version: 66.13
glider: 196
mission: 14
dive: 265
start: 9 6 117 16 41 27
data:
$ID,196
$MISSION,14
$DIVE,265
$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,62
$R_STBD_OVSHOOT,31
$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,741.0
$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
$GPS1,060917,163456,7513.0854,-15136.7881,40,0.7,40,20.5,0.5,297.2,12,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.7
$GPS2,060917,164051,7513.1216,-15136.7744,8,0.7,8,20.5,0.0,81.5,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,359.4,56793,-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,-145.9,194,2213,507,493,0.0,0.0,0,144,0.00,0.00,-91.00,0.000,16386,0.000,0.000,193,2213,2190,2128,2253,0,0,0,0,0,0,14.40,28.83,14.42
$GC,147,-0.57,-145.9,193,2215,2132,2255,4.0,-5.7,9,200,12.80,2.78,-34.12,0.000,18724,0.456,2.135,2376,3603,3963,3947,3980,0,0,0,0,0,0,13.56,12.81,14.04
$GC,405,-0.71,-145.9,2376,3605,3953,3981,51.4,-12.8,60,412,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2228,3966,3953,3980,0,0,0,0,0,0,14.32,14.16,14.35
$GC,713,-0.83,-145.9,2376,2229,3954,3981,88.2,-10.1,91,718,0.17,2.40,0.00,0.000,4484,0.114,0.083,2292,3602,3967,3954,3980,0,0,0,0,0,0,14.31,14.19,14.35
$GC,738,-0.87,-145.9,2293,3602,3955,3980,91.8,-14.4,96,745,0.00,2.40,0.00,0.000,1158,0.000,0.058,2292,2194,3967,3954,3980,0,0,0,0,0,0,14.38,14.23,14.41
$GC,1063,-0.90,-145.9,2293,2194,3955,3980,141.7,-14.2,111,1068,0.00,2.47,0.00,0.000,388,0.000,0.086,2283,3607,3968,3957,3980,0,0,0,0,0,0,14.71,14.21,14.72
$GC,1078,-0.93,-145.9,2284,3609,3954,3981,143.8,-13.7,114,1083,0.00,2.38,0.00,0.000,1158,0.000,0.054,2284,2193,3966,3953,3980,0,0,0,0,0,0,14.40,14.27,14.43
$GC,1393,-0.98,-145.9,2285,2192,3955,3980,186.4,-13.1,127,1398,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3601,3967,3954,3980,0,0,0,0,0,0,14.71,14.21,14.73
$GC,1468,-1.10,-145.9,2280,3602,3955,3981,195.2,-11.1,142,1473,0.17,2.35,0.00,0.000,5254,0.112,0.057,2217,2201,3966,3954,3979,0,0,0,0,0,0,14.32,14.28,14.42
$GC,1784,-1.03,-145.9,2217,2200,3955,3981,251.7,-17.6,155,1789,0.12,2.45,0.00,0.000,2436,0.302,0.083,2236,3600,3967,3954,3980,0,0,0,0,0,0,13.97,14.20,14.13
$GC,1881,-1.11,-145.9,2236,3601,3954,3981,264.4,-12.1,174,1886,0.00,2.38,0.00,0.000,1158,0.000,0.056,2236,2192,3967,3954,3980,0,0,0,0,0,0,14.39,14.26,14.43
$GC,2206,-1.11,-145.9,2236,2191,3955,3980,306.9,-12.7,189,2211,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3608,3966,3954,3979,0,0,0,0,0,0,14.73,14.12,14.75
$GC,2276,-1.20,-145.9,2236,3609,3955,3980,315.1,-10.9,203,2281,0.15,2.38,0.00,0.000,5254,0.127,0.056,2176,2197,3967,3954,3980,0,0,0,0,0,0,14.29,14.26,14.40
$GC,2597,-1.11,-145.9,2176,2196,3954,3981,369.6,-17.3,217,2602,0.17,2.47,0.00,0.000,2436,0.299,0.083,2211,3601,3966,3953,3979,0,0,0,0,0,0,13.88,14.13,14.05
$GC,2724,-1.15,-145.9,2206,3603,3954,3980,386.5,-12.6,242,2729,0.00,2.38,0.00,0.000,1158,0.000,0.056,2206,2193,3966,3953,3980,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3049,-1.15,-145.9,2208,2192,3954,3980,431.0,-13.6,257,3054,0.00,2.50,0.00,0.000,260,0.000,0.087,2197,3603,3966,3953,3979,0,0,0,0,0,0,14.73,13.28,14.76
$GC,3114,-1.18,-145.9,2197,3603,3954,3979,439.9,-13.1,270,3119,0.00,2.38,0.00,0.000,1158,0.000,0.055,2197,2189,3966,3953,3979,0,0,0,0,0,0,14.38,14.25,14.42
$STATE,3406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3406,begin apogee
$GC,3412,-0.13,0.0,2198,2059,3953,3980,482.0,-14.3,284,3649,1.33,0.05,228.38,1.432,10246,0.242,0.224,2531,2094,3359,3380,3338,0,0,0,0,0,0,13.87,13.45,12.65
$STATE,3698,end apogee,CONTROL_FINISHED_OK
$STATE,3698,begin climb
$GC,3700,0.57,145.9,2532,2094,3377,3330,495.2,0.0,292,3917,0.73,2.70,210.23,1.387,11012,0.062,0.073,2778,3510,2762,2807,2718,0,0,0,0,0,0,13.75,12.92,12.29
$GC,4144,0.10,145.9,2779,3509,2785,2716,473.5,16.0,391,4149,0.85,2.40,0.00,0.000,5254,0.348,0.057,2617,2131,2750,2784,2716,0,0,0,0,0,0,12.88,13.83,13.16
$GC,4460,0.02,195.2,2618,2130,2784,2716,447.6,7.7,404,4540,0.12,2.47,73.93,1.388,12708,0.299,0.080,2589,3513,2563,2616,2510,0,0,0,0,0,0,13.85,13.68,13.05
$GC,4695,0.02,229.5,2589,3514,2598,2504,428.4,8.4,451,4751,0.00,2.42,49.05,1.413,9382,0.000,0.061,2589,2099,2424,2477,2372,0,0,0,0,0,0,14.20,14.12,13.09
$GC,5063,0.08,272.4,2586,2100,2465,2360,398.9,8.0,474,5136,0.00,2.53,68.15,1.369,8868,0.000,0.089,2588,687,2251,2302,2200,0,0,0,0,0,0,14.55,13.74,13.12
$GC,5222,0.23,316.4,2590,687,2288,2192,385.9,8.0,506,5297,0.20,2.47,68.72,1.336,11430,0.098,0.079,2672,2097,2076,2126,2026,0,0,0,0,0,0,14.16,14.07,13.02
$GC,5602,0.17,316.4,2672,2099,2111,2006,332.9,14.1,532,5607,0.15,2.45,0.00,0.000,4740,0.265,0.083,2646,693,2057,2110,2005,0,0,0,0,0,0,13.97,14.17,14.13
$GC,5668,0.22,316.4,2646,694,2107,2006,325.2,11.0,545,5673,0.00,2.45,0.00,0.000,1158,0.000,0.077,2646,2101,2055,2106,2005,0,0,0,0,0,0,14.34,14.19,14.36
$GC,5993,0.22,316.4,2646,2103,2105,2004,288.1,11.2,560,5998,0.00,2.47,0.00,0.000,516,0.000,0.086,2646,687,2054,2106,2003,0,0,0,0,0,0,14.66,14.23,14.65
$GC,6033,0.27,316.4,2647,688,2105,2004,283.7,10.6,568,6038,0.00,2.45,0.00,0.000,1158,0.000,0.078,2646,2100,2053,2104,2003,0,0,0,0,0,0,14.39,14.25,14.44
$GC,6353,0.27,318.9,2647,2101,2104,2004,250.8,9.9,582,6358,0.00,2.45,0.00,0.000,548,0.000,0.086,2647,692,2053,2103,2003,0,0,0,0,0,0,14.67,14.24,14.69
$GC,6408,0.36,335.3,2647,692,2103,2003,245.5,9.2,593,6439,0.17,2.45,25.83,1.410,11430,0.107,0.077,2713,2106,1995,2045,1946,0,0,0,0,0,0,14.32,14.20,13.32
$GC,6746,0.27,335.3,2714,2106,2034,1934,201.8,12.5,610,6751,0.15,2.47,0.00,0.000,4740,0.233,0.082,2684,685,1983,2032,1934,0,0,0,0,0,0,13.99,14.21,14.15
$GC,6843,0.31,349.8,2685,685,2031,1934,192.0,9.3,629,6869,0.00,2.47,19.70,1.435,9382,0.000,0.078,2684,2106,1937,1982,1892,0,0,0,0,0,0,14.33,14.16,13.28
$GC,7167,0.32,359.2,2685,2107,1974,1880,159.8,9.6,644,7181,0.00,0.00,10.85,1.506,8742,0.000,0.000,2684,2107,1897,1938,1857,0,0,0,0,0,0,14.62,13.89,13.26
$GC,7497,0.34,384.2,2684,2107,1927,1852,129.8,8.8,660,7548,0.00,2.53,43.40,1.326,8740,0.000,0.086,2685,694,1792,1821,1764,0,0,0,0,0,0,14.63,14.08,13.26
$GC,7658,0.47,423.7,2685,694,1810,1764,116.2,8.2,692,7734,0.15,2.45,70.90,1.232,11430,0.119,0.080,2750,2103,1637,1668,1607,0,0,0,0,0,0,14.07,14.01,13.17
$GC,8039,0.44,423.7,2750,2099,1658,1581,72.0,10.4,734,8044,0.00,2.50,0.00,0.000,644,0.000,0.086,2755,690,1619,1658,1580,0,0,0,0,0,0,14.52,14.13,14.53
$GC,8104,0.46,446.8,2755,690,1656,1581,65.8,8.9,747,8122,0.12,2.50,10.50,0.381,13350,0.236,0.080,2728,2098,1543,1581,1505,0,0,0,0,0,0,13.95,14.07,13.71
$GC,8419,0.62,567.3,2728,2100,1584,1511,47.3,4.4,780,8488,0.17,2.50,63.65,0.340,10916,0.103,0.086,2799,695,1051,1120,983,0,0,0,0,0,0,14.32,13.97,13.76
$GC,8530,0.71,583.0,2799,690,1121,988,38.7,9.3,800,8548,0.00,2.47,9.57,0.313,9382,0.000,0.076,2797,2098,986,1058,914,0,0,0,0,0,0,14.19,14.06,13.69
$GC,8843,0.85,651.4,2799,2098,1059,924,15.0,6.8,833,8886,0.15,2.55,37.38,0.251,10916,0.118,0.088,2876,685,706,766,646,0,0,0,0,0,0,14.27,14.05,13.76
$GC,8961,0.88,651.4,2877,685,768,645,3.0,10.5,856,8967,0.00,2.50,0.00,0.000,1158,0.000,0.075,2876,2107,708,766,650,0,0,0,0,0,0,14.23,14.07,14.29
$STATE,8974,end climb,SURFACE_DEPTH_REACHED
$STATE,8974,begin surface coast
$FINISH,0.2,1.007180
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$SM_CCo,9005,28.83,0.210,0,0,499,703.03
$SM_GC,1.50,8.20,0.17,28.83,0.073,0.134,0.210,201,2210,499,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.23,13.96
$RAFOS_CLK,411
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7513.04,-15136.82,060917,135758
$TT8_MAMPS,0.039697,0.868091
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,23
$CP_FREE,15959195648.000000
$PM_FREEKB_00,50144064
$24V_AH,12.29,169.635
$10V_AH,12.16,0.000
$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,26.100,94.050,990.225,28.825,0.000,0.000,0.000,163.625,5.750,0.000,11.475,0.000,6253.627,875.457,2040.512,236.256,0.000,1961.100,0.000,1227.411,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2135.115,1505.520,210.375,0.000,0.000,0.000,133.110,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5273.000,8991.000,8958.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.830,20.000,9.848,0.000
$MEM,323496
$DATA_FILE_SIZE,30012,859
$CAP_FILE_SIZE,105725,0
$CFSIZE,2097872896,2009497600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.9
$CURRENT,0.037,314.03,1
$GPS,060917,191306,7514.213,-15134.832,16,0.8,19,20.5,0.6,63.1,10,9.3