version: 66.13
glider: 196
mission: 14
dive: 250
start: 9 5 117 0 18 46
data:
$ID,196
$MISSION,14
$DIVE,250
$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,31
$R_STBD_OVSHOOT,19
$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,702.0
$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
$GPS1,040917,235804,7455.7222,-15212.4805,25,0.8,27,20.1,0.3,18.1,10,8.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.4
$GPS2,050917,001811,7455.7397,-15212.4629,8,0.7,12,20.1,0.0,323.2,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,8.8,92153,-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,-145.9,188,2204,505,492,0.0,0.0,0,140,0.00,0.00,-88.47,0.000,16386,0.000,0.000,186,2205,2081,2006,2157,0,0,0,0,0,0,14.51,28.83,14.52
$GC,143,-0.57,-145.9,188,2204,2009,2159,3.4,-4.4,9,205,12.93,2.83,-40.33,0.000,18724,0.454,2.135,2375,3609,3964,3950,3979,0,0,0,0,0,0,13.56,12.61,14.04
$GC,340,-0.70,-145.9,2376,3610,3956,3979,41.1,-14.1,48,347,0.00,2.45,0.00,0.000,1158,0.000,0.060,2375,2202,3967,3955,3979,0,0,0,0,0,0,13.99,13.87,14.02
$GC,647,-0.81,-145.9,2375,2203,3957,3980,82.8,-10.9,79,652,0.15,2.53,0.00,0.000,4484,0.125,0.084,2305,3618,3967,3956,3979,0,0,0,0,0,0,13.97,14.02,14.00
$GC,672,-0.85,-145.9,2304,3619,3957,3979,86.4,-13.6,84,679,0.00,2.47,0.00,0.000,1158,0.000,0.058,2304,2195,3968,3958,3979,0,0,0,0,0,0,14.11,13.99,14.17
$GC,998,-0.89,-145.9,2304,2194,3957,3980,135.1,-13.9,101,1002,0.00,2.53,0.00,0.000,388,0.000,0.086,2294,3613,3967,3956,3979,0,0,0,0,0,0,14.44,14.00,14.45
$GC,1072,-1.02,-145.9,2295,3614,3956,3980,144.6,-11.8,116,1079,0.15,2.42,0.00,0.000,5254,0.115,0.056,2240,2196,3968,3957,3979,0,0,0,0,0,0,14.10,14.05,14.19
$GC,1391,-0.97,-145.9,2240,2196,3957,3980,201.1,-17.5,129,1392,0.00,0.00,0.00,0.000,134,0.000,0.000,2240,2195,3967,3956,3979,0,0,0,0,0,0,14.59,14.61,14.61
$GC,1689,-0.95,-145.9,2241,2195,3957,3979,248.9,-15.4,139,1694,0.12,2.50,0.00,0.000,2436,0.284,0.084,2259,3613,3967,3956,3979,0,0,0,0,0,0,13.93,14.12,14.06
$GC,1811,-1.05,-145.9,2260,3615,3957,3980,263.1,-11.1,163,1816,0.00,2.40,0.00,0.000,1158,0.000,0.056,2259,2199,3968,3957,3979,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2141,-1.11,-145.9,2260,2199,3956,3976,301.5,-11.2,179,2146,0.12,2.50,0.00,0.000,4484,0.140,0.085,2198,3614,3967,3956,3979,0,0,0,0,0,0,14.21,14.14,14.30
$GC,2182,-1.08,-145.9,2198,3616,3957,3981,307.2,-15.2,187,2187,0.15,2.40,0.00,0.000,3206,0.256,0.057,2228,2198,3967,3956,3979,0,0,0,0,0,0,13.96,14.24,14.23
$GC,2502,-1.08,-145.9,2227,2197,3956,3980,348.9,-12.7,201,2507,0.00,2.53,0.00,0.000,260,0.000,0.088,2222,3617,3967,3955,3979,0,0,0,0,0,0,14.65,14.07,14.67
$GC,2582,-1.15,-145.9,2222,3619,3956,3980,358.6,-11.6,217,2587,0.00,2.40,0.00,0.000,1158,0.000,0.057,2223,2193,3965,3955,3975,0,0,0,0,0,0,14.37,14.24,14.40
$GC,2892,-1.15,-145.9,2223,2193,3955,3980,397.6,-12.4,229,2897,0.00,2.53,0.00,0.000,260,0.000,0.090,2222,3614,3966,3954,3979,0,0,0,0,0,0,14.66,14.12,14.68
$GC,2952,-1.23,-145.9,2223,3616,3956,3979,404.7,-11.2,241,2957,0.12,2.40,0.00,0.000,5254,0.134,0.056,2169,2199,3966,3954,3979,0,0,0,0,0,0,14.21,14.19,14.32
$GC,3283,-1.13,-145.9,2169,2199,3954,3980,460.4,-17.1,257,3288,0.17,2.50,0.00,0.000,2436,0.311,0.083,2198,3614,3966,3954,3979,0,0,0,0,0,0,13.78,14.12,13.98
$GC,3405,-1.13,-145.9,2198,3614,3955,3979,477.0,-12.8,281,3410,0.00,2.38,0.00,0.000,1030,0.000,0.055,2198,2199,3966,3953,3979,0,0,0,0,0,0,14.37,14.23,14.40
$STATE,3427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3427,begin apogee
$GC,3433,-0.13,0.0,2199,2057,3955,3980,480.6,-13.6,286,3660,1.33,0.10,223.70,1.446,10246,0.244,0.158,2526,2123,3366,3384,3349,0,0,0,0,0,0,13.11,13.47,12.63
$STATE,3664,end apogee,CONTROL_FINISHED_OK
$STATE,3664,begin climb
$GC,3668,0.57,145.9,2527,2124,3375,3339,492.2,0.0,293,3883,0.75,2.67,209.27,1.395,10756,0.061,0.077,2790,734,2767,2806,2729,0,0,0,0,0,0,13.61,12.89,12.28
$GC,4045,0.18,145.9,2789,733,2788,2721,480.9,14.7,374,4051,0.70,2.45,0.00,0.000,5254,0.321,0.075,2645,2087,2753,2788,2719,0,0,0,0,0,0,13.30,13.65,13.67
$GC,4361,0.03,163.5,2647,2088,2790,2714,450.8,9.2,387,4385,0.22,0.00,21.73,1.536,12454,0.264,0.000,2594,2088,2697,2738,2656,0,0,0,0,0,0,13.82,14.02,13.15
$GC,4662,0.04,219.2,2595,2088,2730,2640,428.4,7.4,397,4752,0.00,0.00,86.00,1.392,8358,0.000,0.000,2592,2088,2467,2523,2412,0,0,0,0,0,0,14.57,13.88,13.07
$GC,5051,0.09,255.2,2595,2088,2513,2396,396.3,8.3,410,5113,0.00,2.42,55.25,1.387,8868,0.000,0.083,2600,723,2318,2368,2268,0,0,0,0,0,0,14.54,13.76,13.15
$GC,5160,0.21,290.8,2600,724,2361,2263,387.4,8.4,431,5223,0.15,2.45,56.12,1.360,11430,0.114,0.079,2665,2109,2174,2224,2125,0,0,0,0,0,0,14.01,13.98,13.04
$GC,5534,0.15,290.8,2665,2107,2211,2108,337.7,13.4,456,5539,0.12,2.40,0.00,0.000,4740,0.262,0.080,2644,727,2158,2210,2107,0,0,0,0,0,0,14.01,14.18,14.14
$GC,5594,0.19,290.8,2645,727,2210,2107,330.7,10.9,468,5599,0.00,2.40,0.00,0.000,1158,0.000,0.078,2644,2102,2158,2209,2107,0,0,0,0,0,0,14.34,14.21,14.38
$GC,5924,0.19,290.8,2645,2104,2210,2105,293.7,11.0,484,5929,0.00,2.40,0.00,0.000,516,0.000,0.085,2644,727,2157,2209,2105,0,0,0,0,0,0,14.68,14.25,14.66
$GC,5969,0.24,290.8,2644,728,2208,2106,288.9,10.2,493,5974,0.00,2.38,0.00,0.000,1158,0.000,0.078,2644,2100,2156,2207,2105,0,0,0,0,0,0,14.22,14.12,14.26
$GC,6284,0.24,297.4,2644,2102,2207,2105,257.3,9.7,506,6289,0.00,2.40,0.00,0.000,548,0.000,0.084,2644,717,2156,2207,2105,0,0,0,0,0,0,14.67,14.26,14.69
$GC,6340,0.33,326.5,2645,717,2207,2104,252.3,8.7,517,6406,0.12,2.42,56.15,1.332,11430,0.129,0.079,2696,2106,2028,2073,1984,0,0,0,0,0,0,14.28,14.22,13.25
$GC,6705,0.27,326.5,2696,2107,2066,1971,209.4,11.4,540,6706,0.00,0.00,0.00,0.000,134,0.000,0.000,2696,2106,2018,2065,1971,0,0,0,0,0,0,14.61,14.60,14.61
$GC,7005,0.23,326.5,2696,2107,2064,1970,176.9,10.5,550,7011,0.15,2.45,0.00,0.000,4740,0.226,0.083,2660,721,2017,2064,1970,0,0,0,0,0,0,14.04,14.19,14.17
$GC,7093,0.35,372.6,2660,720,2062,1970,170.0,7.9,567,7181,0.10,2.40,81.90,1.265,11430,0.154,0.080,2701,2101,1848,1881,1815,0,0,0,0,0,0,14.20,14.17,13.21
$GC,7486,0.35,375.6,2702,2101,1861,1802,130.0,9.9,596,7491,0.00,2.42,0.00,0.000,548,0.000,0.085,2703,721,1830,1860,1801,0,0,0,0,0,0,14.55,14.15,14.57
$GC,7551,0.43,391.6,2704,721,1859,1800,123.8,9.3,609,7583,0.00,2.42,27.48,1.320,9382,0.000,0.077,2703,2105,1767,1793,1742,0,0,0,0,0,0,14.31,14.18,13.30
$GC,7889,0.50,426.3,2704,2105,1781,1725,93.7,8.4,634,7911,0.12,2.50,17.02,0.471,10916,0.130,0.086,2768,728,1627,1653,1601,0,0,0,0,0,0,14.30,14.08,13.57
$GC,7951,0.47,426.3,2768,729,1659,1602,86.5,12.2,646,7957,0.15,2.40,0.00,0.000,5254,0.247,0.077,2737,2101,1631,1660,1602,0,0,0,0,0,0,13.99,14.19,14.23
$GC,8262,0.54,496.5,2737,2102,1662,1602,59.1,6.8,678,8304,0.00,0.00,37.75,0.376,8870,0.000,0.000,2737,2101,1340,1387,1294,0,0,0,0,0,0,14.57,14.09,13.68
$GC,8602,0.72,607.9,2737,2101,1389,1296,39.8,4.9,713,8667,0.22,2.45,58.95,0.315,10916,0.093,0.085,2835,721,884,953,816,0,0,0,0,0,0,14.17,14.13,13.74
$GC,8705,0.77,607.9,2836,722,954,818,30.1,10.8,732,8710,0.00,2.45,0.00,0.000,1158,0.000,0.079,2835,2105,885,953,818,0,0,0,0,0,0,14.16,14.01,14.21
$GC,9008,0.86,659.7,2835,2107,954,819,3.6,7.6,763,9031,0.00,0.00,21.20,0.216,8866,0.000,0.000,2835,2106,727,789,665,0,0,0,0,0,0,14.58,28.83,14.59
$STATE,9031,end climb,SURFACE_DEPTH_REACHED
$STATE,9031,begin surface coast
$FINISH,0.1,1.021396
$STATE,9045,end surface coast,CONTROL_FINISHED_OK
$STATE,9045,begin surface
$SM_CCo,9066,31.50,0.211,0,0,499,703.28
$SM_GC,1.42,7.95,0.17,31.50,0.062,0.122,0.211,206,2217,499,-7.36,-0.54,703.28,0,0,0,0,0,0,14.33,14.28,13.96
$RAFOS_CLK,413
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7455.74,-15201.00,050917,001121
$TT8_MAMPS,0.038948,0.929509
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15965487104.000000
$PM_FREEKB_00,50569280
$24V_AH,12.28,162.661
$10V_AH,12.13,0.000
$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,26.025,84.100,952.525,31.500,0.000,0.000,0.000,761.850,4.250,0.000,13.601,0.000,6672.344,814.808,2494.632,338.262,0.000,2479.173,0.000,1102.166,974.000,0.539,0.000
$DEVICE_MAMPS,453.645,2135.115,1536.120,211.140,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9036.000,9051.000,9019.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.883,20.000,9.877,0.000
$MEM,323460
$DATA_FILE_SIZE,26754,769
$CAP_FILE_SIZE,110260,0
$CFSIZE,2097872896,2012905472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.7
$CURRENT,0.043,267.85,1
$GPS,050917,025152,7456.733,-15209.950,41,0.8,42,20.2,0.0,0.0,11,8.5