version: 66.13
glider: 196
mission: 14
dive: 252
start: 9 5 117 5 46 28
data:
$ID,196
$MISSION,14
$DIVE,252
$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,30
$R_STBD_OVSHOOT,49
$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,707.0
$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
$GPS1,050917,053725,7457.7427,-15207.2715,16,0.7,38,20.2,0.7,35.4,11,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.8
$GPS2,050917,054552,7457.7720,-15207.2285,9,0.7,10,20.2,0.0,0.0,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,3.6,87844,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,193,2232,499,500,0.0,0.0,0,144,0.00,0.00,-91.07,0.000,16386,0.000,0.000,192,2232,2142,2075,2210,0,0,0,0,0,0,14.50,28.83,14.53
$GC,147,-0.57,-145.9,192,2233,2077,2211,3.4,-4.3,9,204,12.93,2.75,-36.90,0.000,18724,0.455,2.137,2376,3576,3962,3946,3978,0,0,0,0,0,0,13.57,12.58,14.04
$GC,360,-0.74,-145.9,2377,3578,3953,3980,43.7,-12.3,51,365,0.12,2.35,0.00,0.000,5254,0.132,0.056,2329,2199,3966,3952,3980,0,0,0,0,0,0,14.20,14.17,14.31
$GC,670,-0.78,-145.9,2330,2198,3955,3979,96.0,-13.9,83,671,0.00,0.00,0.00,0.000,134,0.000,0.000,2329,2198,3966,3953,3980,0,0,0,0,0,0,14.59,14.60,14.60
$GC,970,-0.86,-145.9,2330,2198,3955,3980,132.7,-11.4,95,975,0.00,2.45,0.00,0.000,388,0.000,0.087,2323,3586,3966,3953,3980,0,0,0,0,0,0,14.64,14.16,14.65
$GC,1015,-1.03,-145.9,2324,3587,3954,3981,137.4,-9.8,104,1022,0.22,2.35,0.00,0.000,5286,0.096,0.057,2239,2190,3967,3954,3980,0,0,0,0,0,0,14.32,14.23,14.40
$GC,1332,-0.97,-145.9,2239,2190,3954,3981,194.6,-18.0,117,1337,0.00,2.45,0.00,0.000,388,0.000,0.087,2233,3582,3967,3954,3980,0,0,0,0,0,0,14.66,14.17,14.68
$GC,1469,-1.01,-145.9,2234,3583,3955,3980,216.2,-14.7,144,1474,0.00,2.33,0.00,0.000,1158,0.000,0.057,2233,2202,3966,3954,3979,0,0,0,0,0,0,14.36,14.24,14.40
$GC,1785,-0.99,-145.9,2234,2201,3955,3979,265.7,-14.9,157,1790,0.00,2.42,0.00,0.000,388,0.000,0.088,2224,3581,3966,3954,3979,0,0,0,0,0,0,14.67,14.17,14.67
$GC,1805,-0.96,-145.9,2225,3583,3954,3981,268.6,-14.7,161,1810,0.17,2.33,0.00,0.000,3206,0.252,0.056,2261,2199,3966,3953,3980,0,0,0,0,0,0,13.90,14.26,14.14
$GC,2115,-1.02,-145.9,2261,2198,3955,3980,303.0,-10.4,173,2120,0.00,2.45,0.00,0.000,388,0.000,0.087,2254,3587,3967,3954,3980,0,0,0,0,0,0,14.64,14.16,14.68
$GC,2176,-1.16,-145.9,2255,3588,3954,3981,309.0,-9.3,185,2181,0.15,2.35,0.00,0.000,5286,0.127,0.057,2201,2192,3967,3954,3980,0,0,0,0,0,0,14.26,14.23,14.37
$GC,2506,-1.10,-145.9,2196,2191,3954,3981,358.9,-15.3,201,2511,0.00,2.45,0.00,0.000,388,0.000,0.086,2186,3587,3966,3953,3980,0,0,0,0,0,0,14.65,14.18,14.67
$GC,2616,-1.07,-145.9,2186,3589,3953,3981,375.6,-14.7,223,2621,0.20,2.35,0.00,0.000,3206,0.247,0.056,2228,2196,3966,3952,3980,0,0,0,0,0,0,13.86,14.17,14.15
$GC,2927,-1.10,-145.9,2229,2195,3954,3979,412.1,-11.5,235,2932,0.00,2.45,0.00,0.000,388,0.000,0.086,2222,3588,3966,3953,3980,0,0,0,0,0,0,14.66,14.16,14.68
$GC,2992,-1.19,-145.9,2223,3589,3954,3981,419.5,-10.7,248,2998,0.00,2.38,0.00,0.000,1158,0.000,0.055,2222,2193,3966,3953,3980,0,0,0,0,0,0,14.21,14.09,14.27
$GC,3318,-1.21,-145.9,2222,2193,3954,3980,457.6,-11.6,263,3323,0.00,2.45,0.00,0.000,388,0.000,0.088,2222,3581,3966,3953,3980,0,0,0,0,0,0,14.66,14.14,14.66
$GC,3393,-1.30,-145.9,2223,3582,3954,3979,465.9,-10.8,278,3398,0.20,2.35,0.00,0.000,5254,0.109,0.055,2149,2192,3965,3952,3979,0,0,0,0,0,0,14.28,14.23,14.38
$STATE,3496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3496,begin apogee
$GC,3502,-0.13,0.0,2150,2060,3953,3980,484.2,-18.0,284,3734,1.60,0.00,227.80,1.439,10246,0.282,0.000,2525,2060,3365,3383,3347,0,0,0,0,0,0,13.61,13.43,12.62
$STATE,3737,end apogee,CONTROL_FINISHED_OK
$STATE,3737,begin climb
$GC,3740,0.57,145.9,2527,2059,3375,3336,496.0,0.0,291,3956,0.75,2.72,211.62,1.385,11012,0.061,0.073,2779,3478,2765,2808,2723,0,0,0,0,0,0,13.59,12.89,12.28
$GC,3965,0.14,173.0,2778,3478,2792,2718,506.5,8.7,342,4010,0.80,2.45,36.92,1.444,13478,0.347,0.054,2633,2136,2656,2708,2605,0,0,0,0,0,0,12.90,13.21,12.31
$GC,4310,0.01,173.0,2634,2136,2698,2582,471.6,10.2,361,4315,0.17,2.40,0.00,0.000,4484,0.277,0.076,2593,3483,2640,2696,2584,0,0,0,0,0,0,13.64,13.88,13.83
$GC,4541,-0.03,193.3,2593,3484,2693,2584,450.2,9.1,407,4572,0.00,2.35,25.98,1.498,9382,0.000,0.059,2598,2096,2577,2636,2519,0,0,0,0,0,0,14.30,14.19,13.16
$GC,4882,-0.01,224.6,2598,2096,2625,2501,421.2,8.6,425,4937,0.00,2.53,46.65,1.427,8484,0.000,0.080,2594,3498,2442,2498,2387,0,0,0,0,0,0,14.59,14.04,13.20
$GC,5052,-0.01,224.6,2598,3498,2484,2386,404.7,10.1,459,5057,0.00,2.40,0.00,0.000,1030,0.000,0.060,2602,2099,2434,2482,2386,0,0,0,0,0,0,13.61,13.61,13.62
$GC,5362,0.01,247.9,2602,2099,2484,2384,376.6,8.9,471,5403,0.00,2.50,34.15,1.449,8740,0.000,0.088,2602,690,2350,2394,2306,0,0,0,0,0,0,14.62,14.10,13.26
$GC,5498,0.11,280.5,2602,690,2387,2303,364.8,8.5,498,5555,0.00,2.40,52.45,1.380,9382,0.000,0.079,2602,2073,2222,2270,2175,0,0,0,0,0,0,14.23,14.14,13.14
$GC,5875,0.19,306.0,2603,2074,2255,2153,331.8,8.8,523,5915,0.12,0.00,37.80,1.392,10406,0.130,0.000,2662,2073,2120,2168,2072,0,0,0,0,0,0,14.22,14.06,13.25
$GC,6205,0.16,306.0,2663,2073,2155,2052,289.8,12.6,534,6210,0.00,2.45,0.00,0.000,644,0.000,0.089,2668,690,2102,2154,2051,0,0,0,0,0,0,14.59,14.19,14.60
$GC,6270,0.16,306.0,2667,690,2152,2052,282.0,11.4,547,6275,0.15,2.45,0.00,0.000,5126,0.236,0.078,2634,2100,2101,2151,2052,0,0,0,0,0,0,14.05,14.23,14.31
$GC,6596,0.22,327.6,2634,2101,2152,2050,251.5,9.0,562,6636,0.00,2.53,33.08,1.368,8868,0.000,0.088,2634,693,2026,2070,1982,0,0,0,0,0,0,14.66,14.16,13.33
$GC,6672,0.36,362.9,2635,692,2062,1976,245.0,8.4,572,6738,0.20,2.45,60.50,1.297,11430,0.098,0.078,2709,2099,1885,1919,1852,0,0,0,0,0,0,14.21,14.17,13.15
$GC,7049,0.31,362.9,2709,2099,1904,1835,197.3,12.5,597,7053,0.00,2.50,0.00,0.000,644,0.000,0.086,2713,686,1869,1902,1836,0,0,0,0,0,0,14.55,14.16,14.57
$GC,7143,0.31,362.9,2713,686,1900,1836,186.0,11.7,616,7149,0.12,2.47,0.00,0.000,5126,0.228,0.077,2685,2104,1867,1898,1836,0,0,0,0,0,0,14.07,14.20,14.30
$GC,7470,0.34,376.8,2686,2104,1899,1833,154.3,9.4,631,7490,0.00,0.00,18.50,1.407,8358,0.000,0.000,2685,2104,1830,1861,1800,0,0,0,0,0,0,14.62,14.16,13.32
$GC,7770,0.41,403.3,2686,2104,1846,1786,127.5,8.8,641,7820,0.00,2.50,44.97,1.309,8868,0.000,0.086,2685,696,1715,1741,1690,0,0,0,0,0,0,14.62,13.87,13.28
$GC,7887,0.56,445.3,2684,692,1729,1688,117.6,8.1,664,7976,0.22,2.47,74.32,1.223,11430,0.096,0.079,2775,2096,1542,1578,1506,0,0,0,0,0,0,14.07,13.97,13.08
$GC,8283,0.51,445.3,2774,2099,1576,1488,66.1,11.4,709,8288,0.00,2.50,0.00,0.000,644,0.000,0.087,2781,691,1532,1575,1490,0,0,0,0,0,0,14.36,13.95,14.38
$GC,8425,0.55,498.5,2785,691,1572,1489,53.3,7.5,737,8456,0.00,2.50,26.08,0.357,9254,0.000,0.078,2781,2109,1329,1377,1282,0,0,0,0,0,0,14.17,14.05,13.66
$GC,8753,0.64,577.4,2782,2108,1377,1284,29.7,6.4,773,8800,0.00,2.53,42.17,0.294,8868,0.000,0.084,2781,691,1007,1074,941,0,0,0,0,0,0,14.41,13.85,13.65
$GC,8916,0.86,665.1,2781,691,1075,947,20.5,6.0,805,8969,0.25,2.50,47.10,0.266,11430,0.092,0.078,2877,2108,650,702,599,0,0,0,0,0,0,14.07,14.03,13.74
$STATE,9075,end climb,SURFACE_DEPTH_REACHED
$STATE,9075,begin surface coast
$FINISH,0.8,1.021417
$STATE,9083,end surface coast,CONTROL_FINISHED_OK
$STATE,9083,begin surface
$SM_CCo,9103,21.23,0.212,0,0,499,702.78
$SM_GC,1.17,8.30,0.17,21.23,0.073,0.113,0.212,201,2236,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.16,14.17,13.88
$RAFOS_CLK,60
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7459.10,-15204.44,050917,025823
$TT8_MAMPS,0.084637,0.871087
$HUMID,43.85
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15964602368.000000
$PM_FREEKB_00,50509568
$24V_AH,12.28,163.640
$10V_AH,11.75,0.000
$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,26.700,88.575,1020.100,21.225,0.000,0.000,0.000,280.550,3.750,0.000,10.595,0.000,6396.984,893.077,2086.381,274.916,0.000,2080.222,0.000,1185.815,2217.000,0.539,0.000
$DEVICE_MAMPS,455.175,2137.410,1497.870,211.905,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9045.000,9089.000,9055.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.184,20.000,9.864,0.000
$MEM,323608
$DATA_FILE_SIZE,29987,827
$CAP_FILE_SIZE,105834,0
$CFSIZE,2097872896,2012381184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.3
$CURRENT,0.037,286.54,1
$GPS,050917,081957,7458.777,-15205.331,38,0.8,39,20.2,0.6,303.5,9,7.4