version: 66.13
glider: 196
mission: 14
dive: 271
start: 9 7 117 9 10 12
data:
$ID,196
$MISSION,14
$DIVE,271
$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,24
$R_STBD_OVSHOOT,41
$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,755.0
$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
$GPS1,070917,085818,7519.8706,-15125.4990,24,0.7,26,20.6,0.5,59.9,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.1
$GPS2,070917,090937,7519.9209,-15125.5967,6,0.8,45,20.6,1.0,245.8,10,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,359.9,43471,-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,-145.9,177,2226,507,474,0.0,0.0,0,143,0.00,0.00,-91.18,0.000,16386,0.000,0.000,173,2227,2152,2075,2230,0,0,0,0,0,0,14.53,28.83,14.54
$GC,146,-0.57,-145.9,174,2227,2077,2232,3.7,-5.0,9,204,13.12,2.75,-36.10,0.000,18724,0.459,2.138,2375,3582,3963,3951,3976,1,0,0,0,0,0,13.50,12.57,14.09
$GC,394,-0.71,-145.9,2375,3583,3955,3977,48.8,-12.7,58,400,0.00,2.38,0.00,0.000,1158,0.000,0.059,2375,2201,3965,3954,3976,0,0,0,0,0,0,14.28,14.15,14.31
$GC,701,-0.83,-145.9,2376,2201,3956,3977,88.1,-10.7,89,703,0.20,0.00,0.00,0.000,4230,0.106,0.000,2296,2200,3966,3956,3976,0,0,0,0,0,0,14.23,14.35,14.33
$GC,1019,-0.86,-145.9,2296,2201,3956,3977,135.8,-14.0,105,1024,0.00,2.45,0.00,0.000,388,0.000,0.089,2287,3594,3966,3956,3976,0,0,0,0,0,0,14.63,14.16,14.65
$GC,1094,-0.98,-145.9,2287,3594,3957,3976,145.4,-11.9,120,1100,0.00,2.35,0.00,0.000,1158,0.000,0.058,2287,2199,3966,3956,3976,0,0,0,0,0,0,14.36,14.24,14.40
$GC,1410,-1.03,-145.9,2292,2194,3954,3976,186.4,-12.6,133,1415,0.12,2.45,0.00,0.000,4484,0.137,0.086,2224,3591,3966,3956,3976,0,0,0,0,0,0,14.33,14.17,14.36
$GC,1515,-1.03,-145.9,2225,3593,3957,3977,202.8,-15.3,154,1520,0.00,2.35,0.00,0.000,1030,0.000,0.057,2222,2198,3966,3956,3976,0,0,0,0,0,0,14.35,14.21,14.40
$GC,1831,-0.99,-145.9,2224,2197,3957,3976,255.8,-16.2,167,1836,0.15,2.45,0.00,0.000,2436,0.286,0.086,2246,3589,3966,3956,3976,0,0,0,0,0,0,13.93,14.17,14.09
$GC,1961,-1.09,-145.9,2250,3590,3957,3975,271.3,-10.8,193,1966,0.00,2.38,0.00,0.000,1158,0.000,0.056,2249,2191,3965,3956,3975,0,0,0,0,0,0,14.29,14.12,14.35
$GC,2281,-1.14,-145.9,2250,2190,3956,3975,308.0,-11.2,207,2286,0.00,2.47,0.00,0.000,388,0.000,0.088,2242,3595,3965,3955,3976,0,0,0,0,0,0,14.66,14.16,14.66
$GC,2356,-1.25,-145.9,2243,3595,3956,3976,316.5,-11.0,222,2361,0.20,2.35,0.00,0.000,5254,0.108,0.057,2166,2199,3965,3955,3975,0,0,0,0,0,0,14.29,14.24,14.39
$GC,2672,-1.13,-145.9,2166,2198,3955,3975,374.0,-18.4,235,2677,0.17,2.45,0.00,0.000,2436,0.309,0.083,2194,3590,3965,3955,3975,0,0,0,0,0,0,13.82,14.11,13.97
$GC,2817,-1.13,-145.9,2195,3592,3956,3975,394.9,-13.5,264,2824,0.00,2.35,0.00,0.000,1030,0.000,0.057,2194,2199,3964,3954,3975,0,0,0,0,0,0,14.31,14.17,14.34
$GC,3122,-1.09,-145.9,2195,2198,3956,3974,438.9,-14.4,275,3127,0.12,2.45,0.00,0.000,2436,0.300,0.085,2213,3592,3963,3953,3974,0,0,0,0,0,0,13.90,14.16,14.04
$GC,3244,-1.17,-145.9,2214,3592,3955,3974,453.3,-11.3,299,3249,0.00,2.35,0.00,0.000,1158,0.000,0.056,2213,2199,3963,3954,3973,0,0,0,0,0,0,14.28,14.14,14.31
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3482,begin apogee
$GC,3488,-0.13,0.0,2214,2053,3955,3974,483.4,-12.5,312,3732,1.25,0.00,240.25,1.377,10246,0.229,0.000,2533,2053,3365,3393,3338,0,0,0,0,0,0,13.84,13.48,12.64
$STATE,3735,end apogee,CONTROL_FINISHED_OK
$STATE,3735,begin climb
$GC,3738,0.57,145.9,2534,2054,3380,3328,497.2,0.0,320,3965,0.73,2.78,214.93,1.329,11012,0.063,0.073,2778,3495,2757,2801,2713,0,0,0,0,0,0,13.63,12.90,12.33
$GC,3985,0.09,145.9,2779,3496,2789,2708,506.8,10.4,326,3990,0.90,2.47,0.00,0.000,5254,0.347,0.055,2614,2135,2747,2787,2707,0,0,0,0,0,0,13.00,13.23,13.33
$GC,4317,0.01,195.9,2615,2135,2788,2699,480.6,7.7,342,4397,0.00,2.62,72.75,1.337,8868,0.000,0.086,2614,687,2558,2618,2499,0,0,0,0,0,0,14.38,13.59,12.99
$GC,4522,0.03,223.7,2614,687,2610,2483,462.8,8.7,383,4564,0.00,2.47,37.90,1.369,9254,0.000,0.080,2614,2085,2452,2518,2387,0,0,0,0,0,0,14.09,13.97,13.08
$GC,4892,0.01,230.9,2615,2084,2495,2363,427.5,9.7,406,4896,0.00,2.45,0.00,0.000,676,0.000,0.086,2614,691,2428,2493,2363,0,0,0,0,0,0,14.57,13.50,14.57
$GC,4947,0.05,248.6,2615,691,2494,2363,422.1,9.2,417,4987,0.00,2.47,33.17,1.387,9382,0.000,0.080,2614,2104,2348,2407,2289,0,0,0,0,0,0,14.33,14.16,13.23
$GC,5314,0.05,252.3,2614,2104,2391,2273,386.1,9.8,440,5319,0.00,2.47,0.00,0.000,548,0.000,0.086,2614,688,2331,2390,2273,0,0,0,0,0,0,14.59,14.08,14.60
$GC,5374,0.12,270.6,2615,688,2391,2274,380.3,9.2,452,5411,0.00,2.47,31.02,1.373,9382,0.000,0.080,2614,2105,2260,2317,2204,0,0,0,0,0,0,14.28,14.16,13.28
$GC,5738,0.15,279.8,2615,2105,2303,2185,345.3,9.6,474,5742,0.00,0.00,3.00,0.979,8358,0.000,0.000,2614,2105,2222,2280,2164,0,0,0,0,0,0,14.60,14.15,12.88
$GC,6036,0.19,300.1,2615,2105,2291,2177,317.6,9.1,484,6087,0.00,2.53,42.40,1.330,8868,0.000,0.086,2614,690,2134,2187,2081,0,0,0,0,0,0,14.66,14.11,13.30
$GC,6154,0.31,329.3,2615,690,2176,2076,307.4,8.7,507,6208,0.22,2.47,46.83,1.291,11430,0.091,0.080,2698,2098,2018,2064,1972,0,0,0,0,0,0,14.17,14.09,13.18
$GC,6519,0.23,329.3,2697,2099,2051,1953,255.0,14.0,530,6524,0.15,2.47,0.00,0.000,4740,0.231,0.086,2660,688,2001,2050,1953,0,0,0,0,0,0,14.04,14.18,14.16
$GC,6631,0.28,340.9,2661,688,2047,1952,243.7,9.5,552,6642,0.00,2.47,3.88,1.232,9382,0.000,0.080,2660,2109,1974,2022,1926,0,0,0,0,0,0,14.29,14.19,12.87
$GC,6939,0.29,355.2,2661,2109,2038,1935,214.2,9.3,564,6980,0.00,2.50,34.90,1.280,8740,0.000,0.087,2660,699,1909,1951,1868,0,0,0,0,0,0,14.64,14.12,13.31
$GC,7010,0.39,376.2,2661,700,1938,1868,207.7,9.0,573,7050,0.15,2.47,32.75,1.263,11430,0.118,0.079,2720,2105,1827,1857,1798,0,0,0,0,0,0,14.21,14.14,13.21
$GC,7362,0.34,376.2,2720,2106,1840,1783,163.6,12.2,593,7368,0.00,2.50,0.00,0.000,644,0.000,0.086,2723,693,1810,1839,1782,0,0,0,0,0,0,14.57,14.16,14.58
$GC,7433,0.34,376.2,2723,694,1838,1783,154.9,11.3,607,7438,0.15,2.47,0.00,0.000,5126,0.230,0.078,2691,2101,1809,1837,1782,0,0,0,0,0,0,13.97,14.16,14.25
$GC,7754,0.37,390.9,2691,2100,1837,1779,123.9,9.3,621,7779,0.00,2.53,16.48,1.336,8868,0.000,0.087,2690,684,1765,1791,1740,0,0,0,0,0,0,14.65,14.22,13.32
$GC,7824,0.50,418.5,2690,685,1783,1737,117.7,8.7,635,7881,0.17,2.47,48.38,1.219,11430,0.106,0.078,2763,2101,1654,1678,1630,0,0,0,0,0,0,14.15,14.04,13.26
$GC,8186,0.43,418.5,2764,2102,1674,1608,73.1,10.2,675,8191,0.15,2.50,0.00,0.000,4740,0.252,0.083,2729,687,1640,1672,1608,0,0,0,0,0,0,13.81,14.04,13.95
$GC,8372,0.56,498.8,2730,686,1669,1609,59.9,6.3,712,8420,0.00,2.50,43.35,0.373,9382,0.000,0.078,2729,2110,1329,1378,1281,0,0,0,0,0,0,13.56,13.57,13.57
$GC,8717,0.77,622.3,2730,2108,1380,1287,40.2,4.3,751,8796,0.28,2.50,71.47,0.311,10916,0.087,0.090,2849,693,827,900,754,0,0,0,0,0,0,14.11,14.00,13.78
$GC,8871,0.83,622.3,2847,694,902,757,24.1,10.8,781,8877,0.00,2.50,0.00,0.000,1158,0.000,0.080,2846,2106,829,901,758,0,0,0,0,0,0,14.28,14.13,14.31
$STATE,9110,end climb,SURFACE_DEPTH_REACHED
$STATE,9112,begin surface coast
$FINISH,0.5,1.021434
$STATE,9130,end surface coast,CONTROL_FINISHED_OK
$STATE,9130,begin surface
$SM_CCo,9150,49.92,0.205,0,0,498,702.78
$SM_GC,1.27,8.07,0.17,49.92,0.070,0.101,0.205,195,2254,498,-7.38,-0.45,702.78,0,0,0,0,0,0,14.35,14.38,13.97
$RAFOS_CLK,413
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7520.35,-15120.66,070917,061725
$TT8_MAMPS,0.040446,0.854609
$HUMID,46.77
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15956606976.000000
$PM_FREEKB_00,49962176
$24V_AH,12.33,172.509
$10V_AH,12.18,0.000
$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,26.325,89.450,973.450,49.925,0.000,0.000,0.000,378.625,4.000,0.000,48.071,0.000,6430.987,901.788,2253.949,311.012,0.000,2190.891,0.000,1156.920,0.000,0.539,0.000
$DEVICE_MAMPS,459.000,2138.175,1386.945,205.020,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9164.000,9127.000,9102.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.544,20.000,9.847,0.000
$MEM,323452
$DATA_FILE_SIZE,26757,808
$CAP_FILE_SIZE,105279,0
$CFSIZE,2097872896,2008055808
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,1414.24,0x213afc,0,24
$INTR,1,6036.22,0x2341e8,1,24
$SOUNDSPEED,1448.1
$CURRENT,0.050,290.48,1
$GPS,070917,114447,7521.053,-15123.504,27,0.7,29,20.6,0.4,258.2,12,9.9