version: 66.13
glider: 196
mission: 14
dive: 261
start: 9 6 117 6 3 1
data:
$ID,196
$MISSION,14
$DIVE,261
$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,47
$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,731.0
$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
$GPS1,060917,055657,7508.2432,-15145.8633,37,0.8,38,20.4,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.1
$GPS2,060917,060225,7508.2705,-15145.8535,8,0.8,8,20.4,0.0,270.9,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,3.1,66485,-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,-145.9,196,2230,498,493,0.0,0.0,0,143,0.00,0.00,-91.28,0.000,16386,0.000,0.000,196,2230,2181,2117,2245,0,0,0,0,0,0,14.56,28.83,14.56
$GC,146,-0.57,-145.9,195,2231,2120,2246,4.2,-6.1,9,199,12.95,2.70,-33.55,0.000,18724,0.457,2.137,2376,3581,3964,3947,3982,0,0,0,0,0,0,13.59,12.82,14.08
$GC,350,-0.73,-145.9,2376,3582,3954,3982,45.0,-12.6,49,354,0.00,2.30,0.00,0.000,1158,0.000,0.057,2377,2230,3966,3953,3979,0,0,0,0,0,0,14.22,14.12,14.23
$GC,660,-0.84,-145.9,2376,2228,3955,3982,85.3,-10.5,81,661,0.22,0.00,0.00,0.000,4230,0.103,0.000,2287,2228,3968,3954,3982,0,0,0,0,0,0,14.26,14.38,14.35
$GC,960,-0.84,-145.9,2288,2228,3955,3982,133.0,-15.0,97,964,0.00,2.38,0.00,0.000,260,0.000,0.087,2279,3583,3968,3954,3982,0,0,0,0,0,0,14.63,14.09,14.66
$GC,1035,-0.95,-145.9,2280,3585,3955,3986,143.0,-12.2,112,1040,0.00,2.35,0.00,0.000,1158,0.000,0.058,2279,2195,3968,3955,3982,0,0,0,0,0,0,14.29,14.17,14.33
$GC,1351,-0.99,-145.9,2279,2194,3955,3983,186.6,-13.5,125,1356,0.00,2.45,0.00,0.000,388,0.000,0.086,2271,3585,3965,3954,3977,0,0,0,0,0,0,14.67,14.16,14.66
$GC,1436,-1.11,-145.9,2271,3586,3955,3982,196.9,-11.6,142,1442,0.17,2.38,0.00,0.000,5254,0.109,0.058,2206,2191,3968,3954,3982,0,0,0,0,0,0,14.19,14.09,14.31
$GC,1741,-1.02,-145.9,2205,2189,3956,3982,254.8,-18.4,153,1746,0.17,2.45,0.00,0.000,2436,0.294,0.083,2238,3585,3968,3954,3982,0,0,0,0,0,0,13.84,14.15,14.04
$GC,1838,-1.11,-145.9,2238,3586,3955,3982,267.8,-11.8,172,1844,0.00,2.35,0.00,0.000,1158,0.000,0.056,2238,2197,3968,3954,3982,0,0,0,0,0,0,14.35,14.22,14.38
$GC,2164,-1.11,-145.9,2238,2196,3955,3982,309.4,-12.2,187,2169,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3584,3968,3954,3982,0,0,0,0,0,0,14.66,14.08,14.69
$GC,2269,-1.20,-145.9,2236,3586,3955,3983,321.3,-10.8,208,2275,0.15,2.35,0.00,0.000,5254,0.125,0.057,2175,2196,3968,3954,3982,0,0,0,0,0,0,14.20,14.07,14.26
$GC,2586,-1.11,-145.9,2176,2196,3955,3982,374.9,-17.2,221,2591,0.17,2.45,0.00,0.000,2436,0.299,0.083,2205,3585,3967,3954,3981,0,0,0,0,0,0,13.81,14.12,13.97
$GC,2671,-1.15,-145.9,2206,3587,3954,3981,386.7,-12.3,238,2677,0.00,2.35,0.00,0.000,1158,0.000,0.055,2205,2200,3967,3954,3981,0,0,0,0,0,0,14.29,14.17,14.34
$GC,2976,-1.15,-145.9,2206,2195,3955,3977,427.7,-13.4,249,2981,0.00,2.45,0.00,0.000,260,0.000,0.087,2200,3583,3967,3953,3981,0,0,0,0,0,0,14.68,14.09,14.70
$GC,3056,-1.19,-145.9,2200,3586,3958,3983,438.2,-12.7,265,3061,0.00,2.33,0.00,0.000,1158,0.000,0.055,2199,2195,3968,3954,3982,0,0,0,0,0,0,14.35,14.25,14.38
$STATE,3364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3364,begin apogee
$GC,3370,-0.13,0.0,2200,2064,3955,3982,481.3,-14.0,277,3593,1.30,0.00,218.77,1.446,10246,0.239,0.000,2529,2061,3364,3383,3345,0,0,0,0,0,0,13.85,13.48,12.64
$STATE,3597,end apogee,CONTROL_FINISHED_OK
$STATE,3597,begin climb
$GC,3599,0.57,145.9,2529,2061,3379,3338,493.3,0.0,284,3816,0.75,2.58,211.10,1.395,10756,0.062,0.079,2782,731,2765,2808,2723,0,0,0,0,0,0,13.63,12.89,12.27
$GC,4018,0.18,145.9,2782,732,2796,2717,480.0,14.0,372,4025,0.65,2.42,0.00,0.000,5254,0.318,0.075,2646,2079,2755,2796,2715,0,0,0,0,0,0,13.35,13.70,13.73
$GC,4322,0.02,167.5,2647,2079,2797,2711,451.7,9.0,383,4353,0.25,0.00,27.23,1.499,12454,0.269,0.000,2590,2079,2680,2726,2635,0,0,0,0,0,0,13.84,14.02,13.15
$GC,4652,0.03,227.5,2591,2079,2725,2625,427.9,7.2,394,4744,0.00,0.00,90.60,1.402,8870,0.000,0.000,2591,2079,2437,2495,2380,0,0,0,0,0,0,14.59,13.85,13.03
$GC,5043,0.08,264.1,2591,2079,2486,2364,396.0,8.3,417,5102,0.00,0.00,53.83,1.401,8870,0.000,0.000,2588,2079,2285,2339,2231,0,0,0,0,0,0,14.54,13.75,13.15
$GC,5403,0.16,297.9,2591,2080,2333,2222,365.7,8.4,439,5463,0.12,2.40,51.83,1.397,10916,0.132,0.087,2655,731,2144,2194,2094,0,0,0,0,0,0,14.29,14.02,13.19
$GC,5533,0.16,297.9,2655,732,2187,2094,349.7,12.0,465,5539,0.00,2.40,0.00,0.000,1030,0.000,0.079,2655,2099,2139,2186,2093,0,0,0,0,0,0,14.17,14.06,14.21
$GC,5854,0.13,297.9,2656,2099,2187,2085,309.9,12.1,479,5859,0.12,2.40,0.00,0.000,4740,0.261,0.081,2631,728,2135,2185,2085,0,0,0,0,0,0,13.91,14.14,14.08
$GC,5910,0.20,305.2,2629,729,2185,2086,304.3,9.7,490,5920,0.00,2.40,4.28,1.617,9382,0.000,0.078,2630,2105,2121,2169,2073,0,0,0,0,0,0,14.35,14.19,13.05
$GC,6248,0.24,320.0,2630,2108,2168,2074,271.8,9.3,507,6277,0.00,0.00,27.08,1.436,8358,0.000,0.000,2630,2105,2062,2114,2010,0,0,0,0,0,0,14.64,14.11,13.29
$GC,6576,0.32,361.2,2631,2106,2103,2004,243.1,8.1,518,6647,0.12,0.00,69.00,1.330,10918,0.128,0.000,2692,2105,1893,1930,1856,0,0,0,0,0,0,14.29,13.98,13.19
$GC,6986,0.30,361.2,2692,2105,1915,1845,197.6,11.4,541,6991,0.00,2.42,0.00,0.000,644,0.000,0.086,2698,734,1879,1914,1845,0,0,0,0,0,0,14.46,14.10,14.51
$GC,7157,0.32,361.2,2698,735,1911,1850,177.5,10.2,575,7161,0.00,2.40,0.00,0.000,1158,0.000,0.077,2697,2108,1877,1910,1845,0,0,0,0,0,0,14.26,14.13,14.30
$GC,7467,0.32,361.2,2698,2109,1910,1845,145.1,10.4,587,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2109,1876,1908,1844,0,0,0,0,0,0,14.49,14.50,14.50
$GC,7767,0.33,378.1,2699,2109,1910,1842,116.2,9.2,597,7793,0.00,2.42,20.05,1.395,8740,0.000,0.083,2699,731,1820,1849,1792,0,0,0,0,0,0,14.49,13.90,13.28
$GC,7898,0.43,413.0,2702,731,1842,1791,104.9,8.4,623,7963,0.00,2.42,58.20,1.264,9382,0.000,0.079,2698,2106,1679,1706,1653,0,0,0,0,0,0,14.12,14.00,13.16
$GC,8268,0.55,476.5,2699,2107,1704,1640,75.2,7.1,668,8303,0.20,0.00,32.80,0.428,10918,0.097,0.000,2780,2106,1421,1461,1381,0,0,0,0,0,0,14.16,14.01,13.61
$GC,8609,0.59,529.9,2778,2107,1462,1372,42.9,7.5,703,8645,0.00,2.53,28.00,0.330,8740,0.000,0.086,2782,717,1203,1261,1146,0,0,0,0,0,0,14.42,13.88,13.71
$GC,8771,0.73,596.9,2782,717,1262,1147,31.0,6.9,735,8813,0.12,2.45,36.00,0.291,11430,0.138,0.080,2837,2101,927,992,862,0,0,0,0,0,0,14.09,14.07,13.65
$STATE,9108,end climb,SURFACE_DEPTH_REACHED
$STATE,9108,begin surface coast
$FINISH,0.1,1.011082
$STATE,9128,end surface coast,CONTROL_FINISHED_OK
$STATE,9128,begin surface
$SM_CCo,9194,57.53,0.210,0,0,498,702.78
$SM_GC,1.17,8.12,0.17,57.53,0.071,0.122,0.210,205,2218,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.22,14.19,13.88
$RAFOS_CLK,112
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7507.00,-15148.76,060917,032456
$TT8_MAMPS,0.087633,1.37666
$HUMID,44.48
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,50249152
$24V_AH,12.27,167.826
$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,25.625,63.300,928.750,57.525,0.000,0.000,0.000,151.825,3.000,0.000,9.572,0.000,6615.267,866.443,1895.232,218.566,0.000,1844.769,0.000,1110.811,2215.000,0.539,0.000
$DEVICE_MAMPS,456.705,2137.410,1617.210,209.610,0.000,0.000,0.000,135.405,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9048.000,9167.000,9147.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.615,20.000,9.868,0.000
$MEM,323384
$DATA_FILE_SIZE,26740,775
$CAP_FILE_SIZE,94572,0
$CFSIZE,2097872896,2010349568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.060,314.03,1
$GPS,060917,083832,7509.453,-15143.649,33,0.7,34,20.4,0.6,302.0,11,8.8