version: 66.13
glider: 196
mission: 14
dive: 416
start: 9 23 117 15 29 19
data:
$ID,196
$MISSION,14
$DIVE,416
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,65
$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,52
$R_STBD_OVSHOOT,60
$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,1172.0
$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
$GPS1,230917,151859,7418.5332,-15346.1348,8,0.7,9,19.2,0.0,0.0,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.9
$GPS2,230917,152845,7418.5684,-15345.8857,6,0.7,13,19.2,0.0,11.2,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,194.6,1032,-17.9,-10.000,-21.31,2227
$D_GRID,120
$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,69,end surface,CONTROL_FINISHED_OK
$STATE,69,begin dive
$GC,72,-0.57,-145.9,191,2247,501,500,0.0,0.0,0,155,0.00,0.00,-81.07,0.000,16386,0.000,0.000,189,2247,2013,1932,2094,0,0,0,0,0,0,14.48,28.83,14.50
$GC,159,-0.57,-145.9,190,2248,1936,2097,3.5,-4.0,8,216,12.98,2.58,-38.90,0.000,18724,0.458,2.164,2376,3574,3962,3948,3977,0,0,0,0,0,0,13.59,13.08,14.09
$GC,297,-0.76,-145.9,2376,3575,3954,3978,33.3,-11.5,35,305,0.12,2.30,0.00,0.000,5254,0.126,0.056,2327,2225,3965,3953,3977,0,0,0,0,0,0,14.14,14.09,14.23
$GC,602,-0.80,-145.9,2326,2226,3955,3978,87.9,-13.8,66,603,0.00,0.00,0.00,0.000,134,0.000,0.000,2326,2225,3965,3954,3977,0,0,0,0,0,0,14.59,14.61,14.61
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,886,-0.13,0.0,2327,2072,3956,3977,121.5,-11.4,82,1183,0.77,0.00,292.17,1.112,10246,0.202,0.000,2528,2071,3364,3376,3352,0,0,0,0,0,0,13.85,13.71,13.03
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1188,0.57,145.9,2528,2071,3373,3350,144.7,0.0,92,1425,0.75,2.62,227.00,1.095,10500,0.088,0.070,2764,3477,2759,2786,2732,0,0,0,0,0,0,13.81,13.47,12.78
$GC,1536,0.49,525.0,2763,3478,2776,2725,176.2,-7.5,123,2179,0.17,2.35,634.53,1.047,13478,0.392,0.060,2745,2125,1220,1277,1163,0,0,0,0,0,0,13.37,13.83,12.48
$GC,2481,0.52,525.0,2744,2126,1268,1139,75.1,11.4,277,2487,0.00,2.45,0.00,0.000,388,0.000,0.078,2745,3478,1203,1268,1138,0,0,0,0,0,0,14.21,13.82,14.22
$GC,2713,0.61,544.5,2746,3479,1267,1139,50.5,9.1,323,2728,0.00,2.40,8.38,0.322,9382,0.000,0.066,2745,2102,1144,1206,1082,0,0,0,0,0,0,14.08,13.98,13.59
$GC,3034,0.79,628.7,2746,2103,1208,1098,29.0,6.1,357,3085,0.25,0.00,47.45,0.276,10662,0.086,0.000,2849,2106,800,858,743,0,0,0,0,0,0,13.95,14.00,13.70
$STATE,3321,end climb,SURFACE_DEPTH_REACHED
$STATE,3321,begin surface coast
$FINISH,0.2,1.011365
$STATE,3341,end surface coast,CONTROL_FINISHED_OK
$STATE,3341,begin surface
$SM_CCo,3409,43.25,0.204,0,0,501,702.78
$SM_GC,1.12,8.38,0.12,43.25,0.082,0.132,0.204,199,2201,501,-7.38,-1.64,702.78,0,0,0,0,0,0,14.12,14.11,13.83
$RAFOS_CLK,59
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7417.53,-15340.30,230917,142400
$TT8_MAMPS,0.086135,0.908537
$HUMID,44.64
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.30
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,44411904
$24V_AH,12.48,242.627
$10V_AH,12.29,0.000
$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,23.425,15.025,1209.525,43.250,0.000,0.000,0.000,315.175,3.750,0.000,13.615,0.000,1437.864,699.589,1646.274,271.038,0.000,1912.625,0.000,565.357,2218.000,0.539,0.000
$DEVICE_MAMPS,458.235,2164.185,1111.545,204.255,0.000,0.000,0.000,158.355,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3371.000,2251.000,3344.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.785,20.000,9.910,0.000
$MEM,323600
$DATA_FILE_SIZE,13460,390
$CAP_FILE_SIZE,47771,0
$CFSIZE,2097872896,1970962432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1442.4
$CURRENT,0.102,49.43,1
$GPS,230917,162757,7418.601,-15346.003,12,0.9,17,19.2,0.0,93.4,9,9.2