version: 66.13
glider: 196
mission: 14
dive: 295
start: 9 10 117 2 0 28
data:
$ID,196
$MISSION,14
$DIVE,295
$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,59
$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,819.0
$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
$GPS1,100917,014339,7541.1040,-15109.4629,36,0.7,43,20.8,0.3,325.1,12,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.5
$GPS2,100917,015958,7541.0366,-15109.3115,14,0.7,22,20.8,0.5,37.5,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.1,3867,-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,-145.9,167,2225,523,485,0.0,0.0,0,144,0.00,0.00,-91.85,0.000,16386,0.000,0.000,165,2224,2146,2073,2220,0,0,0,0,0,0,14.49,28.83,14.50
$GC,147,-0.57,-145.9,166,2226,2075,2221,3.7,-5.0,9,206,13.10,2.85,-36.70,0.000,18980,0.452,2.134,2384,826,3963,3949,3978,1,0,0,0,0,0,13.31,12.56,13.99
$GC,272,-0.71,-145.9,2384,827,3955,3978,33.5,-13.2,33,277,0.12,2.45,0.00,0.000,5254,0.121,0.086,2335,2185,3966,3954,3978,0,0,0,0,0,0,14.03,13.93,14.09
$GC,582,-0.76,-145.9,2335,2187,3956,3978,88.4,-14.1,65,587,0.00,2.55,0.00,0.000,388,0.000,0.089,2333,3620,3964,3955,3973,0,0,0,0,0,0,14.50,14.10,14.52
$GC,709,-0.93,-145.9,2333,3620,3957,3978,102.2,-10.0,90,714,0.17,2.38,0.00,0.000,5254,0.110,0.054,2266,2222,3966,3955,3977,0,0,0,0,0,0,14.21,14.14,14.31
$GC,1034,-0.93,-145.9,2266,2222,3956,3979,156.6,-16.1,105,1039,0.00,2.47,0.00,0.000,260,0.000,0.088,2259,3621,3966,3955,3978,0,0,0,0,0,0,14.57,14.07,14.58
$GC,1129,-1.01,-145.9,2260,3622,3956,3977,169.6,-12.9,124,1134,0.00,2.42,0.00,0.000,1158,0.000,0.058,2259,2205,3966,3955,3977,0,0,0,0,0,0,14.31,14.17,14.34
$GC,1454,-1.01,-145.9,2260,2204,3956,3978,217.4,-14.3,139,1460,0.00,2.50,0.00,0.000,260,0.000,0.087,2249,3617,3966,3955,3978,0,0,0,0,0,0,14.59,14.09,14.62
$GC,1530,-1.11,-145.9,2249,3619,3957,3978,227.5,-12.3,154,1535,0.00,2.42,0.00,0.000,1158,0.000,0.057,2249,2189,3970,3963,3977,0,0,0,0,0,0,14.24,14.16,14.28
$GC,1845,-1.14,-145.9,2249,2189,3956,3978,268.4,-12.2,167,1851,0.12,2.50,0.00,0.000,4484,0.145,0.084,2185,3615,3966,3955,3977,0,0,0,0,0,0,14.30,14.12,14.35
$GC,1917,-1.11,-145.9,2186,3615,3957,3977,279.5,-15.9,181,1922,0.15,2.40,0.00,0.000,3206,0.257,0.057,2215,2195,3966,3955,3977,0,0,0,0,0,0,13.96,14.24,14.23
$GC,2237,-1.11,-145.9,2215,2194,3956,3978,324.4,-13.6,195,2243,0.00,2.50,0.00,0.000,260,0.000,0.087,2210,3613,3966,3955,3977,0,0,0,0,0,0,14.68,14.14,14.69
$GC,2308,-1.17,-145.9,2210,3614,3957,3977,333.6,-12.4,209,2313,0.00,2.40,0.00,0.000,1158,0.000,0.056,2210,2193,3967,3956,3978,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2628,-1.17,-145.9,2210,2193,3956,3978,376.7,-13.3,223,2634,0.00,2.53,0.00,0.000,260,0.000,0.087,2202,3616,3966,3955,3977,0,0,0,0,0,0,14.71,14.13,14.69
$GC,2709,-1.22,-145.9,2203,3616,3956,3977,387.1,-12.3,239,2715,0.00,2.40,0.00,0.000,1158,0.000,0.056,2202,2192,3966,3955,3977,0,0,0,0,0,0,14.36,14.23,14.40
$GC,3020,-1.22,-145.9,2202,2191,3956,3978,429.4,-13.5,251,3026,0.00,2.53,0.00,0.000,260,0.000,0.087,2197,3614,3966,3956,3977,0,0,0,0,0,0,14.67,14.16,14.69
$GC,3116,-1.26,-145.9,2197,3614,3956,3977,441.8,-12.4,270,3121,0.00,2.40,0.00,0.000,1158,0.000,0.055,2196,2192,3966,3955,3977,0,0,0,0,0,0,14.37,14.24,14.40
$STATE,3408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3408,begin apogee
$GC,3414,-0.13,0.0,2197,2061,3956,3977,482.0,-13.6,284,3652,1.30,0.08,227.80,1.405,10246,0.236,0.177,2527,2113,3356,3368,3345,0,0,0,0,0,0,13.89,13.47,12.67
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3658,0.57,145.9,2528,2114,3365,3343,495.2,0.0,292,4052,0.75,2.65,213.85,1.356,10756,0.060,0.076,2793,733,2754,2791,2718,0,0,0,0,0,0,13.69,12.88,12.28
$GC,4057,0.57,145.9,2793,733,2784,2718,484.0,2.8,295,4063,0.00,2.45,0.00,0.000,1030,0.000,0.074,2796,2095,2749,2782,2716,0,0,0,0,0,0,13.85,13.74,13.90
$GC,4374,0.12,145.9,2793,2097,2781,2714,438.4,14.2,308,4379,0.73,2.45,0.00,0.000,4484,0.311,0.074,2628,3511,2747,2781,2714,0,0,0,0,0,0,13.74,14.14,13.99
$GC,4415,-0.07,149.4,2628,3512,2779,2711,434.0,9.8,316,4420,0.30,2.33,0.00,0.000,5286,0.275,0.059,2566,2135,2744,2778,2711,0,0,0,0,0,0,13.90,14.21,14.23
$GC,4736,0.00,250.4,2566,2136,2779,2713,415.9,5.3,330,4913,0.00,2.65,166.95,1.295,8740,0.000,0.089,2566,698,2337,2384,2291,0,0,0,0,0,0,14.41,13.62,12.85
$GC,4958,0.19,315.6,2566,698,2377,2284,401.7,7.0,369,5070,0.25,2.55,103.95,1.279,11430,0.088,0.080,2662,2104,2079,2119,2040,0,0,0,0,0,0,13.76,13.69,12.69
$GC,5368,0.14,315.6,2662,2102,2102,2011,346.2,13.8,401,5373,0.12,2.53,0.00,0.000,4740,0.265,0.084,2640,693,2055,2100,2011,0,0,0,0,0,0,13.81,13.86,13.94
$GC,5419,0.19,315.6,2640,693,2100,2007,340.1,11.5,411,5424,0.00,2.50,0.00,0.000,1158,0.000,0.078,2640,2105,2056,2100,2012,0,0,0,0,0,0,14.11,13.98,14.15
$GC,5730,0.19,315.6,2641,2106,2098,2009,303.8,11.6,423,5735,0.00,2.50,0.00,0.000,516,0.000,0.087,2640,697,2053,2098,2009,0,0,0,0,0,0,14.53,14.14,14.56
$GC,5765,0.23,315.6,2642,696,2097,2009,299.8,10.9,430,5770,0.00,2.45,0.00,0.000,1158,0.000,0.079,2640,2106,2052,2096,2008,0,0,0,0,0,0,14.31,14.17,14.35
$GC,6090,0.23,315.6,2640,2108,2096,2010,263.8,10.6,445,6095,0.00,2.50,0.00,0.000,516,0.000,0.085,2640,688,2051,2095,2008,0,0,0,0,0,0,14.60,14.18,14.62
$GC,6121,0.28,315.6,2641,689,2094,2009,260.8,10.1,451,6127,0.00,2.47,0.00,0.000,1158,0.000,0.079,2645,2111,2051,2094,2009,0,0,0,0,0,0,14.34,14.20,14.39
$GC,6452,0.31,339.0,2641,2112,2095,2009,229.8,8.9,467,6487,0.12,0.00,32.95,1.340,10406,0.129,0.000,2697,2119,1982,2022,1942,0,0,0,0,0,0,14.33,14.07,13.25
$GC,6782,0.25,339.0,2698,2113,2011,1934,190.2,11.8,478,6787,0.12,2.50,0.00,0.000,4740,0.246,0.084,2672,693,1968,2010,1926,0,0,0,0,0,0,14.01,14.18,14.14
$GC,6863,0.32,362.8,2673,692,2009,1926,182.5,8.9,494,6908,0.00,2.45,39.40,1.318,9382,0.000,0.079,2672,2103,1882,1915,1850,0,0,0,0,0,0,14.28,14.15,13.25
$GC,7234,0.37,386.8,2672,2103,1901,1838,149.0,8.9,518,7278,0.00,2.55,38.00,1.304,8868,0.000,0.088,2672,702,1783,1806,1761,0,0,0,0,0,0,14.45,14.01,13.24
$GC,7341,0.50,420.4,2672,704,1796,1758,139.8,8.5,539,7405,0.22,2.47,59.05,1.226,11430,0.097,0.079,2763,2105,1652,1674,1631,0,0,0,0,0,0,14.14,14.05,13.12
$GC,7705,0.42,420.4,2764,2106,1665,1606,89.2,13.3,569,7710,0.17,2.50,0.00,0.000,4740,0.249,0.085,2727,695,1634,1664,1605,0,0,0,0,0,0,13.74,13.98,13.89
$GC,7741,0.46,420.4,2728,695,1663,1605,85.2,10.4,576,7747,0.00,2.47,0.00,0.000,1158,0.000,0.078,2727,2099,1633,1663,1603,0,0,0,0,0,0,14.14,14.02,14.17
$GC,8046,0.54,495.9,2728,2100,1662,1602,59.8,6.5,607,8093,0.00,2.58,37.45,0.379,8868,0.000,0.086,2728,694,1342,1387,1297,0,0,0,0,0,0,14.43,13.96,13.65
$GC,8123,0.73,574.9,2728,694,1389,1300,54.8,6.3,622,8171,0.28,2.47,42.30,0.361,11430,0.085,0.078,2829,2100,1018,1084,953,0,0,0,0,0,0,13.98,13.90,13.64
$GC,8468,0.76,616.6,2830,2100,1086,958,19.5,8.1,661,8495,0.00,2.58,22.73,0.266,8484,0.000,0.080,2829,3518,852,915,790,0,0,0,0,0,0,14.40,14.00,13.67
$GC,8530,0.76,616.6,2830,3519,915,790,13.6,11.5,673,8535,0.00,2.47,0.00,0.000,1030,0.000,0.067,2835,2101,852,915,789,0,0,0,0,0,0,14.19,14.07,14.23
$STATE,8658,end climb,SURFACE_DEPTH_REACHED
$STATE,8658,begin surface coast
$FINISH,0.4,1.021594
$STATE,8678,end surface coast,CONTROL_FINISHED_OK
$STATE,8678,begin surface
$SM_CCo,8701,48.30,0.209,0,0,499,702.78
$SM_GC,1.22,8.12,0.17,48.30,0.070,0.099,0.209,201,2238,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.21,14.21,13.87
$RAFOS_CLK,78
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7544.23,-15109.44,100917,014805
$TT8_MAMPS,0.083888,1.00441
$HUMID,44.36
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15946285056.000000
$PM_FREEKB_00,48833280
$24V_AH,12.28,184.876
$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,26.175,95.175,984.425,48.300,0.000,0.000,0.000,638.875,3.750,0.000,23.216,0.000,6051.008,912.988,2427.712,346.455,0.000,2565.081,0.000,989.102,2191.000,0.539,0.000
$DEVICE_MAMPS,452.115,2133.585,1404.540,208.845,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8507.000,8672.000,8655.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.317,20.000,27.691,0.000
$MEM,323696
$DATA_FILE_SIZE,23440,689
$CAP_FILE_SIZE,102678,0
$CFSIZE,2097872896,2002747392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.029,239.03,1
$GPS,100917,042734,7542.214,-15110.241,31,0.7,32,20.8,0.0,0.0,11,9.9