version: 66.13
glider: 196
mission: 14
dive: 222
start: 9 1 117 18 46 10
data:
$ID,196
$MISSION,14
$DIVE,222
$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,58
$R_STBD_OVSHOOT,27
$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,625.0
$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
$GPS1,010917,183924,7433.3745,-15312.6426,15,0.8,35,19.6,0.9,316.6,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.6
$GPS2,010917,184540,7433.3984,-15312.7002,7,0.9,11,19.6,0.0,0.0,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.3,140625,-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,46,begin dive
$GC,50,-0.57,-145.9,197,2222,488,493,0.0,0.0,0,142,0.00,0.00,-91.18,0.000,16386,0.000,0.000,196,2222,2126,2058,2195,0,0,0,0,0,0,14.58,28.83,14.59
$GC,145,-0.57,-145.9,196,2222,2059,2196,3.4,-4.1,9,203,12.62,2.80,-37.17,0.000,18724,0.454,2.147,2375,3600,3964,3942,3986,0,0,0,0,0,0,13.69,12.52,14.19
$GC,298,-0.68,-145.9,2376,3600,3948,3986,38.7,-14.6,39,303,0.00,2.33,0.00,0.000,1158,0.000,0.060,2375,2233,3966,3947,3986,0,0,0,0,0,0,14.28,14.16,14.32
$GC,608,-0.78,-145.9,2376,2234,3951,3988,83.0,-11.0,71,613,0.15,2.50,0.00,0.000,4740,0.134,0.081,2312,788,3968,3950,3987,0,0,0,0,0,0,14.32,14.25,14.37
$GC,638,-0.78,-145.9,2313,788,3952,3986,87.3,-15.5,77,643,0.00,2.47,0.00,0.000,1030,0.000,0.086,2308,2201,3968,3950,3986,0,0,0,0,0,0,14.39,14.24,14.43
$GC,958,-0.78,-145.9,2308,2203,3951,3987,135.6,-14.2,94,963,0.00,2.45,0.00,0.000,260,0.000,0.090,2305,3611,3968,3950,3987,0,0,0,0,0,0,14.73,14.23,14.74
$GC,1080,-0.91,-145.9,2305,3613,3952,3986,149.9,-11.4,118,1085,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2199,3968,3950,3986,0,0,0,0,0,0,14.44,14.31,14.47
$GC,1410,-0.96,-145.9,2306,2198,3951,3987,191.7,-12.1,134,1411,0.12,0.00,0.00,0.000,4230,0.135,0.000,2255,2198,3968,3950,3986,0,0,0,0,0,0,14.37,14.45,14.43
$GC,1710,-0.96,-145.9,2255,2198,3951,3986,237.2,-14.8,144,1716,0.00,2.50,0.00,0.000,260,0.000,0.090,2249,3619,3968,3950,3986,0,0,0,0,0,0,14.79,14.26,14.76
$GC,1853,-1.01,-145.9,2249,3621,3951,3987,255.9,-12.5,172,1858,0.00,2.38,0.00,0.000,1158,0.000,0.057,2249,2199,3968,3950,3986,0,0,0,0,0,0,14.45,14.32,14.47
$GC,2164,-1.01,-145.9,2249,2197,3951,3986,296.6,-12.8,184,2169,0.00,2.47,0.00,0.000,260,0.000,0.089,2241,3613,3968,3950,3986,0,0,0,0,0,0,14.76,14.25,14.77
$GC,2225,-1.08,-145.9,2241,3614,3951,3986,304.2,-11.9,196,2230,0.00,2.38,0.00,0.000,1158,0.000,0.057,2241,2197,3968,3950,3986,0,0,0,0,0,0,14.45,14.31,14.47
$GC,2555,-1.08,-145.9,2241,2197,3951,3987,345.0,-12.1,212,2561,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3613,3967,3950,3985,0,0,0,0,0,0,14.75,14.25,14.76
$GC,2678,-1.16,-145.9,2236,3615,3951,3986,358.8,-10.9,236,2684,0.00,2.38,0.00,0.000,1158,0.000,0.055,2236,2192,3967,3950,3985,0,0,0,0,0,0,14.44,14.32,14.51
$GC,3009,-1.16,-145.9,2237,2191,3951,3983,398.6,-11.9,252,3014,0.00,2.50,0.00,0.000,260,0.000,0.088,2236,3620,3967,3951,3984,0,0,0,0,0,0,14.76,14.21,14.78
$GC,3095,-1.25,-145.9,2236,3620,3951,3983,408.1,-10.5,269,3101,0.17,2.38,0.00,0.000,5254,0.116,0.056,2167,2199,3966,3950,3983,0,0,0,0,0,0,14.35,14.31,14.45
$GC,3400,-1.13,-145.9,2168,2200,3951,3983,462.2,-18.1,280,3406,0.20,2.50,0.00,0.000,2436,0.308,0.083,2201,3614,3966,3949,3983,0,0,0,0,0,0,13.88,14.16,14.09
$STATE,3525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3525,begin apogee
$GC,3533,-0.13,0.0,2202,2103,3951,3984,480.4,-13.5,305,3767,1.30,0.00,225.68,1.405,10246,0.249,0.000,2527,2101,3357,3381,3334,0,0,0,0,0,0,13.93,13.51,12.70
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3773,0.57,145.9,2528,2102,3381,3332,493.4,0.0,313,3989,0.75,2.72,210.55,1.369,10756,0.061,0.080,2787,689,2764,2812,2717,0,0,0,0,0,0,13.64,12.92,12.32
$GC,4151,0.20,145.9,2784,689,2799,2711,477.9,15.2,390,4157,0.65,2.58,0.00,0.000,5254,0.318,0.076,2648,2106,2754,2799,2709,0,0,0,0,0,0,13.26,13.60,13.64
$GC,4458,0.04,153.0,2650,2107,2799,2704,447.3,9.7,401,4461,0.22,0.00,1.15,0.285,12454,0.281,0.000,2600,2107,2741,2787,2695,0,0,0,0,0,0,13.73,13.93,13.69
$GC,4756,0.03,211.7,2600,2107,2796,2703,424.9,7.3,411,4857,0.00,2.55,94.43,1.375,8868,0.000,0.084,2602,693,2499,2561,2437,0,0,0,0,0,0,14.44,13.60,13.02
$GC,4907,0.11,246.6,2603,693,2553,2434,412.9,8.4,441,4969,0.00,2.53,51.45,1.398,9382,0.000,0.080,2602,2100,2352,2413,2292,0,0,0,0,0,0,13.88,13.76,12.88
$GC,5269,0.16,267.8,2601,2103,2406,2283,380.6,9.0,463,5298,0.00,0.00,28.27,1.456,8358,0.000,0.000,2602,2102,2274,2333,2216,0,0,0,0,0,0,14.37,13.95,13.13
$GC,5597,0.23,297.3,2603,2102,2323,2204,351.6,8.6,474,5645,0.17,0.00,46.05,1.393,10406,0.106,0.000,2676,2102,2151,2205,2097,0,0,0,0,0,0,14.21,13.95,13.16
$GC,5927,0.16,297.3,2679,2099,2193,2083,306.2,13.9,485,5932,0.15,2.50,0.00,0.000,4740,0.249,0.083,2649,691,2139,2195,2084,0,0,0,0,0,0,13.92,13.96,14.07
$GC,5992,0.22,297.3,2649,691,2193,2079,298.6,10.9,498,5997,0.00,2.47,0.00,0.000,1158,0.000,0.078,2649,2102,2138,2193,2084,0,0,0,0,0,0,14.24,14.13,14.28
$GC,6317,0.22,297.3,2650,2104,2192,2083,263.1,10.5,513,6322,0.00,2.50,0.00,0.000,516,0.000,0.086,2650,692,2137,2193,2082,0,0,0,0,0,0,14.50,14.00,14.51
$GC,6382,0.29,310.1,2651,691,2192,2083,256.7,9.4,526,6403,0.00,2.47,15.77,1.498,9382,0.000,0.080,2651,2106,2101,2155,2047,0,0,0,0,0,0,14.28,14.14,13.28
$GC,6710,0.33,334.0,2648,2107,2150,2039,226.4,8.9,541,6752,0.12,0.00,39.65,1.371,10406,0.129,0.000,2705,2106,2003,2053,1954,0,0,0,0,0,0,14.10,14.01,13.24
$GC,7040,0.27,334.0,2705,2107,2046,1944,188.0,11.4,552,7046,0.12,2.45,0.00,0.000,4740,0.238,0.086,2675,694,1993,2045,1942,0,0,0,0,0,0,13.85,14.07,13.98
$GC,7098,0.38,363.8,2675,694,2043,1943,182.6,8.6,563,7155,0.00,2.47,49.53,1.314,9382,0.000,0.080,2675,2106,1877,1916,1839,0,0,0,0,0,0,14.19,14.07,13.24
$GC,7463,0.46,393.9,2675,2107,1910,1833,150.6,8.6,586,7518,0.15,2.58,49.95,1.273,10916,0.122,0.086,2753,692,1756,1786,1727,0,0,0,0,0,0,14.28,14.04,13.26
$GC,7583,0.44,393.9,2754,691,1778,1726,134.9,13.0,610,7589,0.12,2.47,0.00,0.000,5254,0.252,0.078,2727,2101,1751,1777,1726,0,0,0,0,0,0,13.94,14.09,14.16
$GC,7914,0.44,394.3,2728,2101,1777,1721,99.2,10.0,626,7915,0.00,0.00,0.00,0.000,38,0.000,0.000,2727,2101,1748,1777,1720,0,0,0,0,0,0,14.58,14.60,14.59
$GC,8216,0.46,421.5,2728,2101,1778,1718,71.1,8.7,656,8237,0.00,2.50,14.00,0.416,8740,0.000,0.086,2730,685,1644,1676,1613,0,0,0,0,0,0,14.57,14.12,13.68
$GC,8319,0.56,470.4,2730,688,1676,1614,62.4,7.7,676,8351,0.00,2.47,26.15,0.389,9382,0.000,0.079,2730,2106,1445,1485,1406,0,0,0,0,0,0,14.35,14.22,13.72
$GC,8647,0.75,580.4,2730,2108,1486,1397,42.0,4.9,712,8710,0.25,2.58,57.25,0.324,10916,0.090,0.086,2835,688,997,1067,927,0,0,0,0,0,0,14.23,14.09,13.72
$GC,8756,0.78,580.4,2837,688,1067,926,31.3,10.8,732,8764,0.00,2.47,0.00,0.000,1158,0.000,0.076,2836,2104,996,1066,926,0,0,0,0,0,0,14.23,14.09,14.26
$GC,9060,0.84,625.9,2836,2103,1067,917,4.6,7.9,763,9093,0.00,2.55,23.92,0.220,8868,0.000,0.090,2844,702,809,878,740,0,0,0,0,0,0,14.57,14.04,13.85
$STATE,9095,end climb,SURFACE_DEPTH_REACHED
$STATE,9095,begin surface coast
$FINISH,1.3,1.021226
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9101,begin surface
$SM_CCo,9125,43.92,0.207,0,0,501,702.78
$SM_GC,1.14,8.12,2.67,43.92,0.079,0.084,0.207,202,2194,501,-7.37,-0.88,702.78,0,0,0,0,0,0,14.33,14.17,14.01
$RAFOS_CLK,222
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7432.59,-15322.49,010917,160632
$TT8_MAMPS,0.040446,0.88382
$HUMID,46.06
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15977316352.000000
$PM_FREEKB_00,51368768
$24V_AH,12.32,149.451
$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,25.425,85.025,933.800,43.925,0.000,0.000,0.000,190.250,4.000,0.000,11.954,0.000,6534.032,885.987,1899.866,237.253,0.000,1911.027,0.000,1103.137,2197.000,0.539,0.000
$DEVICE_MAMPS,454.410,2147.355,1497.870,206.550,0.000,0.000,0.000,126.225,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5261.000,9106.000,9077.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.994,20.000,9.896,0.000
$MEM,323488
$DATA_FILE_SIZE,26702,771
$CAP_FILE_SIZE,100889,0
$CFSIZE,2097872896,2019786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.3
$CURRENT,0.046,288.33,1
$GPS,010917,212021,7434.373,-15309.880,36,0.8,37,19.6,0.0,281.8,10,7.2