version: 66.13
glider: 196
mission: 14
dive: 82
start: 8 16 117 5 36 17
data:
$ID,196
$MISSION,14
$DIVE,82
$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,46
$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,237.0
$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
$GPS1,160817,052502,7224.7041,-14818.3037,22,0.7,23,21.2,0.0,52.3,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.3
$GPS2,160817,053544,7224.7461,-14818.3818,7,0.8,10,21.2,0.0,332.0,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,323.1,101057,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,178,2228,505,463,0.0,0.0,0,130,0.00,0.00,-81.75,0.000,16386,0.000,0.000,177,2228,2039,1959,2120,0,0,0,0,0,0,14.38,28.83,14.40
$GC,133,-0.57,-145.9,177,2229,1962,2122,3.4,-4.6,8,190,12.60,2.85,-36.62,0.000,18980,0.453,2.145,2386,797,3966,3952,3980,0,0,0,0,0,0,13.71,12.66,14.10
$GC,390,-0.63,-145.9,2386,798,3962,3982,56.7,-14.2,59,397,0.00,2.45,0.00,0.000,1158,0.000,0.087,2386,2178,3971,3961,3981,0,0,0,0,0,0,14.13,14.01,14.16
$GC,697,-0.68,-145.9,2385,2180,3963,3982,99.1,-12.5,90,702,0.00,2.55,0.00,0.000,388,0.000,0.090,2379,3614,3971,3962,3981,0,0,0,0,0,0,14.46,14.11,14.47
$GC,847,-0.80,-145.9,2379,3615,3963,3982,116.4,-10.9,120,853,0.17,2.40,0.00,0.000,5254,0.107,0.053,2311,2197,3972,3963,3981,0,0,0,0,0,0,14.24,14.23,14.32
$GC,1178,-0.76,-145.9,2317,2198,3963,3982,172.8,-16.6,136,1183,0.00,2.50,0.00,0.000,388,0.000,0.087,2309,3615,3971,3962,3981,0,0,0,0,0,0,14.53,14.16,14.57
$GC,1300,-0.80,-145.9,2308,3622,3958,3982,190.7,-13.6,160,1305,0.00,2.40,0.00,0.000,1158,0.000,0.055,2305,2195,3971,3962,3981,0,0,0,0,0,0,14.35,14.24,14.38
$GC,1630,-0.80,-145.9,2306,2194,3963,3981,237.4,-13.4,176,1635,0.00,2.50,0.00,0.000,260,0.000,0.087,2297,3616,3971,3962,3980,0,0,0,0,0,0,14.55,14.18,14.57
$GC,1756,-0.85,-145.9,2299,3618,3961,3981,253.0,-11.2,201,1761,0.00,2.38,0.00,0.000,1158,0.000,0.054,2297,2196,3970,3961,3979,0,0,0,0,0,0,14.36,14.26,14.39
$GC,2081,-0.85,-145.9,2298,2195,3962,3979,292.4,-11.7,216,2086,0.00,2.50,0.00,0.000,260,0.000,0.088,2287,3616,3970,3961,3979,0,0,0,0,0,0,14.57,14.19,14.58
$GC,2213,-0.91,-145.9,2288,3617,3961,3979,307.2,-11.0,242,2218,0.00,2.40,0.00,0.000,1158,0.000,0.054,2288,2193,3970,3963,3978,0,0,0,0,0,0,14.35,14.26,14.40
$GC,2533,-0.91,-145.9,2288,2193,3961,3978,345.1,-11.7,256,2538,0.00,2.50,0.00,0.000,260,0.000,0.088,2280,3618,3968,3960,3977,0,0,0,0,0,0,14.56,14.21,14.59
$GC,2638,-0.96,-145.9,2281,3620,3961,3977,357.3,-11.1,277,2643,0.00,2.38,0.00,0.000,1158,0.000,0.054,2280,2201,3968,3960,3977,0,0,0,0,0,0,14.33,14.23,14.36
$GC,2953,-0.96,-145.9,2280,2200,3961,3976,395.3,-12.0,290,2958,0.00,2.47,0.00,0.000,260,0.000,0.090,2279,3613,3967,3960,3975,0,0,0,0,0,0,14.57,14.21,14.59
$GC,3048,-1.02,-145.9,2280,3614,3960,3975,406.1,-10.9,309,3053,0.00,2.40,0.00,0.000,1158,0.000,0.055,2280,2190,3967,3959,3975,0,0,0,0,0,0,14.33,14.22,14.35
$GC,3374,-1.02,-145.9,2279,2189,3960,3974,445.1,-12.0,324,3378,0.00,2.50,0.00,0.000,260,0.000,0.089,2279,3613,3966,3959,3974,0,0,0,0,0,0,14.57,14.21,14.59
$GC,3500,-1.08,-145.9,2280,3612,3960,3981,459.3,-10.9,349,3505,0.15,2.38,0.00,0.000,5254,0.125,0.054,2224,2198,3966,3958,3974,0,0,0,0,0,0,14.25,14.26,14.33
$STATE,3643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3643,begin apogee
$GC,3649,-0.13,0.0,2225,2067,3959,3974,483.2,-17.0,358,3880,1.25,0.08,227.43,1.388,10246,0.282,0.181,2526,2113,3365,3393,3337,0,0,0,0,0,0,13.88,13.38,12.78
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3888,0.57,145.9,2527,2114,3384,3326,494.2,0.0,365,4098,0.75,2.62,201.82,1.342,10500,0.066,0.073,2779,3509,2764,2815,2714,0,0,0,0,0,0,13.56,13.11,12.55
$GC,4325,0.16,145.9,2779,3512,2784,2711,458.7,17.3,411,4331,0.73,2.42,0.00,0.000,5254,0.345,0.057,2639,2124,2747,2785,2710,0,0,0,0,0,0,13.46,13.77,13.80
$GC,4637,0.08,172.3,2639,2124,2785,2707,429.8,8.8,423,4677,0.12,2.50,33.25,1.415,12708,0.295,0.080,2610,3497,2654,2700,2609,0,0,0,0,0,0,13.85,13.89,13.19
$GC,4903,0.07,195.5,2611,3497,2691,2603,406.5,8.9,476,4944,0.00,2.40,33.20,1.434,9382,0.000,0.058,2616,2092,2560,2613,2507,0,0,0,0,0,0,14.17,14.08,13.22
$GC,5271,0.10,236.3,2616,2094,2608,2494,376.3,8.1,499,5336,0.00,2.60,59.78,1.379,8740,0.000,0.087,2615,686,2399,2453,2345,0,0,0,0,0,0,14.40,13.87,13.18
$GC,5393,0.23,283.9,2617,682,2444,2340,366.5,7.8,523,5477,0.12,2.53,76.10,1.319,11430,0.129,0.078,2670,2101,2201,2257,2146,0,0,0,0,0,0,13.92,13.88,13.03
$GC,5783,0.21,283.9,2671,2100,2244,2128,319.8,12.2,551,5788,0.00,2.50,0.00,0.000,644,0.000,0.086,2672,693,2185,2241,2129,0,0,0,0,0,0,14.32,14.02,14.33
$GC,5833,0.24,283.9,2673,693,2242,2128,313.7,11.5,561,5838,0.00,2.47,0.00,0.000,1158,0.000,0.077,2672,2101,2184,2241,2128,0,0,0,0,0,0,14.16,14.05,14.19
$GC,6144,0.21,283.9,2672,2103,2241,2128,276.4,11.9,573,6144,0.00,0.00,0.00,0.000,134,0.000,0.000,2671,2102,2183,2240,2127,0,0,0,0,0,0,14.47,14.50,14.50
$GC,6443,0.21,283.9,2672,2102,2248,2128,242.1,11.4,583,6449,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,694,2183,2240,2127,0,0,0,0,0,0,14.53,14.12,14.54
$GC,6534,0.27,284.0,2673,694,2240,2126,232.6,10.0,601,6539,0.00,2.45,0.00,0.000,1190,0.000,0.078,2672,2100,2182,2238,2127,0,0,0,0,0,0,14.31,14.17,14.36
$GC,6864,0.28,300.7,2673,2100,2239,2126,200.6,9.2,617,6884,0.00,0.00,18.75,1.444,8230,0.000,0.000,2672,2101,2138,2190,2086,0,0,0,0,0,0,14.55,14.19,13.45
$GC,7164,0.33,336.4,2673,2101,2184,2074,174.8,8.4,627,7236,0.00,2.55,63.45,1.290,8868,0.000,0.086,2672,701,1986,2036,1937,0,0,0,0,0,0,14.49,13.92,13.28
$GC,7273,0.50,387.1,2673,701,2029,1934,166.4,7.7,648,7371,0.22,2.47,88.80,1.201,11430,0.099,0.079,2761,2099,1780,1813,1748,0,0,0,0,0,0,13.93,13.96,13.09
$GC,7677,0.44,387.1,2762,2100,1804,1733,111.6,13.2,679,7682,0.15,2.50,0.00,0.000,4740,0.262,0.083,2730,685,1767,1802,1733,0,0,0,0,0,0,13.81,14.03,13.99
$GC,7758,0.52,400.1,2730,686,1799,1734,103.4,9.4,695,7774,0.00,2.47,10.75,1.368,9382,0.000,0.076,2730,2100,1734,1768,1701,0,0,0,0,0,0,14.19,14.09,13.29
$GC,8079,0.58,420.7,2731,2100,1762,1687,72.9,9.0,731,8092,0.12,0.00,10.57,0.405,10406,0.130,0.000,2786,2101,1648,1685,1612,0,0,0,0,0,0,14.16,14.15,13.77
$GC,8389,0.58,460.9,2785,2100,1691,1616,40.1,8.1,762,8416,0.00,2.55,22.70,0.321,8868,0.000,0.086,2794,691,1483,1523,1443,0,0,0,0,0,0,14.45,14.09,13.86
$GC,8601,0.68,524.8,2794,692,1526,1447,23.0,7.0,801,8643,0.00,2.50,35.25,0.271,9382,0.000,0.079,2794,2106,1222,1285,1160,0,0,0,0,0,0,14.16,14.04,13.81
$FREEZE,13.86,5.764,-1.406,0,1,0
$STATE,8906,end climb,NO_VERTICAL_VELOCITY
$STATE,8906,begin surface
$SM_CCo,8912,98.95,0.245,0,0,501,702.78
$SM_GC,1.06,7.97,0.17,0.00,0.076,0.113,0.000,205,2223,492,-7.38,-0.54,704.75,0,0,0,0,0,0,14.09,14.14,14.19
$RAFOS_CLK,32
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7224.05,-14826.81,160817,025003
$TT8_MAMPS,0.085386,0.83139
$HUMID,46.14
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.30
$XPDR_PINGS,20
$CP_FREE,16005496832.000000
$PM_FREEKB_00,56918976
$24V_AH,12.55,81.461
$10V_AH,12.47,0.000
$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,24.375,79.975,881.850,98.950,0.000,0.000,0.000,370.700,5.000,0.000,10.998,0.000,6404.816,867.176,2280.740,281.564,0.000,2131.448,0.000,1196.530,2215.000,0.540,0.000
$DEVICE_MAMPS,452.880,2145.060,1443.555,244.800,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8932.000,8922.000,8880.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.423,20.000,16.578,0.000
$MEM,323712
$DATA_FILE_SIZE,29949,836
$CAP_FILE_SIZE,103414,0
$CFSIZE,2097872896,2063564800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.060,236.71,1
$GPS,160817,081052,7225.658,-14819.505,48,0.8,50,21.2,0.3,158.5,9,8.3