version: 66.13
glider: 196
mission: 14
dive: 153
start: 8 24 117 13 56 38
data:
$ID,196
$MISSION,14
$DIVE,153
$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,58
$R_STBD_OVSHOOT,39
$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,429.0
$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
$GPS1,240817,134411,7335.4844,-15053.1621,29,0.7,31,20.4,0.5,331.9,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.6
$GPS2,240817,135603,7335.4863,-15053.4570,6,0.8,33,20.4,0.5,336.9,10,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.3,121192,-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,-145.9,187,2229,493,490,0.0,0.0,0,140,0.00,0.00,-91.90,0.000,16386,0.000,0.000,182,2229,2231,2171,2292,0,0,0,0,0,0,14.47,28.83,14.49
$GC,143,-0.57,-145.9,185,2229,2176,2294,4.8,-7.8,9,196,12.60,2.72,-30.92,0.000,18724,0.454,2.153,2375,3592,3964,3945,3984,0,0,0,0,0,0,13.69,12.60,14.16
$GC,396,-0.67,-145.9,2376,3588,3952,3984,59.9,-14.5,59,401,0.00,2.33,0.00,0.000,1158,0.000,0.060,2376,2230,3966,3949,3984,0,0,0,0,0,0,14.23,14.12,14.27
$GC,707,-0.73,-145.9,2376,2230,3952,3984,104.7,-12.3,89,708,0.00,0.00,0.00,0.000,134,0.000,0.000,2375,2228,3967,3951,3984,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1007,-0.83,-145.9,2376,2228,3954,3984,136.4,-9.9,99,1008,0.20,0.00,0.00,0.000,4262,0.115,0.000,2300,2228,3968,3952,3984,0,0,0,0,0,0,14.19,14.28,14.24
$GC,1306,-0.83,-145.9,2301,2228,3953,3984,182.7,-15.2,109,1311,0.00,2.42,0.00,0.000,260,0.000,0.089,2289,3589,3968,3952,3984,0,0,0,0,0,0,14.64,13.74,14.66
$GC,1433,-0.90,-145.9,2295,3591,3961,3984,199.7,-12.7,134,1438,0.00,2.35,0.00,0.000,1158,0.000,0.057,2293,2193,3968,3952,3984,0,0,0,0,0,0,14.41,14.29,14.43
$GC,1758,-0.90,-145.9,2293,2193,3953,3985,245.2,-13.5,149,1763,0.00,2.45,0.00,0.000,260,0.000,0.086,2289,3588,3966,3952,3980,0,0,0,0,0,0,14.65,14.21,14.66
$GC,1858,-0.98,-145.9,2282,3590,3953,3985,257.3,-11.6,169,1863,0.00,2.33,0.00,0.000,1158,0.000,0.056,2282,2198,3967,3951,3984,0,0,0,0,0,0,14.42,14.31,14.47
$GC,2179,-1.01,-145.9,2283,2196,3953,3985,296.1,-11.6,183,2183,0.00,2.45,0.00,0.000,388,0.000,0.088,2279,3592,3967,3951,3984,0,0,0,0,0,0,14.65,14.23,14.67
$GC,2249,-1.11,-145.9,2280,3595,3953,3990,303.7,-10.1,197,2254,0.20,2.35,0.00,0.000,5254,0.107,0.057,2208,2190,3968,3952,3984,0,0,0,0,0,0,14.33,14.31,14.42
$GC,2569,-1.00,-145.9,2208,2190,3952,3984,358.9,-17.5,211,2574,0.17,2.45,0.00,0.000,2436,0.301,0.084,2238,3593,3967,3952,3982,0,0,0,0,0,0,13.91,14.24,14.11
$GC,2714,-1.02,-145.9,2239,3593,3952,3983,378.7,-12.9,240,2721,0.00,2.35,0.00,0.000,1158,0.000,0.057,2238,2194,3967,3951,3983,0,0,0,0,0,0,14.23,14.12,14.27
$GC,3019,-0.99,-145.9,2238,2194,3952,3983,420.9,-13.8,251,3024,0.00,2.45,0.00,0.000,388,0.000,0.089,2235,3592,3967,3951,3983,0,0,0,0,0,0,14.66,14.23,14.69
$GC,3110,-1.01,-145.9,2236,3593,3956,3984,432.9,-12.8,269,3114,0.00,2.35,0.00,0.000,1158,0.000,0.056,2237,2199,3966,3951,3982,0,0,0,0,0,0,14.38,14.28,14.41
$GC,3440,-0.99,-145.9,2236,2199,3952,3983,478.0,-13.6,285,3445,0.00,2.45,0.00,0.000,388,0.000,0.090,2235,3595,3966,3951,3982,0,0,0,0,0,0,14.67,14.22,14.68
$STATE,3452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3453,begin apogee
$GC,3460,-0.13,0.0,2236,2103,3952,3983,480.1,-13.4,288,3682,1.17,0.00,217.80,1.434,10246,0.250,0.000,2532,2101,3362,3383,3342,0,0,0,0,0,0,13.97,13.46,12.69
$STATE,3686,end apogee,CONTROL_FINISHED_OK
$STATE,3686,begin climb
$GC,3688,0.57,145.9,2532,2102,3378,3336,491.4,0.0,295,3911,0.73,2.10,207.45,1.373,10756,0.065,0.080,2781,686,2760,2802,2718,0,0,0,0,0,0,13.57,12.98,12.40
$GC,3981,0.21,145.9,2780,686,2799,2717,487.3,15.0,311,3987,0.62,2.58,0.00,0.000,5254,0.322,0.076,2654,2084,2756,2797,2715,0,0,0,0,0,0,13.16,13.43,13.50
$GC,4292,0.06,150.1,2655,2084,2797,2709,455.8,9.8,323,4297,0.20,2.47,0.00,0.000,4772,0.287,0.078,2615,687,2752,2797,2708,0,0,0,0,0,0,13.71,13.95,13.89
$GC,4389,0.07,202.6,2621,686,2795,2708,448.3,7.6,342,4474,0.00,2.50,79.25,1.390,9382,0.000,0.080,2616,2100,2540,2598,2482,0,0,0,0,0,0,14.16,14.03,12.97
$GC,4773,0.08,214.3,2616,2101,2590,2466,413.2,9.5,369,4788,0.00,0.00,14.62,1.553,8230,0.000,0.000,2615,2100,2491,2552,2430,0,0,0,0,0,0,14.42,14.02,13.18
$GC,5073,0.09,228.7,2616,2100,2545,2419,384.7,9.3,379,5098,0.00,2.47,19.80,1.535,8740,0.000,0.084,2616,688,2429,2489,2370,0,0,0,0,0,0,14.54,14.09,13.27
$GC,5148,0.17,253.4,2616,689,2484,2371,377.9,8.9,394,5194,0.00,2.47,37.92,1.431,9382,0.000,0.080,2616,2106,2328,2382,2274,0,0,0,0,0,0,14.26,14.14,13.16
$GC,5495,0.22,269.7,2616,2107,2377,2266,345.9,9.2,413,5524,0.12,0.00,22.42,1.477,10406,0.129,0.000,2677,2106,2263,2315,2212,0,0,0,0,0,0,14.28,14.09,13.26
$GC,5823,0.15,269.7,2676,2106,2311,2205,303.4,12.9,424,5829,0.17,2.47,0.00,0.000,4740,0.259,0.081,2640,685,2258,2312,2205,0,0,0,0,0,0,14.03,14.10,14.18
$GC,5904,0.22,286.6,2642,685,2311,2205,295.3,9.2,440,5935,0.00,2.45,25.58,1.444,9382,0.000,0.080,2641,2100,2197,2248,2146,0,0,0,0,0,0,14.38,14.25,13.31
$GC,6247,0.25,295.8,2648,2101,2247,2136,262.4,9.6,458,6266,0.00,2.50,11.68,1.559,8868,0.000,0.086,2646,694,2159,2207,2111,0,0,0,0,0,0,14.56,14.20,13.33
$GC,6286,0.33,327.3,2646,695,2206,2108,258.6,8.5,466,6343,0.12,2.45,52.30,1.349,11430,0.131,0.080,2697,2101,2031,2077,1986,0,0,0,0,0,0,14.26,14.20,13.21
$GC,6668,0.29,327.3,2698,2101,2068,1970,212.9,11.7,492,6674,0.00,2.47,0.00,0.000,644,0.000,0.084,2699,687,2018,2067,1970,0,0,0,0,0,0,14.51,14.16,14.53
$GC,6734,0.32,327.3,2699,688,2066,1969,205.8,10.5,505,6739,0.00,2.45,0.00,0.000,1158,0.000,0.079,2699,2099,2017,2065,1970,0,0,0,0,0,0,14.35,14.23,14.38
$GC,7059,0.32,327.3,2699,2100,2066,1970,171.6,10.2,520,7065,0.00,2.47,0.00,0.000,516,0.000,0.086,2699,688,2017,2065,1969,0,0,0,0,0,0,14.61,14.22,14.63
$GC,7120,0.36,341.5,2697,695,2066,1970,165.8,9.3,532,7146,0.00,2.45,19.85,1.435,9382,0.000,0.078,2699,2103,1970,2017,1923,0,0,0,0,0,0,14.38,14.26,13.38
$GC,7451,0.38,358.0,2699,2104,2015,1916,134.6,9.2,548,7483,0.00,2.58,26.62,1.379,8740,0.000,0.085,2699,687,1903,1944,1863,0,0,0,0,0,0,14.47,14.06,13.35
$GC,7509,0.46,386.4,2699,687,1938,1864,129.7,8.7,559,7560,0.00,2.47,45.97,1.285,9382,0.000,0.078,2699,2099,1789,1819,1760,0,0,0,0,0,0,14.15,14.06,13.18
$GC,7877,0.56,431.9,2699,2100,1814,1746,99.0,7.9,582,7909,0.20,2.55,23.35,0.512,10916,0.102,0.087,2781,697,1604,1634,1574,0,0,0,0,0,0,14.14,13.96,13.57
$GC,7919,0.47,431.9,2782,696,1635,1574,93.7,12.7,590,7925,0.20,2.50,0.00,0.000,5254,0.260,0.079,2739,2101,1603,1633,1574,0,0,0,0,0,0,13.80,13.95,14.06
$GC,8230,0.56,486.0,2740,2104,1635,1566,65.2,7.5,622,8262,0.00,2.58,28.12,0.402,8868,0.000,0.086,2742,697,1383,1429,1338,0,0,0,0,0,0,14.39,13.95,13.69
$GC,8307,0.75,554.8,2743,698,1429,1335,59.5,6.8,637,8350,0.25,2.50,35.88,0.382,11430,0.095,0.079,2837,2110,1102,1169,1036,0,0,0,0,0,0,14.10,14.01,13.64
$GC,8655,0.75,554.8,2837,2111,1170,1026,21.0,10.5,676,8661,0.00,2.53,0.00,0.000,516,0.000,0.088,2838,686,1097,1169,1025,0,0,0,0,0,0,14.39,14.01,14.40
$GC,8778,0.90,641.7,2838,690,1165,1026,12.2,6.0,700,8830,0.00,2.47,45.17,0.246,9382,0.000,0.079,2838,2100,746,808,684,0,0,0,0,0,0,14.16,14.04,13.76
$STATE,8965,end climb,SURFACE_DEPTH_REACHED
$STATE,8965,begin surface coast
$FINISH,0.3,1.010371
$STATE,8994,end surface coast,CONTROL_FINISHED_OK
$STATE,8994,begin surface
$SM_CCo,9059,35.80,0.203,0,0,498,703.03
$SM_GC,1.50,8.02,0.20,35.80,0.073,0.136,0.203,205,2208,498,-7.37,-0.42,703.03,0,0,0,0,0,0,14.19,14.14,13.95
$RAFOS_CLK,85
$RAFOS_FIX,7332.196777,-15037.294922,240817,040412,3,255,0.40
$IRIDIUM_FIX,7337.62,-15055.98,240817,110859
$TT8_MAMPS,0.084637,0.923517
$HUMID,44.05
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,0.000000
$PM_FREEKB_00,53449792
$24V_AH,12.40,115.962
$10V_AH,12.26,0.000
$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,25.000,88.725,913.800,35.800,0.000,0.000,0.000,410.475,5.000,0.000,34.380,0.000,6473.595,846.320,2208.408,291.605,0.000,2100.129,0.000,1043.397,2203.000,0.539,0.000
$DEVICE_MAMPS,453.645,2152.710,1559.070,202.725,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9024.000,9057.000,9014.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.463,20.000,9.904,0.000
$MEM,323356
$DATA_FILE_SIZE,26712,727
$CAP_FILE_SIZE,102646,0
$CFSIZE,2097872896,2040954880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.6
$CURRENT,0.044,289.66,1
$GPS,240817,162934,7336.680,-15056.375,36,0.9,37,20.4,0.5,303.9,10,9.7