version: 66.13
glider: 196
mission: 14
dive: 232
start: 9 2 117 22 29 39
data:
$ID,196
$MISSION,14
$DIVE,232
$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,26
$R_STBD_OVSHOOT,33
$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,654.0
$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
$GPS1,020917,221233,7442.8398,-15248.4443,18,0.7,24,19.8,0.0,0.0,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.7
$GPS2,020917,222903,7442.7871,-15248.5635,6,0.7,9,19.8,0.0,75.3,12,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.4,120333,-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,50,-0.57,-145.9,197,2217,480,495,0.0,0.0,0,152,0.00,0.00,-100.88,0.000,16386,0.000,0.000,195,2221,2337,2282,2393,0,0,0,0,0,0,14.47,28.83,14.50
$GC,155,-0.57,-145.9,196,2218,2285,2393,4.2,-6.1,10,208,12.77,2.78,-30.50,0.000,18724,0.454,2.140,2375,3585,3963,3944,3983,0,0,0,0,0,0,13.54,12.61,14.00
$GC,328,-0.72,-145.9,2377,3588,3951,3982,42.2,-13.0,44,333,0.00,2.40,0.00,0.000,1158,0.000,0.059,2375,2196,3966,3950,3982,0,0,0,0,0,0,14.19,14.09,14.23
$GC,639,-0.83,-145.9,2376,2195,3952,3982,81.7,-10.7,76,640,0.20,0.00,0.00,0.000,4230,0.107,0.000,2298,2195,3966,3951,3981,0,0,0,0,0,0,14.15,14.26,14.24
$GC,938,-0.83,-145.9,2298,2195,3951,3982,128.3,-14.8,94,943,0.00,2.47,0.00,0.000,260,0.000,0.086,2293,3600,3965,3951,3980,0,0,0,0,0,0,14.61,14.11,14.62
$GC,1048,-0.94,-145.9,2294,3601,3952,3982,142.1,-11.8,116,1053,0.00,2.40,0.00,0.000,1158,0.000,0.059,2292,2190,3966,3951,3982,0,0,0,0,0,0,14.19,14.17,14.23
$GC,1359,-0.98,-145.9,2293,2190,3952,3978,184.0,-13.3,128,1363,0.00,2.47,0.00,0.000,388,0.000,0.085,2283,3601,3966,3950,3982,0,0,0,0,0,0,14.65,14.14,14.65
$GC,1389,-1.04,-145.9,2284,3604,3952,3983,187.9,-12.5,134,1394,0.12,2.38,0.00,0.000,5254,0.126,0.058,2237,2201,3966,3951,3982,0,0,0,0,0,0,14.23,14.21,14.34
$GC,1720,-0.99,-145.9,2238,2200,3952,3982,244.1,-17.0,150,1725,0.00,2.47,0.00,0.000,388,0.000,0.089,2235,3606,3966,3951,3982,0,0,0,0,0,0,14.67,14.19,14.66
$GC,1846,-1.03,-145.9,2236,3607,3952,3982,262.7,-14.1,175,1851,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2191,3966,3951,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2171,-1.03,-145.9,2236,2190,3952,3982,308.1,-13.4,190,2176,0.00,2.47,0.00,0.000,260,0.000,0.089,2235,3600,3966,3951,3982,0,0,0,0,0,0,14.66,14.19,14.69
$GC,2231,-1.09,-145.9,2236,3601,3951,3983,315.7,-11.9,202,2236,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2189,3966,3951,3982,0,0,0,0,0,0,14.38,14.26,14.40
$GC,2561,-1.09,-145.9,2236,2188,3953,3982,356.8,-12.3,218,2566,0.00,2.47,0.00,0.000,260,0.000,0.088,2235,3599,3968,3954,3982,0,0,0,0,0,0,14.69,14.19,14.70
$GC,2661,-1.18,-145.9,2236,3600,3952,3981,367.8,-10.4,238,2666,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2198,3966,3951,3981,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2981,-1.20,-145.9,2236,2198,3951,3982,404.9,-11.5,252,2986,0.12,2.45,0.00,0.000,4484,0.149,0.084,2172,3600,3965,3950,3981,0,0,0,0,0,0,14.31,14.18,14.33
$GC,3032,-1.12,-145.9,2172,3600,3948,3981,412.6,-16.2,262,3037,0.20,2.38,0.00,0.000,3206,0.271,0.057,2213,2196,3965,3949,3981,0,0,0,0,0,0,13.88,14.23,14.20
$GC,3342,-1.12,-145.9,2214,2197,3950,3981,454.2,-13.1,274,3347,0.00,2.42,0.00,0.000,260,0.000,0.086,2209,3599,3964,3948,3981,0,0,0,0,0,0,14.66,14.07,14.68
$GC,3427,-1.16,-145.9,2210,3600,3950,3982,465.1,-12.5,291,3433,0.00,2.40,0.00,0.000,1158,0.000,0.057,2209,2191,3964,3948,3981,0,0,0,0,0,0,14.31,14.19,14.35
$STATE,3550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3556,-0.13,0.0,2210,2061,3950,3982,482.0,-13.5,296,3774,1.27,0.00,215.65,1.424,10246,0.240,0.000,2530,2060,3365,3382,3349,0,0,0,0,0,0,13.85,13.51,12.69
$STATE,3778,end apogee,CONTROL_FINISHED_OK
$STATE,3778,begin climb
$GC,3781,0.57,145.9,2531,2061,3377,3341,493.0,0.0,303,3997,0.75,2.53,205.60,1.372,10756,0.063,0.077,2791,725,2764,2805,2724,0,0,0,0,0,0,13.64,12.92,12.31
$GC,4207,0.18,145.9,2790,725,2795,2721,470.3,15.2,382,4212,0.70,2.45,0.00,0.000,5254,0.321,0.075,2647,2091,2756,2794,2718,0,0,0,0,0,0,13.33,13.63,13.70
$GC,4533,0.03,156.8,2648,2091,2795,2713,438.4,9.5,397,4545,0.22,0.00,11.05,1.654,12454,0.260,0.000,2595,2092,2726,2768,2685,0,0,0,0,0,0,13.88,14.09,13.14
$GC,4833,0.04,215.9,2596,2092,2763,2678,416.4,7.3,407,4929,0.00,2.50,90.00,1.385,8868,0.000,0.083,2605,724,2480,2534,2426,0,0,0,0,0,0,14.59,13.88,13.07
$GC,4960,0.11,245.9,2603,725,2532,2425,406.3,8.6,417,5009,0.00,2.45,44.38,1.401,9382,0.000,0.078,2602,2103,2360,2413,2308,0,0,0,0,0,0,14.06,13.95,12.99
$GC,5317,0.17,270.7,2603,2103,2404,2294,374.5,8.9,438,5353,0.00,0.00,33.92,1.432,8358,0.000,0.000,2602,2098,2264,2317,2211,0,0,0,0,0,0,14.49,14.02,13.19
$GC,5647,0.24,304.7,2602,2103,2310,2200,346.2,8.4,449,5706,0.15,2.45,52.95,1.365,10916,0.115,0.085,2681,731,2119,2165,2073,0,0,0,0,0,0,14.20,13.75,13.19
$GC,5751,0.21,304.7,2681,731,2158,2072,332.3,13.7,470,5757,0.15,2.42,0.00,0.000,5254,0.239,0.078,2651,2103,2112,2157,2068,0,0,0,0,0,0,13.84,13.99,14.07
$GC,6067,0.21,304.7,2652,2104,2158,2062,295.9,11.3,483,6071,0.00,2.42,0.00,0.000,516,0.000,0.085,2656,730,2110,2157,2063,0,0,0,0,0,0,14.45,14.12,14.47
$GC,6122,0.23,304.7,2656,731,2157,2063,289.7,11.1,494,6128,0.00,2.40,0.00,0.000,1158,0.000,0.078,2655,2103,2109,2156,2062,0,0,0,0,0,0,14.22,14.09,14.26
$GC,6427,0.23,304.7,2656,2106,2155,2062,256.0,10.7,505,6432,0.00,2.47,0.00,0.000,260,0.000,0.084,2656,3511,2108,2156,2061,0,0,0,0,0,0,14.50,14.12,14.51
$GC,6458,0.21,304.7,2655,3512,2155,2062,252.4,12.2,511,6462,0.00,2.35,0.00,0.000,1158,0.000,0.063,2659,2136,2107,2154,2061,0,0,0,0,0,0,14.14,14.03,14.18
$GC,6788,0.22,324.7,2660,2136,2154,2060,220.1,9.1,527,6824,0.00,2.58,29.45,1.396,8740,0.000,0.090,2660,688,2036,2081,1992,0,0,0,0,0,0,14.49,14.04,13.29
$GC,6934,0.33,363.5,2660,689,2075,1993,207.9,8.2,556,7006,0.00,2.50,64.50,1.285,9382,0.000,0.080,2661,2103,1881,1915,1848,0,0,0,0,0,0,14.17,14.05,13.14
$GC,7331,0.43,401.9,2660,2105,1907,1837,174.7,8.2,585,7401,0.17,2.55,64.97,1.249,10916,0.110,0.086,2740,689,1728,1757,1699,0,0,0,0,0,0,14.16,13.71,13.18
$GC,7436,0.43,401.9,2741,690,1742,1699,161.4,13.3,596,7441,0.00,2.53,0.00,0.000,1030,0.000,0.079,2741,2103,1719,1741,1698,0,0,0,0,0,0,14.05,13.95,14.09
$GC,7752,0.39,401.9,2741,2106,1741,1690,120.5,12.6,609,7758,0.12,2.45,0.00,0.000,4740,0.239,0.084,2713,695,1715,1741,1689,0,0,0,0,0,0,13.94,14.03,14.05
$GC,7815,0.48,415.9,2713,696,1739,1690,114.3,9.4,621,7835,0.00,2.47,15.30,1.402,9382,0.000,0.077,2719,2105,1669,1699,1640,0,0,0,0,0,0,14.20,14.07,13.28
$GC,8135,0.54,436.2,2713,2106,1695,1627,84.1,9.1,648,8147,0.12,0.00,10.68,0.455,10406,0.129,0.000,2771,2101,1583,1617,1550,0,0,0,0,0,0,14.17,14.15,13.67
$GC,8445,0.53,467.8,2778,2106,1616,1550,49.4,8.5,679,8467,0.00,2.50,16.73,0.350,8868,0.000,0.085,2780,686,1456,1493,1420,0,0,0,0,0,0,14.57,14.01,13.75
$GC,8598,0.62,526.1,2780,686,1493,1420,37.2,7.3,709,8635,0.00,2.47,31.10,0.313,9382,0.000,0.080,2780,2101,1219,1272,1166,0,0,0,0,0,0,14.19,14.06,13.81
$GC,8940,0.78,648.8,2781,2101,1272,1156,15.3,4.3,747,9014,0.12,2.55,63.97,0.252,10660,0.133,0.083,2844,3513,716,772,661,0,0,0,0,0,0,14.19,14.07,13.80
$STATE,9092,end climb,SURFACE_DEPTH_REACHED
$STATE,9092,begin surface coast
$FINISH,0.5,1.021442
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9124,30.20,0.210,0,0,498,702.78
$SM_GC,1.41,8.18,2.28,30.20,0.080,0.050,0.210,205,2184,498,-7.37,0.54,702.78,0,0,0,0,0,0,14.30,14.26,14.00
$RAFOS_CLK,172
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.53,-15249.72,020917,193807
$TT8_MAMPS,0.038948,0.897302
$HUMID,45.47
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15973285888.000000
$PM_FREEKB_00,51085120
$24V_AH,12.31,154.150
$10V_AH,12.27,0.000
$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,25.400,88.575,950.250,30.200,0.000,0.000,0.000,661.000,3.000,0.000,12.598,0.000,6541.787,1013.073,2287.063,322.088,0.000,2398.949,0.000,1116.237,2149.000,0.539,0.000
$DEVICE_MAMPS,454.410,2140.470,1653.930,210.375,0.000,0.000,0.000,185.895,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9135.000,9105.000,9074.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.292,20.000,9.907,0.000
$MEM,323548
$DATA_FILE_SIZE,26710,779
$CAP_FILE_SIZE,106151,0
$CFSIZE,2097872896,2017427456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.082,268.99,1
$GPS,030917,010333,7443.661,-15246.438,32,0.8,33,19.8,0.0,0.0,10,7.7