version: 66.13
glider: 196
mission: 14
dive: 216
start: 9 1 117 2 28 5
data:
$ID,196
$MISSION,14
$DIVE,216
$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,40
$R_STBD_OVSHOOT,52
$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,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,610.0
$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
$GPS1,010917,020451,7427.7734,-15328.4902,39,0.8,40,19.4,0.0,0.0,10,7.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.3
$GPS2,010917,022731,7427.7622,-15328.8730,6,0.7,8,19.4,0.0,171.5,12,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.4,153161,-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,-145.9,195,2185,489,492,0.0,0.0,0,141,0.00,0.00,-91.28,0.000,16386,0.000,0.000,194,2184,2132,2056,2208,0,0,0,0,0,0,14.50,28.83,14.53
$GC,144,-0.57,-145.9,195,2185,2059,2209,3.2,-3.8,9,202,12.75,2.78,-37.60,0.000,18724,0.454,2.140,2375,3576,3962,3947,3978,0,0,0,0,0,0,13.54,12.58,14.01
$GC,272,-0.68,-145.9,2375,3578,3954,3979,34.7,-15.1,34,278,0.00,2.35,0.00,0.000,1158,0.000,0.060,2379,2213,3965,3952,3978,0,0,0,0,0,0,14.23,14.10,14.27
$GC,579,-0.75,-145.9,2375,2212,3955,3978,82.1,-12.2,65,584,0.12,2.40,0.00,0.000,4484,0.147,0.084,2319,3579,3966,3954,3978,0,0,0,0,0,0,14.16,14.10,14.22
$GC,629,-0.84,-145.9,2320,3581,3955,3979,89.3,-13.7,75,634,0.00,2.35,0.00,0.000,1158,0.000,0.057,2319,2198,3966,3954,3978,0,0,0,0,0,0,14.25,14.13,14.28
$GC,949,-0.87,-145.9,2319,2197,3955,3976,135.4,-13.6,92,955,0.00,2.45,0.00,0.000,388,0.000,0.087,2319,3585,3966,3953,3979,0,0,0,0,0,0,14.64,14.17,14.65
$GC,1000,-1.02,-145.9,2319,3586,3955,3979,141.4,-10.7,102,1005,0.22,2.35,0.00,0.000,5254,0.096,0.056,2238,2192,3966,3954,3978,0,0,0,0,0,0,14.25,14.20,14.38
$GC,1310,-0.95,-145.9,2239,2191,3955,3979,199.9,-18.5,114,1315,0.12,2.45,0.00,0.000,2436,0.291,0.083,2258,3583,3966,3954,3979,0,0,0,0,0,0,13.93,14.19,14.09
$GC,1422,-1.01,-145.9,2258,3586,3954,3979,215.9,-13.2,136,1428,0.00,2.33,0.00,0.000,1158,0.000,0.057,2258,2201,3965,3954,3977,0,0,0,0,0,0,14.39,14.26,14.40
$GC,1733,-1.01,-145.9,2260,2201,3955,3979,260.8,-13.9,148,1738,0.00,2.40,0.00,0.000,260,0.000,0.087,2249,3579,3966,3954,3978,0,0,0,0,0,0,14.68,14.19,14.71
$GC,1789,-1.07,-145.9,2249,3580,3953,3980,268.0,-12.4,159,1795,0.00,2.35,0.00,0.000,1158,0.000,0.057,2249,2194,3966,3954,3978,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2094,-1.07,-145.9,2249,2194,3954,3979,307.2,-12.6,170,2099,0.00,2.42,0.00,0.000,260,0.000,0.087,2242,3580,3966,3954,3978,0,0,0,0,0,0,14.69,14.20,14.70
$GC,2189,-1.14,-145.9,2243,3581,3954,3979,318.4,-11.3,189,2194,0.00,2.35,0.00,0.000,1158,0.000,0.057,2242,2198,3966,3954,3978,0,0,0,0,0,0,14.40,14.26,14.42
$GC,2514,-1.14,-145.9,2243,2197,3955,3977,357.8,-11.9,204,2520,0.00,2.42,0.00,0.000,260,0.000,0.087,2239,3580,3965,3954,3977,0,0,0,0,0,0,14.69,14.19,14.70
$GC,2600,-1.22,-145.9,2237,3581,3954,3977,367.8,-11.0,221,2606,0.17,2.33,0.00,0.000,5254,0.115,0.056,2169,2201,3965,3953,3977,0,0,0,0,0,0,14.23,14.16,14.34
$GC,2905,-1.09,-145.9,2169,2202,3954,3977,422.7,-18.6,232,2911,0.22,2.42,0.00,0.000,2436,0.308,0.083,2211,3580,3965,3954,3976,0,0,0,0,0,0,13.85,14.19,14.05
$GC,3033,-1.11,-145.9,2211,3582,3954,3977,440.2,-12.7,257,3038,0.00,2.33,0.00,0.000,1158,0.000,0.056,2211,2200,3969,3962,3976,0,0,0,0,0,0,14.14,14.16,14.14
$STATE,3326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3326,begin apogee
$GC,3332,-0.13,0.0,2211,2057,3954,3976,480.5,-13.6,271,3550,1.27,0.00,214.88,1.433,10246,0.247,0.000,2528,2056,3365,3389,3341,0,0,0,0,0,0,13.83,13.51,12.69
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3556,0.57,145.9,2529,2056,3385,3336,491.7,0.0,278,3771,0.75,2.55,209.65,1.379,10756,0.065,0.081,2783,735,2764,2809,2720,0,0,0,0,0,0,13.62,12.93,12.33
$GC,3953,0.20,145.9,2783,734,2797,2716,474.4,15.0,361,3959,0.62,2.42,0.00,0.000,5254,0.317,0.076,2652,2074,2755,2796,2715,0,0,0,0,0,0,13.32,13.64,13.69
$GC,4258,0.03,149.5,2653,2075,2797,2711,443.8,9.8,372,4260,0.25,0.00,0.00,0.000,4262,0.271,0.000,2596,2075,2753,2795,2711,0,0,0,0,0,0,13.83,14.21,14.12
$GC,4558,0.03,216.1,2597,2075,2796,2711,422.6,6.9,382,4663,0.00,0.00,103.20,1.372,8358,0.000,0.000,2596,2074,2483,2545,2422,0,0,0,0,0,0,14.62,13.84,13.06
$GC,4948,0.08,248.8,2596,2080,2535,2407,390.6,8.5,395,4998,0.00,0.00,47.50,1.411,8870,0.000,0.000,2596,2074,2348,2404,2292,0,0,0,0,0,0,14.50,13.97,13.16
$GC,5278,0.15,282.7,2597,2074,2394,2281,362.4,8.4,411,5334,0.12,2.40,49.85,1.386,10916,0.132,0.085,2669,723,2210,2262,2158,0,0,0,0,0,0,14.28,13.81,13.20
$GC,5365,0.12,282.7,2669,723,2255,2157,351.7,13.4,428,5373,0.20,2.42,0.00,0.000,5254,0.236,0.080,2620,2099,2205,2255,2155,0,0,0,0,0,0,13.89,14.03,14.09
$GC,5671,0.15,286.3,2624,2100,2255,2146,321.1,9.8,439,5671,0.00,0.00,0.00,0.000,166,0.000,0.000,2622,2100,2200,2254,2146,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5969,0.20,302.0,2624,2101,2252,2145,292.7,9.3,449,6001,0.00,2.50,27.02,1.431,8868,0.000,0.086,2629,723,2131,2184,2078,0,0,0,0,0,0,14.48,14.09,13.28
$GC,6046,0.32,323.6,2630,722,2177,2077,285.6,9.0,464,6086,0.17,2.42,33.95,1.391,11430,0.101,0.079,2697,2104,2044,2091,1997,0,0,0,0,0,0,14.15,14.08,13.17
$GC,6393,0.25,323.6,2697,2104,2085,1986,238.6,13.4,483,6398,0.12,2.42,0.00,0.000,4740,0.229,0.083,2672,730,2036,2083,1989,0,0,0,0,0,0,13.89,14.07,14.01
$GC,6453,0.29,323.6,2672,731,2082,1987,231.9,10.2,495,6458,0.00,2.40,0.00,0.000,1158,0.000,0.078,2672,2099,2034,2082,1986,0,0,0,0,0,0,14.25,14.12,14.28
$GC,6783,0.30,333.0,2675,2098,2079,1984,199.3,9.6,511,6795,0.00,0.00,10.77,1.559,8230,0.000,0.000,2672,2100,2009,2058,1960,0,0,0,0,0,0,14.48,14.12,13.24
$GC,7084,0.33,352.9,2673,2100,2053,1952,171.5,9.1,521,7124,0.00,2.45,33.58,1.368,8868,0.000,0.088,2673,722,1922,1964,1881,0,0,0,0,0,0,14.47,14.04,13.26
$GC,7186,0.46,392.2,2672,723,1958,1882,163.0,8.2,541,7260,0.12,2.45,67.85,1.261,11430,0.083,0.081,2740,2099,1764,1791,1738,0,0,0,0,0,0,14.06,13.97,13.12
$GC,7565,0.42,392.2,2739,2100,1781,1730,115.3,12.3,567,7570,0.00,2.42,0.00,0.000,644,0.000,0.086,2747,730,1753,1781,1725,0,0,0,0,0,0,14.39,13.96,14.41
$GC,7640,0.42,392.2,2748,730,1779,1725,106.5,11.4,582,7646,0.15,2.40,0.00,0.000,5126,0.241,0.078,2716,2102,1751,1777,1726,0,0,0,0,0,0,13.83,14.10,14.07
$GC,7946,0.47,422.2,2716,2102,1779,1722,78.0,8.6,610,7963,0.00,0.00,14.50,0.439,8614,0.000,0.000,2716,2102,1643,1671,1615,0,0,0,0,0,0,14.42,14.05,13.62
$GC,8268,0.62,506.7,2716,2103,1672,1612,54.8,6.1,644,8322,0.20,2.50,43.90,0.366,10916,0.096,0.087,2794,727,1299,1348,1250,0,0,0,0,0,0,14.21,14.02,13.67
$GC,8354,0.66,534.7,2800,728,1348,1251,47.8,8.7,659,8376,0.00,2.40,15.20,0.346,9382,0.000,0.077,2794,2101,1187,1244,1130,0,0,0,0,0,0,14.21,14.09,13.74
$GC,8673,0.79,619.0,2795,2101,1245,1115,22.0,6.1,693,8726,0.12,2.50,43.85,0.275,10916,0.138,0.090,2862,727,839,907,771,0,0,0,0,0,0,14.13,14.09,13.82
$GC,8773,0.84,625.0,2860,728,903,771,12.9,9.7,712,8780,0.00,2.40,3.42,0.265,9382,0.000,0.076,2861,2099,814,882,746,0,0,0,0,0,0,14.21,14.09,13.77
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.1,1.021218
$STATE,8906,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8926,44.00,0.209,0,0,501,702.78
$SM_GC,1.14,8.18,0.20,44.00,0.080,0.109,0.209,204,2231,501,-7.37,-0.31,702.78,0,0,0,0,0,0,14.33,14.32,14.01
$RAFOS_CLK,165
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7425.53,-15326.10,010917,022048
$TT8_MAMPS,0.038948,0.896553
$HUMID,45.39
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15979249664.000000
$PM_FREEKB_00,51543552
$24V_AH,12.33,146.668
$10V_AH,12.21,0.000
$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,25.925,77.975,919.125,44.000,0.000,0.000,0.000,829.075,2.250,0.000,10.030,0.000,6677.234,865.852,2469.707,333.475,0.000,2497.573,0.000,1041.443,2219.000,0.539,0.000
$DEVICE_MAMPS,454.410,2140.470,1559.070,208.845,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8898.000,8933.000,8880.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.571,20.000,9.916,0.000
$MEM,323480
$DATA_FILE_SIZE,26776,726
$CAP_FILE_SIZE,109902,0
$CFSIZE,2097872896,2021195776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.055,276.28,1
$GPS,010917,045837,7428.732,-15326.369,13,0.7,17,19.4,0.4,241.7,12,10.0