40,14.27,14.43
$GC,2823,-1.17,-145.9,2237,2193,3951,3978,403.6,-12.6,216,2829,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3587,3963,3950,3977,0,0,0,0,0,0,14.68,14.19,14.70
$GC,2904,-1.26,-145.9,2236,3589,3950,3979,413.0,-10.9,232,2910,0.20,2.35,0.00,0.000,5254,0.106,0.056,2159,2191,3964,3950,3978,0,0,0,0,0,0,14.33,14.27,14.42
$GC,3215,-1.11,-145.9,2158,2192,3949,3978,473.3,-19.8,244,3221,0.25,2.45,0.00,0.000,2436,0.322,0.083,2204,3590,3963,3949,3977,0,0,0,0,0,0,13.83,14.18,14.04
$STATE,3254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3254,begin apogee
$GC,3262,-0.13,0.0,2205,2099,3949,3978,480.4,-15.5,252,3484,1.30,0.00,219.10,1.421,10246,0.249,0.000,2529,2097,3360,3377,3343,0,0,0,0,0,0,13.85,13.50,12.69
$STATE,3488,end apogee,CONTROL_FINISHED_OK
$STATE,3488,begin climb
$GC,3491,0.57,145.9,2530,2097,3380,3338,491.9,0.0,259,3714,0.75,2.10,209.35,1.370,10756,0.063,0.079,2792,699,2763,2802,2724,0,0,0,0,0,0,13.61,13.14,12.34
$GC,3929,0.17,145.9,2793,700,2797,2720,474.9,14.3,304,3935,0.73,2.47,0.00,0.000,5254,0.325,0.076,2641,2082,2756,2796,2716,0,0,0,0,0,0,13.40,13.76,13.78
$GC,4246,0.03,175.9,2641,2082,2796,2714,446.5,8.6,317,4290,0.20,0.00,42.17,1.450,12454,0.272,0.000,2597,2081,2646,2695,2598,0,0,0,0,0,0,13.87,13.95,13.14
$GC,4576,0.04,226.0,2598,2082,2690,2586,421.1,7.7,328,4655,0.00,2.47,74.45,1.395,8868,0.000,0.083,2602,692,2437,2495,2380,0,0,0,0,0,0,14.54,13.71,13.09
$GC,4681,0.10,262.6,2607,692,2491,2377,412.6,8.3,344,4741,0.00,2.50,53.80,1.389,9382,0.000,0.080,2602,2098,2296,2349,2243,0,0,0,0,0,0,14.05,13.94,12.95
$GC,5056,0.16,285.8,2602,2099,2340,2224,379.0,8.9,369,5091,0.00,0.00,33.38,1.424,8358,0.000,0.000,2602,2096,2199,2254,2144,0,0,0,0,0,0,14.48,14.01,13.18
$GC,5386,0.24,312.8,2602,2098,2247,2131,349.7,8.8,380,5433,0.15,2.58,40.65,1.405,10916,0.116,0.086,2685,687,2086,2135,2037,0,0,0,0,0,0,14.30,14.04,13.23
$GC,5490,0.20,312.8,2685,687,2128,2037,336.1,13.4,400,5496,0.15,2.50,0.00,0.000,5254,0.242,0.079,2653,2110,2081,2127,2035,0,0,0,0,0,0,13.93,14.10,14.19
$GC,5811,0.20,312.8,2653,2111,2128,2028,297.8,11.4,414,5816,0.00,2.50,0.00,0.000,516,0.000,0.086,2655,690,2078,2128,2028,0,0,0,0,0,0,14.59,14.21,14.62
$GC,5862,0.24,312.8,2656,690,2126,2028,292.2,11.0,424,5867,0.00,2.47,0.00,0.000,1158,0.000,0.080,2655,2108,2076,2125,2027,0,0,0,0,0,0,14.37,14.24,14.42
$GC,6172,0.24,312.8,2656,2112,2126,2027,257.9,10.7,436,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2111,2075,2125,2026,0,0,0,0,0,0,14.62,14.66,14.66
$GC,6473,0.25,336.7,2656,2111,2126,2025,229.6,8.9,446,6514,0.00,2.47,36.30,1.385,8740,0.000,0.084,2658,691,1988,2036,1941,0,0,0,0,0,0,14.66,13.95,13.33
$GC,6544,0.35,361.9,2659,691,2031,1940,223.1,8.8,460,6591,0.10,2.45,41.22,1.336,11430,0.152,0.080,2702,2100,1889,1924,1854,0,0,0,0,0,0,14.19,14.16,13.19
$GC,6898,0.32,361.9,2702,2101,1912,1845,182.3,11.4,480,6904,0.00,2.47,0.00,0.000,644,0.000,0.086,2709,684,1877,1911,1844,0,0,0,0,0,0,14.55,14.19,14.57
$GC,6979,0.35,361.9,2710,684,1909,1844,173.2,10.7,496,6985,0.00,2.47,0.00,0.000,1158,0.000,0.078,2709,2102,1876,1908,1844,0,0,0,0,0,0,14.35,14.22,14.40
$GC,7290,0.32,361.9,2710,2104,1908,1843,138.9,10.7,508,7295,0.00,2.47,0.00,0.000,644,0.000,0.086,2710,691,1874,1907,1842,0,0,0,0,0,0,14.64,14.25,14.67
$GC,7366,0.34,369.0,2710,690,1906,1842,131.3,9.7,523,7376,0.00,2.45,3.47,1.436,9382,0.000,0.079,2710,2098,1859,1891,1827,0,0,0,0,0,0,14.00,13.48,12.90
$GC,7682,0.35,381.6,2710,2099,1896,1828,101.0,9.4,536,7703,0.00,0.00,20.08,1.404,8230,0.000,0.000,2710,2098,1809,1837,1781,0,0,0,0,0,0,14.65,14.20,13.36
$GC,7982,0.42,420.9,2710,2098,1830,1773,75.8,8.2,564,8009,0.00,2.50,20.35,0.433,8868,0.000,0.086,2710,685,1649,1676,1623,0,0,0,0,0,0,14.59,14.13,13.72
$GC,8071,0.59,485.4,2710,686,1678,1624,69.3,7.0,581,8113,0.20,2.50,34.38,0.409,11430,0.097,0.080,2787,2103,1387,1428,1347,0,0,0,0,0,0,14.12,14.02,13.67
$GC,8419,0.63,546.2,2788,2106,1430,1331,35.5,7.2,620,8452,0.00,0.00,31.70,0.321,8230,0.000,0.000,2787,2106,1137,1201,1073,0,0,0,0,0,0,14.55,14.21,13.81
$GC,8749,0.80,654.3,2788,2107,1201,1067,14.9,5.0,653,8812,0.15,2.60,56.92,0.249,10916,0.119,0.090,2862,685,693,757,630,0,0,0,0,0,0,14.14,14.02,13.87
$GC,8845,0.86,661.1,2863,685,758,629,6.7,9.7,667,8856,0.00,2.50,3.55,0.243,9382,0.000,0.084,2862,2102,667,730,605,0,0,0,0,0,0,14.19,14.04,13.84
$STATE,8890,end climb,SURFACE_DEPTH_REACHED
$STATE,8890,begin surface coast
$FINISH,0.2,1.021500
$STATE,8900,end surface coast,CONTROL_FINISHED_OK
$STATE,8900,begin surface
$SM_CCo,8921,23.30,0.212,0,0,498,702.78
$SM_GC,1.10,8.18,0.17,23.30,0.080,0.122,0.212,199,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.31,14.26,14.00
$RAFOS_CLK,402
$RAFOS_FIX,7418.881836,-15350.428711,310817,000001,4,255,0.14
$IRIDIUM_FIX,7417.52,-15304.79,310817,011733
$TT8_MAMPS,0.039697,0.905541
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15981641728.000000
$PM_FREEKB_00,51809152
$24V_AH,12.34,142.413
$10V_AH,12.21,0.000
$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,25.525,88.425,920.875,23.300,0.000,0.000,0.000,912.175,4.000,0.000,8.989,0.000,6674.564,879.044,2512.292,333.500,0.000,2587.333,0.000,974.236,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2145.825,1449.675,211.905,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8931.000,8919.000,8875.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.567,20.000,9.865,0.000
$MEM,323348
$DATA_FILE_SIZE,23424,674
$CAP_FILE_SIZE,107115,0
$CFSIZE,2097872896,2023981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.2
$CURRENT,0.055,255.93,1
$GPS,310817,035342,7420.720,-15347.217,16,0.8,25,19.2,0.0,0.0,11,9.5