version: 66.13
glider: 196
mission: 14
dive: 287
start: 9 9 117 4 16 24
data:
$ID,196
$MISSION,14
$DIVE,287
$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,35
$R_STBD_OVSHOOT,57
$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,798.0
$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
$GPS1,090917,040342,7538.6611,-15106.4170,15,0.8,18,20.8,0.6,97.4,11,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.1
$GPS2,090917,041555,7538.6182,-15106.4570,6,0.7,38,20.8,0.5,267.4,12,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,333.2,8514,-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,-145.9,190,2188,496,486,0.0,0.0,0,143,0.00,0.00,-91.18,0.000,16386,0.000,0.000,188,2187,2101,2030,2173,0,0,0,0,0,0,14.41,28.83,14.42
$GC,146,-0.57,-145.9,188,2188,2032,2176,3.0,-3.6,9,208,12.95,2.78,-40.17,0.000,18980,0.455,2.138,2384,806,3963,3948,3979,0,0,0,0,0,0,13.58,12.58,14.07
$GC,274,-0.71,-145.9,2384,807,3953,3980,32.1,-13.4,34,280,0.00,2.42,0.00,0.000,1158,0.000,0.088,2382,2170,3966,3953,3979,0,0,0,0,0,0,14.19,14.05,14.26
$GC,581,-0.82,-145.9,2382,2167,3955,3980,76.1,-11.2,65,586,0.20,2.58,0.00,0.000,4484,0.107,0.088,2292,3607,3965,3952,3979,0,0,0,0,0,0,14.14,13.99,14.19
$GC,761,-0.89,-145.9,2293,3608,3955,3979,102.1,-13.6,101,766,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2207,3966,3954,3979,0,0,0,0,0,0,14.16,14.04,14.19
$GC,1091,-0.93,-145.9,2291,2207,3955,3979,150.2,-13.8,117,1096,0.00,2.50,0.00,0.000,388,0.000,0.086,2283,3613,3966,3954,3979,0,0,0,0,0,0,14.51,14.00,14.53
$GC,1151,-1.06,-145.9,2283,3615,3955,3980,157.7,-11.4,129,1156,0.15,2.42,0.00,0.000,5254,0.118,0.057,2230,2197,3966,3954,3979,0,0,0,0,0,0,14.09,14.04,14.19
$GC,1482,-1.00,-145.9,2230,2197,3958,3980,216.6,-17.3,145,1487,0.00,2.47,0.00,0.000,388,0.000,0.086,2223,3611,3966,3954,3979,0,0,0,0,0,0,14.50,13.98,14.51
$GC,1567,-1.00,-145.9,2223,3614,3955,3980,230.2,-15.1,162,1573,0.15,2.42,0.00,0.000,3078,0.243,0.057,2252,2201,3966,3954,3979,0,0,0,0,0,0,13.78,14.03,14.04
$GC,1872,-1.04,-145.9,2253,2200,3955,3980,268.7,-11.8,173,1877,0.00,2.50,0.00,0.000,388,0.000,0.088,2245,3610,3966,3954,3979,0,0,0,0,0,0,14.66,14.14,14.66
$GC,1942,-1.14,-145.9,2246,3612,3955,3979,276.6,-10.5,187,1947,0.00,2.40,0.00,0.000,1158,0.000,0.057,2245,2198,3966,3954,3979,0,0,0,0,0,0,14.33,14.21,14.38
$GC,2263,-1.19,-145.9,2245,2197,3955,3980,313.0,-11.0,201,2264,0.15,0.00,0.00,0.000,4230,0.132,0.000,2188,2197,3966,3954,3979,0,0,0,0,0,0,14.32,14.45,14.41
$GC,2562,-1.13,-145.9,2187,2197,3954,3980,360.1,-15.9,211,2567,0.12,2.50,0.00,0.000,2436,0.274,0.085,2209,3615,3966,3954,3979,0,0,0,0,0,0,13.71,14.07,13.87
$GC,2708,-1.19,-145.9,2209,3617,3954,3980,378.7,-11.9,240,2714,0.00,2.40,0.00,0.000,1158,0.000,0.057,2209,2191,3966,3954,3979,0,0,0,0,0,0,14.36,14.23,14.40
$GC,3013,-1.19,-145.9,2209,2191,3954,3980,419.2,-13.3,251,3017,0.00,2.50,0.00,0.000,260,0.000,0.086,2200,3613,3966,3953,3979,0,0,0,0,0,0,14.72,14.12,14.74
$GC,3108,-1.24,-145.9,2201,3614,3953,3977,431.6,-12.4,270,3113,0.00,2.40,0.00,0.000,1158,0.000,0.055,2200,2196,3967,3956,3979,0,0,0,0,0,0,14.33,14.19,14.40
$GC,3433,-1.24,-145.9,2201,2195,3954,3979,475.8,-13.6,285,3437,0.00,2.47,0.00,0.000,260,0.000,0.086,2192,3609,3965,3952,3979,0,0,0,0,0,0,14.73,14.12,14.74
$STATE,3460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3460,begin apogee
$GC,3468,-0.13,0.0,2193,2101,3953,3979,480.1,-14.1,291,3691,1.35,0.00,218.65,1.424,10246,0.240,0.000,2527,2101,3365,3383,3348,0,0,0,0,0,0,13.85,13.54,12.69
$STATE,3739,end apogee,CONTROL_FINISHED_OK
$STATE,3739,begin climb
$GC,3742,0.57,145.9,2527,2101,3376,3338,492.0,0.0,298,3957,0.75,2.67,210.43,1.374,11012,0.060,0.071,2785,3504,2766,2803,2729,0,0,0,0,0,0,13.81,12.94,12.31
$GC,4183,0.09,145.9,2784,3507,2784,2724,470.2,16.5,400,4189,0.88,2.45,0.00,0.000,5254,0.345,0.057,2616,2098,2753,2784,2723,0,0,0,0,0,0,13.45,13.81,13.83
$GC,4509,0.01,188.2,2617,2099,2784,2722,442.4,8.0,415,4571,0.15,0.00,59.53,1.414,12966,0.282,0.000,2586,2097,2598,2645,2551,0,0,0,0,0,0,13.91,13.93,13.09
$GC,4869,0.04,237.0,2586,2098,2639,2534,414.7,7.7,432,4949,0.00,2.55,72.07,1.382,8740,0.000,0.089,2589,699,2394,2444,2344,0,0,0,0,0,0,14.57,13.93,13.11
$GC,4994,0.17,288.6,2589,699,2438,2344,404.9,7.6,457,5081,0.15,2.47,77.72,1.349,11430,0.116,0.080,2655,2101,2184,2233,2136,0,0,0,0,0,0,14.09,14.02,12.94
$GC,5379,0.11,288.6,2656,2101,2225,2123,354.5,13.2,484,5385,0.12,2.47,0.00,0.000,4740,0.249,0.083,2630,694,2174,2225,2123,0,0,0,0,0,0,14.00,14.13,14.13
$GC,5415,0.15,288.6,2631,693,2224,2123,350.3,10.8,491,5423,0.00,2.45,0.00,0.000,1158,0.000,0.079,2630,2105,2172,2223,2122,0,0,0,0,0,0,14.23,14.12,14.32
$GC,5744,0.15,288.6,2631,2105,2223,2121,313.6,11.2,506,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2105,2171,2222,2121,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6044,0.15,288.6,2630,2106,2223,2122,281.2,10.6,516,6049,0.00,2.47,0.00,0.000,516,0.000,0.087,2633,692,2170,2221,2120,0,0,0,0,0,0,14.67,14.15,14.71
$GC,6114,0.22,302.1,2631,693,2220,2121,274.4,9.4,530,6136,0.00,2.47,15.43,1.485,9382,0.000,0.079,2630,2107,2132,2181,2084,0,0,0,0,0,0,14.36,14.22,13.26
$GC,6434,0.27,324.1,2632,2107,2179,2077,244.8,9.0,544,6475,0.12,0.00,36.35,1.388,10918,0.126,0.000,2688,2108,2042,2087,1997,0,0,0,0,0,0,14.35,13.86,13.24
$GC,6796,0.21,324.1,2687,2108,2083,1988,202.6,11.3,561,6801,0.12,2.50,0.00,0.000,4740,0.249,0.086,2659,686,2034,2082,1987,0,0,0,0,0,0,14.03,14.16,14.14
$GC,6861,0.31,356.7,2660,687,2081,1987,196.6,8.5,574,6923,0.00,2.50,54.50,1.318,9382,0.000,0.080,2659,2109,1906,1944,1869,0,0,0,0,0,0,14.21,14.09,13.21
$GC,7248,0.38,392.2,2659,2109,1936,1862,163.6,8.4,601,7310,0.12,0.00,58.65,1.271,10918,0.134,0.000,2719,2110,1766,1791,1742,0,0,0,0,0,0,14.30,14.00,13.24
$GC,7608,0.36,392.2,2725,2110,1789,1730,121.4,11.3,618,7613,0.00,2.50,0.00,0.000,644,0.000,0.088,2722,693,1756,1782,1730,0,0,0,0,0,0,14.58,14.07,14.59
$GC,7750,0.36,394.7,2723,693,1779,1729,106.7,9.9,646,7754,0.00,2.45,0.00,0.000,1062,0.000,0.077,2722,2101,1754,1778,1730,0,0,0,0,0,0,14.33,14.20,14.38
$GC,8060,0.38,430.5,2722,2102,1778,1728,77.1,8.4,674,8086,0.00,2.53,19.67,0.434,8484,0.000,0.083,2722,3507,1608,1634,1583,0,0,0,0,0,0,14.60,14.09,13.68
$GC,8163,0.42,453.7,2721,3510,1635,1583,67.9,8.9,694,8184,0.00,2.42,13.12,0.403,9382,0.000,0.066,2726,2101,1513,1543,1484,0,0,0,0,0,0,14.09,13.97,13.63
$GC,8482,0.59,552.3,2726,2103,1544,1480,47.6,5.5,728,8540,0.12,2.50,51.92,0.343,11172,0.122,0.090,2788,689,1112,1174,1051,0,0,0,0,0,0,14.24,14.09,13.72
$GC,8675,0.72,604.7,2791,688,1173,1047,33.0,7.6,766,8708,0.00,2.50,28.25,0.298,9382,0.000,0.078,2790,2108,901,973,830,0,0,0,0,0,0,14.23,14.09,13.72
$GC,9005,0.90,686.2,2791,2108,965,823,11.5,6.2,802,9058,0.25,2.47,44.58,0.236,10660,0.088,0.080,2885,3511,563,596,531,0,0,0,0,0,0,14.15,13.86,13.67
$GC,9063,0.86,686.2,2885,3512,599,531,4.8,12.9,810,9069,0.15,2.45,0.00,0.000,5254,0.286,0.066,2859,2096,563,596,531,0,0,0,0,0,0,13.71,13.99,14.00
$STATE,9086,end climb,SURFACE_DEPTH_REACHED
$STATE,9086,begin surface coast
$FINISH,0.1,1.021497
$STATE,9096,end surface coast,CONTROL_FINISHED_OK
$STATE,9096,begin surface
$SM_CCo,9116,12.73,0.196,0,0,500,702.78
$SM_GC,0.97,8.07,0.20,12.73,0.063,0.105,0.196,204,2238,500,-7.38,-0.45,702.78,0,0,0,0,0,0,14.26,14.28,13.95
$RAFOS_CLK,414
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7538.57,-15102.62,090917,041028
$TT8_MAMPS,0.040446,0.894306
$HUMID,46.61
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,15949692928.000000
$PM_FREEKB_00,49482560
$24V_AH,12.31,179.822
$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,26.100,84.900,960.875,12.725,0.000,0.000,0.000,389.150,4.500,0.000,39.403,0.000,6555.461,867.636,2178.102,270.363,0.000,2123.255,0.000,1164.189,0.000,0.539,0.000
$DEVICE_MAMPS,455.175,2138.175,1484.865,195.840,0.000,0.000,0.000,127.755,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5318.000,9101.000,9071.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.212,20.000,9.939,0.000
$MEM,323652
$DATA_FILE_SIZE,26746,814
$CAP_FILE_SIZE,105912,0
$CFSIZE,2097872896,2004549632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5416.00,0x2341ea,1,24
$SOUNDSPEED,1446.2
$CURRENT,0.028,241.85,1
$GPS,090917,064957,7539.775,-15106.401,38,0.7,39,20.8,0.5,302.9,11,9.4