version: 66.13
glider: 196
mission: 14
dive: 247
start: 9 4 117 16 11 46
data:
$ID,196
$MISSION,14
$DIVE,247
$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,63
$R_STBD_OVSHOOT,41
$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,692.0
$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
$GPS1,040917,160532,7453.4004,-15219.3379,27,0.7,27,20.1,0.0,0.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.8
$GPS2,040917,161112,7453.4404,-15219.3809,8,0.8,10,20.1,0.0,348.6,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.6,97190,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,200,2225,507,495,0.0,0.0,0,143,0.00,0.00,-91.22,0.000,16386,0.000,0.000,199,2226,2173,2108,2238,0,0,0,0,0,0,14.42,28.83,14.44
$GC,146,-0.57,-145.9,200,2226,2112,2238,3.8,-5.2,9,203,12.80,2.78,-36.10,0.000,18724,0.454,2.140,2375,3585,3961,3942,3981,0,0,0,0,0,0,13.61,12.59,14.08
$GC,413,-0.72,-145.9,2376,3587,3949,3982,51.2,-12.4,62,419,0.00,2.30,0.00,0.000,1158,0.000,0.057,2376,2231,3964,3948,3980,0,0,0,0,0,0,14.24,14.12,14.27
$GC,720,-0.84,-145.9,2376,2231,3950,3982,87.9,-10.4,93,721,0.22,0.00,0.00,0.000,4230,0.099,0.000,2288,2230,3965,3949,3981,0,0,0,0,0,0,14.19,14.33,14.30
$GC,1038,-0.84,-145.9,2288,2231,3950,3982,137.9,-14.6,109,1042,0.00,2.42,0.00,0.000,260,0.000,0.088,2279,3597,3965,3950,3981,0,0,0,0,0,0,14.52,14.08,14.54
$GC,1108,-0.92,-145.9,2280,3600,3950,3982,147.4,-12.8,123,1113,0.00,2.40,0.00,0.000,1158,0.000,0.058,2279,2195,3965,3950,3981,0,0,0,0,0,0,14.25,14.13,14.28
$GC,1428,-0.95,-145.9,2280,2195,3950,3980,191.5,-13.4,137,1433,0.00,2.47,0.00,0.000,388,0.000,0.087,2270,3594,3965,3950,3981,0,0,0,0,0,0,14.52,14.09,14.54
$GC,1493,-1.04,-145.9,2270,3596,3950,3982,199.8,-12.1,150,1498,0.00,2.40,0.00,0.000,1158,0.000,0.057,2270,2196,3965,3950,3981,0,0,0,0,0,0,14.21,14.09,14.28
$GC,1820,-1.07,-145.9,2270,2196,3950,3982,242.8,-12.9,165,1826,0.12,2.50,0.00,0.000,4484,0.140,0.085,2210,3592,3965,3950,3981,0,0,0,0,0,0,14.12,14.00,14.16
$GC,1878,-1.03,-145.9,2210,3595,3950,3982,252.1,-17.0,176,1885,0.17,2.40,0.00,0.000,3206,0.255,0.057,2245,2191,3966,3952,3981,0,0,0,0,0,0,13.78,14.05,14.07
$GC,2181,-1.03,-145.9,2246,2189,3951,3981,292.1,-12.3,187,2186,0.00,2.45,0.00,0.000,260,0.000,0.086,2238,3588,3965,3950,3980,0,0,0,0,0,0,14.66,14.17,14.68
$GC,2251,-1.11,-145.9,2238,3589,3950,3982,300.5,-11.5,201,2256,0.00,2.35,0.00,0.000,1158,0.000,0.056,2238,2190,3965,3949,3981,0,0,0,0,0,0,14.37,14.25,14.40
$GC,2571,-1.13,-145.9,2238,2190,3950,3982,339.5,-12.0,215,2576,0.00,2.47,0.00,0.000,388,0.000,0.088,2235,3595,3965,3949,3981,0,0,0,0,0,0,14.69,14.19,14.71
$GC,2621,-1.22,-145.9,2235,3598,3950,3982,345.3,-11.1,225,2626,0.15,2.35,0.00,0.000,5254,0.125,0.056,2177,2201,3967,3954,3980,0,0,0,0,0,0,14.24,14.21,14.35
$GC,2932,-1.12,-145.9,2178,2199,3950,3980,397.4,-16.9,237,2937,0.15,2.45,0.00,0.000,2436,0.307,0.082,2200,3599,3964,3949,3980,0,0,0,0,0,0,13.69,14.14,13.97
$GC,3049,-1.12,-145.9,2200,3600,3949,3981,413.7,-13.1,260,3055,0.00,2.35,0.00,0.000,1030,0.000,0.056,2200,2201,3964,3948,3980,0,0,0,0,0,0,14.39,14.26,14.43
$GC,3352,-1.08,-145.9,2200,2201,3950,3979,456.4,-14.0,271,3357,0.12,2.45,0.00,0.000,2436,0.308,0.085,2222,3595,3964,3948,3980,0,0,0,0,0,0,13.74,14.09,13.88
$GC,3433,-1.16,-145.9,2222,3597,3950,3980,465.9,-10.9,287,3437,0.00,2.38,0.00,0.000,1158,0.000,0.056,2222,2199,3964,3948,3980,0,0,0,0,0,0,14.38,14.22,14.40
$STATE,3560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3560,begin apogee
$GC,3566,-0.13,0.0,2223,2063,3949,3980,481.3,-11.9,293,3819,1.20,0.00,249.10,1.417,10246,0.229,0.000,2530,2062,3366,3384,3349,0,0,0,0,0,0,13.88,13.44,12.61
$STATE,3822,end apogee,CONTROL_FINISHED_OK
$STATE,3822,begin climb
$GC,3825,0.57,145.9,2531,2062,3378,3341,493.9,0.0,301,4386,0.75,2.72,211.02,1.385,10500,0.062,0.074,2781,3484,2748,2780,2716,0,0,0,0,0,0,13.57,12.89,12.27
$GC,4396,0.57,145.9,2781,3485,2779,2717,445.6,9.7,304,4402,0.00,2.33,0.00,0.000,1030,0.000,0.057,2789,2129,2746,2778,2715,0,0,0,0,0,0,14.10,14.00,14.14
$GC,4718,0.15,145.9,2789,2129,2780,2717,394.9,15.3,318,4723,0.65,2.50,0.00,0.000,4740,0.306,0.078,2647,687,2747,2779,2716,0,0,0,0,0,0,13.81,14.16,14.04
$GC,4948,0.05,181.1,2644,686,2780,2717,374.1,8.4,364,5008,0.20,2.45,50.90,1.397,13478,0.271,0.080,2605,2088,2622,2667,2577,0,0,0,0,0,0,13.92,14.19,13.21
$GC,5318,0.06,224.5,2605,2090,2659,2561,344.4,8.0,388,5389,0.00,2.47,66.05,1.349,8868,0.000,0.081,2606,693,2445,2499,2392,0,0,0,0,0,0,14.59,13.76,13.16
$GC,5455,0.16,275.8,2606,694,2489,2385,333.7,7.6,415,5545,0.00,2.47,83.43,1.300,9382,0.000,0.080,2606,2101,2241,2300,2183,0,0,0,0,0,0,14.19,14.06,13.00
$GC,5861,0.24,312.3,2606,2102,2281,2162,299.4,8.3,446,5927,0.17,2.55,59.03,1.302,10916,0.106,0.086,2684,703,2085,2132,2038,0,0,0,0,0,0,14.28,13.95,13.18
$GC,5953,0.20,312.3,2686,702,2126,2042,287.7,13.7,454,5958,0.17,2.47,0.00,0.000,5254,0.232,0.078,2647,2105,2078,2123,2034,0,0,0,0,0,0,13.84,14.01,14.09
$GC,6283,0.23,324.6,2648,2106,2124,2023,254.2,9.4,470,6298,0.00,0.00,13.00,1.489,8358,0.000,0.000,2647,2106,2042,2089,1995,0,0,0,0,0,0,14.59,14.15,13.27
$GC,6583,0.29,349.7,2647,2107,2080,1981,227.1,8.8,480,6629,0.00,2.50,38.85,1.362,8868,0.000,0.086,2654,694,1935,1980,1890,0,0,0,0,0,0,14.62,14.06,13.28
$GC,6701,0.42,385.5,2655,694,1971,1889,217.2,8.3,503,6766,0.20,2.47,57.90,1.304,11430,0.100,0.080,2737,2103,1791,1819,1764,0,0,0,0,0,0,13.86,14.11,13.13
$GC,7064,0.36,385.5,2733,2103,1813,1750,167.3,13.5,526,7069,0.12,2.45,0.00,0.000,4740,0.239,0.081,2711,695,1780,1812,1749,0,0,0,0,0,0,14.04,14.17,14.20
$GC,7109,0.39,385.5,2712,695,1810,1749,161.8,11.6,535,7114,0.00,2.45,0.00,0.000,1158,0.000,0.079,2710,2099,1778,1807,1749,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7424,0.39,385.5,2711,2102,1809,1747,126.6,10.8,548,7430,0.00,2.47,0.00,0.000,516,0.000,0.086,2712,692,1776,1807,1746,0,0,0,0,0,0,14.63,14.21,14.65
$GC,7455,0.43,385.5,2713,693,1806,1741,123.5,10.4,554,7460,0.00,2.45,0.00,0.000,1158,0.000,0.078,2713,2105,1775,1805,1746,0,0,0,0,0,0,14.36,14.21,14.40
$GC,7765,0.45,407.8,2713,2105,1807,1745,94.1,9.0,572,7781,0.00,2.47,10.52,0.483,8740,0.000,0.085,2713,697,1701,1729,1674,0,0,0,0,0,0,14.62,14.12,13.48
$GC,7832,0.54,433.2,2716,694,1729,1673,88.2,8.8,585,7853,0.15,2.45,14.75,0.467,11430,0.117,0.078,2776,2101,1597,1625,1570,0,0,0,0,0,0,14.26,14.17,13.62
$GC,8159,0.52,481.4,2777,2101,1625,1568,52.1,7.8,620,8191,0.00,2.50,25.65,0.357,8868,0.000,0.086,2781,691,1399,1438,1361,0,0,0,0,0,0,14.60,13.82,13.62
$GC,8211,0.55,515.6,2781,691,1440,1357,47.9,8.4,630,8234,0.00,2.47,18.42,0.344,9254,0.000,0.079,2781,2100,1263,1315,1211,0,0,0,0,0,0,14.28,14.18,13.69
$GC,8532,0.67,608.5,2781,2101,1315,1203,24.6,5.7,664,8583,0.00,0.00,49.03,0.282,8614,0.000,0.000,2781,2100,882,949,815,0,0,0,0,0,0,14.57,14.09,13.78
$GC,8882,0.91,706.4,2781,2101,950,806,6.3,5.5,700,8930,0.25,0.00,46.12,0.220,10914,0.095,0.000,2883,2100,534,560,508,0,0,0,0,0,0,14.27,28.83,14.31
$STATE,8931,end climb,SURFACE_DEPTH_REACHED
$STATE,8931,begin surface coast
$FINISH,0.2,1.010611
$STATE,8943,end surface coast,CONTROL_FINISHED_OK
$STATE,8943,begin surface
$SM_CCo,8966,6.43,0.204,0,0,499,703.28
$SM_GC,2.00,8.27,0.17,6.43,0.078,0.138,0.204,196,2203,499,-7.39,-0.76,703.28,0,0,0,0,0,0,14.29,14.23,13.96
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7453.03,-15216.02,040917,132532
$TT8_MAMPS,0.038948,0.856856
$HUMID,47.32
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15966797824.000000
$PM_FREEKB_00,50654144
$24V_AH,12.27,161.227
$10V_AH,12.15,0.000
$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,25.900,83.925,993.775,6.425,0.000,0.000,0.000,149.375,4.250,0.000,11.786,0.000,6052.656,882.246,2167.012,225.853,0.000,2207.861,0.000,1018.131,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2139.705,1489.455,204.255,0.000,0.000,0.000,139.230,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4924.000,8924.000,8917.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.392,20.000,9.892,0.000
$MEM,323448
$DATA_FILE_SIZE,23380,711
$CAP_FILE_SIZE,98655,0
$CFSIZE,2097872896,2013593600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1445.7
$CURRENT,0.065,247.28,1
$GPS,040917,184222,7454.102,-15217.014,16,0.8,17,20.1,0.0,0.0,10,9.6