version: 66.13
glider: 196
mission: 14
dive: 278
start: 9 8 117 4 4 34
data:
$ID,196
$MISSION,14
$DIVE,278
$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,23
$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,775.0
$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
$GPS1,080917,035511,7528.0176,-15114.7539,40,0.7,41,20.7,0.5,268.1,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.6
$GPS2,080917,040359,7528.0093,-15114.8984,5,0.7,17,20.7,0.4,210.1,12,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,350.9,28018,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,176,2230,503,491,0.0,0.0,0,141,0.00,0.00,-88.50,0.000,16386,0.000,0.000,173,2230,2084,2010,2158,0,0,0,0,0,0,14.55,28.83,14.57
$GC,144,-0.57,-145.9,175,2230,2013,2158,3.9,-5.3,9,206,13.07,2.80,-39.08,0.000,18724,0.456,2.140,2375,3604,3966,3951,3981,0,0,0,0,0,0,13.54,12.65,14.04
$GC,327,-0.72,-145.9,2375,3600,3955,3981,40.7,-13.8,45,331,0.00,2.42,0.00,0.000,1158,0.000,0.060,2374,2191,3967,3954,3981,0,0,0,0,0,0,14.15,14.02,14.19
$GC,639,-0.83,-145.9,2376,2188,3957,3981,83.4,-10.9,77,640,0.20,0.00,0.00,0.000,4230,0.110,0.000,2297,2189,3968,3955,3981,0,0,0,0,0,0,14.16,14.28,14.25
$GC,957,-0.85,-145.9,2298,2189,3956,3980,131.5,-14.0,95,961,0.00,2.50,0.00,0.000,388,0.000,0.087,2293,3588,3967,3955,3980,0,0,0,0,0,0,14.50,13.99,14.52
$GC,1088,-0.99,-145.9,2293,3590,3956,3981,147.1,-11.3,121,1094,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2198,3967,3955,3980,0,0,0,0,0,0,14.22,14.10,14.26
$GC,1409,-1.05,-145.9,2292,2197,3957,3981,187.3,-12.1,135,1410,0.17,0.00,0.00,0.000,4230,0.112,0.000,2231,2196,3968,3955,3981,0,0,0,0,0,0,14.12,14.23,14.19
$GC,1709,-1.02,-145.9,2231,2196,3956,3980,237.8,-16.6,145,1714,0.00,2.50,0.00,0.000,388,0.000,0.087,2223,3589,3968,3955,3981,0,0,0,0,0,0,14.50,14.02,14.51
$GC,1879,-1.06,-145.9,2223,3592,3957,3980,262.1,-13.2,179,1884,0.00,2.38,0.00,0.000,1158,0.000,0.056,2223,2199,3967,3955,3980,0,0,0,0,0,0,14.19,14.09,14.24
$GC,2189,-1.06,-145.9,2222,2195,3956,3981,306.4,-14.0,191,2194,0.00,2.50,0.00,0.000,260,0.000,0.089,2222,3588,3967,3955,3980,0,0,0,0,0,0,14.47,13.97,14.48
$GC,2235,-1.12,-145.9,2223,3591,3954,3981,312.4,-12.7,200,2241,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2195,3967,3955,3980,0,0,0,0,0,0,14.16,14.03,14.19
$GC,2551,-1.12,-145.9,2222,2194,3956,3981,353.0,-12.5,213,2556,0.00,2.47,0.00,0.000,260,0.000,0.089,2221,3590,3967,3955,3979,0,0,0,0,0,0,14.71,14.06,14.71
$GC,2631,-1.20,-145.9,2223,3593,3957,3980,362.3,-11.0,229,2636,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2198,3967,3955,3980,0,0,0,0,0,0,14.34,14.22,14.38
$GC,2942,-1.23,-145.9,2223,2197,3956,3980,400.1,-12.2,241,2947,0.12,2.47,0.00,0.000,4484,0.147,0.084,2157,3599,3967,3955,3979,0,0,0,0,0,0,14.31,14.09,14.35
$GC,2997,-1.16,-145.9,2158,3601,3956,3980,409.1,-17.0,252,3004,0.20,2.38,0.00,0.000,3206,0.273,0.057,2198,2193,3967,3955,3979,0,0,0,0,0,0,13.82,14.23,14.16
$GC,3302,-1.14,-145.9,2198,2194,3956,3978,453.0,-14.1,263,3307,0.00,2.45,0.00,0.000,388,0.000,0.085,2190,3589,3967,3955,3979,0,0,0,0,0,0,14.73,14.09,14.73
$GC,3402,-1.16,-145.9,2190,3589,3957,3979,466.8,-13.3,283,3407,0.00,2.35,0.00,0.000,1158,0.000,0.056,2189,2194,3967,3955,3979,0,0,0,0,0,0,14.36,14.23,14.40
$STATE,3510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3510,begin apogee
$GC,3516,-0.13,0.0,2190,2065,3955,3980,482.9,-14.7,290,3754,1.38,0.00,228.90,1.408,10246,0.243,0.000,2530,2061,3361,3389,3334,0,0,0,0,0,0,13.84,13.52,12.67
$STATE,3802,end apogee,CONTROL_FINISHED_OK
$STATE,3802,begin climb
$GC,3805,0.57,145.9,2531,2061,3386,3329,496.8,0.0,298,4028,0.73,2.72,214.77,1.368,10500,0.062,0.072,2779,3490,2761,2808,2714,0,0,0,0,0,0,13.78,12.93,12.31
$GC,4259,0.09,145.9,2780,3489,2786,2711,478.6,15.4,347,4264,0.82,2.38,0.00,0.000,5254,0.345,0.060,2617,2128,2748,2785,2711,0,0,0,0,0,0,12.90,13.86,13.45
$GC,4585,-0.00,192.9,2617,2128,2787,2710,451.6,7.8,362,4660,0.12,2.42,69.65,1.369,12708,0.296,0.080,2589,3492,2573,2630,2517,0,0,0,0,0,0,13.91,13.68,13.07
$GC,4810,-0.03,203.3,2589,3492,2612,2510,432.4,9.5,407,4820,0.00,2.38,4.20,1.525,9382,0.000,0.060,2589,2101,2536,2591,2482,0,0,0,0,0,0,14.25,14.14,12.87
$GC,5125,-0.00,246.0,2589,2101,2604,2490,406.9,8.0,420,5211,0.00,2.53,79.68,1.363,8740,0.000,0.086,2588,691,2354,2411,2298,0,0,0,0,0,0,14.61,13.68,13.08
$GC,5266,0.12,283.2,2590,690,2397,2298,395.3,8.3,448,5331,0.00,2.45,56.72,1.359,9382,0.000,0.078,2589,2083,2204,2263,2146,0,0,0,0,0,0,14.15,14.02,12.99
$GC,5636,0.22,317.8,2589,2081,2253,2130,364.0,8.4,472,5697,0.20,0.00,54.40,1.327,10918,0.100,0.000,2675,2083,2064,2118,2010,0,0,0,0,0,0,14.30,13.98,13.19
$GC,5996,0.15,317.8,2676,2080,2106,1998,312.7,14.3,489,6002,0.15,2.45,0.00,0.000,4740,0.248,0.083,2646,686,2051,2105,1998,0,0,0,0,0,0,13.33,13.51,13.46
$GC,6087,0.20,317.8,2646,688,2102,2000,302.3,10.7,507,6092,0.00,2.47,0.00,0.000,1158,0.000,0.078,2646,2107,2052,2102,2003,0,0,0,0,0,0,14.35,14.21,14.40
$GC,6417,0.20,317.8,2645,2108,2103,1997,266.2,10.4,523,6422,0.00,2.47,0.00,0.000,516,0.000,0.086,2647,691,2049,2101,1997,0,0,0,0,0,0,14.67,14.22,14.68
$GC,6483,0.27,329.1,2647,694,2101,1998,259.8,9.5,536,6498,0.00,2.45,9.18,1.574,9382,0.000,0.078,2647,2110,2024,2074,1974,0,0,0,0,0,0,14.38,14.24,13.26
$GC,6808,0.29,352.7,2647,2112,2068,1968,229.3,8.9,551,6858,0.00,2.53,43.03,1.342,8740,0.000,0.086,2647,696,1920,1962,1879,0,0,0,0,0,0,14.65,14.09,13.27
$GC,6878,0.39,389.5,2647,698,1954,1877,223.4,8.3,565,6949,0.17,2.45,64.07,1.258,11430,0.108,0.077,2713,2099,1774,1804,1745,0,0,0,0,0,0,14.14,14.07,13.09
$GC,7259,0.35,389.5,2714,2099,1793,1727,174.9,12.4,591,7260,0.00,0.00,0.00,0.000,134,0.000,0.000,2713,2099,1759,1792,1727,0,0,0,0,0,0,14.56,14.58,14.57
$GC,7559,0.33,389.5,2714,2099,1792,1725,139.4,11.5,601,7565,0.00,2.50,0.00,0.000,644,0.000,0.086,2718,685,1757,1790,1725,0,0,0,0,0,0,14.63,14.10,14.65
$GC,7682,0.35,389.5,2719,686,1787,1725,126.4,10.4,625,7687,0.00,2.47,0.00,0.000,1158,0.000,0.077,2718,2106,1755,1785,1725,0,0,0,0,0,0,14.37,14.23,14.41
$GC,7993,0.36,400.1,2718,2107,1786,1724,94.6,9.5,643,7997,0.00,0.00,3.33,0.358,8230,0.000,0.000,2718,2107,1733,1765,1702,0,0,0,0,0,0,14.62,14.00,13.45
$GC,8293,0.40,462.6,2718,2108,1773,1712,69.9,7.1,673,8335,0.00,2.53,36.75,0.405,8740,0.000,0.085,2719,689,1479,1517,1441,0,0,0,0,0,0,14.59,13.94,13.64
$GC,8412,0.58,543.7,2720,690,1521,1447,62.1,6.3,696,8466,0.15,2.47,46.38,0.379,11430,0.114,0.079,2782,2101,1148,1215,1081,0,0,0,0,0,0,14.14,14.07,13.68
$GC,8771,0.67,607.9,2781,2100,1216,1084,32.7,7.0,737,8812,0.00,0.00,36.88,0.294,8358,0.000,0.000,2782,2101,883,956,811,0,0,0,0,0,0,14.57,14.07,13.73
$GC,9111,0.89,699.8,2781,2103,957,821,13.2,5.8,771,9170,0.22,2.58,53.45,0.235,10916,0.095,0.091,2876,694,508,534,483,0,0,0,0,0,0,14.11,14.03,13.74
$GC,9203,0.95,699.8,2878,694,539,485,2.6,12.4,788,9209,0.00,2.47,0.00,0.000,1158,0.000,0.079,2876,2100,511,540,483,0,0,0,0,0,0,14.21,14.06,14.24
$STATE,9214,end climb,SURFACE_DEPTH_REACHED
$STATE,9214,begin surface coast
$FINISH,0.3,1.013277
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9289,1.92,0.236,0,0,498,702.78
$SM_GC,1.21,8.18,0.17,1.92,0.067,0.112,0.236,196,2228,498,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.33,13.94
$RAFOS_CLK,428
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7528.37,-15123.37,080917,011914
$TT8_MAMPS,0.038948,0.865095
$HUMID,47.75
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,11.20
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,49751296
$24V_AH,12.31,175.670
$10V_AH,12.17,0.000
$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,25.900,79.400,1001.375,1.925,0.000,0.000,0.000,289.325,3.750,0.000,19.102,0.000,6493.314,797.248,2275.499,269.482,0.000,2057.070,0.000,1136.299,1825.000,0.539,0.000
$DEVICE_MAMPS,455.940,2140.470,1573.605,236.385,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5244.000,9275.000,9242.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.273,20.000,9.886,0.000
$MEM,323640
$DATA_FILE_SIZE,26736,791
$CAP_FILE_SIZE,102302,0
$CFSIZE,2097872896,2006548480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.4
$CURRENT,0.022,251.69,1
$GPS,080917,064050,7529.155,-15113.699,41,0.8,41,20.7,0.0,0.0,10,8.6