version: 66.13
glider: 196
mission: 14
dive: 220
start: 9 1 117 13 24 32
data:
$ID,196
$MISSION,14
$DIVE,220
$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,24
$R_STBD_OVSHOOT,20
$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,620.0
$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
$GPS1,010917,131731,7431.4102,-15317.6318,17,0.7,32,19.5,0.5,333.1,11,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.4
$GPS2,010917,132404,7431.4082,-15317.7100,6,0.8,8,19.5,0.0,342.1,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,7.3,144918,-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,47,begin dive
$GC,50,-0.57,-145.9,196,2201,500,493,0.0,0.0,0,142,0.00,0.00,-91.12,0.000,16386,0.000,0.000,195,2202,2147,2080,2215,0,0,0,0,0,0,14.57,28.83,14.60
$GC,145,-0.57,-145.9,196,2202,2083,2215,3.6,-4.8,9,204,12.60,2.88,-36.00,0.000,18724,0.454,2.144,2374,3610,3963,3945,3982,0,0,0,0,0,0,13.66,12.47,14.17
$GC,274,-0.71,-145.9,2374,3612,3949,3982,35.2,-13.9,34,279,0.00,2.40,0.00,0.000,1158,0.000,0.060,2373,2196,3964,3948,3981,0,0,0,0,0,0,14.35,14.21,14.38
$GC,586,-0.79,-145.9,2375,2196,3951,3983,82.1,-11.8,66,587,0.17,0.00,0.00,0.000,4230,0.126,0.000,2306,2195,3966,3951,3982,0,0,0,0,0,0,14.33,14.46,14.43
$GC,884,-0.79,-145.9,2308,2196,3952,3983,128.6,-14.8,84,890,0.00,2.47,0.00,0.000,260,0.000,0.088,2305,3610,3965,3950,3981,0,0,0,0,0,0,14.73,14.26,14.75
$GC,965,-0.92,-145.9,2306,3610,3952,3982,138.9,-11.6,100,971,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2191,3966,3950,3982,0,0,0,0,0,0,14.45,14.33,14.48
$GC,1276,-0.96,-145.9,2306,2190,3952,3982,180.1,-13.0,112,1282,0.12,2.47,0.00,0.000,4484,0.138,0.084,2241,3612,3966,3951,3982,0,0,0,0,0,0,14.42,14.27,14.45
$GC,1347,-0.96,-145.9,2242,3611,3951,3983,191.5,-15.7,126,1352,0.00,2.38,0.00,0.000,1030,0.000,0.057,2241,2204,3965,3950,3981,0,0,0,0,0,0,14.38,14.26,14.42
$GC,1667,-0.93,-145.9,2241,2202,3952,3984,244.4,-15.7,140,1673,0.12,2.45,0.00,0.000,2436,0.295,0.085,2261,3610,3965,3950,3981,0,0,0,0,0,0,14.04,14.27,14.21
$GC,1780,-1.01,-145.9,2262,3612,3951,3983,258.6,-11.5,162,1785,0.00,2.38,0.00,0.000,1158,0.000,0.058,2261,2199,3966,3951,3982,0,0,0,0,0,0,14.39,14.26,14.43
$GC,2090,-1.03,-145.9,2262,2199,3951,3982,296.2,-11.7,174,2095,0.00,2.47,0.00,0.000,388,0.000,0.088,2253,3616,3965,3950,3981,0,0,0,0,0,0,14.76,14.27,14.78
$GC,2140,-1.13,-145.9,2253,3618,3952,3981,301.8,-10.7,184,2146,0.12,2.40,0.00,0.000,5254,0.142,0.058,2204,2196,3966,3951,3981,0,0,0,0,0,0,14.28,14.24,14.40
$GC,2451,-1.07,-145.9,2205,2195,3952,3980,349.1,-15.4,196,2457,0.12,2.47,0.00,0.000,2436,0.301,0.086,2223,3613,3965,3951,3980,0,0,0,0,0,0,14.02,14.26,14.19
$GC,2554,-1.11,-145.9,2223,3615,3952,3981,362.4,-12.3,216,2560,0.00,2.38,0.00,0.000,1158,0.000,0.058,2223,2196,3965,3950,3980,0,0,0,0,0,0,14.45,14.33,14.49
$GC,2875,-1.11,-145.9,2223,2195,3951,3978,405.3,-13.2,230,2880,0.00,2.50,0.00,0.000,260,0.000,0.090,2222,3614,3964,3950,3979,0,0,0,0,0,0,14.78,14.21,14.80
$GC,2965,-1.17,-145.9,2222,3616,3951,3980,416.5,-11.8,248,2971,0.00,2.40,0.00,0.000,1158,0.000,0.058,2222,2191,3965,3951,3979,0,0,0,0,0,0,14.38,14.26,14.43
$GC,3296,-1.17,-145.9,2222,2190,3952,3980,458.9,-12.8,264,3301,0.00,2.50,0.00,0.000,260,0.000,0.088,2222,3614,3964,3951,3978,0,0,0,0,0,0,14.78,14.22,14.80
$GC,3407,-1.23,-145.9,2222,3615,3951,3979,472.0,-11.3,286,3412,0.12,2.38,0.00,0.000,5254,0.142,0.056,2171,2194,3964,3950,3978,0,0,0,0,0,0,14.33,14.33,14.45
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3480,-0.13,0.0,2172,2064,3952,3979,483.0,-15.8,290,3701,1.48,0.08,217.07,1.428,10246,0.272,0.181,2530,2112,3364,3390,3339,0,0,0,0,0,0,13.89,13.51,12.71
$STATE,3705,end apogee,CONTROL_FINISHED_OK
$STATE,3705,begin climb
$GC,3707,0.57,145.9,2531,2112,3384,3333,493.7,0.0,297,3925,0.75,2.65,210.30,1.379,10500,0.063,0.073,2784,3498,2761,2809,2714,0,0,0,0,0,0,13.66,12.92,12.33
$GC,3957,0.09,145.9,2783,3498,2796,2715,497.7,15.0,346,3963,0.90,2.47,0.00,0.000,5254,0.350,0.056,2620,2132,2755,2796,2714,0,0,0,0,0,0,13.05,13.33,13.40
$GC,4290,0.01,177.9,2621,2131,2797,2710,468.1,8.5,362,4339,0.12,2.58,43.65,1.454,12964,0.290,0.082,2600,690,2634,2686,2582,0,0,0,0,0,0,13.76,13.62,12.99
$GC,4425,0.06,222.0,2601,689,2682,2578,457.5,8.0,389,4496,0.00,2.50,63.22,1.409,9382,0.000,0.080,2600,2097,2458,2523,2393,0,0,0,0,0,0,14.08,13.95,12.93
$GC,4801,0.08,244.2,2601,2098,2516,2383,424.0,9.0,414,4834,0.00,0.00,31.65,1.466,8230,0.000,0.000,2600,2097,2371,2433,2310,0,0,0,0,0,0,14.49,14.01,13.18
$GC,5131,0.12,265.7,2597,2098,2425,2302,394.3,9.0,425,5167,0.00,0.00,32.40,1.466,8870,0.000,0.000,2601,2097,2277,2333,2221,0,0,0,0,0,0,14.59,14.08,13.24
$GC,5493,0.19,287.7,2601,2097,2329,2213,361.7,9.0,442,5533,0.12,2.53,32.47,1.447,10916,0.132,0.087,2672,695,2187,2240,2134,0,0,0,0,0,0,14.32,14.07,13.26
$GC,5585,0.16,287.7,2672,696,2235,2134,349.8,13.2,460,5590,0.17,2.47,0.00,0.000,5254,0.243,0.078,2633,2105,2183,2234,2133,0,0,0,0,0,0,13.93,14.13,14.16
$GC,5916,0.16,287.7,2633,2105,2235,2127,313.9,10.4,476,5920,0.00,2.47,0.00,0.000,516,0.000,0.086,2639,691,2180,2234,2126,0,0,0,0,0,0,14.62,14.19,14.63
$GC,5961,0.21,287.7,2639,692,2234,2127,309.2,10.3,485,5965,0.00,2.45,0.00,0.000,1158,0.000,0.080,2639,2104,2179,2233,2126,0,0,0,0,0,0,14.40,14.26,14.43
$GC,6276,0.21,287.7,2639,2104,2234,2133,276.5,10.2,498,6281,0.00,2.45,0.00,0.000,260,0.000,0.083,2639,3511,2178,2232,2125,0,0,0,0,0,0,14.67,14.21,14.69
$GC,6331,0.21,287.7,2639,3512,2232,2125,270.3,10.9,509,6337,0.00,2.40,0.00,0.000,1030,0.000,0.062,2646,2098,2178,2231,2125,0,0,0,0,0,0,14.38,14.24,14.42
$GC,6636,0.23,313.9,2646,2098,2232,2124,241.8,8.8,520,6682,0.00,2.55,41.40,1.387,8740,0.000,0.086,2651,685,2080,2132,2029,0,0,0,0,0,0,14.69,13.79,13.21
$GC,6822,0.32,340.8,2651,686,2122,2028,225.4,8.8,557,6873,0.00,2.50,43.00,1.343,9382,0.000,0.080,2651,2109,1970,2017,1924,0,0,0,0,0,0,14.29,14.16,13.21
$GC,7181,0.40,375.0,2652,2111,2014,1914,194.1,8.4,578,7240,0.17,0.00,56.08,1.295,10406,0.106,0.000,2724,2109,1835,1868,1803,0,0,0,0,0,0,14.31,14.02,13.24
$GC,7539,0.36,375.0,2724,2109,1860,1792,149.1,12.1,590,7545,0.12,2.47,0.00,0.000,4740,0.244,0.084,2699,694,1825,1858,1793,0,0,0,0,0,0,14.05,14.17,14.18
$GC,7620,0.44,393.7,2699,695,1855,1794,141.2,9.1,606,7655,0.00,2.45,29.48,1.342,9382,0.000,0.079,2698,2105,1757,1786,1729,0,0,0,0,0,0,14.35,14.22,13.31
$GC,7962,0.50,414.7,2699,2106,1782,1719,109.4,9.0,624,7997,0.12,2.50,29.27,1.306,10916,0.132,0.086,2768,692,1671,1700,1643,0,0,0,0,0,0,14.32,13.92,13.33
$GC,8034,0.46,414.7,2768,692,1696,1644,100.5,13.2,638,8040,0.17,2.47,0.00,0.000,5254,0.239,0.080,2729,2107,1669,1696,1643,0,0,0,0,0,0,13.98,14.14,14.21
$GC,8346,0.50,442.0,2732,2108,1696,1636,70.1,8.7,671,8368,0.00,2.50,14.20,0.416,8868,0.000,0.087,2730,693,1562,1595,1529,0,0,0,0,0,0,14.56,14.03,13.74
$GC,8455,0.63,494.9,2730,693,1595,1529,61.8,7.6,692,8493,0.15,2.47,28.25,0.389,11430,0.115,0.079,2792,2108,1344,1389,1300,0,0,0,0,0,0,14.07,14.13,13.71
$GC,8788,0.67,549.1,2792,2108,1391,1291,31.6,7.5,729,8819,0.00,0.00,28.52,0.301,8230,0.000,0.000,2791,2108,1121,1181,1062,0,0,0,0,0,0,14.57,14.13,13.80
$GC,9118,0.85,672.6,2792,2108,1187,1053,11.7,4.3,762,9190,0.20,0.00,65.05,0.238,10662,0.099,0.000,2873,2108,621,668,575,0,0,0,0,0,0,14.22,13.98,13.81
$STATE,9226,end climb,SURFACE_DEPTH_REACHED
$STATE,9226,begin surface coast
$FINISH,0.4,1.021222
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9258,16.38,0.214,0,0,500,702.78
$SM_GC,0.97,8.07,0.17,16.38,0.060,0.122,0.214,197,2222,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.29,14.27,13.98
$RAFOS_CLK,429
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7430.16,-15326.10,010917,104426
$TT8_MAMPS,0.040446,0.913031
$HUMID,46.81
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,25
$CP_FREE,15978135552.000000
$PM_FREEKB_00,51429824
$24V_AH,12.33,148.537
$10V_AH,12.20,0.000
$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,25.975,84.600,966.025,16.375,0.000,0.000,0.000,176.050,6.250,0.000,9.977,0.000,6640.400,892.406,1904.879,238.603,0.000,1917.019,0.000,1110.389,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,2144.295,1465.740,214.200,0.000,0.000,0.000,128.520,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5493.000,9264.000,9211.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.777,20.000,9.861,0.000
$MEM,323416
$DATA_FILE_SIZE,26702,776
$CAP_FILE_SIZE,102039,0
$CFSIZE,2097872896,2020179968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.9
$CURRENT,0.036,261.50,1
$GPS,010917,160027,7432.408,-15315.218,35,0.8,36,19.5,0.0,0.0,11,7.6