version: 66.13
glider: 196
mission: 14
dive: 5
start: 8 7 117 5 7 10
data:
$ID,196
$MISSION,14
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,165
$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,0
$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,692.78448
$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,2595
$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,23
$R_STBD_OVSHOOT,16
$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
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,53.0
$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
$GPS1,070817,045432,7109.1392,-14738.6514,36,0.7,39,21.2,0.2,0.0,12,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.6
$GPS2,070817,050635,7109.0737,-14738.4297,9,0.9,13,21.2,0.0,0.0,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7119.873,-14738.430
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,298.4,20000,-17.9,-10.000,-21.31,2227
$D_GRID,360
$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,55,end surface,CONTROL_FINISHED_OK
$STATE,55,begin dive
$GC,58,-0.57,-145.9,209,2188,518,453,0.0,0.0,0,144,0.00,0.00,-83.68,0.000,16386,0.000,0.000,210,2187,2122,2037,2207,0,0,0,0,0,0,14.23,28.83,14.26
$GC,147,-0.57,-145.9,209,2187,2041,2208,3.3,-6.8,15,201,12.52,2.75,-35.67,0.000,18980,0.454,2.157,2398,789,3963,3945,3981,0,0,0,0,0,0,13.65,13.02,13.91
$GC,387,-0.51,-145.9,2399,789,3953,3981,61.4,-18.2,61,393,0.17,2.55,0.00,0.000,3206,0.298,0.096,2424,2203,3966,3952,3981,0,0,0,0,0,0,13.78,13.97,14.04
$GC,573,-0.51,-145.9,2425,2203,3954,3981,91.4,-14.8,98,580,0.00,2.55,0.00,0.000,260,0.000,0.099,2415,3617,3967,3953,3981,0,0,0,0,0,0,14.31,14.00,14.33
$GC,680,-0.59,-145.9,2415,3618,3954,3982,105.5,-12.4,119,686,0.00,2.45,0.00,0.000,1158,0.000,0.063,2415,2197,3967,3953,3981,0,0,0,0,0,0,14.07,13.98,14.09
$GC,867,-0.63,-145.9,2416,2198,3954,3982,130.2,-12.7,156,872,0.00,0.00,0.00,0.000,134,0.000,0.000,2415,2196,3967,3954,3981,0,0,0,0,0,0,14.38,14.40,14.39
$GC,1052,-0.69,-145.9,2416,2197,3955,3981,151.9,-11.2,193,1059,0.15,2.55,0.00,0.000,4484,0.130,0.098,2348,3611,3967,3954,3981,0,0,0,0,0,0,14.03,14.04,14.07
$GC,1104,-0.69,-145.9,2349,3613,3955,3981,159.2,-14.6,203,1110,0.00,2.45,0.00,0.000,1030,0.000,0.066,2348,2195,3967,3954,3981,0,0,0,0,0,0,14.20,14.09,14.25
$GC,1290,-0.64,-145.9,2348,2194,3954,3982,188.9,-15.6,240,1296,0.15,2.55,0.00,0.000,2436,0.298,0.094,2371,3610,3967,3954,3981,0,0,0,0,0,0,13.81,13.99,14.00
$GC,1342,-0.73,-145.9,2372,3610,3955,3981,195.2,-11.1,250,1349,0.00,2.45,0.00,0.000,1158,0.000,0.066,2371,2200,3967,3954,3981,0,0,0,0,0,0,14.21,14.09,14.24
$GC,1529,-0.76,-145.9,2369,2204,3952,3980,216.0,-10.7,287,1534,0.00,0.00,0.00,0.000,134,0.000,0.000,2371,2199,3967,3953,3981,0,0,0,0,0,0,14.43,14.44,14.44
$GC,1715,-0.80,-145.9,2371,2200,3954,3982,235.3,-10.4,324,1721,0.12,2.55,0.00,0.000,4484,0.153,0.099,2322,3614,3967,3954,3981,0,0,0,0,0,0,14.14,14.06,14.21
$GC,1756,-0.78,-145.9,2323,3613,3955,3982,240.9,-14.2,332,1762,0.00,2.45,0.00,0.000,1158,0.000,0.067,2322,2199,3970,3954,3987,0,0,0,0,0,0,14.19,14.07,14.21
$GC,1942,-0.73,-145.9,2322,2199,3954,3981,267.6,-14.6,369,1949,0.15,2.58,0.00,0.000,2436,0.300,0.096,2346,3616,3966,3954,3979,0,0,0,0,0,0,13.72,14.01,13.90
$GC,2014,-0.80,-145.9,2346,3615,3955,3980,276.1,-10.7,383,2020,0.00,2.45,0.00,0.000,1158,0.000,0.067,2346,2195,3966,3954,3979,0,0,0,0,0,0,14.21,14.09,14.24
$GC,2200,-0.80,-145.9,2346,2195,3954,3979,296.5,-10.7,420,2207,0.00,2.55,0.00,0.000,260,0.000,0.100,2340,3609,3965,3953,3978,0,0,0,0,0,0,14.45,14.00,14.47
$GC,2232,-0.84,-145.9,2340,3610,3955,3982,300.0,-11.3,426,2239,0.00,2.45,0.00,0.000,1158,0.000,0.068,2344,2198,3966,3954,3978,0,0,0,0,0,0,14.23,14.11,14.26
$GC,2419,-0.84,-145.9,2341,2198,3955,3977,321.3,-11.4,463,2426,0.00,2.55,0.00,0.000,260,0.000,0.099,2333,3620,3965,3954,3977,0,0,0,0,0,0,14.47,14.05,14.47
$GC,2446,-0.84,-145.9,2333,3621,3954,3978,324.5,-12.4,468,2452,0.00,2.45,0.00,0.000,1030,0.000,0.069,2333,2199,3965,3954,3977,0,0,0,0,0,0,14.23,14.12,14.27
$GC,2632,-0.84,-145.9,2332,2200,3954,3978,347.0,-12.0,505,2638,0.00,2.58,0.00,0.000,260,0.000,0.098,2324,3618,3964,3953,3976,0,0,0,0,0,0,14.45,14.06,14.47
$GC,2688,-0.87,-145.9,2325,3618,3954,3976,353.8,-11.8,516,2694,0.00,2.45,0.00,0.000,1158,0.000,0.069,2324,2201,3964,3953,3976,0,0,0,0,0,0,14.22,14.09,14.25
$STATE,2751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2751,begin apogee
$GC,2757,-0.13,0.0,2325,2075,3954,3974,361.8,-12.2,519,2981,0.90,0.00,220.90,1.330,10246,0.256,0.000,2545,2074,3363,3386,3341,0,0,0,0,0,0,13.88,13.56,13.01
$STATE,2983,end apogee,CONTROL_FINISHED_OK
$STATE,2983,begin climb
$GC,2985,0.57,145.9,2546,2074,3381,3334,371.0,0.0,526,3231,0.75,0.00,207.75,1.242,10758,0.073,0.000,2791,2074,2755,2794,2716,0,0,0,0,0,0,13.61,13.21,12.81
$GC,3411,0.26,145.9,2791,2075,2788,2714,341.5,14.7,547,3418,0.45,0.00,0.00,0.000,4230,0.304,0.000,2691,2073,2750,2788,2712,0,0,0,0,0,0,13.46,13.73,13.64
$GC,3598,0.17,158.6,2691,2074,2788,2708,323.3,9.4,584,3616,0.15,2.47,12.05,1.398,12964,0.292,0.092,2663,718,2712,2751,2674,0,0,0,0,0,0,13.64,13.74,13.27
$GC,3667,0.20,206.0,2664,712,2747,2670,317.9,7.8,597,3750,0.00,2.53,77.47,1.224,9254,0.000,0.093,2662,2101,2522,2576,2469,0,0,0,0,0,0,13.94,13.82,13.09
$GC,3930,0.22,234.1,2663,2101,2563,2451,295.2,8.7,647,3973,0.00,0.00,40.30,1.254,8230,0.000,0.000,2663,2101,2411,2464,2358,0,0,0,0,0,0,14.09,13.71,13.18
$GC,4153,0.27,258.4,2663,2102,2445,2341,275.5,8.9,690,4195,0.00,2.58,36.45,1.262,8868,0.000,0.092,2669,706,2303,2348,2259,0,0,0,0,0,0,14.12,13.65,13.25
$GC,4221,0.38,281.6,2670,705,2340,2251,269.6,8.9,702,4263,0.15,2.55,33.97,1.234,11430,0.126,0.091,2724,2102,2211,2258,2164,0,0,0,0,0,0,13.78,13.75,13.16
$GC,4443,0.33,281.6,2726,2102,2244,2146,241.2,12.8,745,4449,0.00,0.00,0.00,0.000,134,0.000,0.000,2725,2102,2194,2243,2145,0,0,0,0,0,0,14.10,14.12,14.12
$GC,4629,0.29,281.6,2726,2102,2242,2143,217.7,12.7,782,4636,0.15,2.50,0.00,0.000,4740,0.235,0.090,2698,710,2192,2241,2143,0,0,0,0,0,0,13.80,13.92,13.95
$GC,4671,0.35,281.6,2698,710,2241,2142,213.2,10.1,790,4677,0.00,2.53,0.00,0.000,1158,0.000,0.090,2698,2106,2191,2240,2142,0,0,0,0,0,0,13.99,13.88,14.02
$GC,4857,0.37,281.6,2698,2107,2240,2142,194.5,10.0,827,4864,0.00,2.50,0.00,0.000,644,0.000,0.093,2699,713,2190,2239,2142,0,0,0,0,0,0,14.27,13.97,14.29
$GC,4934,0.47,304.1,2698,713,2239,2142,187.1,9.0,842,4972,0.15,2.47,29.77,1.252,11430,0.126,0.090,2759,2100,2121,2168,2075,0,0,0,0,0,0,14.06,14.00,13.36
$GC,5152,0.39,304.1,2759,2101,2157,2061,160.4,12.1,884,5158,0.12,0.00,0.00,0.000,4230,0.259,0.000,2730,2101,2108,2154,2062,0,0,0,0,0,0,13.83,14.06,13.96
$GC,5338,0.41,321.6,2731,2101,2156,2060,142.3,9.2,921,5368,0.00,2.50,24.33,1.258,8740,0.000,0.093,2730,713,2046,2089,2004,0,0,0,0,0,0,14.29,13.83,13.41
$GC,5418,0.51,350.7,2731,713,2079,2000,135.2,8.7,936,5473,0.00,2.50,48.95,1.180,9382,0.000,0.090,2730,2106,1934,1972,1897,0,0,0,0,0,0,14.06,13.95,13.26
$GC,5653,0.59,383.8,2729,2106,1947,1879,114.9,8.5,981,5713,0.15,2.58,53.42,1.155,10916,0.125,0.093,2792,714,1798,1825,1772,0,0,0,0,0,0,13.90,13.63,13.24
$GC,5773,0.59,383.8,2794,714,1802,1765,100.4,12.3,1003,5781,0.00,2.53,0.00,0.000,1030,0.000,0.090,2794,2100,1781,1800,1763,0,0,0,0,0,0,13.93,13.82,13.95
$GC,5961,0.55,383.8,2794,2101,1801,1756,77.3,12.0,1040,5967,0.00,2.53,0.00,0.000,644,0.000,0.096,2794,717,1777,1800,1755,0,0,0,0,0,0,14.18,13.86,14.19
$GC,6002,0.55,383.8,2794,712,1797,1757,72.6,11.5,1048,6008,0.00,2.53,0.00,0.000,1030,0.000,0.090,2794,2104,1774,1797,1751,0,0,0,0,0,0,14.03,13.91,14.06
$GC,6188,0.55,383.8,2795,2106,1798,1753,52.4,10.2,1085,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2106,1775,1797,1753,0,0,0,0,0,0,14.23,14.26,14.26
$GC,6374,0.59,441.2,2795,2107,1798,1752,36.6,7.4,1122,6411,0.00,2.62,32.47,0.307,8484,0.000,0.096,2793,3518,1562,1586,1538,0,0,0,0,0,0,14.25,13.95,13.78
$GC,6521,0.68,491.2,2795,3519,1593,1551,25.3,7.7,1150,6558,0.00,2.47,32.33,0.271,9382,0.000,0.073,2801,2116,1359,1404,1315,0,0,0,0,0,0,14.07,13.96,13.79
$GC,6738,1.04,709.2,2802,2117,1411,1318,16.0,-0.1,1192,6882,0.38,2.55,134.00,0.238,10660,0.091,0.093,2938,3517,495,539,452,0,0,0,0,0,0,14.01,13.88,13.78
$STATE,6942,end climb,SURFACE_DEPTH_REACHED
$STATE,6942,begin surface coast
$FINISH,0.2,1.019878
$STATE,6957,end surface coast,CONTROL_FINISHED_OK
$STATE,6957,begin surface
$SM_CCo,7038,0.00,0.000,0,0,491,704.99
$SM_GC,1.26,8.60,2.35,0.00,0.089,0.062,0.000,205,2190,491,-7.43,0.59,704.99,0,0,0,0,0,0,14.00,14.00,14.09
$RAFOS_CLK,256
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7109.07,-14734.28,070817,025053
$TT8_MAMPS,0.040446,0.871836
$HUMID,49.29
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.60
$XPDR_PINGS,6
$CP_FREE,16017620992.000000
$PM_FREEKB_00,62177536
$24V_AH,12.81,44.695
$10V_AH,12.84,0.000
$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,25.225,90.800,984.175,0.000,0.000,0.000,0.000,470.875,1.500,0.000,15.405,0.000,3404.927,930.016,3106.395,326.375,0.000,2572.775,0.000,1764.203,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,2157.300,1397.655,0.000,0.000,0.000,0.000,188.190,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6983.000,3973.000,6920.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.899,111.000,16.691,0.000
$MEM,324796
$DATA_FILE_SIZE,39948,1231
$CAP_FILE_SIZE,123472,0
$CFSIZE,2097872896,2086731776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.2
$CURRENT,0.186,86.35,1
$GPS,070817,070527,7109.789,-14737.954,7,0.8,17,21.2,0.0,0.0,11,9.7