version: 66.13
glider: 196
mission: 14
dive: 187
start: 8 28 117 17 13 10
data:
$ID,196
$MISSION,14
$DIVE,187
$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,26
$R_STBD_OVSHOOT,36
$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,48
$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,529.0
$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
$GPS1,280817,164924,7408.5747,-15244.5859,17,0.7,20,19.7,0.0,0.0,12,9.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.7
$GPS2,280817,171237,7408.6948,-15244.7539,10,0.7,21,19.7,0.4,337.8,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,280.6,40175,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,197,2222,491,490,0.0,0.0,0,141,0.00,0.00,-91.35,0.000,16386,0.000,0.000,195,2225,2159,2086,2233,0,0,0,0,0,0,14.53,28.83,14.54
$GC,144,-0.57,-145.9,196,2222,2089,2235,3.7,-4.9,9,198,12.70,2.78,-35.50,0.000,18724,0.457,2.148,2377,3594,3964,3947,3981,0,0,0,0,0,0,13.58,12.59,14.04
$GC,423,-0.73,-145.9,2379,3596,3955,3982,58.5,-12.2,64,430,0.00,2.38,0.00,0.000,1158,0.000,0.055,2377,2194,3967,3954,3981,0,0,0,0,0,0,14.23,14.16,14.26
$GC,730,-0.82,-145.9,2377,2193,3964,3982,100.0,-12.0,95,735,0.17,2.47,0.00,0.000,4484,0.123,0.086,2293,3597,3968,3955,3981,0,0,0,0,0,0,14.11,14.06,14.18
$GC,890,-0.87,-145.9,2294,3598,3955,3981,124.2,-14.4,127,895,0.00,2.38,0.00,0.000,1158,0.000,0.059,2293,2197,3967,3954,3981,0,0,0,0,0,0,14.23,14.16,14.24
$GC,1210,-0.87,-145.9,2293,2197,3955,3982,175.4,-15.3,141,1215,0.00,2.45,0.00,0.000,260,0.000,0.086,2283,3595,3968,3955,3981,0,0,0,0,0,0,14.64,14.16,14.66
$GC,1285,-0.94,-145.9,2284,3597,3956,3981,185.9,-12.9,156,1291,0.00,2.38,0.00,0.000,1158,0.000,0.058,2283,2191,3968,3955,3981,0,0,0,0,0,0,14.32,14.19,14.36
$GC,1601,-0.94,-145.9,2284,2191,3956,3981,230.4,-13.6,169,1606,0.00,2.47,0.00,0.000,260,0.000,0.087,2275,3602,3968,3955,3981,0,0,0,0,0,0,14.64,14.21,14.68
$GC,1676,-1.04,-145.9,2276,3603,3956,3981,240.0,-11.7,184,1682,0.00,2.40,0.00,0.000,1158,0.000,0.057,2275,2191,3968,3955,3981,0,0,0,0,0,0,14.38,14.27,14.42
$GC,1992,-1.07,-145.9,2275,2190,3956,3981,280.4,-12.2,197,1997,0.12,2.47,0.00,0.000,4484,0.144,0.087,2222,3594,3967,3954,3981,0,0,0,0,0,0,14.25,14.17,14.29
$GC,2077,-1.07,-145.9,2222,3597,3955,3982,293.0,-15.0,214,2083,0.00,2.35,0.00,0.000,1030,0.000,0.056,2222,2201,3968,3955,3981,0,0,0,0,0,0,13.93,13.94,13.95
$GC,2383,-1.00,-145.9,2222,2199,3956,3979,341.3,-15.4,225,2388,0.12,2.45,0.00,0.000,2436,0.310,0.085,2241,3595,3967,3954,3980,0,0,0,0,0,0,13.94,14.21,14.11
$GC,2480,-1.06,-145.9,2242,3597,3956,3981,353.7,-12.2,244,2486,0.00,2.35,0.00,0.000,1158,0.000,0.057,2241,2201,3967,3954,3980,0,0,0,0,0,0,14.19,14.05,14.18
$GC,2806,-1.06,-145.9,2241,2200,3956,3981,396.1,-12.9,259,2811,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3595,3967,3954,3980,0,0,0,0,0,0,14.67,14.21,14.69
$GC,2871,-1.12,-145.9,2236,3597,3955,3980,404.4,-12.2,272,2877,0.00,2.38,0.00,0.000,1158,0.000,0.058,2236,2198,3966,3954,3979,0,0,0,0,0,0,14.21,14.09,14.27
$GC,3197,-1.12,-145.9,2236,2197,3956,3979,447.2,-13.0,287,3202,0.00,2.47,0.00,0.000,260,0.000,0.089,2235,3603,3967,3955,3979,0,0,0,0,0,0,14.66,14.16,14.67
$GC,3282,-1.19,-145.9,2236,3603,3955,3980,457.4,-11.1,304,3289,0.12,2.38,0.00,0.000,5254,0.141,0.057,2186,2201,3970,3954,3986,0,0,0,0,0,0,14.21,14.21,14.34
$STATE,3434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3434,begin apogee
$GC,3440,-0.13,0.0,2185,2057,3955,3978,483.2,-17.3,310,3662,1.40,0.05,217.30,1.455,10246,0.269,0.219,2526,2091,3364,3390,3339,0,0,0,0,0,0,13.86,13.40,12.65
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3670,0.57,145.9,2528,2091,3384,3333,494.3,0.0,317,3890,0.75,2.72,206.40,1.397,10500,0.063,0.074,2781,3507,2761,2806,2716,0,0,0,0,0,0,13.58,13.12,12.32
$GC,4115,0.11,145.9,2781,3508,2791,2717,466.8,16.6,400,4122,0.82,2.42,0.00,0.000,5254,0.353,0.056,2624,2126,2754,2791,2718,0,0,0,0,0,0,13.43,13.75,13.77
$GC,4421,0.03,183.5,2624,2126,2792,2716,440.0,8.3,411,4483,0.12,2.53,52.83,1.446,12708,0.295,0.083,2595,3529,2609,2659,2559,0,0,0,0,0,0,13.88,13.88,13.09
$GC,4588,0.01,203.1,2595,3532,2654,2559,425.8,9.1,444,4618,0.00,2.45,26.05,1.510,9382,0.000,0.058,2600,2101,2539,2593,2485,0,0,0,0,0,0,14.17,14.07,13.07
$GC,4935,0.03,237.1,2602,2102,2586,2471,396.6,8.4,463,4995,0.00,2.55,50.67,1.431,8740,0.000,0.088,2602,698,2393,2445,2341,0,0,0,0,0,0,14.50,13.95,13.15
$GC,5038,0.14,271.5,2602,700,2442,2348,387.9,8.4,483,5097,0.00,2.47,52.12,1.405,9382,0.000,0.079,2603,2101,2256,2310,2202,0,0,0,0,0,0,14.13,14.02,13.02
$GC,5417,0.22,300.1,2603,2102,2304,2189,354.5,8.7,509,5461,0.12,0.00,41.95,1.414,10918,0.133,0.000,2668,2101,2142,2197,2088,0,0,0,0,0,0,14.13,13.99,13.18
$GC,5749,0.18,300.1,2669,2102,2187,2076,312.1,12.7,525,5754,0.12,2.47,0.00,0.000,4740,0.264,0.083,2647,685,2130,2186,2075,0,0,0,0,0,0,14.03,14.19,14.17
$GC,5834,0.24,300.1,2650,685,2182,2076,302.8,10.2,542,5842,0.00,2.47,0.00,0.000,1158,0.000,0.079,2647,2099,2128,2182,2075,0,0,0,0,0,0,14.20,14.09,14.23
$GC,6139,0.24,300.1,2648,2100,2183,2075,269.8,10.6,553,6144,0.00,2.45,0.00,0.000,516,0.000,0.086,2647,692,2128,2183,2074,0,0,0,0,0,0,14.62,14.26,14.66
$GC,6210,0.32,310.3,2647,693,2189,2075,262.9,9.5,567,6232,0.12,2.47,12.45,1.535,11430,0.128,0.079,2698,2106,2097,2150,2044,0,0,0,0,0,0,14.33,14.27,13.32
$GC,6531,0.25,310.3,2699,2107,2147,2041,223.1,12.0,581,6533,0.15,0.00,0.00,0.000,4230,0.225,0.000,2665,2106,2093,2146,2040,0,0,0,0,0,0,14.14,14.42,14.38
$GC,6829,0.27,336.5,2665,2107,2147,2038,196.1,8.8,591,6879,0.00,2.50,43.55,1.379,8740,0.000,0.087,2672,691,1991,2041,1942,0,0,0,0,0,0,14.64,14.13,13.33
$GC,6926,0.38,367.7,2672,692,2035,1943,187.9,8.6,610,6985,0.00,2.47,51.83,1.307,9382,0.000,0.080,2672,2101,1867,1903,1832,0,0,0,0,0,0,14.26,14.13,13.15
$GC,7311,0.46,398.9,2673,2102,1893,1822,154.4,8.6,637,7371,0.15,2.53,53.28,1.289,10916,0.121,0.087,2752,691,1735,1761,1709,0,0,0,0,0,0,14.23,13.95,13.25
$GC,7417,0.43,398.9,2752,691,1755,1710,141.3,12.6,658,7423,0.12,2.50,0.00,0.000,5254,0.250,0.080,2726,2099,1731,1753,1709,0,0,0,0,0,0,13.88,14.00,14.09
$GC,7733,0.43,398.9,2726,2100,1754,1701,105.5,10.8,671,7738,0.00,2.47,0.00,0.000,516,0.000,0.086,2732,689,1726,1753,1700,0,0,0,0,0,0,14.55,14.20,14.55
$GC,7788,0.49,400.8,2733,689,1750,1701,99.8,9.9,682,7795,0.00,2.45,0.00,0.000,1190,0.000,0.080,2733,2098,1725,1751,1700,0,0,0,0,0,0,14.32,14.19,14.35
$GC,8093,0.51,435.2,2733,2098,1752,1699,70.9,8.4,713,8116,0.00,2.55,18.25,0.417,8740,0.000,0.084,2737,688,1590,1619,1561,0,0,0,0,0,0,14.60,14.16,13.62
$GC,8198,0.65,497.0,2738,687,1620,1560,63.4,7.1,733,8236,0.17,2.47,33.00,0.389,11430,0.107,0.077,2802,2108,1339,1385,1293,0,0,0,0,0,0,14.26,14.19,13.74
$GC,8541,0.68,543.7,2802,2109,1385,1284,32.0,7.8,771,8573,0.00,2.50,24.50,0.299,8740,0.000,0.085,2807,692,1151,1216,1086,0,0,0,0,0,0,14.56,14.09,13.83
$GC,8635,0.79,586.7,2808,692,1210,1087,24.6,8.0,789,8667,0.00,2.47,23.67,0.280,9382,0.000,0.078,2808,2099,970,1037,903,0,0,0,0,0,0,14.22,14.11,13.84
$GC,8963,0.97,688.9,2808,2100,1038,896,3.0,5.3,825,8981,0.25,0.00,15.85,0.218,10914,0.091,0.000,2900,2099,849,914,784,0,0,0,0,0,0,14.28,28.83,14.36
$STATE,8981,end climb,SURFACE_DEPTH_REACHED
$STATE,8981,begin surface coast
$FINISH,0.4,1.021180
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9080,48.00,0.210,0,0,499,702.78
$SM_GC,1.19,8.20,0.17,48.00,0.070,0.107,0.210,195,2236,499,-7.39,-0.68,702.78,0,0,0,0,0,0,14.34,14.35,14.01
$RAFOS_CLK,411
$RAFOS_FIX,7407.576660,-15243.542969,280817,161659,4,255,0.18
$IRIDIUM_FIX,7407.64,-15247.43,280817,170624
$TT8_MAMPS,0.039697,0.869589
$HUMID,47.20
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,19
$CP_FREE,0.000000
$PM_FREEKB_00,52362176
$24V_AH,12.32,132.694
$10V_AH,12.22,0.000
$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,25.775,89.350,923.700,48.000,0.000,0.000,0.000,849.050,4.750,0.000,23.092,0.000,6608.473,983.814,2590.884,352.123,0.000,2613.485,0.000,1190.022,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2148.120,1534.590,209.610,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9043.000,9085.000,9032.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.588,20.000,10.316,0.000
$MEM,323480
$DATA_FILE_SIZE,30062,831
$CAP_FILE_SIZE,114444,0
$CFSIZE,2097872896,2030108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.019,252.00,1
$GPS,280817,194634,7409.513,-15247.867,30,0.8,31,19.7,0.7,292.1,10,7.2