version: 66.13
glider: 196
mission: 14
dive: 163
start: 8 25 117 18 6 20
data:
$ID,196
$MISSION,14
$DIVE,163
$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,33
$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,459.0
$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
$GPS1,250817,173955,7345.8271,-15125.3359,23,0.7,36,20.2,0.0,314.9,10,6.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.5
$GPS2,250817,180545,7345.7861,-15125.5566,6,0.8,17,20.2,0.0,186.4,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,291.6,96646,-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,-145.9,171,2219,498,486,0.0,0.0,0,140,0.00,0.00,-91.28,0.000,16386,0.000,0.000,170,2217,2188,2121,2255,0,0,0,0,0,0,14.45,28.83,14.47
$GC,143,-0.57,-145.9,174,2217,2118,2260,4.3,-6.2,9,196,12.65,2.75,-33.03,0.000,18724,0.454,2.151,2376,3595,3965,3950,3981,1,0,0,0,0,0,13.56,12.57,14.14
$GC,327,-0.64,-145.9,2377,3596,3955,3981,47.7,-16.5,45,331,0.00,2.40,0.00,0.000,1158,0.000,0.061,2376,2198,3967,3953,3981,0,0,0,0,0,0,14.21,14.09,14.25
$GC,639,-0.70,-145.9,2377,2198,3955,3982,99.3,-13.2,77,643,0.00,2.45,0.00,0.000,388,0.000,0.086,2367,3598,3968,3955,3981,0,0,0,0,0,0,14.54,14.13,14.55
$GC,688,-0.87,-145.9,2366,3600,3956,3981,105.4,-10.6,87,694,0.20,2.38,0.00,0.000,5254,0.103,0.057,2282,2189,3968,3955,3981,0,0,0,0,0,0,14.29,14.23,14.38
$GC,999,-0.80,-145.9,2282,2189,3955,3982,162.8,-18.0,99,1004,0.12,2.47,0.00,0.000,2436,0.287,0.083,2306,3603,3968,3955,3981,0,0,0,0,0,0,14.02,14.22,14.17
$GC,1091,-0.90,-145.9,2305,3604,3955,3982,175.0,-11.7,117,1096,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2196,3967,3954,3981,0,0,0,0,0,0,14.40,14.28,14.42
$GC,1421,-0.93,-145.9,2306,2194,3956,3981,219.1,-12.9,133,1426,0.00,2.47,0.00,0.000,388,0.000,0.088,2297,3600,3968,3955,3981,0,0,0,0,0,0,14.64,14.21,14.65
$GC,1467,-1.04,-145.9,2298,3600,3956,3981,224.6,-11.7,142,1472,0.17,2.38,0.00,0.000,5254,0.109,0.058,2230,2194,3967,3954,3981,0,0,0,0,0,0,14.33,14.28,14.42
$GC,1782,-0.95,-145.9,2230,2193,3955,3982,280.0,-17.1,155,1787,0.15,2.45,0.00,0.000,2436,0.297,0.083,2256,3599,3968,3955,3981,0,0,0,0,0,0,13.95,14.24,14.14
$GC,1862,-0.99,-145.9,2256,3601,3955,3982,291.1,-12.8,171,1867,0.00,2.35,0.00,0.000,1158,0.000,0.057,2256,2199,3967,3954,3981,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2172,-0.99,-145.9,2256,2199,3956,3981,332.6,-13.1,183,2178,0.00,2.47,0.00,0.000,260,0.000,0.089,2249,3608,3968,3955,3981,0,0,0,0,0,0,14.68,14.24,14.69
$GC,2263,-1.03,-145.9,2249,3609,3956,3980,344.0,-12.1,201,2268,0.00,2.38,0.00,0.000,1158,0.000,0.057,2249,2199,3967,3954,3981,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2593,-1.03,-145.9,2249,2199,3954,3981,387.5,-13.0,217,2598,0.00,2.45,0.00,0.000,260,0.000,0.088,2240,3601,3967,3955,3980,0,0,0,0,0,0,14.68,14.24,14.69
$GC,2683,-1.07,-145.9,2240,3603,3954,3980,399.1,-12.3,235,2688,0.00,2.35,0.00,0.000,1158,0.000,0.057,2240,2201,3967,3954,3980,0,0,0,0,0,0,14.42,14.30,14.45
$GC,3013,-1.07,-145.9,2239,2200,3954,3981,443.3,-13.3,251,3017,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3601,3966,3953,3980,0,0,0,0,0,0,14.68,14.23,14.69
$GC,3093,-1.11,-145.9,2241,3602,3949,3981,453.7,-12.4,267,3098,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2192,3966,3953,3980,0,0,0,0,0,0,14.41,14.29,14.45
$STATE,3310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3310,begin apogee
$GC,3316,-0.13,0.0,2237,2065,3954,3980,483.2,-13.4,276,3553,1.15,0.00,229.02,1.391,10246,0.244,0.000,2530,2064,3359,3378,3341,0,0,0,0,0,0,13.94,13.47,12.69
$STATE,3557,end apogee,CONTROL_FINISHED_OK
$STATE,3557,begin climb
$GC,3559,0.57,145.9,2530,2065,3374,3334,495.5,0.0,284,3779,0.73,2.70,208.23,1.350,10500,0.066,0.073,2776,3500,2761,2803,2720,0,0,0,0,0,0,13.58,12.97,12.39
$GC,4004,0.13,145.9,2777,3500,2779,2715,463.9,17.1,367,4011,0.77,2.40,0.00,0.000,5254,0.353,0.056,2629,2135,2744,2778,2711,0,0,0,0,0,0,13.41,13.72,13.78
$GC,4309,0.04,177.7,2631,2128,2780,2712,436.3,8.5,378,4359,0.12,2.45,44.78,1.404,12708,0.298,0.081,2600,3504,2632,2676,2589,0,0,0,0,0,0,13.86,13.73,13.11
$GC,4525,0.02,196.6,2600,3505,2663,2586,417.4,9.1,421,4552,0.00,2.42,23.52,1.473,9382,0.000,0.060,2602,2092,2564,2612,2517,0,0,0,0,0,0,14.14,14.04,13.19
$GC,4850,0.05,233.5,2603,2092,2602,2496,390.4,8.3,436,4911,0.00,2.55,55.83,1.397,8740,0.000,0.086,2603,692,2407,2457,2357,0,0,0,0,0,0,14.52,13.95,13.18
$GC,4968,0.17,266.8,2602,692,2448,2352,380.6,8.5,459,5027,0.10,2.47,51.90,1.353,11430,0.154,0.080,2651,2093,2275,2322,2228,0,0,0,0,0,0,14.02,14.00,13.07
$GC,5333,0.13,266.8,2652,2090,2312,2209,338.0,11.7,482,5337,0.00,2.45,0.00,0.000,644,0.000,0.085,2659,693,2259,2311,2208,0,0,0,0,0,0,14.47,14.14,14.49
$GC,5347,0.10,266.8,2659,694,2311,2210,336.3,11.7,485,5354,0.17,2.47,0.00,0.000,5254,0.248,0.079,2620,2101,2259,2310,2208,0,0,0,0,0,0,14.00,14.16,14.23
$GC,5664,0.15,286.8,2620,2103,2310,2207,306.5,9.1,498,5700,0.00,2.53,28.35,1.410,8868,0.000,0.084,2624,695,2188,2237,2140,0,0,0,0,0,0,14.60,14.13,13.32
$GC,5715,0.25,322.8,2621,690,2231,2138,302.1,8.3,503,5781,0.12,2.47,60.38,1.297,11430,0.131,0.079,2678,2101,2049,2095,2003,0,0,0,0,0,0,14.19,14.14,13.15
$GC,6086,0.25,322.8,2678,2102,2080,1982,256.9,11.8,527,6091,0.00,2.50,0.00,0.000,516,0.000,0.086,2685,688,2030,2080,1981,0,0,0,0,0,0,14.50,14.13,14.54
$GC,6131,0.25,322.8,2685,688,2077,1982,251.6,11.6,536,6136,0.00,2.47,0.00,0.000,1030,0.000,0.080,2685,2105,2028,2076,1980,0,0,0,0,0,0,14.28,14.19,14.32
$GC,6446,0.23,322.8,2685,2106,2078,1978,215.6,10.9,549,6452,0.00,2.47,0.00,0.000,644,0.000,0.085,2685,691,2027,2076,1978,0,0,0,0,0,0,14.59,14.20,14.62
$GC,6517,0.29,333.3,2685,691,2076,1979,208.5,9.5,563,6527,0.00,2.45,3.72,1.390,9382,0.000,0.080,2685,2101,2007,2056,1959,0,0,0,0,0,0,14.40,14.26,12.91
$GC,6839,0.30,344.6,2685,2103,2066,1967,177.4,9.5,577,6873,0.00,2.53,27.20,1.389,8740,0.000,0.085,2685,699,1957,2005,1910,0,0,0,0,0,0,14.52,14.10,13.35
$GC,6955,0.40,379.1,2686,695,1993,1906,167.2,8.4,600,7025,0.00,2.47,61.62,1.271,9382,0.000,0.080,2685,2100,1816,1845,1787,0,0,0,0,0,0,14.14,14.02,13.17
$GC,7350,0.48,413.0,2685,2101,1833,1772,132.8,8.4,629,7412,0.15,2.60,57.38,1.245,10916,0.122,0.087,2756,691,1680,1707,1654,0,0,0,0,0,0,14.15,13.90,13.19
$GC,7427,0.43,413.0,2757,692,1699,1651,123.4,12.7,634,7433,0.15,2.50,0.00,0.000,5254,0.249,0.078,2724,2124,1673,1698,1649,0,0,0,0,0,0,13.79,13.91,14.01
$GC,7735,0.48,437.2,2725,2124,1699,1638,93.2,8.9,650,7754,0.00,2.55,12.10,0.461,8868,0.000,0.086,2726,691,1582,1615,1550,0,0,0,0,0,0,14.38,13.99,13.55
$GC,7784,0.59,468.7,2727,691,1622,1554,88.8,8.5,659,7807,0.15,2.47,18.20,0.463,11430,0.116,0.078,2788,2099,1455,1490,1421,0,0,0,0,0,0,14.06,13.97,13.63
$GC,8104,0.63,521.3,2788,2100,1499,1424,54.4,7.6,693,8140,0.00,2.53,30.27,0.360,8740,0.000,0.085,2794,684,1237,1291,1184,0,0,0,0,0,0,14.39,13.93,13.73
$GC,8218,0.74,566.8,2795,684,1293,1190,45.7,7.9,715,8249,0.00,2.50,26.15,0.334,9382,0.000,0.078,2791,2101,1052,1118,987,0,0,0,0,0,0,14.16,14.04,13.66
$GC,8546,0.91,636.4,2794,2102,1119,997,19.0,6.8,751,8593,0.22,2.55,39.03,0.262,10916,0.099,0.085,2890,696,766,828,705,0,0,0,0,0,0,14.12,14.00,13.81
$GC,8613,0.93,672.3,2890,697,829,707,13.9,8.3,764,8641,0.00,2.47,20.60,0.247,9254,0.000,0.076,2889,2099,622,670,575,0,0,0,0,0,0,14.12,13.99,13.76
$STATE,8736,end climb,SURFACE_DEPTH_REACHED
$STATE,8736,begin surface coast
$FINISH,0.1,1.020803
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8779,18.33,0.214,0,0,499,702.78
$SM_GC,1.12,8.20,0.17,18.33,0.073,0.119,0.214,204,2213,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.16,14.17,13.93
$RAFOS_CLK,97
$RAFOS_FIX,7344.783691,-15124.022461,250817,161643,2,255,0.26
$IRIDIUM_FIX,7346.00,-15132.58,250817,175050
$TT8_MAMPS,0.084637,0.901047
$HUMID,43.22
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,32
$CP_FREE,15991898112.000000
$PM_FREEKB_00,53165504
$24V_AH,12.39,120.865
$10V_AH,12.28,0.000
$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,25.350,99.275,998.275,18.325,0.000,0.000,0.000,1013.250,8.000,0.000,20.184,0.000,6363.318,1020.731,2656.923,321.992,0.000,2787.184,0.000,1120.320,2205.000,0.539,0.000
$DEVICE_MAMPS,453.645,2151.180,1473.390,214.200,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8787.000,8786.000,8734.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.264,20.000,9.888,0.000
$MEM,323612
$DATA_FILE_SIZE,26760,781
$CAP_FILE_SIZE,111563,0
$CFSIZE,2097872896,2037776384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.026,238.11,1
$GPS,250817,203421,7346.660,-15128.642,38,0.7,39,20.2,0.0,0.0,11,8.0