version: 66.13
glider: 196
mission: 14
dive: 279
start: 9 8 117 6 49 4
data:
$ID,196
$MISSION,14
$DIVE,279
$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,47
$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,777.0
$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
$GPS1,080917,064050,7529.1548,-15113.6992,41,0.8,41,20.7,0.0,0.0,10,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.7
$GPS2,080917,064830,7529.1582,-15113.7930,5,0.8,11,20.7,0.6,263.1,9,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,347.1,25862,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,183,2230,520,482,0.0,0.0,0,142,0.00,0.00,-91.28,0.000,16386,0.000,0.000,183,2229,2140,2071,2209,0,0,0,0,0,0,14.54,28.83,14.56
$GC,145,-0.57,-145.9,181,2229,2074,2208,3.4,-4.0,9,201,13.20,0.00,-37.33,0.000,18982,0.459,0.000,2384,2230,3961,3946,3977,1,0,0,0,0,0,13.46,13.15,14.04
$GC,500,-0.67,-145.9,2384,2230,3953,3978,71.0,-12.2,46,505,0.00,2.40,0.00,0.000,388,0.000,0.086,2378,3585,3965,3952,3978,0,0,0,0,0,0,14.59,14.04,14.61
$GC,556,-0.92,-145.9,2378,3586,3954,3978,76.7,-9.0,57,562,0.30,2.35,0.00,0.000,5286,0.090,0.054,2267,2199,3964,3951,3978,0,0,0,0,0,0,14.25,14.14,14.29
$GC,862,-0.87,-145.9,2268,2198,3953,3977,134.8,-18.4,76,869,0.12,2.47,0.00,0.000,2436,0.279,0.083,2288,3582,3964,3951,3977,0,0,0,0,0,0,13.83,13.74,13.96
$GC,929,-1.00,-145.9,2288,3585,3952,3979,144.1,-11.4,89,934,0.00,2.35,0.00,0.000,1158,0.000,0.059,2287,2200,3965,3952,3978,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1254,-1.06,-145.9,2288,2199,3953,3978,186.4,-12.8,104,1260,0.15,2.45,0.00,0.000,4484,0.129,0.084,2223,3582,3965,3952,3978,0,0,0,0,0,0,14.20,14.09,14.24
$GC,1310,-1.06,-145.9,2224,3583,3956,3977,195.6,-16.7,115,1316,0.00,2.38,0.00,0.000,1030,0.000,0.060,2223,2198,3964,3951,3978,0,0,0,0,0,0,14.16,14.02,14.19
$GC,1615,-1.01,-145.9,2223,2196,3952,3979,249.3,-17.2,126,1620,0.12,2.45,0.00,0.000,2436,0.295,0.084,2242,3588,3965,3952,3978,0,0,0,0,0,0,13.90,14.14,14.07
$GC,1742,-1.10,-145.9,2243,3589,3953,3978,265.1,-10.5,151,1747,0.00,2.38,0.00,0.000,1158,0.000,0.057,2242,2195,3964,3952,3977,0,0,0,0,0,0,14.32,14.19,14.35
$GC,2067,-1.14,-145.9,2242,2194,3953,3978,304.9,-11.9,166,2072,0.00,2.45,0.00,0.000,388,0.000,0.088,2236,3583,3965,3952,3978,0,0,0,0,0,0,14.68,14.14,14.69
$GC,2148,-1.24,-145.9,2236,3586,3952,3979,313.9,-10.8,182,2153,0.17,2.35,0.00,0.000,5254,0.116,0.056,2169,2199,3965,3952,3978,0,0,0,0,0,0,14.24,14.20,14.35
$GC,2458,-1.13,-145.9,2169,2198,3953,3977,369.7,-18.1,194,2463,0.17,2.45,0.00,0.000,2436,0.287,0.082,2199,3587,3964,3951,3978,0,0,0,0,0,0,13.83,14.04,14.00
$GC,2560,-1.17,-145.9,2200,3591,3953,3978,384.0,-12.9,214,2565,0.00,2.35,0.00,0.000,1158,0.000,0.056,2199,2198,3964,3951,3978,0,0,0,0,0,0,14.32,14.19,14.36
$GC,2880,-1.14,-145.9,2200,2197,3952,3978,430.0,-14.3,228,2885,0.00,2.45,0.00,0.000,388,0.000,0.086,2190,3585,3964,3951,3978,0,0,0,0,0,0,14.67,14.07,14.68
$GC,2950,-1.14,-145.9,2190,3585,3952,3978,440.2,-14.2,242,2955,0.00,2.35,0.00,0.000,1030,0.000,0.057,2190,2196,3964,3951,3978,0,0,0,0,0,0,14.33,14.21,14.37
$STATE,3238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3238,begin apogee
$GC,3244,-0.13,0.0,2191,2065,3952,3978,482.8,-14.7,255,3475,1.35,0.00,227.27,1.410,10246,0.243,0.000,2529,2065,3364,3380,3349,0,0,0,0,0,0,13.85,13.50,12.64
$STATE,3479,end apogee,CONTROL_FINISHED_OK
$STATE,3479,begin climb
$GC,3481,0.57,145.9,2530,2065,3374,3339,494.4,0.0,262,4040,0.75,2.58,212.00,1.354,11012,0.062,0.077,2790,730,2751,2787,2716,0,0,0,0,0,0,13.64,12.86,12.26
$GC,4139,0.17,145.9,2789,730,2788,2716,449.2,13.8,283,4145,0.70,2.38,0.00,0.000,5254,0.323,0.076,2643,2084,2750,2787,2714,0,0,0,0,0,0,13.62,13.99,14.03
$GC,4457,0.02,178.8,2643,2086,2787,2712,421.4,8.5,296,4507,0.22,0.00,47.42,1.399,12454,0.262,0.000,2592,2088,2636,2683,2589,0,0,0,0,0,0,13.81,13.98,13.17
$GC,4785,0.02,229.6,2592,2085,2671,2571,396.5,7.7,307,4869,0.00,0.00,81.57,1.333,8870,0.000,0.000,2592,2084,2429,2484,2374,0,0,0,0,0,0,14.42,13.84,13.07
$GC,5145,0.07,268.4,2592,2085,2473,2353,366.9,8.2,324,5216,0.00,2.45,62.70,1.326,8868,0.000,0.086,2593,733,2263,2314,2213,0,0,0,0,0,0,14.41,13.89,13.13
$GC,5263,0.21,307.8,2592,734,2309,2209,357.4,8.2,347,5333,0.17,2.42,61.65,1.305,11430,0.106,0.080,2670,2098,2108,2156,2060,0,0,0,0,0,0,14.00,13.93,13.02
$GC,5658,0.15,307.8,2667,2098,2143,2044,304.2,13.4,376,5664,0.12,2.42,0.00,0.000,4740,0.253,0.082,2648,724,2092,2141,2043,0,0,0,0,0,0,13.90,14.07,14.07
$GC,5689,0.15,307.8,2645,724,2141,2043,300.4,11.8,382,5694,0.00,2.42,0.00,0.000,1030,0.000,0.078,2644,2103,2091,2140,2043,0,0,0,0,0,0,14.22,14.09,14.28
$GC,6019,0.15,307.8,2645,2105,2140,2041,263.6,10.7,398,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2105,2089,2137,2042,0,0,0,0,0,0,14.47,14.50,14.50
$GC,6319,0.17,332.3,2644,2106,2140,2041,235.1,8.9,408,6365,0.00,2.45,37.12,1.338,8740,0.000,0.084,2644,733,2004,2049,1960,0,0,0,0,0,0,14.47,14.03,13.26
$GC,6437,0.28,371.6,2645,738,2042,1958,225.2,8.2,431,6513,0.00,2.42,68.38,1.255,9382,0.000,0.077,2644,2111,1852,1884,1821,0,0,0,0,0,0,14.13,14.01,13.12
$GC,6839,0.39,416.2,2644,2107,1867,1803,192.0,7.9,460,6921,0.22,0.00,80.05,1.216,10406,0.093,0.000,2732,2107,1669,1696,1642,0,0,0,0,0,0,14.10,13.85,13.14
$GC,7198,0.35,416.2,2732,2107,1686,1620,143.4,13.7,472,7204,0.12,2.42,0.00,0.000,4740,0.242,0.084,2709,727,1652,1685,1619,0,0,0,0,0,0,14.01,14.16,14.12
$GC,7289,0.42,416.2,2709,728,1683,1620,133.1,10.3,490,7295,0.00,2.40,0.00,0.000,1158,0.000,0.077,2709,2095,1650,1682,1619,0,0,0,0,0,0,14.31,14.20,14.37
$GC,7620,0.43,430.9,2710,2096,1683,1616,100.2,9.3,506,7645,0.00,2.42,17.52,1.347,8740,0.000,0.086,2709,731,1602,1636,1569,0,0,0,0,0,0,14.62,14.21,13.31
$GC,7670,0.53,452.3,2709,732,1629,1568,95.7,9.0,516,7687,0.12,2.40,11.00,0.456,11430,0.131,0.077,2766,2109,1521,1554,1489,0,0,0,0,0,0,14.17,14.16,13.64
$GC,7992,0.51,470.5,2766,2109,1560,1496,59.2,9.2,550,8009,0.00,2.45,11.45,0.366,8868,0.000,0.084,2768,727,1445,1483,1408,0,0,0,0,0,0,14.59,13.90,13.66
$GC,8106,0.60,541.3,2767,727,1488,1414,51.0,6.7,572,8154,0.00,2.40,40.30,0.350,9382,0.000,0.079,2768,2100,1156,1217,1096,0,0,0,0,0,0,14.14,14.05,13.69
$GC,8459,0.77,630.3,2768,2101,1218,1099,27.7,5.9,612,8512,0.17,0.00,49.85,0.279,10406,0.108,0.000,2839,2100,792,858,727,0,0,0,0,0,0,14.19,14.04,13.76
$STATE,8757,end climb,SURFACE_DEPTH_REACHED
$STATE,8757,begin surface coast
$FINISH,0.4,1.021571
$STATE,8767,end surface coast,CONTROL_FINISHED_OK
$STATE,8767,begin surface
$SM_CCo,8832,42.53,0.207,0,0,499,702.78
$SM_GC,1.20,8.05,0.17,42.53,0.071,0.112,0.207,206,2233,499,-7.36,-0.68,702.78,0,0,0,0,0,0,14.32,14.33,13.97
$RAFOS_CLK,210
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7529.54,-15052.56,080917,064403
$TT8_MAMPS,0.040446,0.92876
$HUMID,46.29
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,8
$CP_FREE,0.000000
$PM_FREEKB_00,49722560
$24V_AH,12.26,176.155
$10V_AH,12.15,0.000
$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,26.275,68.000,1008.300,42.525,0.000,0.000,0.000,207.025,2.000,0.000,12.315,0.000,6018.924,952.430,2161.531,219.242,0.000,2266.744,0.000,926.039,2204.000,0.539,0.000
$DEVICE_MAMPS,459.000,111.690,1409.895,207.315,0.000,0.000,0.000,130.815,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8761.000,8799.000,8787.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.552,20.000,9.907,0.000
$MEM,323420
$DATA_FILE_SIZE,23389,643
$CAP_FILE_SIZE,93109,0
$CFSIZE,2097872896,2006384640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.2
$CURRENT,0.049,252.03,1
$GPS,080917,091819,7530.293,-15112.728,14,0.7,36,20.7,0.7,280.0,11,4.8