version: 66.13
glider: 196
mission: 14
dive: 266
start: 9 6 117 19 19 50
data:
$ID,196
$MISSION,14
$DIVE,266
$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,26
$R_STBD_OVSHOOT,26
$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,743.0
$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
$GPS1,060917,191306,7514.2129,-15134.8320,16,0.8,19,20.5,0.6,63.1,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.6
$GPS2,060917,191922,7514.2280,-15134.8096,7,0.8,24,20.5,0.6,280.8,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.2,54603,-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,-145.9,192,2214,504,494,0.0,0.0,0,143,0.00,0.00,-91.30,0.000,16386,0.000,0.000,191,2213,2177,2112,2242,0,0,0,0,0,0,14.54,28.83,14.56
$GC,146,-0.57,-145.9,192,2214,2115,2242,3.9,-5.3,9,199,12.93,2.85,-34.38,0.000,18724,0.455,2.139,2376,3601,3962,3945,3980,0,0,0,0,0,0,13.59,12.57,14.09
$GC,340,-0.70,-145.9,2377,3603,3953,3980,44.5,-13.6,47,344,0.00,2.38,0.00,0.000,1158,0.000,0.057,2375,2202,3964,3951,3978,0,0,0,0,0,0,14.17,14.05,14.21
$GC,650,-0.81,-145.9,2376,2202,3953,3981,86.5,-10.9,79,651,0.17,0.00,0.00,0.000,4230,0.117,0.000,2306,2201,3966,3953,3980,0,0,0,0,0,0,14.26,14.39,14.35
$GC,950,-0.85,-145.9,2306,2202,3954,3981,130.6,-13.7,95,955,0.00,2.50,0.00,0.000,388,0.000,0.090,2298,3611,3969,3951,3987,0,0,0,0,0,0,14.64,14.06,14.66
$GC,1060,-0.97,-145.9,2303,3614,3953,3981,143.5,-11.2,117,1065,0.12,2.40,0.00,0.000,5254,0.128,0.057,2253,2190,3966,3953,3980,0,0,0,0,0,0,14.21,14.17,14.31
$GC,1371,-0.95,-145.9,2253,2189,3954,3980,194.9,-16.5,129,1375,0.00,2.50,0.00,0.000,388,0.000,0.087,2243,3604,3969,3958,3980,0,0,0,0,0,0,14.66,14.09,14.67
$GC,1492,-0.99,-145.9,2243,3606,3954,3981,212.6,-13.8,153,1497,0.00,2.40,0.00,0.000,1158,0.000,0.056,2242,2199,3966,3952,3980,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1822,-0.99,-145.9,2243,2199,3954,3981,262.1,-14.2,169,1827,0.00,2.50,0.00,0.000,260,0.000,0.087,2236,3604,3966,3953,3980,0,0,0,0,0,0,14.66,14.11,14.67
$GC,1882,-1.06,-145.9,2236,3605,3953,3981,270.1,-12.6,181,1887,0.00,2.35,0.00,0.000,1158,0.000,0.055,2236,2195,3966,3953,3980,0,0,0,0,0,0,14.31,14.16,14.34
$GC,2213,-1.06,-145.9,2237,2194,3954,3980,313.2,-12.7,197,2217,0.00,2.53,0.00,0.000,260,0.000,0.090,2236,3617,3966,3953,3980,0,0,0,0,0,0,14.69,14.12,14.69
$GC,2329,-1.16,-145.9,2236,3614,3953,3981,326.5,-10.9,220,2336,0.00,2.40,0.00,0.000,1158,0.000,0.056,2235,2193,3966,3953,3980,0,0,0,0,0,0,14.18,14.03,14.23
$GC,2633,-1.19,-145.9,2236,2193,3953,3981,362.6,-11.6,231,2638,0.12,2.55,0.00,0.000,4484,0.144,0.086,2170,3613,3965,3952,3979,0,0,0,0,0,0,14.08,14.02,14.13
$GC,2703,-1.14,-145.9,2171,3614,3953,3980,373.5,-16.0,245,2708,0.17,2.42,0.00,0.000,3206,0.269,0.057,2206,2199,3965,3952,3979,0,0,0,0,0,0,13.72,14.03,14.04
$GC,3023,-1.14,-145.9,2205,2199,3953,3980,417.4,-13.5,259,3028,0.00,2.53,0.00,0.000,260,0.000,0.086,2198,3607,3966,3953,3980,0,0,0,0,0,0,14.47,14.00,14.49
$GC,3128,-1.16,-145.9,2198,3608,3955,3980,431.3,-12.8,280,3134,0.00,2.42,0.00,0.000,1158,0.000,0.055,2198,2192,3965,3952,3979,0,0,0,0,0,0,14.19,14.07,14.22
$GC,3444,-1.13,-145.9,2198,2191,3954,3978,475.7,-14.1,293,3449,0.00,2.53,0.00,0.000,388,0.000,0.086,2188,3607,3965,3952,3978,0,0,0,0,0,0,14.45,14.00,14.50
$STATE,3472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3472,begin apogee
$GC,3480,-0.13,0.0,2189,2100,3953,3979,480.1,-14.7,299,3706,1.38,0.00,221.52,1.435,10246,0.248,0.000,2527,2098,3365,3387,3343,0,0,0,0,0,0,13.72,13.39,12.57
$STATE,3709,end apogee,CONTROL_FINISHED_OK
$STATE,3709,begin climb
$GC,3712,0.57,145.9,2528,2099,3380,3334,492.0,0.0,306,3927,0.75,2.72,210.57,1.379,10756,0.061,0.081,2782,700,2766,2812,2721,0,0,0,0,0,0,13.52,12.83,12.24
$GC,4009,0.19,145.9,2782,699,2798,2714,493.9,13.7,366,4016,0.68,2.60,0.00,0.000,5254,0.317,0.074,2646,2092,2753,2795,2712,0,0,0,0,0,0,13.04,13.33,13.38
$GC,4314,0.03,166.8,2647,2093,2797,2707,465.3,9.0,377,4347,0.20,2.55,27.02,1.478,12964,0.272,0.083,2601,691,2684,2734,2634,0,0,0,0,0,0,13.66,13.91,13.05
$GC,4398,0.07,214.8,2603,692,2724,2628,459.0,7.8,393,4478,0.00,2.53,73.15,1.393,9254,0.000,0.078,2602,2109,2486,2549,2424,0,0,0,0,0,0,14.04,13.93,12.90
$GC,4798,0.08,237.8,2603,2109,2538,2404,423.8,8.9,423,4832,0.00,0.00,32.03,1.443,8230,0.000,0.000,2602,2109,2394,2456,2333,0,0,0,0,0,0,14.37,13.99,13.15
$GC,5128,0.09,255.7,2602,2110,2441,2321,393.5,9.2,434,5160,0.00,2.50,25.58,1.471,8740,0.000,0.085,2602,693,2316,2369,2263,0,0,0,0,0,0,14.54,13.86,13.22
$GC,5222,0.20,285.3,2602,694,2364,2261,385.3,8.6,452,5275,0.12,2.47,46.75,1.405,11430,0.129,0.079,2660,2102,2203,2262,2145,0,0,0,0,0,0,14.20,14.15,13.13
$GC,5580,0.13,285.3,2660,2103,2241,2128,338.1,13.3,474,5585,0.15,2.47,0.00,0.000,4740,0.244,0.082,2631,687,2183,2239,2128,0,0,0,0,0,0,13.97,14.15,14.12
$GC,5616,0.17,285.3,2631,688,2238,2129,334.0,10.6,481,5621,0.00,2.45,0.00,0.000,1158,0.000,0.078,2631,2100,2182,2237,2128,0,0,0,0,0,0,14.35,14.22,14.39
$GC,5941,0.17,285.3,2631,2101,2237,2127,300.1,10.2,496,5946,0.00,2.47,0.00,0.000,516,0.000,0.086,2633,690,2181,2237,2126,0,0,0,0,0,0,14.65,14.23,14.66
$GC,5972,0.20,288.3,2632,689,2237,2127,296.9,9.9,502,5977,0.00,2.47,0.00,0.000,1190,0.000,0.078,2633,2107,2180,2235,2126,0,0,0,0,0,0,13.93,13.95,13.94
$GC,6302,0.21,298.2,2633,2109,2236,2127,264.5,9.5,518,6322,0.00,2.50,13.23,1.519,8740,0.000,0.086,2633,695,2145,2198,2093,0,0,0,0,0,0,14.66,14.20,13.25
$GC,6347,0.29,325.8,2633,696,2196,2094,260.3,8.7,527,6399,0.12,2.45,45.78,1.378,11430,0.128,0.078,2688,2103,2034,2082,1987,0,0,0,0,0,0,14.28,14.21,13.21
$GC,6724,0.23,325.8,2690,2105,2072,1975,215.1,11.3,552,6730,0.12,2.47,0.00,0.000,4740,0.239,0.083,2660,689,2025,2075,1975,0,0,0,0,0,0,14.07,14.15,14.19
$GC,6861,0.32,359.8,2659,688,2073,1975,203.2,8.4,579,6921,0.00,2.47,55.35,1.323,9382,0.000,0.079,2660,2109,1898,1937,1860,0,0,0,0,0,0,14.31,14.18,13.24
$GC,7236,0.40,399.7,2660,2108,1923,1849,171.5,8.2,604,7311,0.12,2.55,66.75,1.278,10916,0.130,0.086,2726,691,1733,1760,1706,0,0,0,0,0,0,14.33,13.95,13.21
$GC,7361,0.40,399.7,2727,691,1752,1707,156.7,12.0,629,7366,0.00,2.47,0.00,0.000,1030,0.000,0.077,2726,2103,1728,1751,1706,0,0,0,0,0,0,14.10,14.03,14.15
$GC,7687,0.37,399.7,2726,2104,1747,1700,117.2,11.7,644,7692,0.00,2.47,0.00,0.000,644,0.000,0.086,2726,694,1725,1751,1700,0,0,0,0,0,0,14.58,14.19,14.60
$GC,7732,0.37,399.7,2727,693,1752,1700,112.1,10.9,653,7737,0.00,2.45,0.00,0.000,1030,0.000,0.077,2726,2101,1724,1751,1697,0,0,0,0,0,0,14.35,14.22,14.40
$GC,8040,0.39,420.7,2727,2101,1751,1697,80.7,9.0,677,8054,0.00,2.47,10.48,0.443,8740,0.000,0.083,2726,693,1648,1678,1619,0,0,0,0,0,0,14.59,13.93,13.65
$GC,8120,0.49,466.2,2727,693,1679,1619,74.0,7.9,693,8152,0.00,2.50,24.60,0.424,9382,0.000,0.078,2726,2108,1462,1499,1426,0,0,0,0,0,0,14.15,14.00,13.62
$GC,8450,0.65,558.9,2727,2109,1499,1420,50.8,5.7,729,8504,0.15,2.55,48.25,0.353,10916,0.116,0.087,2799,693,1087,1154,1021,0,0,0,0,0,0,14.28,14.01,13.72
$GC,8599,0.75,591.0,2799,692,1153,1019,38.0,8.5,758,8621,0.00,2.47,17.52,0.317,9382,0.000,0.076,2797,2106,954,1024,884,0,0,0,0,0,0,14.16,14.04,13.75
$GC,8927,0.92,679.0,2799,2107,1024,880,14.4,5.9,793,8980,0.22,2.53,47.08,0.247,10916,0.092,0.089,2890,690,596,642,551,0,0,0,0,0,0,14.12,13.94,13.78
$STATE,9034,end climb,SURFACE_DEPTH_REACHED
$STATE,9034,begin surface coast
$FINISH,0.2,1.021315
$STATE,9043,end surface coast,CONTROL_FINISHED_OK
$STATE,9043,begin surface
$SM_CCo,9067,12.65,0.216,0,0,502,702.78
$SM_GC,1.85,8.32,2.70,12.65,0.082,0.081,0.216,204,2198,502,-7.36,-0.76,702.78,0,0,0,0,0,0,14.29,14.17,13.95
$RAFOS_CLK,297
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7513.04,-15136.82,060917,163805
$TT8_MAMPS,0.039697,1.02838
$HUMID,46.45
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15958769664.000000
$PM_FREEKB_00,50111872
$24V_AH,12.24,170.107
$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,25.875,100.225,965.650,12.650,0.000,0.000,0.000,167.275,3.000,0.000,25.987,0.000,6399.503,851.354,1972.587,238.790,0.000,1905.344,0.000,1168.352,2210.000,0.540,0.000
$DEVICE_MAMPS,455.175,2138.940,1518.525,216.495,0.000,0.000,0.000,138.465,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8968.000,9045.000,9018.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.710,20.000,9.906,0.000
$MEM,323388
$DATA_FILE_SIZE,30064,816
$CAP_FILE_SIZE,104920,0
$CFSIZE,2097872896,2009268224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.054,287.58,1
$GPS,060917,215232,7515.415,-15132.989,37,0.8,37,20.5,0.0,0.0,10,9.4