version: 66.13
glider: 196
mission: 14
dive: 384
start: 9 20 117 7 50 10
data:
$ID,196
$MISSION,14
$DIVE,384
$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,27
$R_STBD_OVSHOOT,24
$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,1065.0
$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
$GPS1,200917,073700,7428.9365,-15309.6230,15,0.7,17,19.6,0.3,85.3,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.9
$GPS2,200917,074933,7429.0132,-15308.8320,6,0.8,41,19.6,0.3,22.8,9,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.3,27826,-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,50,end surface,CONTROL_FINISHED_OK
$STATE,50,begin dive
$GC,53,-0.57,-145.9,196,2216,498,485,0.0,0.0,0,146,0.00,0.00,-91.50,0.000,16386,0.000,0.000,195,2216,2223,2162,2285,0,0,0,0,0,0,14.49,28.83,14.50
$GC,150,-0.57,-145.9,196,2217,2166,2286,4.5,-6.7,9,203,12.80,2.75,-31.20,0.000,18724,0.451,2.162,2377,3600,3964,3949,3980,0,0,0,0,0,0,13.52,12.61,13.98
$GC,273,-0.73,-145.9,2377,3600,3954,3980,35.8,-12.3,33,278,0.00,2.40,0.00,0.000,1158,0.000,0.057,2377,2198,3967,3953,3981,0,0,0,0,0,0,14.22,14.10,14.25
$GC,600,-0.86,-145.9,2377,2199,3957,3980,78.1,-9.8,65,601,0.25,0.00,0.00,0.000,4262,0.095,0.000,2281,2196,3967,3955,3979,0,0,0,0,0,0,14.09,14.19,14.17
$GC,909,-0.86,-145.9,2281,2197,3956,3981,130.1,-16.1,84,915,0.00,2.53,0.00,0.000,260,0.000,0.085,2272,3609,3968,3955,3982,0,0,0,0,0,0,14.42,14.00,14.44
$GC,1028,-0.96,-145.9,2272,3610,3956,3980,145.6,-12.4,107,1034,0.00,2.45,0.00,0.000,1158,0.000,0.057,2271,2195,3968,3957,3980,0,0,0,0,0,0,14.09,13.97,14.14
$GC,1331,-0.98,-145.9,2272,2195,3956,3980,188.8,-13.8,118,1336,0.00,2.53,0.00,0.000,388,0.000,0.084,2266,3608,3967,3955,3980,0,0,0,0,0,0,14.42,13.97,14.44
$GC,1371,-1.08,-145.9,2267,3609,3957,3980,194.1,-12.6,126,1376,0.00,2.45,0.00,0.000,1158,0.000,0.056,2266,2195,3967,3955,3979,0,0,0,0,0,0,14.01,13.89,14.04
$GC,1692,-1.11,-145.9,2266,2195,3955,3981,235.3,-12.5,140,1698,0.12,2.55,0.00,0.000,4484,0.145,0.083,2209,3614,3967,3955,3980,0,0,0,0,0,0,14.04,13.93,14.08
$GC,1738,-1.11,-145.9,2209,3615,3956,3980,242.5,-15.9,149,1743,0.00,2.45,0.00,0.000,1030,0.000,0.058,2209,2198,3967,3955,3980,0,0,0,0,0,0,14.08,13.93,14.09
$GC,2054,-1.07,-145.9,2210,2197,3954,3980,293.7,-15.3,162,2059,0.00,2.55,0.00,0.000,388,0.000,0.087,2209,3615,3967,3955,3980,0,0,0,0,0,0,14.38,13.91,14.40
$GC,2120,-1.10,-145.9,2209,3615,3956,3980,302.9,-13.2,175,2124,0.00,2.47,0.00,0.000,1158,0.000,0.057,2209,2192,3967,3955,3979,0,0,0,0,0,0,14.07,13.95,14.10
$GC,2445,-1.08,-145.9,2209,2191,3955,3981,348.2,-13.6,190,2450,0.00,2.55,0.00,0.000,388,0.000,0.086,2208,3607,3968,3956,3980,0,0,0,0,0,0,14.39,13.90,14.40
$GC,2505,-1.14,-145.9,2210,3608,3956,3979,355.9,-11.8,202,2510,0.00,2.45,0.00,0.000,1158,0.000,0.056,2209,2195,3966,3954,3978,0,0,0,0,0,0,14.08,13.95,14.14
$GC,2836,-1.14,-145.9,2210,2194,3954,3979,398.8,-13.1,218,2841,0.00,2.53,0.00,0.000,260,0.000,0.086,2209,3609,3966,3954,3979,0,0,0,0,0,0,14.38,13.79,14.38
$GC,2909,-1.22,-145.9,2210,3612,3955,3980,407.3,-11.2,232,2915,0.00,2.40,0.00,0.000,1158,0.000,0.054,2208,2195,3966,3953,3979,0,0,0,0,0,0,14.06,13.93,14.09
$GC,3233,-1.22,-145.9,2209,2194,3954,3978,448.1,-12.5,246,3238,0.00,2.53,0.00,0.000,260,0.000,0.086,2209,3607,3966,3953,3979,0,0,0,0,0,0,14.36,13.84,14.38
$GC,3288,-1.30,-145.9,2209,3608,3953,3980,454.9,-10.6,257,3295,0.17,2.42,0.00,0.000,5254,0.114,0.055,2146,2194,3967,3956,3979,0,0,0,0,0,0,14.00,13.93,14.09
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3447,-0.13,0.0,2146,2067,3952,3980,482.1,-18.3,263,3671,1.62,0.05,220.48,1.405,10246,0.274,0.221,2527,2100,3365,3377,3354,0,0,0,0,0,0,13.62,13.51,12.74
$STATE,3675,end apogee,CONTROL_FINISHED_OK
$STATE,3675,begin climb
$GC,3678,0.57,145.9,2528,2101,3368,3344,494.4,0.0,270,3894,0.75,0.00,208.45,1.360,10758,0.058,0.000,2784,2101,2767,2801,2733,0,0,0,0,0,0,13.74,13.12,12.31
$GC,4222,0.13,145.9,2783,2101,2784,2720,459.1,15.0,286,4223,0.73,0.00,0.00,0.000,4230,0.317,0.000,2628,2101,2751,2783,2719,0,0,0,0,0,0,13.56,14.06,13.97
$GC,4522,-0.00,172.8,2629,2101,2785,2717,431.9,8.8,296,4567,0.17,2.50,36.05,1.435,12964,0.288,0.086,2589,730,2654,2692,2617,0,0,0,0,0,0,13.76,14.04,13.17
$GC,4643,0.04,225.4,2589,731,2690,2610,422.7,7.6,320,4729,0.00,2.40,80.93,1.349,9254,0.000,0.079,2589,2101,2448,2498,2398,0,0,0,0,0,0,14.23,14.12,13.02
$GC,5034,0.05,250.5,2590,2101,2484,2373,388.4,8.8,348,5075,0.00,0.00,36.78,1.395,8742,0.000,0.000,2592,2101,2340,2389,2292,0,0,0,0,0,0,14.56,13.81,13.19
$GC,5396,0.11,282.6,2589,2101,2377,2278,356.9,8.5,365,5456,0.00,2.50,50.40,1.356,8868,0.000,0.086,2589,731,2203,2248,2159,0,0,0,0,0,0,14.60,14.05,13.19
$GC,5489,0.26,322.3,2589,732,2243,2156,349.4,8.2,383,5558,0.22,2.42,61.92,1.305,11430,0.091,0.078,2680,2107,2050,2092,2008,0,0,0,0,0,0,14.19,14.09,13.09
$GC,5879,0.18,322.3,2681,2106,2077,1988,292.1,14.8,411,5884,0.15,2.42,0.00,0.000,4740,0.256,0.086,2647,737,2032,2076,1988,0,0,0,0,0,0,13.89,14.12,14.06
$GC,5914,0.18,322.3,2647,732,2075,1988,287.6,11.9,418,5919,0.00,2.40,0.00,0.000,1030,0.000,0.078,2647,2101,2028,2069,1988,0,0,0,0,0,0,14.28,14.15,14.31
$GC,6239,0.18,322.3,2646,2103,2074,1988,252.2,10.1,433,6244,0.00,2.42,0.00,0.000,516,0.000,0.088,2647,730,2030,2073,1987,0,0,0,0,0,0,14.59,14.12,14.63
$GC,6275,0.23,332.6,2647,732,2072,1988,248.8,9.5,440,6285,0.00,2.40,4.07,1.483,9382,0.000,0.077,2647,2099,2008,2050,1966,0,0,0,0,0,0,13.59,13.62,13.28
$GC,6601,0.25,352.2,2647,2100,2060,1971,217.8,9.1,455,6646,0.00,2.42,39.10,1.358,8740,0.000,0.086,2647,731,1925,1962,1889,0,0,0,0,0,0,14.64,13.85,13.25
$GC,6676,0.36,387.5,2647,733,1954,1888,211.3,8.4,470,6741,0.15,2.40,58.12,1.265,11430,0.113,0.078,2707,2100,1784,1805,1763,0,0,0,0,0,0,14.21,14.13,13.15
$GC,7052,0.32,387.5,2706,2100,1796,1750,165.1,12.0,495,7056,0.00,2.42,0.00,0.000,644,0.000,0.087,2709,731,1772,1794,1750,0,0,0,0,0,0,14.54,14.10,14.57
$GC,7102,0.32,387.5,2709,731,1794,1751,159.2,11.2,505,7107,0.00,2.40,0.00,0.000,1030,0.000,0.076,2708,2101,1770,1791,1750,0,0,0,0,0,0,14.27,14.13,14.31
$GC,7413,0.30,387.5,2709,2103,1793,1747,124.2,11.2,517,7414,0.12,0.00,0.00,0.000,4230,0.221,0.000,2682,2102,1769,1792,1747,0,0,0,0,0,0,14.06,14.31,14.26
$GC,7713,0.37,420.5,2682,2103,1792,1745,98.2,8.5,527,7735,0.00,2.42,16.33,0.496,8868,0.000,0.086,2683,732,1650,1673,1628,0,0,0,0,0,0,14.59,13.92,13.58
$GC,7808,0.52,456.2,2683,732,1674,1631,90.1,8.4,545,7834,0.20,2.40,20.58,0.467,11430,0.101,0.078,2767,2100,1503,1526,1480,0,0,0,0,0,0,14.17,14.14,13.57
$GC,8140,0.49,472.1,2767,2101,1527,1475,51.1,9.3,581,8151,0.00,0.00,8.48,0.350,8358,0.000,0.000,2767,2100,1441,1474,1408,0,0,0,0,0,0,14.58,14.04,13.64
$GC,8450,0.55,549.5,2767,2101,1475,1410,29.2,6.4,612,8494,0.00,0.00,42.17,0.286,8230,0.000,0.000,2767,2101,1125,1181,1070,0,0,0,0,0,0,14.54,14.03,13.71
$GC,8790,0.77,674.9,2770,2098,1182,1062,13.3,4.2,646,8868,0.17,2.55,67.95,0.237,10660,0.106,0.083,2846,3510,609,648,571,0,0,0,0,0,0,14.19,13.85,13.84
$GC,8899,0.80,674.9,2853,3511,654,571,3.2,11.9,666,8903,0.00,2.38,0.00,0.000,1158,0.000,0.066,2849,2141,615,653,577,0,0,0,0,0,0,14.18,14.04,14.21
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8906,begin surface coast
$FINISH,0.8,1.021195
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8938,15.77,0.210,0,0,500,702.78
$SM_GC,1.21,8.05,0.12,15.77,0.059,0.132,0.210,201,2238,500,-7.37,-0.48,702.78,0,0,0,0,0,0,14.21,14.22,13.85
$RAFOS_CLK,384
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7428.30,-15311.73,200917,045947
$TT8_MAMPS,0.038948,0.864346
$HUMID,47.55
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,6
$CP_FREE,15905456128.000000
$PM_FREEKB_00,45322240
$24V_AH,12.31,228.872
$10V_AH,12.15,0.000
$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,25.700,79.200,951.800,15.775,0.000,0.000,0.000,422.075,1.500,0.000,42.323,0.000,6428.167,843.611,2078.290,372.830,0.000,2079.441,0.000,961.680,2219.000,0.539,0.000
$DEVICE_MAMPS,450.585,2161.890,1483.335,210.375,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8953.000,8910.000,8889.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.672,20.000,9.911,0.000
$MEM,323460
$DATA_FILE_SIZE,23420,669
$CAP_FILE_SIZE,99446,0
$CFSIZE,2097872896,1979678720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8842.85,0x2341ea,1,24
$SOUNDSPEED,1448.0
$CURRENT,0.006,104.79,1
$GPS,200917,102050,7428.236,-15312.644,26,0.9,39,19.5,0.3,30.3,10,8.8