version: 66.13
glider: 196
mission: 14
dive: 412
start: 9 23 117 11 40 57
data:
$ID,196
$MISSION,14
$DIVE,412
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,60
$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,22
$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,1153.0
$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
$GPS1,230917,112802,7417.9058,-15346.2480,26,0.8,26,19.2,0.0,0.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.5
$GPS2,230917,114021,7417.9717,-15346.0273,5,0.7,9,19.2,0.0,0.0,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,268.7,542,-17.9,-10.000,-21.31,2227
$D_GRID,90
$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,52,end surface,CONTROL_FINISHED_OK
$STATE,52,begin dive
$GC,56,-0.57,-145.9,192,2188,487,491,0.0,0.0,0,138,0.00,0.00,-80.47,0.000,16386,0.000,0.000,190,2188,1991,1933,2050,0,0,0,0,0,0,14.43,28.83,14.45
$GC,142,-0.57,-145.9,190,2186,1936,2051,3.3,-3.7,8,200,12.77,2.88,-40.03,0.000,18724,0.448,2.180,2376,3607,3962,3941,3983,1,0,0,0,0,0,13.44,12.58,14.07
$GC,225,-0.57,-145.9,2377,3607,3948,3983,27.1,-22.7,21,231,0.00,2.45,0.00,0.000,1030,0.000,0.063,2376,2199,3965,3947,3983,0,0,0,0,0,0,14.03,13.90,14.06
$GC,531,-0.67,-145.9,2377,2201,3951,3984,72.4,-11.0,52,531,0.00,0.00,0.00,0.000,134,0.000,0.000,2376,2198,3966,3950,3983,0,0,0,0,0,0,14.51,14.56,14.53
$STATE,717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,717,begin apogee
$GC,724,-0.13,0.0,2377,2058,3952,3983,90.0,-8.6,71,804,0.55,0.08,76.72,0.480,10246,0.181,0.183,2527,2105,3364,3377,3351,0,0,0,0,0,0,13.87,13.93,13.54
$STATE,808,end apogee,CONTROL_FINISHED_OK
$STATE,808,begin climb
$GC,811,0.57,145.9,2529,2105,3381,3351,94.4,0.0,79,936,0.75,2.55,76.75,0.507,11012,0.099,0.083,2766,3510,2767,2810,2724,0,0,0,0,0,0,14.16,13.83,13.50
$GC,1019,0.64,556.8,2766,3510,2807,2725,114.0,-9.0,84,1734,0.00,2.40,706.80,1.053,9382,0.000,0.063,2776,2130,1096,1165,1028,0,0,0,0,0,0,14.16,14.05,12.36
$GC,2037,0.75,610.7,2776,2128,1155,1007,26.7,7.5,257,2073,0.12,2.50,30.33,0.267,10660,0.129,0.077,2834,3510,873,942,804,0,0,0,0,0,0,13.83,13.71,13.51
$GC,2106,0.71,616.7,2834,3511,942,811,20.1,9.7,270,2116,0.00,2.50,4.40,0.255,9382,0.000,0.068,2836,2100,848,916,780,0,0,0,0,0,0,13.97,13.85,13.09
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,0.2,1.020874
$STATE,2349,end surface coast,CONTROL_FINISHED_OK
$STATE,2349,begin surface
$SM_CCo,2372,53.05,0.201,0,0,497,702.78
$SM_GC,1.45,8.20,0.17,53.05,0.070,0.116,0.201,205,2218,497,-7.37,-0.82,702.78,0,0,0,0,0,0,14.10,14.08,13.84
$RAFOS_CLK,45
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7420.27,-15401.72,230917,090233
$TT8_MAMPS,0.085386,0.999915
$HUMID,43.73
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,8
$CP_FREE,15891333120.000000
$PM_FREEKB_00,44448960
$24V_AH,12.36,241.286
$10V_AH,12.20,0.000
$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,22.400,15.700,895.000,53.050,0.000,0.000,0.000,430.275,2.000,0.000,10.670,0.000,847.788,340.108,1692.239,299.058,0.000,1689.386,0.000,432.070,2216.000,0.540,0.000
$DEVICE_MAMPS,448.290,2180.250,1052.640,201.195,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2388.000,2319.000,2322.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.593,20.000,9.932,0.000
$MEM,323572
$DATA_FILE_SIZE,10167,296
$CAP_FILE_SIZE,48039,0
$CFSIZE,2097872896,1972011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1442.7
$CURRENT,0.107,59.08,1
$GPS,230917,122221,7418.057,-15345.601,8,0.7,10,19.2,0.0,15.6,12,8.7