version: 66.13
glider: 196
mission: 14
dive: 218
start: 9 1 117 7 49 25
data:
$ID,196
$MISSION,14
$DIVE,218
$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,40
$R_STBD_OVSHOOT,53
$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,615.0
$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
$GPS1,010917,074250,7429.6846,-15323.6191,37,0.8,37,19.5,0.0,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.6
$GPS2,010917,074851,7429.6865,-15323.6006,6,0.8,9,19.5,0.0,0.0,9,8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.9,148923,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,197,2184,505,494,0.0,0.0,0,141,0.00,0.00,-91.35,0.000,16386,0.000,0.000,196,2185,2152,2084,2220,0,0,0,0,0,0,14.54,28.83,14.55
$GC,144,-0.57,-145.9,197,2187,2087,2222,3.6,-4.5,9,201,12.65,2.85,-35.85,0.000,18724,0.452,2.142,2375,3577,3968,3947,3989,1,0,0,0,0,0,13.47,12.54,14.02
$GC,352,-0.70,-145.9,2375,3581,3953,3984,47.7,-13.7,50,358,0.00,2.35,0.00,0.000,1158,0.000,0.060,2375,2209,3967,3952,3983,0,0,0,0,0,0,14.26,14.14,14.30
$GC,668,-0.80,-145.9,2375,2208,3962,3983,90.0,-10.8,81,673,0.15,2.42,0.00,0.000,4484,0.125,0.085,2307,3584,3968,3954,3983,0,0,0,0,0,0,14.08,14.07,14.09
$GC,698,-0.82,-145.9,2308,3579,3954,3983,94.1,-14.2,87,702,0.00,2.35,0.00,0.000,1158,0.000,0.058,2307,2201,3968,3954,3982,0,0,0,0,0,0,14.27,14.12,14.28
$GC,1008,-0.82,-145.9,2306,2200,3955,3984,141.2,-14.3,101,1012,0.00,2.45,0.00,0.000,260,0.000,0.086,2307,3579,3968,3953,3983,0,0,0,0,0,0,14.47,13.99,14.49
$GC,1073,-0.93,-145.9,2302,3579,3955,3986,149.4,-11.5,114,1077,0.00,2.38,0.00,0.000,1158,0.000,0.058,2301,2191,3968,3953,3983,0,0,0,0,0,0,14.19,14.07,14.26
$GC,1398,-0.98,-145.9,2302,2192,3955,3983,191.0,-12.5,129,1403,0.00,2.47,0.00,0.000,388,0.000,0.086,2295,3582,3966,3949,3983,0,0,0,0,0,0,14.47,14.02,14.49
$GC,1448,-1.12,-145.9,2296,3582,3955,3983,196.8,-10.8,139,1453,0.25,2.38,0.00,0.000,5254,0.090,0.057,2204,2193,3968,3954,3982,0,0,0,0,0,0,14.16,14.07,14.26
$GC,1758,-1.00,-145.9,2204,2193,3954,3984,258.8,-19.0,151,1763,0.20,2.47,0.00,0.000,2436,0.298,0.083,2239,3581,3968,3954,3983,0,0,0,0,0,0,13.75,14.00,13.91
$GC,1914,-1.05,-145.9,2240,3581,3955,3983,280.2,-12.3,182,1918,0.00,2.35,0.00,0.000,1158,0.000,0.056,2239,2198,3968,3954,3982,0,0,0,0,0,0,14.23,14.12,14.26
$GC,2239,-1.05,-145.9,2245,2197,3955,3983,323.5,-13.0,197,2243,0.00,2.47,0.00,0.000,260,0.000,0.087,2236,3582,3968,3954,3983,0,0,0,0,0,0,14.47,14.04,14.49
$GC,2309,-1.12,-145.9,2236,3582,3954,3983,332.0,-11.4,211,2313,0.00,2.38,0.00,0.000,1158,0.000,0.058,2236,2193,3968,3954,3983,0,0,0,0,0,0,14.23,14.09,14.26
$GC,2629,-1.12,-145.9,2235,2193,3954,3982,372.8,-12.8,225,2633,0.00,2.47,0.00,0.000,260,0.000,0.086,2235,3578,3967,3954,3981,0,0,0,0,0,0,14.47,14.01,14.48
$GC,2724,-1.21,-145.9,2236,3583,3955,3982,383.9,-11.0,244,2729,0.15,2.35,0.00,0.000,5254,0.124,0.055,2176,2197,3967,3954,3981,0,0,0,0,0,0,14.14,14.12,14.23
$GC,3052,-1.09,-145.9,2177,2195,3955,3980,440.9,-17.8,259,3057,0.20,2.40,0.00,0.000,2436,0.286,0.083,2211,3574,3967,3954,3980,0,0,0,0,0,0,13.74,14.04,13.93
$GC,3214,-1.12,-145.9,2212,3576,3959,3980,463.2,-12.9,291,3219,0.00,2.35,0.00,0.000,1158,0.000,0.055,2211,2194,3967,3954,3980,0,0,0,0,0,0,14.22,14.07,14.23
$STATE,3351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3351,begin apogee
$GC,3357,-0.13,0.0,2212,2068,3955,3980,483.1,-14.1,299,3584,1.27,0.00,222.98,1.408,10246,0.245,0.000,2534,2066,3364,3390,3339,0,0,0,0,0,0,13.82,13.45,12.64
$STATE,3588,end apogee,CONTROL_FINISHED_OK
$STATE,3588,begin climb
$GC,3591,0.57,145.9,2531,2067,3382,3330,494.9,0.0,306,3807,0.75,2.58,208.93,1.369,10756,0.062,0.077,2792,729,2765,2811,2719,0,0,0,0,0,0,13.57,12.92,12.33
$GC,4036,0.18,145.9,2793,729,2800,2713,471.0,15.0,400,4042,0.70,2.40,0.00,0.000,5254,0.321,0.076,2646,2072,2754,2798,2710,0,0,0,0,0,0,13.44,13.78,13.81
$GC,4347,0.03,158.9,2646,2073,2799,2708,440.6,9.4,412,4367,0.20,2.42,13.00,1.641,12964,0.275,0.082,2602,719,2714,2760,2669,0,0,0,0,0,0,13.86,13.74,13.07
$GC,4454,0.07,210.1,2602,719,2757,2665,432.3,7.6,433,4542,0.00,2.42,80.68,1.376,9254,0.000,0.080,2602,2106,2504,2568,2440,0,0,0,0,0,0,14.27,14.15,13.05
$GC,4857,0.09,238.2,2602,2107,2558,2424,397.6,8.7,464,4900,0.00,0.00,41.45,1.411,8230,0.000,0.000,2602,2106,2393,2455,2331,0,0,0,0,0,0,14.52,14.02,13.19
$GC,5188,0.13,262.2,2603,2107,2439,2315,368.3,8.9,475,5225,0.00,0.00,35.58,1.411,8358,0.000,0.000,2602,2105,2296,2356,2237,0,0,0,0,0,0,14.56,14.07,13.26
$GC,5517,0.19,289.5,2603,2106,2339,2223,339.1,8.7,486,5567,0.12,2.53,41.55,1.384,10916,0.131,0.087,2672,720,2178,2231,2126,0,0,0,0,0,0,14.28,14.07,13.24
$GC,5609,0.17,289.5,2672,718,2223,2123,327.8,12.6,504,5615,0.15,2.45,0.00,0.000,5254,0.243,0.079,2640,2106,2172,2222,2122,0,0,0,0,0,0,13.95,14.10,14.18
$GC,5941,0.17,289.5,2641,2107,2224,2114,291.5,10.6,520,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2107,2167,2222,2113,0,0,0,0,0,0,14.61,14.62,14.62
$GC,6241,0.18,298.7,2641,2106,2223,2112,261.7,9.6,530,6250,0.00,2.40,3.58,1.400,8740,0.000,0.085,2644,724,2149,2203,2095,0,0,0,0,0,0,14.66,14.14,12.86
$GC,6316,0.25,322.9,2644,725,2208,2105,254.8,8.9,545,6367,0.00,2.38,46.72,1.369,9382,0.000,0.080,2644,2098,2049,2100,1998,0,0,0,0,0,0,14.42,14.28,13.27
$GC,6692,0.32,358.0,2644,2102,2089,1987,221.5,8.4,570,6755,0.12,2.58,56.30,1.312,10660,0.126,0.083,2703,3518,1901,1940,1863,0,0,0,0,0,0,14.28,13.97,13.24
$GC,6792,0.26,358.0,2704,3524,1932,1863,209.3,13.8,589,6797,0.20,2.40,0.00,0.000,5254,0.242,0.062,2667,2122,1896,1930,1863,0,0,0,0,0,0,13.89,14.06,14.09
$GC,7117,0.32,376.4,2668,2121,1929,1856,178.6,9.2,604,7153,0.00,2.58,27.83,1.367,8868,0.000,0.087,2672,688,1825,1855,1796,0,0,0,0,0,0,14.58,14.06,13.33
$GC,7288,0.46,411.7,2672,689,1848,1797,163.9,8.4,638,7353,0.17,2.47,59.75,1.265,11430,0.114,0.081,2746,2106,1689,1713,1665,0,0,0,0,0,0,14.26,14.19,13.19
$GC,7659,0.41,411.7,2746,2107,1708,1644,114.2,13.1,662,7664,0.12,2.47,0.00,0.000,4740,0.235,0.084,2723,691,1675,1708,1643,0,0,0,0,0,0,14.07,14.19,14.19
$GC,7699,0.47,411.7,2724,691,1706,1643,109.5,10.9,670,7704,0.00,2.47,0.00,0.000,1158,0.000,0.079,2724,2108,1674,1705,1643,0,0,0,0,0,0,14.34,14.21,14.38
$GC,8011,0.50,428.6,2724,2109,1706,1640,78.4,9.2,697,8026,0.00,2.55,8.12,0.437,8868,0.000,0.086,2725,688,1616,1650,1582,0,0,0,0,0,0,14.59,14.13,13.66
$GC,8076,0.61,461.9,2725,689,1650,1583,72.5,8.5,710,8104,0.17,2.47,18.50,0.422,11430,0.104,0.079,2793,2102,1478,1511,1446,0,0,0,0,0,0,14.28,14.12,13.61
$GC,8401,0.61,518.1,2793,2103,1511,1439,39.2,7.4,745,8437,0.00,2.50,29.55,0.327,8868,0.000,0.086,2794,691,1250,1301,1199,0,0,0,0,0,0,14.60,14.13,13.83
$GC,8514,0.73,571.3,2794,689,1301,1198,31.1,7.5,767,8547,0.00,2.45,28.20,0.304,9382,0.000,0.077,2794,2099,1033,1100,967,0,0,0,0,0,0,14.31,14.19,13.78
$GC,8842,0.91,673.6,2794,2102,1101,958,9.7,5.3,803,8901,0.22,2.50,53.75,0.231,10916,0.096,0.086,2888,694,615,661,569,0,0,0,0,0,0,14.17,14.06,13.88
$STATE,8914,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.6,1.021232
$STATE,8926,end surface coast,CONTROL_FINISHED_OK
$STATE,8926,begin surface
$SM_CCo,8949,15.70,0.215,0,0,499,703.03
$SM_GC,1.14,8.12,2.72,15.70,0.065,0.090,0.215,205,2198,499,-7.37,-0.74,703.03,0,0,0,0,0,0,14.30,14.19,13.98
$RAFOS_CLK,381
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7428.31,-15329.69,010917,050508
$TT8_MAMPS,0.040446,0.898051
$HUMID,46.49
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,5
$CP_FREE,15978725376.000000
$PM_FREEKB_00,51487104
$24V_AH,12.33,147.601
$10V_AH,12.22,0.000
$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,25.950,88.850,976.450,15.700,0.000,0.000,0.000,143.500,1.250,0.000,10.931,0.000,6270.185,867.568,1962.188,241.316,0.000,1890.929,0.000,1174.714,2211.000,0.539,0.000
$DEVICE_MAMPS,452.115,2142.000,1640.925,214.965,0.000,0.000,0.000,136.935,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8848.000,8954.000,8900.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.401,20.000,9.929,0.000
$MEM,323508
$DATA_FILE_SIZE,30021,819
$CAP_FILE_SIZE,106450,0
$CFSIZE,2097872896,2020737024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.034,297.17,1
$GPS,010917,102002,7430.612,-15320.633,16,0.7,27,19.5,0.5,278.5,11,7.5