version: 66.13
glider: 196
mission: 14
dive: 258
start: 9 5 117 22 4 1
data:
$ID,196
$MISSION,14
$DIVE,258
$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,28
$R_STBD_OVSHOOT,21
$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,724.0
$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
$GPS1,050917,215422,7504.5210,-15153.6748,35,1.9,37,20.3,0.7,332.7,4,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.3
$GPS2,050917,220326,7504.5737,-15153.7207,5,0.8,37,20.3,0.5,101.9,11,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.2,74021,-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,-145.9,190,2194,517,485,0.0,0.0,0,143,0.00,0.00,-91.32,0.000,16386,0.000,0.000,189,2193,2157,2089,2226,0,0,0,0,0,0,14.53,28.83,14.54
$GC,146,-0.57,-145.9,190,2193,2094,2227,3.7,-4.9,9,203,12.98,2.90,-35.78,0.000,18724,0.457,2.139,2378,3609,3964,3949,3979,0,0,0,0,0,0,13.53,12.60,14.06
$GC,349,-0.73,-145.9,2378,3610,3954,3979,42.9,-12.9,49,353,0.00,2.40,0.00,0.000,1158,0.000,0.056,2377,2195,3965,3952,3979,0,0,0,0,0,0,14.26,14.14,14.28
$GC,659,-0.84,-145.9,2378,2193,3955,3979,84.3,-10.5,81,660,0.22,0.00,0.00,0.000,4230,0.106,0.000,2289,2193,3966,3954,3979,0,0,0,0,0,0,14.19,14.30,14.28
$GC,969,-0.84,-145.9,2290,2193,3955,3975,133.3,-14.9,98,973,0.00,2.50,0.00,0.000,260,0.000,0.088,2277,3608,3963,3949,3978,0,0,0,0,0,0,14.64,14.10,14.66
$GC,1069,-0.94,-145.9,2278,3609,3955,3980,146.8,-12.8,118,1073,0.00,2.40,0.00,0.000,1158,0.000,0.059,2280,2190,3966,3954,3979,0,0,0,0,0,0,14.35,14.23,14.39
$GC,1389,-0.97,-145.9,2280,2189,3956,3979,191.2,-13.4,132,1394,0.00,2.50,0.00,0.000,388,0.000,0.087,2272,3609,3966,3954,3978,0,0,0,0,0,0,14.66,14.12,14.68
$GC,1430,-1.08,-145.9,2272,3610,3955,3979,196.5,-12.3,140,1436,0.12,2.40,0.00,0.000,5254,0.128,0.058,2224,2192,3966,3954,3979,0,0,0,0,0,0,14.09,14.05,14.19
$GC,1751,-1.03,-145.9,2224,2191,3955,3979,252.2,-16.8,154,1756,0.00,2.53,0.00,0.000,388,0.000,0.090,2222,3609,3967,3954,3980,0,0,0,0,0,0,14.66,14.12,14.69
$GC,1846,-1.06,-145.9,2223,3611,3955,3980,266.4,-13.2,173,1851,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2188,3966,3954,3979,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2171,-1.06,-145.9,2222,2188,3958,3980,313.1,-13.9,188,2177,0.00,2.55,0.00,0.000,260,0.000,0.090,2222,3613,3966,3954,3979,0,0,0,0,0,0,14.67,14.11,14.72
$GC,2289,-1.12,-145.9,2223,3615,3955,3978,327.4,-11.7,211,2295,0.00,2.40,0.00,0.000,1158,0.000,0.055,2222,2195,3966,3954,3979,0,0,0,0,0,0,14.28,14.16,14.32
$GC,2592,-1.12,-145.9,2222,2196,3955,3979,366.4,-12.6,222,2597,0.00,2.53,0.00,0.000,260,0.000,0.090,2222,3611,3966,3954,3978,0,0,0,0,0,0,14.66,14.15,14.69
$GC,2687,-1.20,-145.9,2223,3613,3955,3977,377.5,-11.0,241,2692,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2201,3966,3954,3978,0,0,0,0,0,0,14.36,14.23,14.40
$GC,3013,-1.22,-145.9,2222,2200,3955,3978,416.6,-11.8,256,3018,0.12,2.50,0.00,0.000,4484,0.158,0.085,2158,3614,3965,3954,3977,0,0,0,0,0,0,14.23,14.16,14.28
$GC,3079,-1.14,-145.9,2158,3612,3954,3978,427.1,-16.7,269,3084,0.22,2.40,0.00,0.000,3206,0.272,0.057,2203,2199,3965,3954,3977,0,0,0,0,0,0,13.82,14.22,14.19
$GC,3404,-1.14,-145.9,2205,2198,3954,3978,470.6,-13.1,284,3410,0.00,2.50,0.00,0.000,260,0.000,0.088,2197,3614,3965,3954,3977,0,0,0,0,0,0,14.67,14.15,14.69
$STATE,3478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3478,begin apogee
$GC,3486,-0.13,0.0,2197,2100,3954,3978,480.6,-12.8,299,3739,1.33,0.00,249.38,1.388,10246,0.241,0.000,2530,2099,3366,3391,3341,0,0,0,0,0,0,13.85,13.44,12.64
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3742,begin climb
$GC,3745,0.57,145.9,2531,2099,3384,3333,493.8,0.0,307,3969,0.75,2.70,215.07,1.362,10756,0.062,0.078,2794,697,2759,2803,2716,0,0,0,0,0,0,13.58,12.90,12.28
$GC,4057,0.17,145.9,2793,696,2795,2710,493.9,14.2,326,4062,0.75,2.60,0.00,0.000,5254,0.323,0.074,2642,2101,2751,2794,2709,0,0,0,0,0,0,13.12,13.45,13.45
$GC,4388,0.02,166.7,2642,2102,2795,2703,463.0,9.0,342,4419,0.22,0.00,25.55,1.489,12454,0.268,0.000,2592,2102,2680,2729,2632,0,0,0,0,0,0,13.81,13.74,13.13
$GC,4718,0.03,226.9,2591,2102,2724,2620,438.8,7.2,353,4819,0.00,2.60,92.40,1.373,8868,0.000,0.087,2591,690,2434,2494,2375,0,0,0,0,0,0,14.57,13.85,13.07
$GC,4859,0.14,272.7,2592,691,2488,2365,428.0,7.9,381,4935,0.12,2.53,70.65,1.350,11430,0.132,0.080,2648,2108,2253,2312,2194,0,0,0,0,0,0,14.00,13.92,12.90
$GC,5260,0.09,272.7,2648,2110,2294,2170,378.9,12.5,411,5265,0.12,2.50,0.00,0.000,4740,0.249,0.081,2624,689,2231,2294,2169,0,0,0,0,0,0,14.01,14.14,14.14
$GC,5310,0.15,272.7,2625,688,2291,2170,373.4,10.3,421,5315,0.00,2.45,0.00,0.000,1158,0.000,0.078,2624,2100,2230,2290,2170,0,0,0,0,0,0,14.31,14.18,14.35
$GC,5620,0.15,272.7,2625,2102,2291,2168,340.6,10.4,433,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2101,2228,2290,2167,0,0,0,0,0,0,14.64,14.65,14.65
$GC,5920,0.15,274.0,2625,2101,2291,2167,310.5,9.9,443,5925,0.00,2.47,0.00,0.000,548,0.000,0.085,2630,691,2228,2290,2167,0,0,0,0,0,0,14.65,14.23,14.67
$GC,5991,0.22,301.2,2630,692,2289,2168,304.0,8.7,457,6036,0.00,2.45,40.53,1.355,9382,0.000,0.079,2630,2100,2138,2195,2082,0,0,0,0,0,0,14.31,14.21,13.27
$GC,6343,0.26,312.1,2630,2101,2181,2067,269.7,9.5,477,6363,0.10,2.45,13.75,1.509,10916,0.148,0.083,2685,691,2087,2141,2034,0,0,0,0,0,0,14.32,13.94,13.29
$GC,6408,0.23,312.1,2686,691,2134,2032,262.1,11.6,490,6413,0.00,2.47,0.00,0.000,1158,0.000,0.079,2685,2109,2082,2132,2032,0,0,0,0,0,0,14.33,14.20,14.38
$GC,6733,0.17,312.1,2685,2109,2133,2027,224.3,11.2,505,6735,0.20,0.00,0.00,0.000,4230,0.236,0.000,2640,2109,2080,2132,2028,0,0,0,0,0,0,13.97,14.37,14.30
$GC,7035,0.26,364.4,2640,2109,2131,2026,200.7,7.6,515,7138,0.00,2.60,95.50,1.268,8868,0.000,0.086,2644,691,1875,1913,1837,0,0,0,0,0,0,14.50,13.87,13.18
$GC,7204,0.44,416.4,2644,691,1899,1834,187.7,7.6,549,7306,0.25,2.53,94.07,1.209,11430,0.091,0.080,2741,2107,1665,1697,1634,0,0,0,0,0,0,14.02,13.94,12.97
$GC,7603,0.39,416.4,2742,2109,1691,1611,133.5,13.2,579,7608,0.12,2.55,0.00,0.000,4740,0.241,0.084,2713,685,1650,1690,1611,0,0,0,0,0,0,13.90,13.94,14.03
$GC,7696,0.46,419.5,2713,685,1686,1610,124.1,9.9,597,7700,0.00,2.50,0.00,0.000,1190,0.000,0.078,2713,2103,1647,1684,1611,0,0,0,0,0,0,14.19,14.07,14.23
$GC,8006,0.52,444.4,2713,2105,1686,1608,93.8,8.9,615,8022,0.10,0.00,13.48,0.461,10918,0.148,0.000,2762,2105,1552,1590,1515,0,0,0,0,0,0,14.09,14.04,13.55
$GC,8327,0.51,463.8,2762,2105,1596,1523,58.4,9.1,649,8343,0.00,2.53,11.80,0.363,8868,0.000,0.083,2767,688,1473,1513,1433,0,0,0,0,0,0,14.42,13.35,13.12
$GC,8539,0.62,559.3,2768,689,1518,1442,43.8,5.6,691,8601,0.00,2.50,53.53,0.326,9382,0.000,0.080,2768,2101,1086,1154,1018,0,0,0,0,0,0,14.04,13.93,13.59
$GC,8899,0.82,651.3,2764,2102,1154,1022,20.3,5.8,733,8956,0.25,2.50,51.65,0.260,10660,0.090,0.080,2863,3509,706,767,645,0,0,0,0,0,0,14.11,13.81,13.65
$GC,8976,0.80,651.3,2866,3513,769,649,13.0,11.5,747,8982,0.15,2.47,0.00,0.000,5254,0.265,0.066,2850,2093,709,768,650,0,0,0,0,0,0,13.76,13.98,13.91
$STATE,9098,end climb,SURFACE_DEPTH_REACHED
$STATE,9098,begin surface coast
$FINISH,0.7,1.021327
$STATE,9121,end surface coast,CONTROL_FINISHED_OK
$STATE,9121,begin surface
$SM_CCo,9142,30.02,0.209,0,0,498,703.28
$SM_GC,1.40,8.30,0.20,30.02,0.083,0.098,0.209,201,2232,498,-7.38,-0.54,703.28,0,0,0,0,0,0,14.15,14.19,13.87
$RAFOS_CLK,107
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7506.14,-15200.08,050917,191652
$TT8_MAMPS,0.094374,0.8988
$HUMID,43.66
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,18
$CP_FREE,15962046464.000000
$PM_FREEKB_00,50330816
$24V_AH,12.28,166.444
$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,26.450,85.525,1027.350,30.025,0.000,0.000,0.000,285.500,4.500,0.000,38.793,0.000,6460.284,904.852,2096.000,269.865,0.000,2081.203,0.000,1092.105,2149.000,0.539,0.000
$DEVICE_MAMPS,456.705,2138.940,1508.580,208.845,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8923.000,9115.000,9093.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.736,20.000,9.874,0.000
$MEM,323652
$DATA_FILE_SIZE,26705,762
$CAP_FILE_SIZE,100409,0
$CFSIZE,2097872896,2010906624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.5
$CURRENT,0.072,315.77,1
$GPS,060917,003755,7505.799,-15151.192,12,0.7,16,20.3,0.0,346.7,11,9.3