version: 66.13
glider: 196
mission: 14
dive: 59
start: 8 13 117 13 10 4
data:
$ID,196
$MISSION,14
$DIVE,59
$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,21
$R_STBD_OVSHOOT,21
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,175.0
$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
$GPS1,130817,130302,7159.2100,-14745.3281,18,0.7,22,21.3,0.0,0.0,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.9
$GPS2,130817,130931,7159.2007,-14745.4648,6,0.7,38,21.3,0.0,185.0,12,8.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,343.0,150882,-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,-145.9,187,2202,511,467,0.0,0.0,0,129,0.00,0.00,-81.43,0.000,16386,0.000,0.000,183,2202,2091,2009,2173,0,0,0,0,0,0,14.42,28.83,14.43
$GC,132,-0.57,-145.9,184,2203,2012,2175,4.0,-5.5,8,185,12.55,2.75,-34.28,0.000,18724,0.457,2.153,2373,3614,3962,3945,3980,0,0,0,0,0,0,13.76,13.01,14.16
$GC,345,-0.57,-145.9,2374,3614,3955,3980,55.6,-17.6,50,350,0.00,2.42,0.00,0.000,1030,0.000,0.057,2373,2196,3966,3954,3979,0,0,0,0,0,0,14.12,14.02,14.16
$GC,655,-0.57,-145.9,2374,2194,3959,3980,105.5,-14.2,80,660,0.00,2.50,0.00,0.000,260,0.000,0.084,2364,3616,3969,3959,3979,0,0,0,0,0,0,14.42,14.05,14.44
$GC,705,-0.65,-145.9,2365,3617,3959,3980,112.2,-12.7,90,710,0.00,2.42,0.00,0.000,1158,0.000,0.057,2364,2194,3969,3958,3980,0,0,0,0,0,0,14.19,14.10,14.22
$GC,1015,-0.68,-145.9,2365,2194,3960,3979,151.9,-12.2,102,1020,0.00,2.50,0.00,0.000,388,0.000,0.086,2358,3614,3969,3959,3980,0,0,0,0,0,0,14.49,14.06,14.50
$GC,1075,-0.81,-145.9,2357,3617,3959,3981,158.6,-10.2,114,1080,0.12,2.40,0.00,0.000,5254,0.137,0.056,2309,2199,3969,3958,3980,0,0,0,0,0,0,14.10,14.13,14.20
$GC,1406,-0.78,-145.9,2307,2198,3959,3978,207.2,-14.1,130,1410,0.00,2.50,0.00,0.000,388,0.000,0.086,2304,3617,3968,3958,3979,0,0,0,0,0,0,14.52,14.15,14.54
$GC,1556,-0.82,-145.9,2304,3620,3959,3978,226.6,-12.4,160,1560,0.00,2.42,0.00,0.000,1158,0.000,0.059,2304,2199,3968,3959,3978,0,0,0,0,0,0,14.21,14.10,14.24
$GC,1886,-0.82,-145.9,2304,2199,3959,3976,268.6,-12.4,176,1890,0.00,2.47,0.00,0.000,260,0.000,0.086,2294,3610,3966,3958,3975,0,0,0,0,0,0,14.54,14.13,14.55
$GC,1990,-0.87,-145.9,2295,3612,3959,3976,281.3,-11.7,197,1995,0.00,2.40,0.00,0.000,1158,0.000,0.060,2294,2198,3966,3958,3974,0,0,0,0,0,0,14.30,14.19,14.33
$GC,2306,-0.87,-145.9,2295,2195,3959,3973,320.5,-12.5,210,2310,0.00,2.50,0.00,0.000,260,0.000,0.086,2285,3620,3965,3958,3972,0,0,0,0,0,0,14.54,14.19,14.56
$GC,2371,-0.91,-145.9,2286,3621,3959,3972,328.6,-12.2,223,2376,0.00,2.42,0.00,0.000,1158,0.000,0.059,2285,2191,3965,3958,3972,0,0,0,0,0,0,14.31,14.19,14.33
$GC,2696,-0.91,-145.9,2286,2190,3959,3970,369.9,-12.6,238,2701,0.00,2.50,0.00,0.000,260,0.000,0.086,2280,3618,3964,3958,3970,0,0,0,0,0,0,14.53,14.19,14.55
$GC,2777,-0.95,-145.9,2280,3620,3959,3971,379.7,-11.6,254,2781,0.00,2.40,0.00,0.000,1158,0.000,0.058,2280,2197,3964,3958,3970,0,0,0,0,0,0,14.34,14.23,14.37
$GC,3087,-0.93,-145.9,2280,2197,3957,3970,418.9,-12.6,266,3091,0.00,2.50,0.00,0.000,388,0.000,0.086,2283,3620,3964,3959,3970,0,0,0,0,0,0,14.53,14.19,14.57
$GC,3191,-0.97,-145.9,2281,3619,3959,3970,431.5,-11.6,287,3197,0.00,2.42,0.00,0.000,1158,0.000,0.057,2280,2192,3963,3958,3969,0,0,0,0,0,0,14.34,14.24,14.37
$GC,3507,-0.97,-145.9,2280,2190,3959,3969,470.3,-12.3,300,3512,0.00,2.50,0.00,0.000,260,0.000,0.086,2280,3610,3963,3958,3968,0,0,0,0,0,0,14.52,14.15,14.55
$STATE,3590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3590,begin apogee
$GC,3598,-0.13,0.0,2281,2101,3957,3968,480.4,-11.5,317,3825,0.98,0.00,223.93,1.389,10246,0.239,0.000,2528,2100,3364,3400,3328,0,0,0,0,0,0,13.96,13.48,12.83
$STATE,3829,end apogee,CONTROL_FINISHED_OK
$STATE,3829,begin climb
$GC,3831,0.57,145.9,2529,2100,3395,3317,490.6,0.0,324,4042,0.75,2.65,199.88,1.333,11012,0.067,0.077,2791,688,2763,2822,2704,0,0,0,0,0,0,13.56,13.11,12.63
$GC,4267,0.24,145.9,2791,689,2799,2701,454.9,16.3,405,4273,0.60,2.55,0.00,0.000,5254,0.322,0.075,2665,2104,2748,2797,2699,0,0,0,0,0,0,13.49,13.74,13.79
$GC,4584,0.10,145.9,2665,2106,2797,2696,420.5,10.6,418,4589,0.20,2.50,0.00,0.000,4740,0.304,0.077,2627,688,2746,2797,2695,0,0,0,0,0,0,13.76,13.97,13.94
$GC,4784,0.13,191.2,2628,688,2797,2694,403.9,7.9,458,4855,0.00,2.50,63.38,1.342,9254,0.000,0.080,2627,2103,2581,2648,2515,0,0,0,0,0,0,14.03,14.03,13.19
$GC,5156,0.14,207.1,2628,2104,2637,2496,370.3,9.3,482,5179,0.00,2.50,18.75,1.444,8484,0.000,0.081,2627,3519,2514,2585,2444,0,0,0,0,0,0,14.33,13.85,13.31
$GC,5209,0.12,207.1,2627,3519,2569,2441,364.7,10.8,493,5216,0.00,2.45,0.00,0.000,1158,0.000,0.059,2635,2096,2504,2568,2440,0,0,0,0,0,0,14.11,13.93,14.12
$GC,5514,0.12,210.5,2636,2097,2566,2438,334.8,9.8,504,5519,0.00,2.45,0.00,0.000,548,0.000,0.084,2645,691,2502,2567,2438,0,0,0,0,0,0,14.41,14.10,14.43
$GC,5559,0.15,211.9,2645,692,2567,2439,330.3,9.9,513,5565,0.00,2.47,0.00,0.000,1190,0.000,0.079,2645,2105,2501,2566,2437,0,0,0,0,0,0,14.26,14.14,14.29
$GC,5876,0.12,211.9,2647,2105,2567,2435,297.9,10.1,526,5876,0.00,0.00,0.00,0.000,134,0.000,0.000,2645,2106,2501,2566,2436,0,0,0,0,0,0,14.49,14.50,14.50
$GC,6176,0.10,218.2,2645,2106,2567,2435,268.7,9.7,536,6186,0.00,2.47,3.53,1.258,8868,0.000,0.083,2646,696,2476,2540,2413,0,0,0,0,0,0,14.52,14.23,13.02
$GC,6241,0.14,236.4,2645,696,2546,2426,262.5,9.2,549,6287,0.00,2.45,37.15,1.400,9382,0.000,0.080,2646,2103,2395,2455,2335,0,0,0,0,0,0,14.34,14.23,13.37
$GC,6599,0.15,251.4,2646,2104,2449,2329,228.5,9.3,570,6623,0.00,0.00,20.00,1.431,8486,0.000,0.000,2642,2103,2337,2393,2281,0,0,0,0,0,0,14.41,14.08,13.36
$GC,6928,0.20,297.1,2647,2103,2391,2273,200.8,7.9,586,7009,0.00,2.55,73.10,1.287,8612,0.000,0.084,2646,3512,2149,2205,2093,0,0,0,0,0,0,14.42,13.82,13.24
$GC,7051,0.28,309.9,2647,3512,2197,2093,190.3,9.4,610,7075,0.00,2.45,18.35,1.376,9382,0.000,0.061,2651,2102,2100,2156,2044,0,0,0,0,0,0,13.98,13.89,13.19
$GC,7382,0.40,369.0,2652,2103,2147,2031,164.8,7.3,626,7485,0.15,2.55,96.22,1.226,10916,0.122,0.086,2715,690,1856,1898,1815,0,0,0,0,0,0,14.09,13.72,13.15
$GC,7567,0.46,369.0,2716,690,1885,1815,144.7,10.6,663,7572,0.00,2.53,0.00,0.000,1158,0.000,0.077,2715,2100,1849,1884,1814,0,0,0,0,0,0,13.96,13.86,14.00
$GC,7892,0.48,369.0,2716,2099,1885,1806,110.3,10.1,678,7893,0.00,0.00,0.00,0.000,134,0.000,0.000,2715,2101,1845,1884,1806,0,0,0,0,0,0,14.35,14.37,14.36
$GC,8194,0.54,394.8,2716,2102,1884,1805,83.1,8.8,700,8211,0.12,2.50,12.05,0.450,10916,0.132,0.084,2781,692,1753,1789,1718,0,0,0,0,0,0,14.09,14.00,13.71
$GC,8256,0.51,394.8,2781,689,1792,1720,75.5,12.6,712,8261,0.15,2.47,0.00,0.000,5254,0.257,0.079,2751,2099,1755,1790,1720,0,0,0,0,0,0,13.85,14.03,14.10
$GC,8566,0.58,442.9,2751,2099,1792,1724,46.1,7.8,744,8599,0.00,2.50,25.48,0.344,8868,0.000,0.083,2756,684,1557,1599,1515,0,0,0,0,0,0,14.41,14.04,13.81
$GC,8700,0.73,517.0,2756,685,1598,1516,37.0,6.6,770,8743,0.17,2.47,38.15,0.311,11430,0.115,0.077,2819,2099,1256,1321,1192,0,0,0,0,0,0,14.14,14.10,13.81
$GC,9040,0.96,721.5,2823,2100,1322,1182,13.1,0.6,808,9142,0.17,2.50,96.40,0.247,10660,0.106,0.079,2894,3517,495,533,457,0,0,0,0,0,0,14.13,13.97,13.82
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,1.1,1.020063
$STATE,9215,end surface coast,CONTROL_FINISHED_OK
$STATE,9215,begin surface
$SM_CCo,9343,0.00,0.000,0,0,493,704.50
$SM_GC,1.14,8.23,2.28,0.00,0.074,0.046,0.000,199,2194,493,-7.37,0.79,704.50,0,0,0,0,0,0,14.18,14.13,14.24
$RAFOS_CLK,416
$RAFOS_FIX,7155.339844,-14750.280273,130817,080849,2,255,3.63
$IRIDIUM_FIX,7157.35,-14747.17,130817,102225
$TT8_MAMPS,0.039697,0.820155
$HUMID,50.31
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,16
$CP_FREE,0.000000
$PM_FREEKB_00,58640256
$24V_AH,12.63,70.659
$10V_AH,12.66,0.000
$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,24.200,94.475,926.350,0.000,0.000,0.000,0.000,148.575,4.000,0.000,40.254,0.000,6655.963,914.690,1952.403,218.799,0.000,1846.406,0.000,1206.216,0.000,0.539,0.000
$DEVICE_MAMPS,457.470,2153.475,1443.555,0.000,0.000,0.000,0.000,136.935,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9202.000,9288.000,9237.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.464,20.000,16.551,0.000
$MEM,323776
$DATA_FILE_SIZE,30053,842
$CAP_FILE_SIZE,101782,0
$CFSIZE,2097872896,2070478848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.9
$CURRENT,0.125,267.16,1
$GPS,130817,154655,7200.319,-14746.234,21,0.7,27,21.3,0.5,236.0,11,9.1