version: 66.13
glider: 196
mission: 14
dive: 350
start: 9 16 117 10 43 17
data:
$ID,196
$MISSION,14
$DIVE,350
$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,29
$R_STBD_OVSHOOT,28
$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,978.0
$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
$GPS1,160917,102620,7444.3408,-15053.1309,38,0.8,38,20.7,0.0,0.0,10,7.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.4
$GPS2,160917,104244,7444.3579,-15053.4033,6,0.8,8,20.7,0.0,242.3,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,211.0,99659,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,173,2209,493,488,0.0,0.0,0,143,0.00,0.00,-91.72,0.000,16386,0.000,0.000,174,2209,2173,2099,2247,0,0,0,0,0,0,14.49,28.83,14.51
$GC,147,-0.57,-145.9,171,2210,2102,2248,4.1,-6.2,9,200,13.07,2.83,-34.00,0.000,18980,0.453,2.163,2384,799,3961,3945,3977,0,0,0,0,0,0,13.55,12.96,14.07
$GC,335,-0.70,-145.9,2386,800,3952,3978,44.1,-13.3,46,341,0.00,2.47,0.00,0.000,1158,0.000,0.086,2386,2191,3964,3951,3977,0,0,0,0,0,0,14.09,13.95,14.10
$GC,640,-0.84,-145.9,2387,2193,3954,3977,83.2,-9.7,77,645,0.22,2.53,0.00,0.000,4516,0.096,0.085,2286,3611,3965,3953,3977,0,0,0,0,0,0,14.20,14.00,14.24
$GC,763,-0.92,-145.9,2287,3614,3954,3977,100.4,-13.9,101,769,0.00,2.42,0.00,0.000,1158,0.000,0.059,2286,2197,3965,3953,3977,0,0,0,0,0,0,14.17,14.08,14.23
$GC,1094,-0.94,-145.9,2286,2198,3954,3978,150.1,-13.9,117,1095,0.00,0.00,0.00,0.000,134,0.000,0.000,2286,2196,3965,3953,3977,0,0,0,0,0,0,14.63,14.63,14.64
$GC,1394,-1.00,-145.9,2287,2197,3954,3977,188.3,-12.4,127,1399,0.00,2.53,0.00,0.000,388,0.000,0.086,2280,3614,3965,3953,3977,0,0,0,0,0,0,14.61,13.89,14.63
$GC,1444,-1.16,-145.9,2280,3615,3953,3978,194.1,-10.5,137,1450,0.22,2.42,0.00,0.000,5254,0.095,0.057,2194,2189,3966,3956,3977,0,0,0,0,0,0,14.21,14.13,14.30
$GC,1755,-1.06,-145.9,2195,2189,3953,3978,255.4,-19.5,149,1760,0.17,2.53,0.00,0.000,2436,0.292,0.081,2224,3613,3965,3953,3977,0,0,0,0,0,0,13.67,14.00,13.83
$GC,1806,-1.11,-145.9,2224,3615,3954,3977,263.2,-13.6,159,1811,0.00,2.40,0.00,0.000,1158,0.000,0.058,2223,2201,3964,3953,3975,0,0,0,0,0,0,14.26,14.13,14.30
$GC,2116,-1.11,-145.9,2224,2201,3953,3978,306.2,-13.3,171,2121,0.00,2.53,0.00,0.000,260,0.000,0.087,2223,3614,3965,3953,3977,0,0,0,0,0,0,14.62,14.01,14.63
$GC,2187,-1.20,-145.9,2223,3617,3951,3977,314.8,-11.3,185,2191,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2191,3965,3953,3977,0,0,0,0,0,0,14.26,14.12,14.30
$GC,2507,-1.20,-145.9,2223,2191,3954,3977,354.9,-12.4,199,2512,0.00,2.53,0.00,0.000,260,0.000,0.087,2222,3613,3964,3952,3977,0,0,0,0,0,0,14.59,14.04,14.60
$GC,2547,-1.28,-145.9,2223,3613,3953,3977,359.6,-11.6,207,2552,0.17,2.40,0.00,0.000,5254,0.108,0.057,2158,2201,3964,3952,3977,0,0,0,0,0,0,14.20,14.13,14.30
$GC,2868,-1.18,-145.9,2158,2200,3953,3978,416.0,-17.7,221,2873,0.15,2.50,0.00,0.000,2436,0.321,0.081,2180,3613,3964,3951,3977,0,0,0,0,0,0,13.66,14.02,13.87
$GC,2963,-1.18,-145.9,2180,3614,3952,3977,430.2,-13.9,240,2969,0.00,2.45,0.00,0.000,1030,0.000,0.057,2180,2189,3963,3950,3977,0,0,0,0,0,0,14.23,14.10,14.27
$GC,3289,-1.13,-145.9,2180,2188,3952,3977,479.9,-15.3,255,3294,0.12,2.53,0.00,0.000,2436,0.328,0.082,2197,3613,3964,3951,3977,0,0,0,0,0,0,13.76,14.01,13.93
$STATE,3296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3297,begin apogee
$GC,3305,-0.13,0.0,2198,2098,3951,3978,481.4,-15.2,257,3527,1.33,0.00,217.88,1.424,10246,0.237,0.000,2528,2102,3364,3379,3350,0,0,0,0,0,0,13.65,13.53,12.66
$STATE,3530,end apogee,CONTROL_FINISHED_OK
$STATE,3530,begin climb
$GC,3533,0.57,145.9,2529,2096,3374,3342,494.0,0.0,264,3754,0.75,2.65,207.88,1.371,10756,0.061,0.078,2792,691,2764,2800,2729,0,0,0,0,0,0,13.71,13.13,12.24
$GC,3856,0.15,145.9,2792,691,2790,2728,496.2,13.5,312,3861,0.77,2.60,0.00,0.000,5254,0.325,0.074,2639,2111,2758,2789,2727,0,0,0,0,0,0,13.16,13.54,13.54
$GC,4189,0.01,181.0,2636,2112,2789,2721,466.9,8.4,328,4244,0.20,2.60,49.15,1.433,12964,0.271,0.086,2591,693,2624,2671,2577,0,0,0,0,0,0,13.79,13.95,13.06
$GC,4269,0.05,241.1,2591,693,2667,2575,460.9,7.2,339,4365,0.00,2.50,89.15,1.371,9254,0.000,0.080,2591,2106,2379,2434,2324,0,0,0,0,0,0,14.14,14.02,12.90
$GC,4671,0.07,264.2,2591,2107,2423,2312,425.9,8.9,369,4707,0.00,2.53,31.92,1.447,8740,0.000,0.086,2587,688,2283,2334,2233,0,0,0,0,0,0,14.40,13.46,12.93
$GC,4723,0.13,293.9,2590,688,2331,2231,421.2,8.6,374,4773,0.00,2.50,44.65,1.402,9382,0.000,0.079,2592,2102,2164,2214,2115,0,0,0,0,0,0,14.14,14.02,13.03
$GC,5094,0.21,316.8,2591,2102,2207,2101,387.7,8.9,398,5134,0.17,2.55,33.15,1.435,10916,0.103,0.089,2672,681,2065,2106,2024,0,0,0,0,0,0,14.19,14.00,13.15
$GC,5149,0.13,316.8,2672,682,2111,2023,380.3,14.2,404,5156,0.20,2.53,0.00,0.000,5254,0.240,0.079,2626,2108,2066,2109,2023,0,0,0,0,0,0,13.87,14.00,14.07
$GC,5455,0.13,316.8,2627,2110,2109,2017,345.3,11.2,415,5459,0.00,2.50,0.00,0.000,516,0.000,0.086,2630,694,2062,2107,2017,0,0,0,0,0,0,14.45,14.06,14.47
$GC,5485,0.16,316.8,2630,695,2107,2017,341.9,11.4,421,5491,0.00,2.47,0.00,0.000,1158,0.000,0.078,2630,2100,2058,2106,2011,0,0,0,0,0,0,14.21,14.08,14.28
$GC,5817,0.16,316.8,2631,2101,2107,2014,305.1,10.9,437,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2100,2060,2106,2014,0,0,0,0,0,0,14.45,14.47,14.47
$GC,6117,0.16,316.8,2631,2100,2107,2013,274.2,10.2,447,6121,0.00,2.53,0.00,0.000,516,0.000,0.086,2630,683,2060,2109,2012,0,0,0,0,0,0,14.45,14.02,14.47
$GC,6147,0.22,316.8,2631,681,2105,2009,271.2,10.3,453,6153,0.00,2.50,0.00,0.000,1158,0.000,0.078,2630,2106,2058,2104,2012,0,0,0,0,0,0,14.18,14.04,14.23
$GC,6479,0.26,340.3,2631,2101,2105,2013,240.5,8.9,469,6517,0.12,0.00,36.47,1.374,10406,0.124,0.000,2689,2102,1981,2029,1934,0,0,0,0,0,0,14.18,14.01,13.19
$GC,6811,0.20,340.3,2690,2103,2013,1924,201.8,11.2,480,6816,0.15,2.47,0.00,0.000,4740,0.241,0.084,2655,687,1967,2012,1922,0,0,0,0,0,0,13.75,13.96,13.88
$GC,6912,0.30,375.2,2655,688,2010,1924,192.9,8.4,500,6978,0.00,2.45,59.15,1.300,9382,0.000,0.079,2655,2100,1832,1860,1805,0,0,0,0,0,0,14.18,14.06,13.14
$GC,7295,0.40,415.8,2656,2100,1852,1796,160.2,8.1,526,7368,0.17,0.00,70.68,1.254,10406,0.103,0.000,2729,2100,1668,1690,1647,0,0,0,0,0,0,14.28,13.88,13.15
$GC,7655,0.36,415.8,2730,2099,1686,1630,114.6,12.6,538,7661,0.12,2.45,0.00,0.000,4740,0.240,0.086,2699,691,1657,1684,1630,0,0,0,0,0,0,14.00,13.34,14.13
$GC,7754,0.47,442.2,2700,691,1682,1629,105.5,8.8,557,7797,0.00,2.47,38.62,1.263,9382,0.000,0.079,2699,2106,1562,1591,1533,0,0,0,0,0,0,14.11,13.99,13.27
$GC,8098,0.58,502.8,2700,2112,1582,1516,76.3,7.2,595,8131,0.22,0.00,31.20,0.432,10406,0.090,0.000,2788,2106,1314,1358,1271,0,0,0,0,0,0,14.24,14.12,13.68
$GC,8428,0.61,546.0,2788,2107,1359,1265,42.9,8.0,628,8461,0.00,2.55,23.33,0.330,8740,0.000,0.087,2793,694,1137,1193,1082,0,0,0,0,0,0,14.57,14.04,13.70
$GC,8562,0.71,585.8,2795,694,1194,1082,32.1,8.2,654,8588,0.00,2.47,21.75,0.296,9382,0.000,0.078,2794,2102,974,1036,912,0,0,0,0,0,0,14.22,14.08,13.68
$GC,8894,0.87,678.8,2794,2102,1037,909,10.6,5.7,690,8951,0.17,2.58,50.20,0.233,10916,0.104,0.096,2877,683,594,629,560,0,0,0,0,0,0,14.19,14.02,13.84
$STATE,8974,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$FINISH,0.7,1.021232
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$SM_CCo,9008,14.60,0.207,0,0,499,702.78
$SM_GC,1.48,8.23,2.70,14.60,0.073,0.073,0.207,205,2202,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.14,13.92
$RAFOS_CLK,211
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7443.42,-15052.76,160917,103348
$TT8_MAMPS,0.038199,0.894306
$HUMID,46.33
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.00
$XPDR_PINGS,9
$CP_FREE,15922757632.000000
$PM_FREEKB_00,46453440
$24V_AH,12.24,212.432
$10V_AH,12.27,0.000
$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,26.775,90.700,1005.175,14.600,0.000,0.000,0.000,536.500,2.250,0.000,16.176,0.000,6589.846,1005.786,2067.037,360.486,0.000,2267.460,0.000,1016.408,2215.000,0.539,0.000
$DEVICE_MAMPS,452.880,2162.655,1447.380,206.550,0.000,0.000,0.000,165.240,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9019.000,8966.000,8963.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.604,20.000,12.359,0.000
$MEM,323468
$DATA_FILE_SIZE,23377,708
$CAP_FILE_SIZE,106263,0
$CFSIZE,2097872896,1988034560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.023,325.25,1
$GPS,160917,131443,7443.858,-15057.904,15,0.7,17,20.7,0.0,306.0,11,9.4