version: 66.13
glider: 196
mission: 14
dive: 263
start: 9 6 117 11 25 54
data:
$ID,196
$MISSION,14
$DIVE,263
$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,27
$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,735.0
$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
$GPS1,060917,111902,7510.7036,-15141.6357,14,0.7,19,20.4,0.0,33.0,12,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.0
$GPS2,060917,112520,7510.7310,-15141.7002,5,0.9,38,20.4,0.2,52.2,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,6.6,61609,-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,51,-0.57,-145.9,194,2213,508,489,0.0,0.0,0,143,0.00,0.00,-91.12,0.000,16386,0.000,0.000,193,2214,2158,2090,2227,0,0,0,0,0,0,14.59,28.83,14.60
$GC,146,-0.57,-145.9,194,2213,2095,2227,3.6,-4.6,9,203,12.85,2.85,-35.62,0.000,18724,0.456,2.141,2378,3607,3965,3949,3981,0,0,0,0,0,0,13.63,12.56,14.15
$GC,364,-0.71,-145.9,2377,3607,3954,3981,45.8,-13.6,52,371,0.00,2.38,0.00,0.000,1158,0.000,0.060,2376,2204,3967,3954,3981,0,0,0,0,0,0,14.35,14.23,14.39
$GC,670,-0.82,-145.9,2377,2204,3956,3980,85.3,-11.0,83,675,0.17,2.47,0.00,0.000,4740,0.117,0.083,2299,784,3967,3955,3980,0,0,0,0,0,0,14.33,13.64,14.37
$GC,691,-0.88,-145.9,2299,785,3955,3981,88.3,-13.7,87,696,0.00,2.45,0.00,0.000,1158,0.000,0.086,2298,2195,3967,3954,3981,0,0,0,0,0,0,14.36,14.21,14.42
$GC,1011,-0.91,-145.9,2299,2197,3956,3981,135.6,-13.8,104,1017,0.00,2.47,0.00,0.000,388,0.000,0.090,2294,3610,3968,3955,3981,0,0,0,0,0,0,14.73,14.21,14.74
$GC,1144,-1.04,-145.9,2294,3611,3955,3982,151.3,-11.4,130,1149,0.15,2.38,0.00,0.000,5254,0.115,0.058,2235,2199,3968,3955,3981,0,0,0,0,0,0,14.34,14.28,14.45
$GC,1464,-0.99,-145.9,2235,2198,3956,3982,207.8,-17.3,144,1465,0.00,0.00,0.00,0.000,134,0.000,0.000,2235,2198,3968,3955,3981,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1764,-0.99,-145.9,2236,2198,3956,3981,255.1,-15.0,154,1769,0.00,2.47,0.00,0.000,260,0.000,0.089,2225,3610,3968,3955,3981,0,0,0,0,0,0,14.76,14.22,14.77
$GC,1906,-1.04,-145.9,2225,3609,3956,3981,274.2,-13.0,182,1911,0.00,2.40,0.00,0.000,1158,0.000,0.058,2225,2191,3968,3955,3981,0,0,0,0,0,0,14.43,14.27,14.45
$GC,2216,-1.04,-145.9,2225,2189,3956,3980,316.5,-13.2,194,2220,0.00,2.55,0.00,0.000,260,0.000,0.089,2222,3615,3967,3954,3980,0,0,0,0,0,0,14.55,13.98,14.57
$GC,2291,-1.11,-145.9,2222,3615,3955,3981,325.9,-11.7,209,2296,0.00,2.42,0.00,0.000,1158,0.000,0.056,2222,2197,3967,3955,3980,0,0,0,0,0,0,14.20,14.07,14.24
$GC,2606,-1.11,-145.9,2223,2197,3956,3981,365.5,-12.4,222,2611,0.00,2.55,0.00,0.000,260,0.000,0.090,2222,3615,3967,3954,3980,0,0,0,0,0,0,14.52,13.98,14.54
$GC,2691,-1.20,-145.9,2222,3616,3955,3981,375.4,-11.0,239,2697,0.00,2.42,0.00,0.000,1158,0.000,0.057,2222,2193,3967,3954,3981,0,0,0,0,0,0,14.22,14.09,14.25
$GC,2996,-1.22,-145.9,2223,2192,3953,3981,412.1,-12.0,250,3001,0.12,2.55,0.00,0.000,4484,0.149,0.085,2161,3615,3967,3954,3980,0,0,0,0,0,0,14.14,13.98,14.19
$GC,3061,-1.15,-145.9,2162,3614,3955,3980,422.5,-16.5,263,3067,0.20,2.45,0.00,0.000,3206,0.265,0.056,2202,2196,3967,3954,3980,0,0,0,0,0,0,13.73,14.09,14.05
$GC,3387,-1.15,-145.9,2202,2195,3955,3980,467.1,-13.5,278,3391,0.00,2.53,0.00,0.000,260,0.000,0.086,2197,3609,3966,3954,3979,0,0,0,0,0,0,14.51,13.94,14.52
$GC,3477,-1.19,-145.9,2197,3610,3953,3980,479.1,-12.7,296,3482,0.00,2.42,0.00,0.000,1158,0.000,0.054,2196,2196,3968,3954,3982,0,0,0,0,0,0,14.13,14.05,14.19
$STATE,3484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3484,begin apogee
$GC,3490,-0.13,0.0,2197,2073,3955,3979,480.4,-12.1,298,3718,1.35,0.00,223.43,1.440,10246,0.247,0.000,2530,2072,3363,3385,3342,0,0,0,0,0,0,13.73,13.40,12.59
$STATE,3721,end apogee,CONTROL_FINISHED_OK
$STATE,3721,begin climb
$GC,3723,0.57,145.9,2531,2073,3380,3332,492.0,0.0,305,4118,0.75,2.60,210.57,1.386,10756,0.061,0.076,2788,730,2753,2793,2713,0,0,0,0,0,0,13.52,12.85,12.24
$GC,4128,0.57,145.9,2788,726,2794,2712,477.8,3.9,308,4138,0.00,2.47,0.00,0.000,1030,0.000,0.075,2788,2100,2752,2794,2710,0,0,0,0,0,0,13.62,13.56,13.62
$GC,4454,0.14,145.9,2788,2099,2793,2708,427.5,15.0,321,4459,0.68,2.45,0.00,0.000,4484,0.310,0.075,2637,3517,2749,2791,2707,0,0,0,0,0,0,13.60,13.96,13.84
$GC,4489,-0.06,145.9,2637,3517,2790,2708,423.2,10.8,328,4495,0.28,2.38,0.00,0.000,5254,0.255,0.057,2574,2127,2747,2789,2706,0,0,0,0,0,0,13.76,14.04,14.07
$GC,4815,0.01,238.7,2570,2128,2789,2707,403.7,5.7,343,4972,0.00,2.60,149.40,1.320,8740,0.000,0.086,2572,694,2390,2449,2331,0,0,0,0,0,0,14.59,13.53,12.94
$GC,5043,0.18,299.9,2573,694,2439,2325,388.6,7.2,388,5149,0.20,2.53,95.28,1.307,11430,0.099,0.081,2655,2105,2138,2195,2081,0,0,0,0,0,0,13.98,13.90,12.83
$GC,5448,0.14,299.9,2655,2106,2182,2067,337.2,12.8,419,5452,0.00,2.53,0.00,0.000,644,0.000,0.087,2655,685,2124,2181,2067,0,0,0,0,0,0,14.47,14.10,14.49
$GC,5497,0.14,299.9,2655,685,2180,2068,331.0,12.2,429,5502,0.00,2.50,0.00,0.000,1030,0.000,0.079,2655,2106,2125,2183,2067,0,0,0,0,0,0,14.23,14.10,14.29
$GC,5808,0.12,299.9,2655,2108,2178,2066,294.0,11.7,441,5813,0.12,2.47,0.00,0.000,4740,0.254,0.083,2631,690,2123,2181,2065,0,0,0,0,0,0,13.95,14.17,14.09
$GC,5864,0.20,315.7,2631,690,2176,2067,288.5,9.3,452,5888,0.00,2.45,18.90,1.429,9382,0.000,0.079,2630,2101,2077,2132,2022,0,0,0,0,0,0,14.33,14.20,13.31
$GC,6200,0.26,336.7,2631,2101,2123,2012,257.3,9.0,469,6240,0.12,2.50,33.22,1.375,10916,0.125,0.086,2699,693,1989,2039,1940,0,0,0,0,0,0,14.38,14.14,13.29
$GC,6296,0.26,336.7,2696,691,2030,1937,245.4,12.6,488,6301,0.00,2.47,0.00,0.000,1030,0.000,0.078,2695,2099,1982,2029,1935,0,0,0,0,0,0,14.27,14.14,14.32
$GC,6622,0.21,336.7,2696,2101,2029,1931,206.3,11.6,503,6623,0.17,0.00,0.00,0.000,4230,0.217,0.000,2655,2100,1979,2028,1930,0,0,0,0,0,0,14.07,14.38,14.32
$GC,6922,0.29,375.9,2656,2100,2030,1927,180.8,8.2,513,7001,0.00,2.58,70.85,1.287,8868,0.000,0.089,2655,693,1826,1858,1795,0,0,0,0,0,0,14.65,13.98,13.19
$GC,7072,0.46,426.5,2655,693,1847,1793,168.9,7.7,543,7172,0.22,2.47,91.95,1.213,11430,0.099,0.079,2745,2100,1619,1656,1583,0,0,0,0,0,0,14.15,14.08,13.05
$GC,7493,0.42,426.5,2746,2101,1651,1566,113.0,12.8,577,7498,0.00,2.50,0.00,0.000,644,0.000,0.087,2750,690,1608,1651,1566,0,0,0,0,0,0,14.53,14.14,14.54
$GC,7563,0.42,426.5,2751,691,1647,1567,104.5,11.7,591,7568,0.15,2.47,0.00,0.000,5126,0.239,0.078,2719,2099,1606,1646,1566,0,0,0,0,0,0,13.95,14.18,14.24
$GC,7873,0.50,465.0,2719,2100,1647,1563,75.8,8.2,622,7900,0.00,2.55,18.55,0.419,8868,0.000,0.086,2725,688,1468,1511,1425,0,0,0,0,0,0,14.57,14.09,13.65
$GC,7992,0.65,517.2,2725,689,1513,1431,66.5,7.6,645,8030,0.20,2.47,29.88,0.394,11430,0.095,0.079,2803,2098,1255,1310,1201,0,0,0,0,0,0,14.19,14.09,13.64
$GC,8326,0.68,554.5,2799,2100,1311,1209,33.3,8.3,682,8348,0.00,0.00,21.62,0.297,8230,0.000,0.000,2799,2100,1102,1164,1040,0,0,0,0,0,0,14.57,14.07,13.79
$GC,8646,0.81,637.4,2800,2099,1165,1049,12.0,6.2,714,8698,0.12,0.00,46.50,0.235,10662,0.135,0.000,2864,2100,763,822,704,0,0,0,0,0,0,14.23,14.00,13.76
$STATE,8753,end climb,SURFACE_DEPTH_REACHED
$STATE,8753,begin surface coast
$FINISH,0.2,1.010742
$STATE,8775,end surface coast,CONTROL_FINISHED_OK
$STATE,8775,begin surface
$SM_CCo,8795,37.67,0.207,0,0,501,703.28
$SM_GC,1.10,8.15,0.17,37.67,0.073,0.118,0.207,204,2220,501,-7.36,-0.74,703.28,0,0,0,0,0,0,14.31,14.30,13.96
$RAFOS_CLK,306
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7508.83,-15144.79,060917,084147
$TT8_MAMPS,0.040446,0.922768
$HUMID,46.81
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,13
$CP_FREE,15960047616.000000
$PM_FREEKB_00,50194560
$24V_AH,12.24,168.726
$10V_AH,12.11,0.000
$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,26.025,85.100,1010.150,37.675,0.000,0.000,0.000,159.825,3.250,0.000,39.696,0.000,5991.066,895.485,2108.581,231.877,0.000,2109.686,0.000,1046.536,2203.000,0.539,0.000
$DEVICE_MAMPS,455.940,2141.235,1439.730,207.315,0.000,0.000,0.000,129.285,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4659.000,8766.000,8750.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.790,20.000,9.894,0.000
$MEM,323576
$DATA_FILE_SIZE,26715,731
$CAP_FILE_SIZE,99300,0
$CFSIZE,2097872896,2009923584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.0
$CURRENT,0.043,323.19,1
$GPS,060917,135411,7511.902,-15139.208,18,0.7,19,20.4,0.5,355.4,12,9.6