version: 66.13
glider: 196
mission: 14
dive: 291
start: 9 9 117 15 7 56
data:
$ID,196
$MISSION,14
$DIVE,291
$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,49
$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,807.0
$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
$GPS1,090917,150050,7541.1343,-15107.0742,57,0.8,57,20.8,1.2,129.7,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.3
$GPS2,090917,150722,7541.1138,-15107.0557,5,0.9,10,20.8,0.0,269.4,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.1,4020,-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,-145.9,192,2234,516,489,0.0,0.0,0,144,0.00,0.00,-91.55,0.000,16386,0.000,0.000,190,2233,2134,2065,2203,0,0,0,0,0,0,14.53,28.83,14.53
$GC,147,-0.57,-145.9,191,2234,2066,2205,3.4,-4.6,9,205,13.05,2.70,-37.05,0.000,19236,0.458,2.134,2376,3582,3962,3946,3978,0,0,0,0,0,0,13.55,12.83,14.02
$GC,235,-0.61,-145.9,2376,3582,3951,3978,28.7,-20.7,23,240,0.00,2.40,0.00,0.000,1158,0.000,0.063,2376,2199,3962,3949,3976,0,0,0,0,0,0,14.10,13.99,14.14
$GC,545,-0.71,-145.9,2376,2198,3952,3978,75.8,-11.5,55,546,0.00,0.00,0.00,0.000,134,0.000,0.000,2375,2198,3964,3951,3978,0,0,0,0,0,0,14.37,14.39,14.38
$GC,867,-0.88,-145.9,2376,2198,3955,3978,105.6,-8.2,83,872,0.22,2.50,0.00,0.000,4516,0.099,0.086,2277,3586,3964,3952,3977,0,0,0,0,0,0,14.03,13.99,14.08
$GC,953,-0.98,-145.9,2277,3589,3952,3979,116.8,-12.8,100,960,0.00,2.40,0.00,0.000,1158,0.000,0.058,2277,2197,3964,3951,3978,0,0,0,0,0,0,14.15,14.03,14.18
$GC,1257,-0.98,-145.9,2277,2196,3952,3978,162.9,-14.5,111,1262,0.00,2.50,0.00,0.000,260,0.000,0.086,2267,3588,3964,3951,3978,0,0,0,0,0,0,14.41,13.99,14.42
$GC,1318,-1.08,-145.9,2264,3590,3952,3976,170.8,-12.3,123,1322,0.00,2.40,0.00,0.000,1158,0.000,0.057,2267,2201,3964,3951,3978,0,0,0,0,0,0,14.14,14.02,14.17
$GC,1648,-1.11,-145.9,2267,2200,3953,3978,217.4,-13.7,139,1653,0.12,2.47,0.00,0.000,4484,0.142,0.083,2209,3581,3964,3951,3978,0,0,0,0,0,0,14.04,13.93,14.07
$GC,1713,-1.09,-145.9,2209,3582,3952,3979,228.2,-16.6,152,1719,0.00,2.38,0.00,0.000,1158,0.000,0.057,2210,2198,3964,3951,3977,0,0,0,0,0,0,14.13,14.02,14.18
$GC,2039,-1.03,-145.9,2209,2196,3953,3978,283.1,-15.9,167,2044,0.12,2.50,0.00,0.000,2436,0.309,0.085,2231,3588,3965,3952,3978,0,0,0,0,0,0,13.68,13.92,13.85
$GC,2120,-1.12,-145.9,2231,3589,3952,3979,293.3,-11.5,183,2124,0.00,2.40,0.00,0.000,1158,0.000,0.057,2229,2195,3964,3951,3978,0,0,0,0,0,0,14.14,14.02,14.17
$GC,2430,-1.14,-145.9,2231,2193,3952,3978,331.6,-12.0,195,2434,0.00,2.50,0.00,0.000,388,0.000,0.087,2223,3586,3964,3951,3977,0,0,0,0,0,0,14.41,13.97,14.42
$GC,2505,-1.23,-145.9,2223,3589,3952,3979,340.3,-11.0,210,2510,0.12,2.40,0.00,0.000,5254,0.133,0.055,2175,2192,3964,3951,3978,0,0,0,0,0,0,14.05,14.02,14.15
$GC,2820,-1.15,-145.9,2174,2192,3951,3978,392.3,-16.4,223,2825,0.12,2.50,0.00,0.000,2436,0.328,0.082,2190,3581,3964,3951,3977,0,0,0,0,0,0,13.57,13.92,13.78
$GC,2927,-1.15,-145.9,2191,3581,3952,3977,407.2,-13.2,244,2933,0.00,2.38,0.00,0.000,1030,0.000,0.055,2191,2196,3964,3951,3977,0,0,0,0,0,0,14.12,14.00,14.16
$GC,3245,-1.11,-145.9,2190,2196,3952,3977,453.3,-14.5,257,3250,0.12,2.50,0.00,0.000,2436,0.313,0.083,2210,3580,3964,3951,3977,0,0,0,0,0,0,13.62,13.85,13.80
$GC,3330,-1.18,-145.9,2210,3582,3950,3978,463.9,-11.2,274,3336,0.00,2.40,0.00,0.000,1158,0.000,0.054,2209,2201,3964,3951,3977,0,0,0,0,0,0,13.96,13.85,14.00
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3483,begin apogee
$GC,3488,-0.13,0.0,2210,2061,3951,3979,483.1,-12.5,280,3720,1.27,0.00,228.62,1.383,10246,0.230,0.000,2527,2059,3365,3386,3344,0,0,0,0,0,0,13.63,13.28,12.48
$STATE,3724,end apogee,CONTROL_FINISHED_OK
$STATE,3724,begin climb
$GC,3726,0.57,145.9,2528,2060,3377,3335,494.7,0.0,287,3949,0.75,2.62,216.40,1.324,10756,0.060,0.079,2788,724,2765,2808,2722,0,0,0,0,0,0,13.45,12.75,12.17
$GC,4147,0.17,145.9,2781,724,2792,2711,483.3,13.7,328,4154,0.68,2.47,0.00,0.000,5254,0.321,0.074,2644,2073,2749,2791,2708,0,0,0,0,0,0,13.21,13.49,13.55
$GC,4452,0.02,173.0,2645,2074,2792,2704,455.6,8.7,339,4493,0.22,0.00,36.25,1.425,12966,0.259,0.000,2594,2073,2654,2703,2606,0,0,0,0,0,0,13.65,13.62,13.04
$GC,4815,0.01,222.5,2595,2073,2696,2587,428.3,7.7,356,4893,0.00,0.00,76.53,1.349,8870,0.000,0.000,2597,2073,2453,2516,2391,0,0,0,0,0,0,14.23,13.76,13.03
$GC,5203,0.03,249.4,2598,2074,2500,2375,394.6,8.8,374,5243,0.00,0.00,38.12,1.385,8230,0.000,0.000,2594,2073,2347,2402,2293,0,0,0,0,0,0,14.21,13.85,13.11
$GC,5535,0.08,276.1,2595,2073,2385,2274,365.6,8.8,385,5584,0.00,2.47,39.80,1.362,8868,0.000,0.088,2594,706,2232,2285,2179,0,0,0,0,0,0,14.22,13.86,13.12
$GC,5614,0.20,309.9,2594,705,2277,2174,358.7,8.4,401,5676,0.17,2.45,53.28,1.300,11430,0.105,0.078,2667,2099,2097,2148,2047,0,0,0,0,0,0,13.96,13.87,12.99
$GC,5988,0.15,309.9,2667,2099,2134,2028,307.7,13.7,425,5993,0.12,2.45,0.00,0.000,4740,0.251,0.083,2644,722,2080,2133,2027,0,0,0,0,0,0,13.84,14.01,13.98
$GC,6033,0.18,309.9,2644,721,2133,2027,302.2,11.3,434,6038,0.00,2.45,0.00,0.000,1158,0.000,0.079,2644,2106,2079,2131,2027,0,0,0,0,0,0,14.12,14.00,14.16
$GC,6348,0.18,309.9,2644,2110,2132,2026,267.2,10.9,447,6353,0.00,2.47,0.00,0.000,516,0.000,0.085,2644,721,2078,2132,2025,0,0,0,0,0,0,14.36,14.02,14.38
$GC,6393,0.23,309.9,2645,722,2130,2026,262.5,10.2,456,6400,0.00,2.42,0.00,0.000,1158,0.000,0.077,2644,2104,2077,2130,2025,0,0,0,0,0,0,14.15,14.02,14.19
$GC,6710,0.24,326.3,2645,2105,2130,2026,231.4,9.2,469,6730,0.00,0.00,19.35,1.405,8230,0.000,0.000,2644,2105,2034,2085,1984,0,0,0,0,0,0,14.33,14.01,13.19
$GC,7010,0.30,360.2,2644,2105,2072,1970,205.7,8.4,479,7073,0.12,2.55,58.08,1.265,10916,0.124,0.086,2698,729,1891,1929,1854,0,0,0,0,0,0,14.05,13.90,13.16
$GC,7094,0.28,360.2,2699,730,1915,1853,196.3,11.8,485,7098,0.00,2.45,0.00,0.000,1158,0.000,0.077,2699,2103,1882,1914,1850,0,0,0,0,0,0,13.98,13.88,14.01
$GC,7404,0.25,360.2,2699,2105,1909,1844,161.3,10.9,497,7409,0.12,2.45,0.00,0.000,4740,0.223,0.083,2672,729,1877,1910,1844,0,0,0,0,0,0,13.92,14.02,14.03
$GC,7440,0.35,389.2,2672,729,1911,1844,158.1,8.7,504,7495,0.00,2.42,47.75,1.251,9382,0.000,0.079,2672,2099,1770,1796,1745,0,0,0,0,0,0,14.14,14.00,13.18
$GC,7796,0.43,425.2,2673,2099,1792,1729,127.0,8.3,525,7866,0.12,2.53,61.42,1.197,10916,0.131,0.088,2733,729,1625,1655,1596,0,0,0,0,0,0,14.06,13.87,13.16
$GC,7916,0.46,425.2,2733,729,1644,1591,112.8,11.5,549,7921,0.00,2.45,0.00,0.000,1158,0.000,0.076,2733,2100,1616,1643,1590,0,0,0,0,0,0,13.99,13.89,14.06
$GC,8226,0.46,425.2,2734,2102,1644,1581,78.5,10.2,577,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2101,1612,1643,1581,0,0,0,0,0,0,14.28,14.30,14.29
$GC,8528,0.55,515.3,2734,2101,1643,1579,55.7,5.8,607,8582,0.00,2.53,46.72,0.363,8868,0.000,0.086,2733,728,1264,1321,1207,0,0,0,0,0,0,14.31,13.93,13.58
$GC,8639,0.76,596.0,2734,728,1323,1213,48.9,6.3,628,8689,0.30,2.45,45.08,0.339,11430,0.083,0.077,2845,2102,940,1010,870,0,0,0,0,0,0,13.96,13.85,13.59
$GC,8984,0.74,612.0,2846,2102,1011,874,12.8,9.3,667,9001,0.00,2.60,10.38,0.243,8612,0.000,0.082,2845,3517,869,941,798,0,0,0,0,0,0,14.29,13.90,13.62
$GC,9021,0.71,612.0,2846,3519,939,802,9.3,10.3,674,9028,0.17,2.42,0.00,0.000,5254,0.252,0.068,2813,2134,870,938,802,0,0,0,0,0,0,13.78,13.95,13.99
$STATE,9104,end climb,SURFACE_DEPTH_REACHED
$STATE,9104,begin surface coast
$FINISH,0.0,1.021593
$STATE,9124,end surface coast,CONTROL_FINISHED_OK
$STATE,9124,begin surface
$SM_CCo,9147,53.83,0.207,0,0,501,703.03
$SM_GC,1.02,7.93,0.12,53.83,0.063,0.112,0.207,207,2231,501,-7.36,-0.62,703.03,0,0,0,0,0,0,14.26,14.30,13.97
$RAFOS_CLK,270
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7543.23,-15101.80,090917,122646
$TT8_MAMPS,0.038948,1.00965
$HUMID,47.16
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.40
$XPDR_PINGS,18
$CP_FREE,15947988992.000000
$PM_FREEKB_00,49167040
$24V_AH,12.17,182.291
$10V_AH,12.03,0.000
$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,25.900,84.300,977.775,53.825,0.000,0.000,0.000,197.825,4.500,0.000,11.562,0.000,6561.139,942.365,1851.147,253.305,0.000,1952.768,0.000,983.008,2194.000,0.540,0.000
$DEVICE_MAMPS,458.235,2134.350,1425.195,206.550,0.000,0.000,0.000,134.640,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5184.000,9118.000,9105.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.437,20.000,98.684,0.000
$MEM,323676
$DATA_FILE_SIZE,23419,685
$CAP_FILE_SIZE,101181,0
$CFSIZE,2097872896,2003632128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.3
$CURRENT,0.025,217.61,1
$GPS,090917,174230,7542.259,-15109.281,22,0.8,28,20.8,0.5,181.8,11,9.4