version: 66.13
glider: 196
mission: 13
dive: 2
start: 6 14 117 17 56 22
data:
$ID,196
$MISSION,13
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,185
$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,50
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55142
$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,627.77997
$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,2
$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,2650
$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,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$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
$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
$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,200.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,2.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,140617,175229,4744.0815,-12224.0752,5,0.8,10,16.3,0.0,152.8,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.2
$GPS2,140617,175549,4744.1089,-12224.0830,7,0.8,12,16.3,0.0,0.0,10,9.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,192.4,1605,-17.9,-10.000,-21.28,2227
$D_GRID,173
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,35,-0.57,-146.6,201,2008,550,526,0.0,0.0,0,179,0.00,0.00,-134.90,0.000,16390,0.000,0.000,199,2008,3699,3653,3745,0,0,0,0,0,0,14.59,13.45,14.54
$GC,182,-0.57,-146.6,201,2008,3653,3746,2.6,-3.7,21,200,11.45,2.30,0.00,0.000,2596,0.415,0.056,2460,617,3699,3654,3745,0,0,0,0,0,0,14.14,14.31,14.39
$GC,250,-0.51,-146.6,2461,618,3655,3745,28.5,-17.1,34,256,0.00,2.45,0.00,0.000,1158,0.000,0.091,2457,2010,3700,3658,3743,0,0,0,0,0,0,14.37,14.25,14.40
$GC,436,-0.43,-146.6,2457,2012,3664,3739,58.4,-14.2,71,442,0.20,2.38,0.00,0.000,2436,0.265,0.070,2498,3417,3700,3663,3737,0,0,0,0,0,0,14.08,14.27,14.21
$GC,588,-0.55,-146.6,2498,3418,3665,3738,71.8,-8.7,101,593,0.00,2.30,0.00,0.000,1190,0.000,0.059,2497,2032,3701,3665,3737,0,0,0,0,0,0,14.35,14.31,14.40
$GC,774,-0.61,-146.6,2498,2036,3668,3735,89.2,-9.6,138,780,0.12,2.38,0.00,0.000,4516,0.127,0.077,2429,3417,3700,3667,3734,0,0,0,0,0,0,14.34,14.24,14.36
$GC,850,-0.53,-146.6,2430,3417,3668,3740,100.7,-15.7,153,856,0.20,2.38,0.00,0.000,3206,0.257,0.063,2473,2008,3700,3667,3734,0,0,0,0,0,0,14.12,14.28,14.38
$GC,1036,-0.53,-146.6,2473,2006,3669,3734,124.6,-12.8,190,1042,0.00,2.42,0.00,0.000,260,0.000,0.082,2471,3418,3697,3668,3727,0,0,0,0,0,0,14.56,14.28,14.57
$GC,1164,-0.63,-146.6,2471,3418,3670,3733,138.1,-9.7,215,1171,0.00,2.40,0.00,0.000,1190,0.000,0.062,2470,2000,3700,3668,3733,0,0,0,0,0,0,14.40,14.33,14.41
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1284,-0.13,0.0,2471,1999,3669,3733,150.4,-10.2,238,1426,0.47,0.00,137.07,1.055,10246,0.219,0.000,2597,1998,3094,3099,3089,0,0,0,0,0,0,14.16,14.02,13.55
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,0.57,146.6,2597,1999,3095,3081,154.0,0.0,263,1582,0.73,2.55,138.00,0.988,10756,0.065,0.073,2867,581,2491,2516,2466,0,0,0,0,0,0,14.09,13.93,13.52
$GC,1612,0.27,146.6,2866,582,2501,2457,138.2,18.9,289,1619,0.55,2.53,0.00,0.000,5254,0.290,0.082,2741,2011,2476,2500,2453,0,0,0,0,0,0,13.88,14.00,14.11
$GC,1799,0.22,146.6,2744,2010,2501,2440,117.1,10.5,326,1804,0.00,0.00,0.00,0.000,134,0.000,0.000,2744,2010,2470,2500,2440,0,0,0,0,0,0,14.42,14.45,14.45
$GC,1985,0.17,150.9,2744,2011,2500,2439,97.8,9.8,363,1991,0.12,2.42,0.00,0.000,4516,0.265,0.075,2712,3418,2469,2503,2436,0,0,0,0,0,0,14.09,14.23,14.21
$GC,2022,0.18,165.1,2713,3418,2493,2436,94.3,9.3,370,2034,0.00,2.42,6.10,0.295,9254,0.000,0.067,2717,1993,2426,2457,2396,0,0,0,0,0,0,14.33,14.20,13.96
$GC,2214,0.25,218.0,2718,1992,2483,2410,78.7,7.6,408,2250,0.00,2.45,29.62,0.379,8612,0.000,0.075,2717,3413,2214,2243,2186,0,0,0,0,0,0,14.50,14.22,14.02
$GC,2255,0.31,241.0,2717,3416,2246,2188,75.5,8.9,415,2274,0.00,2.40,13.15,0.376,9382,0.000,0.062,2725,1997,2115,2144,2087,0,0,0,0,0,0,14.34,14.26,13.99
$GC,2455,0.41,253.5,2726,1997,2163,2087,58.1,9.4,454,2467,0.15,0.00,8.23,0.287,10918,0.101,0.000,2798,1996,2064,2094,2034,0,0,0,0,0,0,14.29,14.31,14.06
$GC,2647,0.35,253.5,2798,1996,2113,2043,30.7,12.6,492,2654,0.12,0.00,1.67,0.192,12422,0.248,0.000,2768,1996,2065,2097,2034,0,0,0,0,0,0,14.08,14.33,14.18
$GC,2835,0.38,272.9,2768,1994,2112,2042,12.7,9.1,529,2853,0.00,2.45,11.38,0.195,8612,0.000,0.077,2768,3416,1985,2012,1958,0,0,0,0,0,0,14.50,14.28,14.13
$GC,2863,0.38,272.9,2768,3416,2014,1966,9.6,10.8,534,2869,0.00,2.40,0.00,0.000,1030,0.000,0.066,2770,2002,1990,2015,1965,0,0,0,0,0,0,14.38,14.29,14.39
$STATE,2942,end climb,SURFACE_DEPTH_REACHED
$STATE,2942,begin surface coast
$FINISH,0.2,1.004713
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2983,173.50,0.160,0,0,537,628.21
$SM_GC,1.09,7.57,0.00,173.50,0.063,0.000,0.160,201,2001,537,-7.60,-0.06,628.21,0,0,0,0,0,0,14.42,14.66,14.23
$RAFOS_CLK,45
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4746.68,-12221.39,140617,174857
$TT8_MAMPS,0.038948,0.880075
$HUMID,41.69
$INTERNAL_PRESSURE,8.17216
$TCM_TEMP,18.30
$XPDR_PINGS,3
$SC_FREEKB,4016152
$CP_FREE,16017981440.000000
$PM_FREEKB,62300288
$24V_AH,13.45,39.424
$10V_AH,13.42,0.000
$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,21.700,38.625,345.225,173.500,0.000,0.000,0.000,0.000,0.750,0.000,13.258,0.000,1370.440,591.126,1187.979,94.997,0.000,1098.288,0.000,803.846,2218.000,0.547,0.000
$DEVICE_MAMPS,414.630,91.035,1054.935,159.885,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2954.000,2948.000,2930.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.562,111.000,17.117,0.000
$MEM,300780
$DATA_FILE_SIZE,16768,554
$CAP_FILE_SIZE,81809,0
$CFSIZE,2097872896,2092433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.5
$CURRENT,0.185,4.26,1
$GPS,140617,185002,4744.128,-12224.372,5,0.9,24,16.3,0.4,26.3,9,8.9