version: 66.13
glider: 196
mission: 14
dive: 238
start: 9 3 117 15 9 29
data:
$ID,196
$MISSION,14
$DIVE,238
$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,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,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,672.0
$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
$GPS1,030917,145233,7447.2061,-15236.4688,31,0.9,32,19.9,0.0,0.0,10,9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.8
$GPS2,030917,150855,7447.2466,-15236.6807,6,0.7,7,19.9,0.0,0.0,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.7,110665,-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,-145.9,203,2234,487,496,0.0,0.0,0,152,0.00,0.00,-101.12,0.000,16386,0.000,0.000,205,2233,2378,2327,2430,0,0,0,0,0,0,14.52,28.83,14.54
$GC,155,-0.57,-145.9,203,2234,2330,2431,4.9,-7.7,10,203,12.85,2.70,-28.58,0.000,18724,0.457,2.142,2376,3580,3963,3944,3983,0,0,0,0,0,0,13.53,12.61,14.02
$GC,378,-0.74,-145.9,2377,3579,3952,3983,49.0,-11.8,54,383,0.12,2.35,0.00,0.000,5254,0.129,0.057,2327,2201,3967,3951,3983,0,0,0,0,0,0,14.18,14.14,14.32
$GC,688,-0.77,-145.9,2328,2200,3952,3983,98.4,-14.3,86,693,0.00,2.45,0.00,0.000,388,0.000,0.087,2319,3581,3967,3951,3983,0,0,0,0,0,0,14.57,13.97,14.59
$GC,768,-0.91,-145.9,2319,3583,3952,3984,108.2,-11.4,102,773,0.00,2.35,0.00,0.000,1158,0.000,0.058,2319,2199,3967,3951,3983,0,0,0,0,0,0,14.33,14.21,14.35
$GC,1078,-0.98,-145.9,2320,2199,3952,3984,146.2,-11.7,114,1080,0.17,0.00,0.00,0.000,4230,0.113,0.000,2253,2198,3967,3951,3983,0,0,0,0,0,0,14.23,14.31,14.30
$GC,1378,-0.95,-145.9,2251,2198,3952,3983,195.4,-16.3,124,1383,0.00,2.45,0.00,0.000,388,0.000,0.088,2245,3586,3968,3954,3983,0,0,0,0,0,0,14.64,14.06,14.67
$GC,1520,-0.99,-145.9,2245,3587,3953,3983,216.4,-14.1,152,1525,0.00,2.35,0.00,0.000,1158,0.000,0.057,2244,2192,3967,3952,3983,0,0,0,0,0,0,14.37,14.25,14.40
$GC,1830,-0.99,-145.9,2244,2192,3952,3984,263.0,-14.2,164,1835,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3579,3966,3950,3983,0,0,0,0,0,0,14.65,14.12,14.66
$GC,1935,-1.04,-145.9,2236,3581,3952,3983,277.0,-12.8,185,1940,0.00,2.33,0.00,0.000,1158,0.000,0.056,2236,2199,3967,3951,3983,0,0,0,0,0,0,14.13,14.15,14.13
$GC,2251,-1.04,-145.9,2236,2199,3953,3984,318.0,-12.6,198,2256,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3579,3967,3951,3983,0,0,0,0,0,0,14.68,14.16,14.69
$GC,2341,-1.11,-145.9,2236,3579,3953,3983,328.6,-11.3,216,2346,0.00,2.35,0.00,0.000,1158,0.000,0.057,2242,2199,3967,3951,3983,0,0,0,0,0,0,14.35,14.23,14.40
$GC,2671,-1.13,-145.9,2236,2198,3953,3982,368.0,-11.9,232,2676,0.00,2.45,0.00,0.000,388,0.000,0.088,2236,3581,3966,3951,3982,0,0,0,0,0,0,14.68,14.16,14.69
$GC,2696,-1.17,-145.9,2236,3582,3951,3983,371.0,-11.8,237,2703,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2192,3967,3951,3984,0,0,0,0,0,0,14.20,14.06,14.24
$GC,3018,-1.20,-145.9,2236,2193,3951,3984,407.0,-11.8,248,3023,0.12,2.45,0.00,0.000,4484,0.151,0.084,2172,3576,3966,3951,3982,0,0,0,0,0,0,14.14,14.07,14.19
$GC,3078,-1.14,-145.9,2173,3580,3952,3983,418.4,-16.1,260,3083,0.17,2.35,0.00,0.000,3206,0.275,0.055,2206,2195,3968,3955,3982,0,0,0,0,0,0,13.73,14.13,14.03
$GC,3409,-1.12,-145.9,2206,2194,3951,3984,464.1,-13.5,276,3413,0.00,2.42,0.00,0.000,388,0.000,0.086,2198,3582,3966,3950,3982,0,0,0,0,0,0,14.48,13.97,14.49
$GC,3489,-1.12,-145.9,2196,3583,3959,3983,475.0,-13.3,292,3493,0.00,2.35,0.00,0.000,1030,0.000,0.054,2198,2201,3966,3950,3982,0,0,0,0,0,0,14.15,14.03,14.18
$STATE,3526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3526,begin apogee
$GC,3532,-0.13,0.0,2199,2058,3951,3984,480.7,-14.0,295,3753,1.33,0.00,217.20,1.427,10246,0.246,0.000,2527,2056,3364,3381,3347,0,0,0,0,0,0,13.74,13.39,12.59
$STATE,3757,end apogee,CONTROL_FINISHED_OK
$STATE,3757,begin climb
$GC,3759,0.57,145.9,2528,2056,3379,3339,491.9,0.0,302,3976,0.75,2.53,206.10,1.385,10756,0.061,0.080,2781,732,2765,2808,2723,0,0,0,0,0,0,13.51,12.86,12.25
$GC,4002,0.19,145.9,2781,732,2800,2721,496.8,13.2,345,4007,0.68,2.50,0.00,0.000,5254,0.313,0.074,2646,2069,2760,2802,2719,0,0,0,0,0,0,12.93,13.20,13.23
$GC,4327,0.03,151.5,2646,2070,2802,2711,464.3,9.7,360,4333,0.20,2.40,1.20,0.268,12964,0.265,0.078,2603,722,2746,2791,2702,0,0,0,0,0,0,13.62,13.74,13.50
$GC,4353,-0.00,187.8,2602,722,2794,2709,462.1,8.3,365,4419,0.00,2.45,58.97,1.431,9382,0.000,0.078,2601,2100,2596,2651,2542,0,0,0,0,0,0,13.97,13.87,12.92
$GC,4720,-0.01,213.1,2602,2102,2648,2530,430.2,8.8,388,4759,0.00,0.00,35.03,1.481,8870,0.000,0.000,2598,2101,2494,2552,2436,0,0,0,0,0,0,14.36,13.95,13.13
$GC,5079,0.00,235.2,2603,2101,2547,2426,397.5,9.0,410,5116,0.00,2.45,32.47,1.480,8740,0.000,0.082,2602,724,2402,2459,2346,0,0,0,0,0,0,14.43,13.82,13.19
$GC,5188,0.11,270.0,2603,724,2452,2341,388.1,8.4,431,5248,0.00,2.42,52.50,1.405,9382,0.000,0.078,2602,2106,2261,2314,2208,0,0,0,0,0,0,14.16,14.03,13.05
$GC,5563,0.18,298.9,2603,2107,2309,2196,355.0,8.7,456,5614,0.12,2.50,42.78,1.411,10916,0.128,0.086,2663,732,2141,2189,2093,0,0,0,0,0,0,14.15,13.95,13.16
$GC,5654,0.18,298.9,2666,734,2184,2094,343.5,13.0,469,5659,0.00,2.42,0.00,0.000,1030,0.000,0.079,2665,2098,2138,2184,2093,0,0,0,0,0,0,13.97,13.85,14.01
$GC,5986,0.15,298.9,2666,2099,2185,2085,300.7,12.7,485,5987,0.15,0.00,0.00,0.000,4230,0.256,0.000,2633,2099,2135,2184,2086,0,0,0,0,0,0,14.06,14.23,14.22
$GC,6285,0.19,308.1,2634,2099,2184,2084,270.8,9.6,495,6299,0.00,2.38,10.75,1.603,8868,0.000,0.083,2642,728,2106,2154,2059,0,0,0,0,0,0,14.65,13.95,13.26
$GC,6365,0.29,332.2,2643,731,2149,2059,263.5,8.9,511,6411,0.00,2.40,39.58,1.382,9382,0.000,0.079,2643,2108,2007,2053,1962,0,0,0,0,0,0,14.38,14.25,13.23
$GC,6738,0.37,366.2,2643,2108,2049,1951,231.0,8.4,535,6798,0.17,0.00,54.70,1.326,10406,0.105,0.000,2714,2109,1870,1904,1837,0,0,0,0,0,0,14.33,14.02,13.24
$GC,7097,0.34,366.2,2716,2109,1896,1829,186.0,12.4,547,7102,0.00,2.42,0.00,0.000,644,0.000,0.085,2723,725,1862,1895,1829,0,0,0,0,0,0,14.56,14.19,14.60
$GC,7207,0.34,366.2,2724,726,1891,1828,172.8,11.6,569,7212,0.15,2.38,0.00,0.000,5126,0.231,0.078,2690,2098,1860,1891,1829,0,0,0,0,0,0,14.07,14.24,14.33
$GC,7518,0.37,380.6,2692,2099,1892,1826,143.1,9.3,581,7541,0.00,0.00,21.50,1.414,8358,0.000,0.000,2690,2099,1813,1842,1785,0,0,0,0,0,0,14.65,14.18,13.35
$GC,7818,0.45,416.7,2691,2100,1834,1777,117.1,8.3,591,7884,0.00,2.50,57.40,1.265,8868,0.000,0.086,2691,724,1663,1689,1637,0,0,0,0,0,0,14.60,14.04,13.28
$GC,7960,0.61,459.2,2692,725,1684,1637,105.4,8.0,619,8037,0.28,2.42,70.35,1.053,11430,0.086,0.079,2792,2105,1492,1528,1457,0,0,0,0,0,0,14.11,14.02,13.22
$GC,8342,0.55,459.2,2792,2105,1526,1437,52.7,11.2,665,8347,0.12,2.42,0.00,0.000,4740,0.245,0.083,2768,724,1480,1525,1436,0,0,0,0,0,0,13.88,14.08,14.02
$GC,8427,0.63,508.9,2767,725,1520,1436,45.5,7.7,682,8460,0.00,2.40,24.98,0.340,9382,0.000,0.079,2767,2100,1289,1340,1239,0,0,0,0,0,0,14.30,14.16,13.75
$GC,8765,0.80,621.6,2767,2100,1341,1235,23.2,4.8,719,8831,0.22,2.45,59.35,0.276,10916,0.096,0.090,2863,727,828,891,766,0,0,0,0,0,0,14.31,14.14,13.85
$GC,8861,0.80,621.6,2864,726,892,764,14.2,10.8,732,8867,0.00,2.42,0.00,0.000,1030,0.000,0.078,2862,2102,827,890,764,0,0,0,0,0,0,13.52,13.45,13.70
$STATE,8984,end climb,SURFACE_DEPTH_REACHED
$STATE,8984,begin surface coast
$FINISH,0.4,1.011013
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9004,begin surface
$SM_CCo,9027,43.92,0.210,0,0,499,702.78
$SM_GC,1.22,8.18,0.17,43.92,0.077,0.117,0.210,196,2221,499,-7.39,-0.59,702.78,0,0,0,0,0,0,14.33,14.33,14.00
$RAFOS_CLK,279
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7447.91,-15234.74,030917,150344
$TT8_MAMPS,0.040446,0.919023
$HUMID,46.65
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,15970664448.000000
$PM_FREEKB_00,50911104
$24V_AH,12.25,156.972
$10V_AH,12.29,0.000
$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,25.800,82.825,984.850,43.925,0.000,0.000,0.000,575.600,3.250,0.000,8.988,0.000,6621.898,1032.889,2129.143,285.058,0.000,2330.042,0.000,1071.074,2193.000,0.539,0.000
$DEVICE_MAMPS,456.705,2142.000,1602.675,209.610,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9019.000,9011.000,8982.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.080,20.000,9.896,0.000
$MEM,323428
$DATA_FILE_SIZE,26722,747
$CAP_FILE_SIZE,106559,0
$CFSIZE,2097872896,2015952896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.095,250.18,1
$GPS,030917,174141,7447.905,-15234.432,13,0.8,15,19.9,0.2,0.0,11,9.5