version: 66.13
glider: 196
mission: 14
dive: 229
start: 9 2 117 13 56 19
data:
$ID,196
$MISSION,14
$DIVE,229
$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,48
$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,646.0
$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
$GPS1,020917,134750,7440.1758,-15255.1758,23,0.7,32,19.7,0.0,298.0,11,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.3
$GPS2,020917,135544,7440.1646,-15255.2881,18,0.7,22,19.7,0.0,0.0,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.3,125988,-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,62,end surface,CONTROL_FINISHED_OK
$STATE,62,begin dive
$GC,65,-0.57,-145.9,196,2230,489,496,0.0,0.0,0,168,0.00,0.00,-100.97,0.000,16386,0.000,0.000,196,2230,2327,2272,2383,0,0,0,0,0,0,14.60,28.83,14.62
$GC,171,-0.57,-145.9,196,2231,2275,2385,4.2,-6.0,10,224,12.82,2.72,-30.88,0.000,18724,0.459,2.142,2376,3573,3964,3946,3983,0,0,0,0,0,0,13.65,12.46,14.16
$GC,314,-0.68,-145.9,2376,3574,3952,3984,37.4,-14.5,38,319,0.00,2.33,0.00,0.000,1158,0.000,0.060,2376,2201,3967,3951,3983,0,0,0,0,0,0,14.36,14.23,14.40
$GC,624,-0.78,-145.9,2376,2200,3954,3983,79.7,-10.8,70,629,0.12,2.45,0.00,0.000,4740,0.148,0.083,2327,786,3968,3953,3983,0,0,0,0,0,0,14.33,14.25,14.38
$GC,654,-0.83,-145.9,2327,785,3955,3982,83.7,-13.7,76,659,0.00,2.42,0.00,0.000,1158,0.000,0.086,2326,2172,3968,3953,3983,0,0,0,0,0,0,14.40,14.25,14.45
$GC,984,-0.89,-145.9,2326,2173,3954,3983,128.6,-12.7,96,989,0.00,2.53,0.00,0.000,388,0.000,0.089,2319,3623,3967,3953,3982,0,0,0,0,0,0,14.77,14.28,14.78
$GC,1089,-1.05,-145.9,2320,3624,3954,3983,140.0,-10.2,117,1095,0.25,2.38,0.00,0.000,5254,0.092,0.057,2229,2196,3968,3953,3983,0,0,0,0,0,0,14.42,14.34,14.50
$GC,1406,-0.96,-145.9,2229,2197,3954,3984,201.5,-19.3,130,1411,0.12,2.47,0.00,0.000,2436,0.293,0.085,2248,3619,3967,3951,3983,0,0,0,0,0,0,14.03,14.28,14.21
$GC,1498,-1.01,-145.9,2249,3621,3954,3984,215.9,-14.1,148,1503,0.00,2.40,0.00,0.000,1158,0.000,0.059,2248,2192,3967,3953,3982,0,0,0,0,0,0,14.47,14.37,14.50
$GC,1828,-0.99,-145.9,2249,2191,3954,3983,266.2,-14.6,164,1833,0.00,2.47,0.00,0.000,388,0.000,0.086,2240,3614,3968,3953,3983,0,0,0,0,0,0,14.81,14.28,14.83
$GC,1903,-1.06,-145.9,2240,3616,3954,3983,276.4,-13.2,179,1908,0.00,2.38,0.00,0.000,1158,0.000,0.057,2240,2196,3968,3953,3983,0,0,0,0,0,0,14.48,14.36,14.52
$GC,2218,-1.06,-145.9,2240,2196,3953,3984,318.6,-13.1,192,2223,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3614,3967,3953,3982,0,0,0,0,0,0,14.83,14.28,14.84
$GC,2298,-1.14,-145.9,2236,3616,3954,3984,328.4,-11.5,208,2303,0.00,2.38,0.00,0.000,1158,0.000,0.056,2235,2192,3967,3953,3982,0,0,0,0,0,0,14.48,14.36,14.52
$GC,2608,-1.14,-145.9,2235,2191,3953,3984,366.8,-12.2,220,2613,0.00,2.47,0.00,0.000,260,0.000,0.088,2235,3613,3967,3952,3983,0,0,0,0,0,0,14.83,14.28,14.84
$GC,2658,-1.22,-145.9,2236,3615,3953,3983,372.6,-11.1,230,2663,0.15,2.38,0.00,0.000,5254,0.127,0.056,2178,2193,3967,3952,3982,0,0,0,0,0,0,14.38,14.35,14.49
$GC,2969,-1.12,-145.9,2178,2192,3953,3981,424.7,-17.0,242,2974,0.15,2.47,0.00,0.000,2436,0.313,0.083,2201,3618,3966,3952,3981,0,0,0,0,0,0,13.71,14.21,14.02
$GC,3075,-1.12,-145.9,2201,3617,3953,3982,439.5,-13.1,263,3080,0.00,2.35,0.00,0.000,1030,0.000,0.056,2201,2203,3966,3952,3981,0,0,0,0,0,0,14.49,14.35,14.55
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3364,-0.13,0.0,2202,2057,3953,3980,480.0,-14.1,275,3586,1.30,0.10,217.88,1.421,10246,0.249,0.162,2529,2123,3364,3388,3340,0,0,0,0,0,0,13.95,13.57,12.76
$STATE,3587,end apogee,CONTROL_FINISHED_OK
$STATE,3587,begin climb
$GC,3590,0.57,145.9,2530,2125,3383,3335,491.2,0.0,282,3806,0.75,2.62,209.12,1.369,10756,0.063,0.076,2793,730,2763,2809,2718,0,0,0,0,0,0,13.69,12.94,12.33
$GC,4012,0.18,145.9,2794,731,2797,2717,470.4,15.8,328,4017,0.70,2.45,0.00,0.000,5254,0.320,0.074,2647,2097,2755,2796,2715,0,0,0,0,0,0,13.38,13.75,13.76
$GC,4322,0.02,154.0,2647,2098,2797,2710,439.6,9.6,340,4327,0.22,0.00,3.20,1.321,12454,0.267,0.000,2596,2098,2738,2782,2695,0,0,0,0,0,0,13.82,14.04,12.68
$GC,4622,0.02,213.7,2596,2098,2789,2702,417.5,7.2,350,4727,0.00,2.50,96.88,1.379,8868,0.000,0.082,2602,733,2486,2546,2427,0,0,0,0,0,0,14.59,13.85,13.06
$GC,4798,0.10,245.0,2601,734,2543,2426,403.1,8.6,385,4848,0.00,2.42,44.00,1.410,9382,0.000,0.077,2602,2099,2367,2426,2308,0,0,0,0,0,0,14.08,13.91,13.00
$GC,5165,0.15,272.6,2603,2098,2418,2295,370.6,8.7,408,5209,0.00,0.00,42.05,1.401,8358,0.000,0.000,2598,2099,2252,2309,2195,0,0,0,0,0,0,14.52,13.97,13.16
$GC,5493,0.23,301.4,2602,2099,2301,2181,342.0,8.7,419,5544,0.15,2.47,42.60,1.392,10916,0.116,0.086,2682,733,2130,2183,2077,0,0,0,0,0,0,14.29,14.04,13.23
$GC,5596,0.20,301.4,2682,734,2177,2077,328.7,13.4,439,5602,0.15,2.40,0.00,0.000,5254,0.236,0.078,2650,2103,2126,2176,2076,0,0,0,0,0,0,13.93,14.08,14.16
$GC,5917,0.20,301.4,2650,2106,2175,2071,292.1,11.1,453,5922,0.00,2.40,0.00,0.000,516,0.000,0.084,2655,730,2122,2175,2070,0,0,0,0,0,0,14.61,14.22,14.62
$GC,5957,0.23,301.4,2655,731,2175,2071,287.7,11.2,461,5962,0.00,2.38,0.00,0.000,1158,0.000,0.077,2655,2103,2122,2174,2070,0,0,0,0,0,0,14.37,14.24,14.41
$GC,6277,0.23,301.4,2656,2104,2174,2069,253.6,10.3,475,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2101,2121,2174,2068,0,0,0,0,0,0,14.65,14.67,14.66
$GC,6577,0.24,320.7,2655,2104,2174,2068,225.4,9.1,485,6613,0.00,2.45,27.92,1.415,8740,0.000,0.083,2655,730,2052,2102,2003,0,0,0,0,0,0,14.64,14.19,13.35
$GC,6671,0.35,359.4,2656,730,2100,2004,217.6,8.2,503,6744,0.12,2.42,64.75,1.287,11430,0.128,0.078,2706,2105,1895,1933,1858,0,0,0,0,0,0,14.12,14.06,13.16
$GC,7059,0.33,359.4,2706,2106,1927,1849,172.4,11.5,531,7065,0.00,2.42,0.00,0.000,644,0.000,0.085,2712,724,1886,1924,1849,0,0,0,0,0,0,14.55,14.18,14.57
$GC,7100,0.33,359.4,2712,725,1922,1850,167.8,11.1,539,7106,0.00,2.40,0.00,0.000,1030,0.000,0.079,2712,2099,1885,1922,1849,0,0,0,0,0,0,14.29,14.16,14.33
$GC,7423,0.31,359.4,2712,2101,1922,1849,132.7,10.7,553,7428,0.12,2.40,0.00,0.000,4740,0.230,0.082,2685,731,1884,1921,1847,0,0,0,0,0,0,13.93,14.12,14.04
$GC,7473,0.43,399.1,2686,732,1921,1847,128.1,8.2,563,7545,0.10,2.40,63.80,1.248,11430,0.158,0.078,2732,2097,1740,1765,1715,0,0,0,0,0,0,13.66,13.40,13.28
$GC,7843,0.43,399.1,2733,2098,1762,1695,88.0,10.3,593,7848,0.00,2.42,0.00,0.000,516,0.000,0.084,2740,730,1728,1762,1695,0,0,0,0,0,0,14.38,14.04,14.40
$GC,7903,0.46,404.5,2741,730,1758,1694,82.1,9.8,605,7914,0.00,2.42,1.83,0.386,9382,0.000,0.079,2740,2115,1713,1746,1680,0,0,0,0,0,0,14.20,14.08,13.54
$GC,8213,0.50,460.4,2741,2111,1749,1686,54.5,7.4,637,8245,0.00,0.00,30.50,0.364,8230,0.000,0.000,2746,2111,1487,1524,1451,0,0,0,0,0,0,14.42,14.09,13.70
$GC,8543,0.67,577.3,2741,2111,1524,1444,34.3,4.6,670,8611,0.15,2.50,60.70,0.301,10916,0.112,0.086,2807,714,1010,1081,939,0,0,0,0,0,0,14.04,13.90,13.75
$GC,8681,0.80,634.5,2808,714,1080,938,23.8,7.4,697,8719,0.00,2.45,30.42,0.280,9382,0.000,0.079,2808,2090,777,847,707,0,0,0,0,0,0,14.13,14.01,13.72
$STATE,8994,end climb,SURFACE_DEPTH_REACHED
$STATE,8994,begin surface coast
$FINISH,0.5,1.021471
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9034,37.30,0.208,0,0,500,703.03
$SM_GC,1.02,8.07,0.20,37.30,0.075,0.106,0.208,200,2222,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.20,14.21,13.90
$RAFOS_CLK,82
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7439.65,-15318.83,020917,111221
$TT8_MAMPS,0.086135,0.96621
$HUMID,44.21
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,22
$CP_FREE,15974596608.000000
$PM_FREEKB_00,51172544
$24V_AH,12.33,152.715
$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,25.475,83.500,935.650,37.300,0.000,0.000,0.000,225.375,5.500,0.000,23.665,0.000,6518.257,877.939,1938.908,226.447,0.000,1937.613,0.000,1050.958,2193.000,0.539,0.000
$DEVICE_MAMPS,459.000,2142.000,1421.370,208.080,0.000,0.000,0.000,125.460,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5432.000,5479.000,8972.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.963,20.000,9.861,0.000
$MEM,323496
$DATA_FILE_SIZE,26723,734
$CAP_FILE_SIZE,97551,0
$CFSIZE,2097872896,2018246656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3590.64,0x2341e8,1,24
$SOUNDSPEED,1435.7
$CURRENT,0.058,267.02,1
$GPS,020917,162855,7441.075,-15252.918,38,0.8,40,19.7,0.3,291.6,11,8.7