version: 66.13
glider: 196
mission: 14
dive: 262
start: 9 6 117 8 44 50
data:
$ID,196
$MISSION,14
$DIVE,262
$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,39
$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,733.0
$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
$GPS1,060917,083832,7509.4531,-15143.6494,33,0.7,34,20.4,0.6,302.0,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.9
$GPS2,060917,084420,7509.4736,-15143.6484,8,0.8,10,20.4,0.0,233.3,10,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,5.0,64081,-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,-145.9,201,2220,486,496,0.0,0.0,0,143,0.00,0.00,-91.20,0.000,16386,0.000,0.000,200,2219,2162,2097,2227,0,0,0,0,0,0,14.40,28.83,14.39
$GC,146,-0.57,-145.9,201,2220,2101,2228,3.7,-5.0,9,200,12.88,2.80,-35.42,0.000,18724,0.457,2.137,2376,3587,3966,3944,3988,0,0,0,0,0,0,13.57,12.54,14.07
$GC,325,-0.72,-145.9,2377,3584,3952,3981,40.9,-13.1,44,332,0.00,2.30,0.00,0.000,1158,0.000,0.057,2376,2237,3965,3951,3980,0,0,0,0,0,0,14.20,14.14,14.20
$GC,630,-0.83,-145.9,2376,2236,3954,3981,82.1,-10.9,75,635,0.17,2.53,0.00,0.000,4740,0.117,0.082,2300,796,3966,3953,3980,0,0,0,0,0,0,14.23,14.04,14.28
$GC,660,-0.83,-145.9,2299,793,3954,3981,86.6,-15.7,81,666,0.00,2.47,0.00,0.000,1030,0.000,0.086,2294,2191,3967,3953,3981,0,0,0,0,0,0,14.20,14.06,14.23
$GC,991,-0.86,-145.9,2295,2192,3954,3981,137.3,-14.3,99,996,0.00,2.53,0.00,0.000,388,0.000,0.090,2293,3620,3967,3953,3981,0,0,0,0,0,0,14.66,14.04,14.64
$GC,1086,-0.98,-145.9,2293,3620,3954,3981,149.1,-11.6,118,1091,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2203,3967,3953,3981,0,0,0,0,0,0,14.34,14.22,14.37
$GC,1411,-1.05,-145.9,2293,2201,3954,3979,190.0,-12.3,133,1416,0.12,2.50,0.00,0.000,4484,0.133,0.086,2236,3615,3967,3953,3981,0,0,0,0,0,0,14.33,14.18,14.37
$GC,1467,-1.08,-145.9,2236,3615,3953,3982,198.5,-15.2,144,1474,0.00,2.40,0.00,0.000,1158,0.000,0.058,2235,2198,3967,3953,3981,0,0,0,0,0,0,14.32,14.17,14.35
$GC,1772,-1.06,-145.9,2236,2198,3953,3982,247.5,-15.4,155,1777,0.00,2.50,0.00,0.000,388,0.000,0.087,2230,3610,3967,3953,3981,0,0,0,0,0,0,14.66,14.12,14.68
$GC,1852,-1.12,-145.9,2230,3613,3954,3980,258.9,-12.6,171,1857,0.00,2.42,0.00,0.000,1158,0.000,0.057,2229,2191,3970,3959,3981,0,0,0,0,0,0,13.98,13.33,14.14
$GC,2162,-1.12,-145.9,2230,2191,3954,3981,301.3,-13.2,183,2167,0.00,2.53,0.00,0.000,260,0.000,0.088,2222,3614,3966,3952,3981,0,0,0,0,0,0,14.66,14.17,14.71
$GC,2289,-1.18,-145.9,2224,3615,3954,3981,316.9,-12.3,208,2294,0.00,2.40,0.00,0.000,1158,0.000,0.056,2223,2196,3967,3953,3981,0,0,0,0,0,0,14.36,14.24,14.40
$GC,2614,-1.18,-145.9,2224,2195,3954,3981,358.1,-12.5,223,2619,0.00,2.50,0.00,0.000,260,0.000,0.089,2222,3613,3963,3946,3981,0,0,0,0,0,0,14.65,14.09,14.66
$GC,2685,-1.27,-145.9,2223,3614,3952,3982,366.3,-10.9,237,2690,0.17,2.40,0.00,0.000,5254,0.116,0.057,2156,2199,3966,3952,3981,0,0,0,0,0,0,14.28,14.24,14.38
$GC,3005,-1.14,-145.9,2156,2198,3953,3981,424.5,-18.5,251,3010,0.22,2.50,0.00,0.000,2436,0.314,0.083,2194,3616,3966,3951,3981,0,0,0,0,0,0,13.62,14.04,13.87
$GC,3155,-1.16,-145.9,2195,3618,3951,3982,445.3,-13.0,281,3160,0.00,2.40,0.00,0.000,1158,0.000,0.056,2194,2199,3966,3951,3981,0,0,0,0,0,0,14.28,14.16,14.33
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$GC,3429,-0.13,0.0,2195,2063,3952,3981,483.6,-14.3,295,3651,1.35,0.08,218.68,1.450,10246,0.243,0.180,2529,2110,3365,3386,3345,0,0,0,0,0,0,13.84,13.44,12.63
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3659,0.57,145.9,2529,2110,3380,3336,495.4,0.0,302,3878,0.75,2.65,207.02,1.395,10500,0.062,0.074,2783,3511,2763,2806,2721,0,0,0,0,0,0,13.63,13.12,12.27
$GC,4103,0.09,145.9,2782,3512,2787,2720,472.7,16.1,384,4109,0.88,2.42,0.00,0.000,5254,0.348,0.057,2616,2128,2750,2782,2719,0,0,0,0,0,0,13.21,13.82,13.21
$GC,4414,0.02,192.1,2617,2127,2787,2717,446.8,7.9,396,4486,0.00,2.47,65.18,1.412,8612,0.000,0.082,2616,3509,2577,2628,2527,0,0,0,0,0,0,14.52,13.94,13.09
$GC,4656,-0.07,192.1,2616,3510,2616,2523,422.8,10.5,444,4662,0.28,2.42,0.00,0.000,5254,0.249,0.060,2560,2095,2568,2615,2522,0,0,0,0,0,0,13.84,14.06,14.13
$GC,4987,0.05,281.1,2561,2096,2615,2521,402.4,5.9,460,5135,0.12,2.60,135.95,1.349,10916,0.125,0.087,2615,692,2209,2257,2161,0,0,0,0,0,0,14.33,13.72,12.97
$GC,5185,0.15,299.2,2616,693,2257,2159,384.4,9.2,499,5216,0.00,2.50,24.73,1.434,9382,0.000,0.077,2615,2095,2142,2194,2091,0,0,0,0,0,0,13.94,13.83,12.94
$GC,5533,0.19,300.8,2616,2095,2188,2076,350.3,9.9,518,5534,0.00,0.00,0.00,0.000,166,0.000,0.000,2615,2095,2131,2186,2076,0,0,0,0,0,0,14.56,14.55,14.55
$GC,5832,0.24,311.0,2617,2095,2185,2075,321.3,9.5,528,5852,0.12,2.45,13.77,1.561,10916,0.128,0.087,2686,696,2094,2146,2043,0,0,0,0,0,0,14.31,14.23,13.27
$GC,5909,0.20,311.0,2685,692,2141,2042,311.3,13.8,543,5914,0.15,2.47,0.00,0.000,5254,0.231,0.077,2651,2106,2091,2140,2042,0,0,0,0,0,0,14.03,14.21,14.27
$GC,6224,0.20,311.0,2650,2106,2141,2038,275.0,11.1,556,6230,0.00,2.47,0.00,0.000,516,0.000,0.086,2652,695,2089,2140,2038,0,0,0,0,0,0,14.64,14.21,14.66
$GC,6265,0.24,311.0,2653,694,2141,2038,270.6,10.4,564,6271,0.00,2.45,0.00,0.000,1158,0.000,0.077,2652,2105,2088,2139,2038,0,0,0,0,0,0,14.33,14.20,14.35
$GC,6586,0.24,316.5,2653,2106,2140,2038,237.8,9.7,578,6596,0.00,2.45,4.00,1.621,8740,0.000,0.086,2657,694,2074,2125,2023,0,0,0,0,0,0,14.66,14.16,13.01
$GC,6667,0.33,348.1,2655,695,2127,2032,230.6,8.5,594,6731,0.00,2.45,58.67,1.356,9382,0.000,0.079,2655,2102,1942,1989,1895,0,0,0,0,0,0,14.38,14.26,13.20
$GC,7038,0.39,376.8,2655,2103,1981,1886,197.6,8.7,618,7087,0.12,0.00,46.67,1.333,10662,0.126,0.000,2715,2108,1829,1862,1797,0,0,0,0,0,0,14.30,14.04,13.25
$GC,7367,0.36,376.8,2718,2102,1853,1785,157.5,11.7,634,7372,0.00,2.47,0.00,0.000,644,0.000,0.087,2716,676,1818,1851,1785,0,0,0,0,0,0,14.57,14.17,14.59
$GC,7467,0.39,376.8,2716,677,1848,1785,146.7,10.3,654,7472,0.00,2.47,0.00,0.000,1158,0.000,0.080,2716,2099,1816,1847,1785,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7787,0.39,376.8,2716,2100,1848,1783,112.1,10.5,668,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2099,1815,1847,1783,0,0,0,0,0,0,14.64,14.66,14.66
$GC,8087,0.41,407.4,2716,2100,1848,1782,84.2,8.6,688,8108,0.00,2.47,15.57,0.455,8740,0.000,0.085,2716,695,1702,1730,1675,0,0,0,0,0,0,14.62,13.87,13.56
$GC,8191,0.51,457.0,2716,695,1732,1677,75.8,7.7,708,8224,0.00,2.47,27.83,0.428,9382,0.000,0.078,2716,2106,1501,1537,1465,0,0,0,0,0,0,14.21,14.09,13.66
$GC,8519,0.69,554.3,2717,2106,1538,1457,52.7,5.5,744,8577,0.25,2.50,52.65,0.356,10916,0.088,0.086,2824,695,1107,1176,1038,0,0,0,0,0,0,14.27,13.90,13.64
$GC,8672,0.73,555.7,2819,699,1170,1036,37.7,9.9,774,8677,0.00,2.47,0.00,0.000,1190,0.000,0.077,2819,2105,1101,1169,1034,0,0,0,0,0,0,14.27,14.14,14.31
$GC,8982,0.81,625.8,2819,2105,1170,1024,11.8,6.8,806,9026,0.00,2.58,38.78,0.239,8868,0.000,0.086,2818,694,810,879,742,0,0,0,0,0,0,14.57,14.08,13.81
$GC,9056,1.00,696.1,2819,695,880,742,6.9,6.8,820,9104,0.25,2.47,40.30,0.217,11430,0.089,0.077,2908,2107,523,549,498,0,0,0,0,0,0,14.16,14.01,13.88
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.1,1.021338
$STATE,9117,end surface coast,CONTROL_FINISHED_OK
$STATE,9117,begin surface
$SM_CCo,9185,4.22,0.212,0,0,498,702.78
$SM_GC,1.81,8.35,0.17,4.22,0.076,0.136,0.212,198,2210,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.29,14.23,13.95
$RAFOS_CLK,416
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7509.81,-15152.19,060917,055957
$TT8_MAMPS,0.040446,0.916027
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,0.000000
$PM_FREEKB_00,50223744
$24V_AH,12.27,168.254
$10V_AH,12.21,0.000
$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,26.200,89.725,949.800,4.225,0.000,0.000,0.000,154.000,3.500,0.000,11.590,0.000,6478.638,937.364,1894.103,235.643,0.000,1877.955,0.000,1189.690,0.000,0.540,0.000
$DEVICE_MAMPS,456.705,2137.410,1621.035,211.905,0.000,0.000,0.000,130.815,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9109.000,9165.000,9135.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.618,20.000,9.854,0.000
$MEM,323680
$DATA_FILE_SIZE,30034,831
$CAP_FILE_SIZE,102212,0
$CFSIZE,2097872896,2010120192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.2
$CURRENT,0.071,313.99,1
$GPS,060917,111902,7510.704,-15141.636,14,0.7,19,20.4,0.0,33.0,12,9.3