version: 66.13
glider: 196
mission: 14
dive: 217
start: 9 1 117 5 14 30
data:
$ID,196
$MISSION,14
$DIVE,217
$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,62
$R_STBD_OVSHOOT,38
$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,612.0
$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
$GPS1,010917,045837,7428.7319,-15326.3691,13,0.7,17,19.4,0.4,241.7,12,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.0
$GPS2,010917,051402,7428.7622,-15326.5273,7,0.6,26,19.4,0.0,344.6,12,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.7,151032,-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,-145.9,201,2233,490,493,0.0,0.0,0,142,0.00,0.00,-91.88,0.000,16386,0.000,0.000,199,2233,2150,2082,2218,0,0,0,0,0,0,14.49,28.83,14.52
$GC,145,-0.57,-145.9,201,2233,2086,2219,3.5,-4.3,9,202,12.70,2.75,-36.70,0.000,18724,0.454,2.141,2375,3588,3963,3946,3981,0,0,0,0,0,0,13.59,12.59,14.05
$GC,292,-0.68,-145.9,2376,3588,3952,3980,37.7,-14.3,38,298,0.00,2.33,0.00,0.000,1158,0.000,0.058,2375,2236,3966,3951,3981,0,0,0,0,0,0,14.26,14.15,14.33
$GC,599,-0.76,-145.9,2375,2236,3954,3981,84.0,-12.1,69,601,0.12,0.00,0.00,0.000,4230,0.152,0.000,2333,2235,3967,3953,3981,0,0,0,0,0,0,14.21,14.33,14.31
$GC,898,-0.81,-145.9,2332,2235,3953,3982,124.4,-12.5,87,902,0.00,2.40,0.00,0.000,388,0.000,0.088,2332,3595,3967,3953,3981,0,0,0,0,0,0,14.62,14.17,14.64
$GC,968,-0.98,-145.9,2333,3595,3954,3981,131.7,-9.2,101,973,0.22,2.38,0.00,0.000,5286,0.096,0.054,2246,2195,3967,3953,3981,0,0,0,0,0,0,14.22,14.21,14.30
$GC,1288,-0.92,-145.9,2246,2195,3952,3982,189.0,-17.5,115,1293,0.12,2.45,0.00,0.000,2436,0.293,0.083,2264,3595,3967,3953,3981,0,0,0,0,0,0,13.91,14.13,14.03
$GC,1374,-0.99,-145.9,2264,3595,3953,3982,201.3,-13.1,132,1380,0.00,2.38,0.00,0.000,1158,0.000,0.058,2264,2198,3967,3953,3981,0,0,0,0,0,0,14.34,14.20,14.38
$GC,1678,-0.99,-145.9,2265,2197,3953,3981,245.7,-14.0,143,1683,0.00,2.47,0.00,0.000,260,0.000,0.087,2254,3603,3966,3953,3980,0,0,0,0,0,0,14.68,14.21,14.69
$GC,1754,-1.06,-145.9,2255,3605,3954,3982,255.4,-12.1,158,1758,0.00,2.38,0.00,0.000,1158,0.000,0.058,2254,2192,3967,3953,3981,0,0,0,0,0,0,14.40,14.26,14.41
$GC,2069,-1.06,-145.9,2254,2191,3954,3981,295.6,-12.2,171,2073,0.00,2.47,0.00,0.000,260,0.000,0.087,2248,3603,3967,3953,3981,0,0,0,0,0,0,14.69,14.21,14.70
$GC,2159,-1.16,-145.9,2249,3603,3954,3981,305.9,-10.7,189,2164,0.12,2.38,0.00,0.000,5254,0.145,0.057,2200,2193,3967,3953,3981,0,0,0,0,0,0,14.28,14.28,14.39
$GC,2490,-1.08,-145.9,2201,2192,3954,3981,358.6,-16.1,205,2495,0.12,2.47,0.00,0.000,2436,0.300,0.086,2222,3599,3966,3952,3980,0,0,0,0,0,0,13.97,14.20,14.13
$GC,2635,-1.12,-145.9,2223,3598,3953,3980,377.5,-12.4,234,2641,0.00,2.38,0.00,0.000,1158,0.000,0.057,2221,2196,3966,3952,3980,0,0,0,0,0,0,14.21,14.09,14.26
$GC,2940,-1.12,-145.9,2222,2196,3953,3980,417.6,-13.0,245,2945,0.00,2.45,0.00,0.000,260,0.000,0.086,2213,3594,3965,3951,3979,0,0,0,0,0,0,14.68,14.21,14.69
$GC,3015,-1.15,-145.9,2210,3597,3952,3980,427.4,-12.6,260,3021,0.00,2.35,0.00,0.000,1158,0.000,0.056,2213,2195,3965,3952,3979,0,0,0,0,0,0,14.39,14.27,14.43
$GC,3331,-1.13,-145.9,2214,2194,3953,3978,470.8,-13.8,273,3336,0.00,2.45,0.00,0.000,388,0.000,0.087,2209,3594,3965,3952,3979,0,0,0,0,0,0,14.68,14.19,14.69
$STATE,3398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3407,-0.13,0.0,2206,2106,3947,3980,480.3,-12.9,287,3627,1.27,0.00,216.85,1.422,10246,0.247,0.000,2529,2099,3364,3386,3342,0,0,0,0,0,0,13.90,13.54,12.70
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3634,0.57,145.9,2530,2099,3382,3335,491.5,0.0,294,3859,0.75,2.70,207.65,1.385,10756,0.063,0.080,2784,697,2761,2800,2722,0,0,0,0,0,0,13.63,13.09,12.34
$GC,4065,0.20,145.9,2784,698,2797,2722,468.4,15.0,337,4070,0.65,2.50,0.00,0.000,5254,0.316,0.076,2648,2085,2758,2797,2719,0,0,0,0,0,0,13.39,13.69,13.75
$GC,4397,0.04,153.6,2649,2086,2798,2714,435.6,9.6,353,4403,0.22,0.00,3.60,1.508,12454,0.269,0.000,2598,2086,2740,2782,2698,0,0,0,0,0,0,13.84,14.08,12.71
$GC,4696,0.04,212.7,2598,2087,2788,2704,413.4,7.3,363,4794,0.00,0.00,95.78,1.384,8870,0.000,0.000,2598,2084,2495,2554,2436,0,0,0,0,0,0,14.62,13.89,13.08
$GC,5087,0.06,246.4,2598,2087,2546,2420,381.1,8.4,386,5142,0.00,2.47,48.67,1.394,8740,0.000,0.085,2602,694,2356,2411,2301,0,0,0,0,0,0,14.54,13.78,13.17
$GC,5174,0.16,275.1,2608,695,2405,2307,373.8,8.7,403,5223,0.00,2.50,42.88,1.392,9382,0.000,0.080,2602,2105,2240,2297,2184,0,0,0,0,0,0,14.15,14.02,13.06
$GC,5540,0.25,307.4,2602,2106,2291,2172,342.1,8.5,426,5589,0.17,0.00,47.58,1.375,10406,0.106,0.000,2675,2105,2113,2165,2062,0,0,0,0,0,0,14.26,14.00,13.21
$GC,5868,0.19,307.4,2679,2105,2157,2048,296.2,14.0,437,5873,0.12,2.47,0.00,0.000,4740,0.260,0.086,2655,692,2102,2155,2049,0,0,0,0,0,0,14.01,14.17,14.16
$GC,5949,0.23,307.4,2661,691,2152,2048,286.6,11.5,453,5954,0.00,2.45,0.00,0.000,1158,0.000,0.080,2655,2099,2100,2152,2048,0,0,0,0,0,0,14.34,14.23,14.40
$GC,6259,0.23,307.4,2656,2099,2152,2047,252.1,10.8,465,6264,0.00,2.45,0.00,0.000,516,0.000,0.086,2659,691,2098,2151,2046,0,0,0,0,0,0,14.64,14.24,14.65
$GC,6294,0.28,307.4,2659,693,2157,2047,248.2,10.2,472,6300,0.00,2.45,0.00,0.000,1158,0.000,0.080,2659,2101,2098,2151,2046,0,0,0,0,0,0,14.40,14.26,14.44
$GC,6620,0.30,327.4,2660,2103,2151,2047,216.8,9.1,487,6652,0.00,0.00,29.65,1.398,8486,0.000,0.000,2659,2102,2030,2080,1980,0,0,0,0,0,0,14.67,14.16,13.35
$GC,6950,0.36,358.4,2659,2103,2073,1971,187.7,8.6,503,7011,0.00,2.55,51.53,1.306,8868,0.000,0.086,2659,698,1900,1938,1862,0,0,0,0,0,0,14.61,14.02,13.28
$GC,7044,0.51,404.5,2659,699,1933,1861,180.3,7.9,521,7133,0.28,2.47,78.53,1.231,11430,0.092,0.080,2767,2100,1710,1737,1684,0,0,0,0,0,0,14.14,14.05,13.08
$GC,7431,0.41,404.5,2768,2099,1733,1672,120.8,15.1,549,7437,0.20,2.47,0.00,0.000,4740,0.252,0.083,2728,687,1701,1732,1671,0,0,0,0,0,0,13.92,14.12,14.09
$GC,7482,0.46,404.5,2728,687,1729,1672,114.8,11.0,559,7487,0.00,2.47,0.00,0.000,1158,0.000,0.078,2728,2103,1700,1728,1672,0,0,0,0,0,0,14.18,14.06,14.21
$GC,7794,0.47,414.0,2728,2106,1729,1669,81.7,9.6,581,7804,0.00,2.50,3.22,0.421,8740,0.000,0.086,2730,692,1677,1708,1646,0,0,0,0,0,0,14.58,14.05,13.66
$GC,7835,0.54,438.7,2730,693,1709,1648,77.9,8.9,589,7857,0.00,2.45,14.05,0.438,9382,0.000,0.078,2730,2101,1576,1607,1546,0,0,0,0,0,0,14.31,14.18,13.67
$GC,8155,0.67,511.9,2731,2100,1609,1542,52.6,6.6,623,8198,0.17,2.55,38.65,0.359,10916,0.106,0.086,2808,692,1275,1324,1226,0,0,0,0,0,0,14.13,14.10,13.69
$GC,8284,0.69,539.9,2808,693,1324,1225,41.3,8.7,648,8305,0.00,2.50,14.85,0.326,9254,0.000,0.078,2808,2114,1164,1224,1104,0,0,0,0,0,0,14.28,14.15,13.74
$GC,8610,0.81,624.5,2804,2116,1222,1098,15.6,6.1,683,8664,0.00,2.58,44.38,0.256,8868,0.000,0.086,2808,688,815,881,749,0,0,0,0,0,0,14.57,14.04,13.85
$GC,8721,1.02,702.5,2808,689,882,748,8.9,6.4,704,8781,0.32,2.47,54.45,0.213,11426,0.080,0.076,2926,2101,527,552,503,0,0,0,0,0,0,14.12,14.08,14.20
$STATE,8781,end climb,SURFACE_DEPTH_REACHED
$STATE,8782,begin surface coast
$FINISH,0.2,1.012837
$STATE,8789,end surface coast,CONTROL_FINISHED_OK
$STATE,8789,begin surface
$SM_CCo,8812,6.10,0.204,0,0,499,702.78
$SM_GC,1.94,8.43,0.17,6.10,0.081,0.104,0.204,198,2234,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.26,14.28,13.96
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7431.66,-15333.30,010917,022658
$TT8_MAMPS,0.040446,0.904792
$HUMID,46.29
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,19
$CP_FREE,15978987520.000000
$PM_FREEKB_00,51517440
$24V_AH,12.34,147.130
$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,26.025,84.250,992.300,6.100,0.000,0.000,0.000,554.025,4.750,0.000,27.769,0.000,6291.291,890.655,2254.543,315.346,0.000,2290.338,0.000,1028.360,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2141.235,1507.815,204.255,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8818.000,8805.000,8763.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.582,20.000,9.854,0.000
$MEM,323400
$DATA_FILE_SIZE,23455,717
$CAP_FILE_SIZE,100637,0
$CFSIZE,2097872896,2020966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.042,283.42,1
$GPS,010917,074250,7429.685,-15323.619,37,0.8,37,19.5,0.0,0.0,9,9.5