version: 66.13
glider: 196
mission: 14
dive: 41
start: 8 11 117 9 46 27
data:
$ID,196
$MISSION,14
$DIVE,41
$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,24
$R_STBD_OVSHOOT,22
$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,48
$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,129.0
$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
$GPS1,110817,091804,7143.6235,-14728.2666,65,0.8,66,21.4,0.5,322.9,9,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.7
$GPS2,110817,094555,7143.5898,-14727.9629,5,0.8,10,21.4,0.0,30.4,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.6,180885,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,173,2213,518,479,0.0,0.0,0,129,0.00,0.00,-81.53,0.000,16386,0.000,0.000,172,2212,2181,2103,2259,0,0,0,0,0,0,14.34,28.83,14.35
$GC,132,-0.57,-145.9,172,2212,2108,2260,3.3,-3.9,8,185,12.65,2.72,-33.38,0.000,18980,0.453,2.130,2384,791,3964,3954,3974,1,0,0,0,0,0,13.48,12.73,14.07
$GC,315,-0.57,-145.9,2385,792,3962,3975,47.0,-16.4,44,320,0.00,2.53,0.00,0.000,1030,0.000,0.087,2377,2197,3967,3961,3974,0,0,0,0,0,0,14.04,13.82,14.07
$GC,626,-0.57,-145.9,2377,2199,3964,3975,98.3,-14.4,76,631,0.00,2.53,0.00,0.000,260,0.000,0.087,2376,3620,3969,3964,3974,0,0,0,0,0,0,14.39,14.03,14.40
$GC,786,-0.68,-145.9,2377,3620,3965,3974,117.7,-11.1,108,791,0.00,2.42,0.00,0.000,1158,0.000,0.056,2376,2196,3969,3964,3974,0,0,0,0,0,0,14.23,14.14,14.26
$GC,1106,-0.73,-145.9,2376,2196,3964,3975,154.7,-11.0,122,1111,0.00,2.50,0.00,0.000,388,0.000,0.087,2371,3614,3968,3963,3974,0,0,0,0,0,0,14.46,14.13,14.48
$GC,1157,-0.88,-145.9,2371,3615,3964,3975,159.9,-9.8,132,1162,0.25,2.40,0.00,0.000,5286,0.093,0.054,2274,2193,3969,3964,3974,0,0,0,0,0,0,14.22,14.16,14.32
$GC,1467,-0.76,-145.9,2274,2192,3965,3971,215.8,-17.7,144,1472,0.22,2.50,0.00,0.000,2436,0.285,0.082,2318,3616,3967,3964,3971,0,0,0,0,0,0,13.83,14.12,14.02
$GC,1652,-0.82,-145.9,2319,3617,3963,3971,237.7,-10.9,181,1657,0.00,2.40,0.00,0.000,1158,0.000,0.056,2318,2196,3967,3963,3971,0,0,0,0,0,0,14.31,14.20,14.33
$GC,1977,-0.82,-145.9,2319,2195,3964,3968,274.6,-11.1,196,1982,0.00,2.50,0.00,0.000,260,0.000,0.087,2309,3616,3964,3962,3967,0,0,0,0,0,0,14.51,14.14,14.53
$GC,2047,-0.91,-145.9,2310,3616,3963,3966,282.4,-10.7,210,2052,0.00,2.42,0.00,0.000,1158,0.000,0.057,2309,2194,3964,3961,3967,0,0,0,0,0,0,14.31,14.20,14.34
$GC,2368,-0.91,-145.9,2310,2194,3963,3965,318.5,-11.3,224,2372,0.00,2.50,0.00,0.000,260,0.000,0.088,2306,3613,3963,3962,3964,0,0,0,0,0,0,14.52,14.16,14.54
$GC,2438,-0.98,-145.9,2306,3614,3962,3965,326.2,-10.5,238,2443,0.15,2.40,0.00,0.000,5254,0.125,0.057,2250,2196,3962,3961,3964,0,0,0,0,0,0,14.23,14.20,14.32
$GC,2758,-0.87,-145.9,2250,2196,3961,3962,377.6,-16.3,252,2763,0.17,2.50,0.00,0.000,2436,0.321,0.083,2279,3619,3961,3960,3962,0,0,0,0,0,0,13.85,14.12,14.05
$GC,2888,-0.87,-145.9,2279,3621,3960,3963,394.3,-12.0,278,2894,0.00,2.42,0.00,0.000,1030,0.000,0.058,2279,2196,3961,3960,3962,0,0,0,0,0,0,14.31,14.19,14.33
$GC,3209,-0.84,-145.9,2279,2195,3961,3960,435.8,-13.1,292,3214,0.12,2.50,0.00,0.000,2436,0.321,0.084,2305,3613,3959,3959,3960,0,0,0,0,0,0,13.90,14.12,14.06
$GC,3296,-0.93,-145.9,2306,3615,3959,3961,444.9,-9.9,309,3302,0.00,2.40,0.00,0.000,1190,0.000,0.056,2305,2199,3959,3959,3960,0,0,0,0,0,0,14.28,14.16,14.30
$GC,3599,-0.95,-145.9,2306,2199,3960,3960,477.2,-10.6,320,3604,0.00,2.53,0.00,0.000,388,0.000,0.089,2305,3620,3959,3959,3960,0,0,0,0,0,0,14.49,14.11,14.51
$STATE,3627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3627,begin apogee
$GC,3635,-0.13,0.0,2306,2103,3959,3960,480.4,-10.8,326,3841,0.88,0.00,198.77,1.448,10246,0.225,0.000,2530,2101,3359,3394,3324,0,0,0,0,0,0,13.90,13.40,12.91
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3847,0.57,145.9,2531,2102,3395,3322,490.0,0.0,333,4049,0.73,2.67,193.62,1.384,10500,0.067,0.076,2778,3507,2762,2818,2707,0,0,0,0,0,0,13.62,13.17,12.67
$GC,4275,0.17,145.9,2778,3508,2797,2704,450.6,18.2,420,4280,0.73,2.47,0.00,0.000,5254,0.348,0.058,2640,2097,2750,2796,2705,0,0,0,0,0,0,13.47,13.77,13.80
$GC,4591,0.10,166.2,2640,2098,2797,2705,420.4,9.1,433,4621,0.00,2.53,23.33,1.476,8612,0.000,0.082,2640,3510,2682,2732,2633,0,0,0,0,0,0,14.26,13.90,13.25
$GC,4776,0.00,166.2,2641,3511,2725,2633,400.6,10.9,470,4782,0.28,2.42,0.00,0.000,5254,0.259,0.058,2586,2101,2678,2724,2633,0,0,0,0,0,0,13.82,14.02,14.06
$GC,5102,0.12,246.0,2585,2101,2725,2631,379.2,6.3,485,5224,0.12,2.62,116.55,1.345,10916,0.134,0.086,2646,700,2358,2415,2302,0,0,0,0,0,0,14.08,13.67,13.11
$GC,5271,0.18,246.5,2647,697,2405,2300,362.9,10.0,518,5276,0.00,2.55,0.00,0.000,1190,0.000,0.080,2646,2106,2351,2403,2299,0,0,0,0,0,0,13.87,13.78,13.89
$GC,5586,0.18,246.5,2646,2108,2402,2293,330.1,10.4,531,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2107,2346,2401,2292,0,0,0,0,0,0,14.29,14.31,14.31
$GC,5887,0.18,246.9,2647,2107,2401,2289,299.5,10.0,541,5891,0.00,2.53,0.00,0.000,548,0.000,0.086,2646,685,2344,2400,2289,0,0,0,0,0,0,14.40,14.09,14.42
$GC,5917,0.23,250.1,2647,684,2399,2289,296.6,9.8,547,5923,0.00,2.50,0.00,0.000,1190,0.000,0.080,2646,2103,2344,2398,2290,0,0,0,0,0,0,14.21,14.10,14.24
$GC,6248,0.23,261.2,2647,2104,2399,2288,264.8,9.5,563,6267,0.00,0.00,17.48,1.449,8230,0.000,0.000,2646,2105,2302,2357,2247,0,0,0,0,0,0,14.45,14.15,13.47
$GC,6548,0.27,285.1,2647,2104,2349,2238,237.7,8.9,573,6587,0.00,0.00,37.97,1.372,8358,0.000,0.000,2646,2104,2203,2258,2148,0,0,0,0,0,0,14.42,14.02,13.38
$GC,6878,0.35,309.1,2648,2103,2249,2135,208.2,8.9,584,6915,0.12,0.00,35.20,1.346,10918,0.134,0.000,2701,2103,2108,2161,2055,0,0,0,0,0,0,14.13,13.98,13.35
$GC,7208,0.35,309.1,2701,2103,2152,2043,169.5,11.4,600,7213,0.00,2.50,0.00,0.000,516,0.000,0.086,2709,693,2096,2149,2043,0,0,0,0,0,0,14.35,14.09,14.37
$GC,7283,0.37,309.3,2709,693,2149,2044,161.8,10.0,615,7289,0.00,2.47,0.00,0.000,1190,0.000,0.080,2709,2103,2095,2148,2043,0,0,0,0,0,0,14.23,14.11,14.25
$GC,7599,0.35,316.6,2709,2104,2148,2043,129.8,9.7,628,7604,0.00,0.00,3.53,1.431,8358,0.000,0.000,2709,2103,2075,2128,2022,0,0,0,0,0,0,14.44,14.00,13.05
$GC,7899,0.37,340.6,2709,2104,2133,2027,102.3,8.9,638,7946,0.00,2.53,40.92,1.297,8740,0.000,0.086,2710,687,1973,2022,1924,0,0,0,0,0,0,14.45,13.95,13.43
$GC,7998,0.49,378.0,2710,687,2016,1926,94.2,8.3,654,8024,0.00,2.53,18.98,0.493,9382,0.000,0.080,2710,2109,1826,1860,1792,0,0,0,0,0,0,14.06,13.95,13.62
$GC,8330,0.61,431.9,2710,2109,1858,1782,67.2,7.5,690,8361,0.20,0.00,27.40,0.408,10406,0.103,0.000,2787,2105,1606,1640,1573,0,0,0,0,0,0,14.00,13.91,13.60
$GC,8659,0.64,482.0,2787,2109,1641,1558,33.0,7.7,723,8691,0.00,2.53,24.88,0.304,8740,0.000,0.086,2793,691,1398,1449,1347,0,0,0,0,0,0,14.23,13.91,13.75
$GC,8783,0.76,526.0,2793,692,1449,1348,23.1,8.0,747,8810,0.00,2.53,22.62,0.283,9382,0.000,0.081,2793,2108,1216,1283,1149,0,0,0,0,0,0,14.02,13.91,13.69
$GC,9116,1.04,676.6,2794,2109,1284,1142,10.1,3.0,783,9198,0.35,2.55,74.68,0.236,10916,0.087,0.088,2931,689,602,660,545,0,0,0,0,0,0,13.98,13.88,13.74
$STATE,9223,end climb,SURFACE_DEPTH_REACHED
$STATE,9223,begin surface coast
$FINISH,0.5,1.020196
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9231,begin surface
$SM_CCo,9254,13.25,0.219,0,0,500,703.03
$SM_GC,1.98,8.55,2.70,13.25,0.085,0.067,0.219,206,2200,500,-7.37,-0.76,703.03,0,0,0,0,0,0,14.00,13.96,13.81
$RAFOS_CLK,67
$RAFOS_FIX,7143.094727,-14732.961914,110817,080823,2,255,0.45
$IRIDIUM_FIX,7144.72,-14738.57,110817,093557
$TT8_MAMPS,0.086884,0.901796
$HUMID,46.69
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,14
$CP_FREE,16012476416.000000
$PM_FREEKB_00,59931264
$24V_AH,12.67,62.092
$10V_AH,12.62,0.000
$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,25.525,85.450,835.925,13.250,0.000,0.000,0.000,932.250,3.500,0.000,17.931,0.000,6950.792,757.891,2710.050,530.464,0.000,2527.843,0.000,1166.999,2219.000,0.541,0.000
$DEVICE_MAMPS,452.880,2129.760,1475.685,218.790,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9226.000,9262.000,9206.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.771,20.000,16.567,0.000
$MEM,323744
$DATA_FILE_SIZE,26735,806
$CAP_FILE_SIZE,110604,0
$CFSIZE,2097872896,2071035904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1451.9
$CURRENT,0.108,197.73,1
$GPS,110817,122222,7144.232,-14728.714,41,0.8,43,21.4,0.0,0.0,11,8.8