version: 66.13
glider: 196
mission: 14
dive: 210
start: 8 31 117 9 42 28
data:
$ID,196
$MISSION,14
$DIVE,210
$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,25
$R_STBD_OVSHOOT,41
$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,1.4
$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,594.0
$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
$GPS1,310817,092456,7422.4873,-15343.0078,37,0.8,37,19.3,0.0,0.0,10,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.2
$GPS2,310817,094154,7422.4648,-15343.2168,7,0.7,10,19.3,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,23.1,164812,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,197,2228,503,477,0.0,0.0,0,142,0.00,0.00,-91.78,0.000,16386,0.000,0.000,196,2227,2133,2058,2209,0,0,0,0,0,0,14.52,28.83,14.54
$GC,145,-0.57,-145.9,196,2227,2060,2209,3.1,-3.4,9,203,12.70,2.78,-38.45,0.000,18724,0.454,2.145,2375,3586,3963,3947,3980,0,0,0,0,0,0,13.66,12.52,14.16
$GC,233,-0.54,-145.9,2376,3588,3952,3980,28.6,-23.6,22,238,0.12,2.38,0.00,0.000,3206,0.252,0.063,2400,2195,3965,3951,3979,0,0,0,0,0,0,13.96,14.14,14.21
$GC,544,-0.64,-145.9,2400,2194,3953,3980,74.3,-10.9,54,544,0.00,0.00,0.00,0.000,134,0.000,0.000,2400,2193,3966,3954,3979,0,0,0,0,0,0,14.68,14.69,14.67
$GC,866,-0.83,-145.9,2400,2191,3955,3979,102.9,-7.8,84,871,0.25,2.47,0.00,0.000,4516,0.093,0.088,2302,3596,3966,3954,3979,0,0,0,0,0,0,14.31,14.16,14.35
$GC,891,-0.91,-145.9,2302,3600,3955,3979,106.0,-12.5,89,897,0.00,2.38,0.00,0.000,1158,0.000,0.059,2301,2187,3966,3954,3979,0,0,0,0,0,0,14.42,14.31,14.46
$GC,1196,-0.91,-145.9,2302,2186,3955,3979,151.8,-14.5,100,1201,0.00,2.47,0.00,0.000,260,0.000,0.087,2293,3597,3966,3954,3979,0,0,0,0,0,0,14.76,14.19,14.80
$GC,1276,-1.02,-145.9,2294,3599,3954,3980,162.2,-12.0,116,1281,0.12,2.35,0.00,0.000,5254,0.131,0.057,2245,2193,3966,3954,3979,0,0,0,0,0,0,14.35,14.33,14.46
$GC,1586,-0.96,-145.9,2246,2192,3954,3980,217.8,-17.6,128,1591,0.00,2.45,0.00,0.000,388,0.000,0.086,2236,3591,3966,3953,3979,0,0,0,0,0,0,14.77,14.26,14.78
$GC,1723,-0.96,-145.9,2237,3592,3955,3979,239.2,-14.7,155,1729,0.15,2.33,0.00,0.000,3078,0.257,0.056,2266,2197,3966,3954,3979,0,0,0,0,0,0,14.03,14.35,14.32
$GC,2039,-0.99,-145.9,2266,2198,3954,3980,279.3,-11.9,168,2040,0.00,0.00,0.00,0.000,134,0.000,0.000,2266,2197,3966,3954,3979,0,0,0,0,0,0,14.77,14.79,14.78
$GC,2339,-1.04,-145.9,2266,2198,3954,3980,313.4,-11.2,178,2344,0.00,2.42,0.00,0.000,388,0.000,0.089,2260,3589,3966,3954,3979,0,0,0,0,0,0,14.78,14.26,14.80
$GC,2359,-1.09,-145.9,2260,3590,3954,3980,315.6,-11.5,182,2365,0.10,2.33,0.00,0.000,5254,0.154,0.057,2222,2202,3966,3954,3979,0,0,0,0,0,0,14.33,14.33,14.46
$GC,2670,-1.07,-145.9,2222,2202,3954,3980,360.4,-14.5,194,2675,0.00,2.42,0.00,0.000,388,0.000,0.086,2211,3594,3965,3953,3978,0,0,0,0,0,0,14.78,14.26,14.80
$GC,2765,-1.07,-145.9,2211,3594,3954,3982,373.9,-13.7,213,2770,0.00,2.35,0.00,0.000,1030,0.000,0.057,2211,2195,3965,3952,3978,0,0,0,0,0,0,14.45,14.33,14.49
$GC,3090,-1.03,-145.9,2211,2191,3954,3978,421.0,-14.3,228,3095,0.12,2.45,0.00,0.000,2436,0.304,0.086,2235,3592,3965,3953,3978,0,0,0,0,0,0,14.02,14.24,14.18
$GC,3207,-1.11,-145.9,2236,3594,3953,3978,434.3,-10.7,251,3214,0.00,2.35,0.00,0.000,1158,0.000,0.055,2235,2189,3965,3952,3978,0,0,0,0,0,0,14.45,14.33,14.48
$GC,3510,-1.11,-145.9,2235,2189,3953,3979,470.8,-12.0,262,3515,0.00,2.45,0.00,0.000,260,0.000,0.088,2235,3589,3965,3952,3978,0,0,0,0,0,0,14.78,14.24,14.80
$STATE,3593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3593,begin apogee
$GC,3601,-0.13,0.0,2236,2095,3952,3979,480.4,-10.6,279,3839,1.12,0.00,234.18,1.382,10246,0.228,0.000,2527,2094,3364,3382,3347,0,0,0,0,0,0,13.99,13.50,12.69
$STATE,3842,end apogee,CONTROL_FINISHED_OK
$STATE,3842,begin climb
$GC,3845,0.57,145.9,2526,2094,3375,3337,493.7,0.0,287,4069,0.75,2.67,211.30,1.328,10500,0.063,0.074,2780,3485,2759,2796,2722,0,0,0,0,0,0,13.62,13.14,12.34
$GC,4184,0.11,145.9,2781,3485,2779,2715,485.2,16.4,345,4190,0.85,2.47,0.00,0.000,5254,0.356,0.058,2623,2098,2746,2778,2715,0,0,0,0,0,0,13.23,13.58,13.59
$GC,4500,0.03,183.6,2623,2098,2780,2714,457.7,8.3,358,4555,0.15,0.00,53.20,1.366,12454,0.289,0.000,2593,2094,2617,2663,2571,0,0,0,0,0,0,13.71,13.88,13.07
$GC,4830,0.06,231.7,2593,2097,2651,2542,432.3,7.8,369,4911,0.00,2.58,72.65,1.331,8740,0.000,0.086,2601,689,2414,2465,2363,0,0,0,0,0,0,14.50,13.88,13.11
$GC,4966,0.15,265.0,2602,688,2458,2352,421.1,8.5,396,5022,0.00,2.47,49.72,1.332,9382,0.000,0.080,2601,2080,2283,2336,2230,0,0,0,0,0,0,14.08,13.96,13.02
$GC,5343,0.22,286.1,2602,2081,2320,2209,387.2,9.0,421,5374,0.15,0.00,27.50,1.391,10406,0.115,0.000,2670,2079,2194,2248,2141,0,0,0,0,0,0,14.27,14.00,13.21
$GC,5673,0.15,286.1,2670,2081,2234,2131,342.9,13.5,432,5678,0.15,2.42,0.00,0.000,4740,0.252,0.083,2642,688,2181,2233,2130,0,0,0,0,0,0,14.02,14.21,14.18
$GC,5724,0.19,286.1,2642,689,2233,2131,337.0,10.8,442,5728,0.00,2.45,0.00,0.000,1158,0.000,0.079,2642,2100,2180,2231,2130,0,0,0,0,0,0,14.36,14.23,14.40
$GC,6033,0.19,286.1,2643,2102,2232,2128,302.6,11.0,454,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2101,2179,2231,2128,0,0,0,0,0,0,14.63,14.66,14.66
$GC,6333,0.19,286.1,2641,2102,2231,2125,270.6,10.5,464,6339,0.00,2.45,0.00,0.000,516,0.000,0.086,2647,692,2179,2230,2128,0,0,0,0,0,0,14.67,14.26,14.69
$GC,6384,0.24,286.1,2647,693,2228,2129,265.5,10.3,474,6389,0.00,2.45,0.00,0.000,1158,0.000,0.080,2646,2103,2178,2229,2128,0,0,0,0,0,0,14.41,14.27,14.46
$GC,6694,0.26,312.2,2647,2104,2229,2126,236.3,8.8,486,6744,0.00,2.55,41.47,1.321,8740,0.000,0.084,2647,690,2085,2132,2039,0,0,0,0,0,0,14.66,14.15,13.33
$GC,6844,0.38,359.1,2648,690,2120,2037,223.5,7.8,516,6931,0.17,2.47,80.53,1.226,11430,0.109,0.080,2714,2102,1902,1937,1868,0,0,0,0,0,0,14.21,14.13,13.17
$GC,7236,0.34,359.1,2715,2102,1914,1848,175.3,12.2,544,7242,0.00,2.47,0.00,0.000,644,0.000,0.084,2723,693,1880,1913,1848,0,0,0,0,0,0,14.52,14.14,14.54
$GC,7297,0.34,359.1,2723,693,1911,1849,168.2,11.4,556,7303,0.15,2.45,0.00,0.000,5126,0.237,0.078,2691,2099,1879,1910,1848,0,0,0,0,0,0,13.82,13.84,14.23
$GC,7628,0.34,370.7,2692,2101,1908,1846,136.1,9.5,572,7639,0.00,2.50,3.60,1.158,8740,0.000,0.087,2690,694,1854,1886,1823,0,0,0,0,0,0,14.63,14.24,12.93
$GC,7674,0.45,395.5,2692,694,1893,1830,132.1,8.9,581,7735,0.12,2.45,56.33,1.260,11430,0.135,0.079,2747,2103,1754,1777,1732,0,0,0,0,0,0,14.28,14.25,13.28
$GC,8041,0.40,395.5,2747,2104,1762,1710,88.1,11.0,611,8046,0.12,2.47,0.00,0.000,4740,0.240,0.082,2721,693,1735,1761,1709,0,0,0,0,0,0,13.93,14.13,14.03
$GC,8106,0.49,423.6,2724,692,1759,1710,82.2,8.7,624,8127,0.00,2.47,14.73,0.425,9382,0.000,0.079,2723,2109,1635,1661,1610,0,0,0,0,0,0,14.28,14.15,13.61
$GC,8442,0.60,504.3,2724,2108,1675,1611,54.7,6.3,659,8495,0.12,2.53,46.28,0.357,10916,0.126,0.084,2794,688,1307,1357,1258,0,0,0,0,0,0,14.19,13.92,13.67
$GC,8666,0.68,549.9,2794,689,1354,1263,36.3,7.9,703,8698,0.00,2.50,26.80,0.302,9382,0.000,0.078,2794,2106,1119,1182,1057,0,0,0,0,0,0,14.14,14.03,13.69
$GC,8996,0.84,653.1,2794,2107,1184,1069,15.6,5.2,739,9063,0.15,2.55,59.72,0.241,10660,0.120,0.082,2864,3514,696,754,638,0,0,0,0,0,0,14.05,13.96,13.69
$GC,9101,0.86,653.1,2863,3515,761,644,5.6,11.1,759,9105,0.00,2.47,0.00,0.000,1158,0.000,0.067,2873,2092,701,759,644,0,0,0,0,0,0,14.15,14.03,14.19
$STATE,9138,end climb,SURFACE_DEPTH_REACHED
$STATE,9138,begin surface coast
$FINISH,0.3,1.013667
$STATE,9148,end surface coast,CONTROL_FINISHED_OK
$STATE,9148,begin surface
$SM_CCo,9169,30.60,0.207,0,0,499,702.78
$SM_GC,1.44,8.20,0.20,30.60,0.072,0.100,0.207,197,2231,499,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.16,13.86
$RAFOS_CLK,52
$RAFOS_FIX,7421.005371,-15345.310547,310817,080841,2,255,0.19
$IRIDIUM_FIX,7422.16,-15340.38,310817,093450
$TT8_MAMPS,0.083888,0.886067
$HUMID,44.25
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,27
$CP_FREE,15980789760.000000
$PM_FREEKB_00,51722752
$24V_AH,12.34,143.845
$10V_AH,12.38,0.000
$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,25.800,89.025,978.000,30.600,0.000,0.000,0.000,613.525,6.750,0.000,10.979,0.000,6666.886,1026.664,2229.697,309.286,0.000,2371.170,0.000,1095.062,2212.000,0.539,0.000
$DEVICE_MAMPS,454.410,2145.060,1390.770,207.315,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5328.000,9157.000,9104.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.649,20.000,9.859,0.000
$MEM,323460
$DATA_FILE_SIZE,26723,765
$CAP_FILE_SIZE,106294,0
$CFSIZE,2097872896,2023096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1441.1
$CURRENT,0.049,273.88,1
$GPS,310817,121703,7423.292,-15340.313,21,0.7,29,19.3,0.4,220.7,12,8.6