version: 66.13
glider: 196
mission: 14
dive: 230
start: 9 2 117 16 47 25
data:
$ID,196
$MISSION,14
$DIVE,230
$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,37
$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,648.0
$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
$GPS1,020917,162855,7441.0747,-15252.9180,38,0.8,40,19.7,0.3,291.6,11,8.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.4
$GPS2,020917,164654,7441.0869,-15253.0557,6,0.7,8,19.7,0.0,191.2,12,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.3,124021,-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,-145.9,196,2225,495,490,0.0,0.0,0,151,0.00,0.00,-100.65,0.000,16386,0.000,0.000,195,2220,2315,2259,2372,0,0,0,0,0,0,14.39,28.83,14.40
$GC,154,-0.57,-145.9,196,2230,2258,2369,3.9,-5.3,10,207,12.82,2.72,-31.92,0.000,18724,0.455,2.140,2375,3593,3964,3948,3981,0,0,0,0,0,0,13.53,12.58,14.00
$GC,327,-0.70,-145.9,2378,3594,3954,3982,40.9,-13.4,44,332,0.00,2.33,0.00,0.000,1158,0.000,0.058,2378,2238,3967,3954,3980,0,0,0,0,0,0,14.28,14.13,14.28
$GC,638,-0.80,-145.9,2378,2235,3956,3980,80.3,-10.6,76,643,0.15,2.53,0.00,0.000,4740,0.128,0.082,2314,791,3968,3955,3981,0,0,0,0,0,0,14.09,14.13,14.14
$GC,668,-0.83,-145.9,2316,790,3955,3982,84.5,-15.1,82,673,0.00,2.45,0.00,0.000,1158,0.000,0.084,2315,2186,3968,3956,3981,0,0,0,0,0,0,14.26,14.16,14.31
$GC,988,-0.87,-145.9,2316,2188,3956,3986,130.1,-13.3,101,994,0.00,2.50,0.00,0.000,388,0.000,0.088,2310,3613,3967,3954,3981,0,0,0,0,0,0,14.62,14.15,14.64
$GC,1079,-1.01,-145.9,2311,3614,3956,3980,140.4,-10.8,119,1085,0.17,2.42,0.00,0.000,5254,0.107,0.057,2242,2194,3967,3955,3980,0,0,0,0,0,0,13.84,13.36,14.28
$GC,1410,-0.94,-145.9,2242,2194,3956,3981,200.3,-18.0,135,1415,0.12,2.50,0.00,0.000,2436,0.284,0.083,2261,3614,3968,3955,3981,0,0,0,0,0,0,13.92,14.19,14.08
$GC,1507,-1.03,-145.9,2261,3614,3956,3981,214.0,-13.0,154,1512,0.00,2.40,0.00,0.000,1158,0.000,0.057,2260,2190,3967,3954,3981,0,0,0,0,0,0,14.37,14.23,14.40
$GC,1832,-1.03,-145.9,2261,2189,3956,3980,260.0,-13.5,169,1838,0.00,2.50,0.00,0.000,260,0.000,0.086,2253,3614,3967,3955,3980,0,0,0,0,0,0,14.66,14.18,14.66
$GC,1923,-1.11,-145.9,2254,3615,3956,3980,271.4,-11.6,187,1928,0.00,2.40,0.00,0.000,1158,0.000,0.055,2253,2193,3967,3955,3980,0,0,0,0,0,0,14.38,14.25,14.42
$GC,2253,-1.14,-145.9,2252,2192,3956,3981,312.1,-11.9,203,2258,0.12,2.50,0.00,0.000,4484,0.147,0.083,2193,3619,3967,3955,3980,0,0,0,0,0,0,14.30,14.19,14.35
$GC,2293,-1.09,-145.9,2193,3620,3955,3980,318.0,-15.6,211,2299,0.15,2.40,0.00,0.000,3206,0.270,0.056,2221,2196,3968,3954,3982,0,0,0,0,0,0,13.90,14.23,14.19
$GC,2614,-1.09,-145.9,2222,2196,3955,3981,361.7,-13.4,225,2619,0.00,2.50,0.00,0.000,260,0.000,0.089,2222,3617,3967,3954,3980,0,0,0,0,0,0,14.68,14.19,14.70
$GC,2720,-1.15,-145.9,2222,3618,3955,3980,374.8,-11.7,246,2724,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2195,3967,3954,3980,0,0,0,0,0,0,14.33,14.19,14.35
$GC,3035,-1.15,-145.9,2222,2194,3956,3978,415.4,-12.8,259,3039,0.00,2.50,0.00,0.000,260,0.000,0.088,2222,3614,3966,3954,3978,0,0,0,0,0,0,14.66,14.18,14.70
$GC,3105,-1.21,-145.9,2222,3617,3954,3979,424.0,-11.7,273,3110,0.00,2.38,0.00,0.000,1158,0.000,0.056,2221,2207,3966,3954,3978,0,0,0,0,0,0,14.23,14.16,14.37
$GC,3426,-1.21,-145.9,2221,2206,3955,3979,464.2,-12.5,287,3430,0.00,2.47,0.00,0.000,260,0.000,0.086,2221,3613,3966,3954,3978,0,0,0,0,0,0,14.66,14.15,14.69
$GC,3501,-1.29,-145.9,2222,3613,3955,3978,473.0,-11.5,302,3506,0.17,2.40,0.00,0.000,5254,0.118,0.056,2156,2188,3966,3954,3978,0,0,0,0,0,0,14.26,14.23,14.38
$STATE,3544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3544,begin apogee
$GC,3550,-0.13,0.0,2156,2067,3954,3978,480.2,-16.3,306,3771,1.58,0.08,216.85,1.424,10246,0.282,0.182,2529,2112,3363,3388,3338,0,0,0,0,0,0,13.79,13.46,12.68
$STATE,3775,end apogee,CONTROL_FINISHED_OK
$STATE,3775,begin climb
$GC,3779,0.57,145.9,2530,2113,3383,3332,491.2,0.0,313,4002,0.75,2.30,207.48,1.379,10500,0.061,0.070,2784,3517,2759,2803,2716,0,0,0,0,0,0,13.63,12.93,12.32
$GC,4099,0.10,145.9,2784,3518,2795,2716,483.1,17.2,334,4105,0.88,2.47,0.00,0.000,5254,0.345,0.057,2626,2125,2755,2795,2716,0,0,0,0,0,0,13.19,13.54,13.54
$GC,4415,0.02,182.9,2622,2126,2796,2715,454.6,8.3,347,4470,0.15,0.00,52.55,1.436,12454,0.289,0.000,2591,2125,2617,2669,2565,0,0,0,0,0,0,13.84,13.87,13.05
$GC,4746,0.05,231.0,2594,2125,2665,2550,429.3,7.8,358,4821,0.00,2.58,70.00,1.400,8740,0.000,0.087,2591,688,2419,2479,2359,0,0,0,0,0,0,14.52,13.69,13.07
$GC,4881,0.18,278.6,2591,689,2471,2358,418.7,7.8,385,4958,0.15,2.50,70.57,1.367,11430,0.117,0.080,2655,2093,2228,2286,2171,0,0,0,0,0,0,14.06,14.00,12.94
$GC,5256,0.13,278.6,2656,2094,2277,2157,372.6,12.4,410,5257,0.12,0.00,0.00,0.000,4230,0.246,0.000,2626,2092,2214,2276,2152,0,0,0,0,0,0,13.89,14.16,14.14
$GC,5556,0.13,278.6,2630,2094,2276,2155,341.0,10.4,420,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2093,2214,2275,2154,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5856,0.13,280.8,2630,2093,2275,2153,310.5,9.9,430,5862,0.00,2.47,0.00,0.000,548,0.000,0.086,2630,691,2212,2274,2151,0,0,0,0,0,0,14.66,14.24,14.68
$GC,5907,0.22,300.4,2631,690,2273,2153,305.7,9.1,440,5943,0.00,2.42,30.38,1.429,9382,0.000,0.077,2630,2101,2138,2194,2083,0,0,0,0,0,0,14.44,14.27,13.31
$GC,6250,0.27,318.6,2630,2101,2188,2076,273.8,9.2,458,6285,0.12,2.47,28.65,1.415,10916,0.127,0.088,2698,697,2061,2112,2010,0,0,0,0,0,0,14.34,14.16,13.31
$GC,6332,0.23,318.6,2699,697,2106,2010,263.4,14.0,474,6338,0.17,2.45,0.00,0.000,5254,0.219,0.077,2658,2101,2057,2105,2010,0,0,0,0,0,0,14.00,14.12,14.24
$GC,6643,0.23,321.1,2659,2102,2106,2005,231.3,9.9,486,6644,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2102,2054,2105,2004,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6943,0.28,351.2,2659,2101,2107,2003,204.5,8.6,496,7005,0.00,2.50,53.78,1.329,8868,0.000,0.087,2658,692,1925,1971,1879,0,0,0,0,0,0,14.64,14.07,13.29
$GC,7062,0.42,391.6,2659,692,1964,1883,194.8,8.1,519,7136,0.17,2.50,67.35,1.257,11430,0.110,0.079,2728,2108,1767,1796,1738,0,0,0,0,0,0,14.19,14.09,13.12
$GC,7456,0.39,391.6,2728,2109,1791,1726,144.5,12.5,548,7457,0.00,0.00,0.00,0.000,134,0.000,0.000,2728,2105,1756,1790,1723,0,0,0,0,0,0,14.52,14.54,14.54
$GC,7756,0.37,391.6,2729,2107,1790,1721,109.2,11.3,558,7762,0.00,2.50,0.00,0.000,644,0.000,0.086,2735,691,1754,1788,1721,0,0,0,0,0,0,14.60,14.20,14.62
$GC,7879,0.39,391.6,2734,692,1783,1721,95.8,10.4,582,7885,0.00,2.47,0.00,0.000,1158,0.000,0.078,2735,2106,1751,1782,1720,0,0,0,0,0,0,14.24,14.12,14.26
$GC,8190,0.41,412.8,2735,2107,1783,1720,63.9,9.0,614,8202,0.00,0.00,9.98,0.394,8230,0.000,0.000,2734,2107,1681,1712,1651,0,0,0,0,0,0,14.60,14.12,13.66
$GC,8500,0.54,537.2,2735,2108,1713,1651,43.5,4.3,645,8574,0.00,2.55,64.72,0.331,8868,0.000,0.086,2737,698,1175,1242,1108,0,0,0,0,0,0,14.57,14.04,13.76
$GC,8632,0.79,628.1,2738,698,1243,1105,36.9,5.8,670,8685,0.30,2.47,47.88,0.307,11430,0.086,0.079,2852,2101,801,875,728,0,0,0,0,0,0,14.18,14.04,13.75
$STATE,8958,end climb,SURFACE_DEPTH_REACHED
$STATE,8958,begin surface coast
$FINISH,0.4,1.021610
$STATE,8968,end surface coast,CONTROL_FINISHED_OK
$STATE,8968,begin surface
$SM_CCo,9034,40.25,0.210,0,0,499,703.03
$SM_GC,1.10,8.05,0.17,40.25,0.067,0.105,0.210,202,2239,499,-7.37,-0.65,703.03,0,0,0,0,0,0,14.33,14.35,13.97
$RAFOS_CLK,407
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.53,-15249.72,020917,164215
$TT8_MAMPS,0.038948,0.931756
$HUMID,47.32
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,51146304
$24V_AH,12.32,153.166
$10V_AH,12.18,0.000
$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,26.175,79.375,920.175,40.250,0.000,0.000,0.000,615.650,3.000,0.000,9.807,0.000,6727.193,852.017,2294.294,293.392,0.000,2302.071,0.000,1020.120,0.000,0.539,0.000
$DEVICE_MAMPS,455.175,2140.470,1435.905,209.610,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8982.000,8998.000,8988.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.463,20.000,9.845,0.000
$MEM,323716
$DATA_FILE_SIZE,23419,709
$CAP_FILE_SIZE,102065,0
$CFSIZE,2097872896,2017918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.5
$CURRENT,0.056,270.41,1
$GPS,020917,192003,7441.995,-15250.590,38,0.8,38,19.8,0.0,0.0,10,9.6