version: 66.13
glider: 196
mission: 14
dive: 72
start: 8 15 117 1 53 27
data:
$ID,196
$MISSION,14
$DIVE,72
$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,23
$R_STBD_OVSHOOT,34
$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,209.0
$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
$GPS1,150817,014148,7214.0420,-14803.0107,18,0.7,21,21.3,0.4,204.6,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.5
$GPS2,150817,015254,7214.0244,-14803.2930,10,0.8,50,21.3,0.5,14.7,12,18.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.0,122244,-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,-145.9,176,2214,517,461,0.0,0.0,0,129,0.00,0.00,-81.47,0.000,16386,0.000,0.000,173,2215,2120,2039,2201,0,0,0,0,0,0,14.38,28.83,14.40
$GC,132,-0.57,-145.9,175,2214,2042,2203,3.7,-5.1,8,185,12.60,2.70,-33.65,0.000,18724,0.453,2.147,2377,3601,3964,3956,3972,0,0,0,0,0,0,13.74,12.97,14.15
$GC,395,-0.57,-145.9,2377,3602,3960,3977,61.7,-15.3,60,400,0.00,2.40,0.00,0.000,1030,0.000,0.056,2376,2197,3967,3960,3975,0,0,0,0,0,0,14.11,14.00,14.13
$GC,707,-0.57,-145.9,2379,2196,3963,3976,108.8,-13.9,88,712,0.00,2.47,0.00,0.000,260,0.000,0.083,2366,3598,3968,3962,3975,0,0,0,0,0,0,14.44,14.13,14.45
$GC,817,-0.67,-145.9,2367,3600,3963,3976,122.4,-11.2,110,822,0.00,2.35,0.00,0.000,1158,0.000,0.054,2366,2198,3968,3962,3975,0,0,0,0,0,0,14.30,14.19,14.32
$GC,1127,-0.70,-145.9,2366,2197,3963,3976,161.9,-12.5,122,1132,0.00,2.47,0.00,0.000,388,0.000,0.086,2359,3601,3969,3962,3976,0,0,0,0,0,0,14.52,14.17,14.52
$GC,1202,-0.81,-145.9,2359,3602,3962,3976,170.3,-10.6,137,1207,0.15,2.38,0.00,0.000,5254,0.122,0.055,2301,2200,3968,3961,3975,0,0,0,0,0,0,14.25,14.23,14.34
$GC,1518,-0.75,-145.9,2301,2200,3963,3976,221.7,-15.9,150,1523,0.12,2.45,0.00,0.000,2436,0.295,0.081,2319,3600,3965,3956,3975,0,0,0,0,0,0,13.85,14.12,14.00
$GC,1625,-0.84,-145.9,2320,3601,3958,3976,234.1,-10.5,171,1631,0.00,2.35,0.00,0.000,1158,0.000,0.056,2320,2201,3968,3962,3975,0,0,0,0,0,0,14.33,14.22,14.36
$GC,1941,-0.86,-145.9,2320,2201,3962,3973,270.5,-11.1,184,1946,0.00,2.45,0.00,0.000,388,0.000,0.087,2319,3593,3966,3961,3972,0,0,0,0,0,0,14.56,14.17,14.57
$GC,1981,-0.95,-145.9,2319,3595,3960,3971,274.8,-10.4,192,1987,0.15,2.38,0.00,0.000,5254,0.120,0.059,2261,2201,3966,3961,3972,0,0,0,0,0,0,14.25,14.21,14.34
$GC,2302,-0.86,-145.9,2263,2200,3962,3971,323.7,-15.5,206,2307,0.15,2.45,0.00,0.000,2436,0.308,0.081,2284,3603,3965,3961,3970,0,0,0,0,0,0,13.95,14.16,14.13
$GC,2404,-0.90,-145.9,2285,3604,3961,3970,336.4,-11.7,226,2408,0.00,2.38,0.00,0.000,1158,0.000,0.058,2285,2199,3965,3960,3970,0,0,0,0,0,0,14.33,14.23,14.37
$GC,2724,-0.88,-145.9,2285,2198,3962,3969,377.6,-12.8,240,2729,0.00,2.45,0.00,0.000,388,0.000,0.085,2280,3598,3964,3960,3968,0,0,0,0,0,0,14.56,14.16,14.58
$GC,2789,-0.91,-145.9,2280,3601,3960,3969,385.8,-12.1,253,2793,0.00,2.38,0.00,0.000,1158,0.000,0.059,2280,2199,3963,3959,3968,0,0,0,0,0,0,14.35,14.23,14.38
$GC,3114,-0.89,-145.9,2282,2199,3961,3967,427.9,-13.0,268,3119,0.00,2.45,0.00,0.000,388,0.000,0.086,2279,3598,3963,3960,3967,0,0,0,0,0,0,14.57,14.16,14.58
$GC,3194,-0.93,-145.9,2280,3601,3960,3968,437.9,-11.8,284,3199,0.00,2.38,0.00,0.000,1158,0.000,0.059,2279,2193,3963,3959,3967,0,0,0,0,0,0,14.35,14.23,14.36
$GC,3504,-0.93,-145.9,2280,2192,3960,3965,477.0,-12.6,296,3509,0.00,2.47,0.00,0.000,260,0.000,0.086,2279,3601,3962,3959,3965,0,0,0,0,0,0,14.57,14.15,14.58
$STATE,3526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3527,begin apogee
$GC,3534,-0.13,0.0,2280,2100,3960,3966,480.2,-12.7,301,3743,0.98,0.00,205.35,1.440,10246,0.239,0.000,2526,2099,3364,3395,3333,0,0,0,0,0,0,13.94,13.52,12.83
$STATE,3747,end apogee,CONTROL_FINISHED_OK
$STATE,3747,begin climb
$GC,3749,0.57,145.9,2528,2099,3395,3326,490.1,0.0,308,3959,0.75,2.65,198.27,1.382,10500,0.065,0.073,2781,3491,2762,2817,2707,0,0,0,0,0,0,13.59,13.09,12.57
$GC,3968,0.57,145.9,2781,3492,2810,2707,491.2,-0.2,310,3973,0.00,2.53,0.00,0.000,1030,0.000,0.055,2792,2098,2757,2808,2706,0,0,0,0,0,0,13.40,13.32,13.41
$GC,4288,0.18,145.9,2792,2099,2802,2703,437.0,16.8,324,4294,0.65,2.50,0.00,0.000,4740,0.327,0.078,2658,690,2754,2802,2706,0,0,0,0,0,0,13.57,13.86,13.79
$GC,4454,0.12,168.6,2658,690,2803,2706,420.7,9.0,357,4490,0.17,2.47,27.77,1.468,13478,0.289,0.079,2623,2094,2674,2725,2624,0,0,0,0,0,0,13.78,14.00,13.14
$GC,4803,0.11,210.1,2623,2095,2724,2616,392.4,8.1,376,4866,0.00,0.00,61.05,1.395,8358,0.000,0.000,2623,2094,2507,2573,2442,0,0,0,0,0,0,14.37,13.84,13.13
$GC,5161,0.13,237.6,2624,2095,2565,2429,361.4,8.7,388,5202,0.00,0.00,39.03,1.413,8230,0.000,0.000,2623,2094,2395,2459,2331,0,0,0,0,0,0,14.35,13.92,13.21
$GC,5491,0.19,266.2,2624,2097,2448,2322,332.4,8.7,399,5535,0.00,0.00,42.22,1.392,8358,0.000,0.000,2623,2094,2279,2338,2220,0,0,0,0,0,0,14.37,13.93,13.24
$GC,5821,0.27,299.8,2623,2095,2334,2207,304.1,8.5,410,5874,0.12,0.00,50.30,1.356,10918,0.130,0.000,2682,2094,2142,2200,2085,0,0,0,0,0,0,14.15,13.90,13.22
$GC,6153,0.23,299.8,2682,2095,2189,2074,262.3,12.8,426,6157,0.00,2.50,0.00,0.000,644,0.000,0.086,2685,686,2130,2188,2073,0,0,0,0,0,0,14.38,14.07,14.39
$GC,6207,0.26,299.8,2686,687,2187,2074,255.3,11.7,437,6214,0.00,2.47,0.00,0.000,1158,0.000,0.078,2685,2099,2132,2192,2073,0,0,0,0,0,0,14.22,14.09,14.25
$GC,6513,0.23,299.8,2686,2100,2187,2072,218.7,11.6,448,6514,0.12,0.00,0.00,0.000,4230,0.249,0.000,2660,2100,2128,2186,2070,0,0,0,0,0,0,14.05,14.33,14.27
$GC,6813,0.30,337.7,2661,2100,2186,2070,192.5,8.2,458,6879,0.00,2.53,60.05,1.294,8868,0.000,0.088,2660,691,1986,2036,1937,0,0,0,0,0,0,14.52,13.95,13.32
$GC,6904,0.47,380.3,2659,692,2030,1932,185.1,8.0,471,6980,0.22,2.50,69.32,1.235,11430,0.101,0.079,2749,2104,1816,1848,1785,0,0,0,0,0,0,13.95,13.90,13.14
$GC,7295,0.42,380.3,2749,2103,1835,1763,131.5,13.2,499,7301,0.15,2.53,0.00,0.000,4740,0.240,0.085,2712,687,1799,1835,1763,0,0,0,0,0,0,13.89,13.84,13.95
$GC,7346,0.53,398.1,2713,687,1832,1764,126.4,9.2,509,7372,0.12,2.47,21.67,1.332,11430,0.132,0.076,2768,2099,1743,1777,1710,0,0,0,0,0,0,14.13,14.09,13.32
$GC,7678,0.47,398.1,2768,2099,1768,1696,82.3,12.8,534,7679,0.17,0.00,0.00,0.000,4230,0.263,0.000,2732,2100,1731,1767,1696,0,0,0,0,0,0,13.81,14.09,14.05
$GC,7978,0.55,435.3,2733,2100,1768,1693,54.9,8.3,564,8004,0.00,2.53,18.92,0.369,8868,0.000,0.085,2740,693,1588,1626,1550,0,0,0,0,0,0,14.31,14.01,13.68
$GC,8076,0.70,482.1,2741,694,1627,1550,47.1,7.8,583,8109,0.20,2.50,25.27,0.341,11430,0.101,0.078,2812,2106,1397,1446,1349,0,0,0,0,0,0,14.04,14.02,13.72
$GC,8414,0.84,618.5,2812,2107,1447,1344,15.2,3.7,620,8488,0.12,0.00,71.62,0.252,10662,0.133,0.000,2874,2107,842,921,764,0,0,0,0,0,0,14.07,14.03,13.78
$STATE,8712,end climb,SURFACE_DEPTH_REACHED
$STATE,8712,begin surface coast
$FINISH,0.2,1.019987
$STATE,8732,end surface coast,CONTROL_FINISHED_OK
$STATE,8732,begin surface
$SM_CCo,8752,47.45,0.206,0,0,496,703.28
$SM_GC,1.01,8.20,0.17,47.45,0.074,0.134,0.206,202,2208,496,-7.38,-0.65,703.28,0,0,0,0,0,0,14.10,14.07,13.90
$RAFOS_CLK,63
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7211.47,-14817.56,140817,225703
$TT8_MAMPS,0.085386,0.866593
$HUMID,47.20
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.40
$XPDR_PINGS,12
$CP_FREE,16007168000.000000
$PM_FREEKB_00,57655680
$24V_AH,12.57,76.736
$10V_AH,12.50,0.000
$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,25.175,74.300,890.875,47.450,0.000,0.000,0.000,359.300,3.000,0.000,51.835,0.000,6349.987,852.214,2017.188,262.433,0.000,1968.859,0.000,945.635,2218.000,0.540,0.000
$DEVICE_MAMPS,452.880,2146.590,1468.035,205.785,0.000,0.000,0.000,184.365,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8760.000,8751.000,8709.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.420,20.000,16.564,0.000
$MEM,323888
$DATA_FILE_SIZE,23399,658
$CAP_FILE_SIZE,95306,0
$CFSIZE,2097872896,2066644992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.4
$CURRENT,0.095,266.71,1
$GPS,150817,042127,7215.245,-14804.861,35,0.8,36,21.3,0.0,0.0,10,8.3