version: 66.13
glider: 196
mission: 14
dive: 227
start: 9 2 117 8 35 44
data:
$ID,196
$MISSION,14
$DIVE,227
$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,60
$R_STBD_OVSHOOT,36
$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,640.0
$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
$GPS1,020917,081932,7438.2310,-15300.2236,26,0.8,26,19.7,0.0,0.0,10,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.7
$GPS2,020917,083510,7438.2373,-15300.1855,6,0.8,10,19.7,0.0,118.8,9,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.7,130142,-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,-145.9,191,2217,488,494,0.0,0.0,0,142,0.00,0.00,-91.40,0.000,16386,0.000,0.000,190,2217,2130,2059,2202,0,0,0,0,0,0,14.36,28.83,14.38
$GC,145,-0.57,-145.9,191,2218,2064,2204,3.1,-3.7,9,203,12.95,2.75,-38.47,0.000,18724,0.461,2.136,2377,3595,3964,3947,3981,1,0,0,0,0,0,13.46,12.68,14.07
$GC,299,-0.71,-145.9,2377,3596,3953,3982,35.4,-13.3,39,304,0.00,2.33,0.00,0.000,1158,0.000,0.058,2377,2234,3966,3953,3980,0,0,0,0,0,0,14.15,14.00,14.18
$GC,609,-0.81,-145.9,2377,2237,3951,3982,78.9,-10.9,71,614,0.17,2.53,0.00,0.000,4740,0.119,0.080,2303,791,3967,3954,3981,0,0,0,0,0,0,14.19,14.03,14.23
$GC,649,-0.81,-145.9,2304,790,3955,3981,84.8,-15.5,79,655,0.00,2.50,0.00,0.000,1030,0.000,0.086,2303,2184,3968,3955,3981,0,0,0,0,0,0,14.15,13.99,14.19
$GC,960,-0.81,-145.9,2306,2186,3955,3982,132.5,-14.6,97,965,0.00,2.53,0.00,0.000,260,0.000,0.088,2296,3620,3968,3955,3981,0,0,0,0,0,0,14.59,14.06,14.63
$GC,1065,-0.92,-145.9,2297,3620,3956,3982,145.5,-11.8,118,1070,0.00,2.42,0.00,0.000,1158,0.000,0.058,2296,2191,3967,3954,3981,0,0,0,0,0,0,14.23,14.11,14.27
$GC,1380,-0.96,-145.9,2296,2191,3955,3982,187.7,-13.2,131,1385,0.00,2.50,0.00,0.000,388,0.000,0.085,2286,3614,3968,3955,3982,0,0,0,0,0,0,14.68,14.19,14.65
$GC,1415,-1.05,-145.9,2287,3615,3955,3982,192.2,-12.5,138,1421,0.15,2.40,0.00,0.000,5254,0.115,0.057,2231,2199,3967,3954,3981,0,0,0,0,0,0,14.30,14.26,14.40
$GC,1741,-1.00,-145.9,2232,2198,3956,3981,248.7,-17.0,153,1746,0.00,2.50,0.00,0.000,388,0.000,0.086,2223,3616,3968,3955,3981,0,0,0,0,0,0,14.68,14.12,14.68
$GC,1831,-1.00,-145.9,2223,3618,3955,3982,262.9,-14.8,171,1836,0.15,2.40,0.00,0.000,3078,0.249,0.057,2252,2200,3967,3954,3981,0,0,0,0,0,0,13.93,14.25,14.19
$GC,2161,-1.02,-145.9,2253,2199,3956,3981,304.6,-12.2,187,2166,0.00,2.50,0.00,0.000,388,0.000,0.086,2246,3617,3968,3955,3981,0,0,0,0,0,0,14.67,14.19,14.69
$GC,2226,-1.13,-145.9,2246,3620,3955,3982,312.1,-11.3,200,2232,0.00,2.40,0.00,0.000,1158,0.000,0.058,2246,2201,3967,3954,3981,0,0,0,0,0,0,14.35,14.19,14.35
$GC,2552,-1.16,-145.9,2247,2202,3955,3982,351.0,-11.8,215,2557,0.12,2.47,0.00,0.000,4484,0.145,0.083,2185,3612,3967,3953,3981,0,0,0,0,0,0,14.19,14.13,14.23
$GC,2632,-1.11,-145.9,2184,3614,3954,3978,363.5,-16.0,231,2637,0.15,2.38,0.00,0.000,3206,0.265,0.057,2214,2201,3967,3953,3981,0,0,0,0,0,0,13.94,14.25,14.22
$GC,2943,-1.11,-145.9,2215,2200,3954,3981,407.0,-13.7,243,2948,0.00,2.50,0.00,0.000,260,0.000,0.087,2209,3618,3967,3953,3981,0,0,0,0,0,0,14.65,14.12,14.68
$GC,3003,-1.14,-145.9,2209,3620,3953,3982,415.2,-13.1,255,3008,0.00,2.40,0.00,0.000,1158,0.000,0.057,2209,2200,3967,3953,3981,0,0,0,0,0,0,14.31,14.18,14.39
$GC,3333,-1.11,-145.9,2210,2198,3954,3980,461.6,-14.1,271,3338,0.00,2.45,0.00,0.000,388,0.000,0.086,2200,3619,3966,3953,3980,0,0,0,0,0,0,14.64,14.17,14.69
$GC,3413,-1.11,-145.9,2200,3621,3953,3981,472.9,-13.7,287,3418,0.00,2.40,0.00,0.000,1030,0.000,0.056,2200,2195,3966,3953,3980,0,0,0,0,0,0,14.29,14.20,14.29
$STATE,3481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3481,begin apogee
$GC,3486,-0.13,0.0,2201,2066,3953,3981,483.0,-14.5,291,3707,1.33,0.08,216.90,1.434,10246,0.249,0.180,2532,2113,3365,3388,3342,0,0,0,0,0,0,13.85,13.45,12.67
$STATE,3711,end apogee,CONTROL_FINISHED_OK
$STATE,3711,begin climb
$GC,3715,0.57,145.9,2532,2114,3382,3335,494.7,0.0,298,3931,0.73,2.65,209.57,1.379,11012,0.063,0.072,2779,3500,2763,2808,2719,0,0,0,0,0,0,13.62,12.93,12.32
$GC,3968,0.10,145.9,2778,3500,2797,2718,500.0,14.4,353,3974,0.85,2.47,0.00,0.000,5254,0.346,0.055,2622,2130,2757,2796,2718,0,0,0,0,0,0,13.05,13.33,13.35
$GC,4294,0.01,182.3,2622,2130,2796,2714,471.7,8.3,368,4355,0.12,2.65,51.25,1.440,12964,0.300,0.084,2598,693,2614,2665,2563,0,0,0,0,0,0,13.73,13.76,12.98
$GC,4405,0.05,227.1,2602,698,2665,2560,463.1,7.9,390,4476,0.00,2.50,64.43,1.397,9254,0.000,0.079,2602,2092,2435,2497,2374,0,0,0,0,0,0,14.04,13.92,12.88
$GC,4777,0.06,249.5,2601,2093,2491,2364,430.3,9.0,414,4810,0.00,0.00,31.92,1.461,8230,0.000,0.000,2601,2092,2348,2405,2291,0,0,0,0,0,0,14.45,13.99,13.14
$GC,5105,0.11,265.0,2602,2091,2394,2279,400.1,9.3,425,5136,0.00,2.53,21.42,1.523,8868,0.000,0.084,2602,692,2279,2332,2226,0,0,0,0,0,0,14.56,14.13,13.25
$GC,5167,0.22,284.7,2602,693,2331,2223,394.5,9.1,437,5202,0.15,2.47,29.30,1.468,11430,0.116,0.077,2668,2105,2203,2256,2151,0,0,0,0,0,0,14.21,14.14,13.16
$GC,5527,0.16,284.7,2669,2105,2249,2139,345.3,13.6,459,5528,0.15,0.00,0.00,0.000,4230,0.254,0.000,2636,2105,2193,2248,2139,0,0,0,0,0,0,14.02,14.15,14.15
$GC,5827,0.16,284.7,2637,2106,2247,2138,312.9,10.6,469,5832,0.00,2.50,0.00,0.000,516,0.000,0.086,2645,685,2192,2248,2137,0,0,0,0,0,0,14.64,14.24,14.66
$GC,5902,0.20,284.7,2645,686,2246,2144,305.1,10.6,484,5908,0.00,2.47,0.00,0.000,1158,0.000,0.080,2645,2106,2191,2246,2136,0,0,0,0,0,0,14.40,14.26,14.45
$GC,6218,0.20,284.7,2645,2107,2247,2136,272.0,10.2,497,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2107,2191,2245,2137,0,0,0,0,0,0,14.70,14.69,14.69
$GC,6518,0.21,302.0,2645,2108,2245,2137,243.7,9.2,507,6550,0.00,2.47,25.75,1.441,8740,0.000,0.083,2646,690,2128,2180,2076,0,0,0,0,0,0,14.66,13.97,13.35
$GC,6595,0.32,338.3,2647,690,2176,2075,237.0,8.3,522,6661,0.12,2.45,60.45,1.312,11430,0.127,0.080,2696,2099,1985,2032,1938,0,0,0,0,0,0,14.14,14.19,13.17
$GC,6971,0.29,338.3,2697,2100,2024,1921,194.1,11.2,547,6972,0.00,0.00,0.00,0.000,134,0.000,0.000,2697,2099,1971,2023,1920,0,0,0,0,0,0,14.55,14.57,14.57
$GC,7271,0.27,338.3,2696,2100,2023,1920,162.7,10.1,557,7276,0.00,2.45,0.00,0.000,644,0.000,0.085,2699,694,1970,2022,1919,0,0,0,0,0,0,14.62,14.10,14.64
$GC,7341,0.32,354.2,2699,694,2019,1919,156.0,9.3,571,7372,0.00,2.45,22.88,1.385,9382,0.000,0.077,2699,2100,1917,1961,1874,0,0,0,0,0,0,14.33,14.21,13.37
$GC,7694,0.33,369.7,2699,2101,1953,1872,122.4,9.3,591,7717,0.00,2.45,19.33,1.404,8740,0.000,0.084,2698,693,1856,1892,1821,0,0,0,0,0,0,14.59,13.94,13.33
$GC,7779,0.43,398.6,2700,693,1884,1822,114.9,8.7,608,7832,0.00,2.45,45.55,1.258,9382,0.000,0.078,2698,2100,1738,1768,1709,0,0,0,0,0,0,14.24,14.13,13.21
$GC,8133,0.51,434.5,2699,2100,1766,1698,83.4,8.3,642,8154,0.15,0.00,18.90,0.455,10406,0.119,0.000,2765,2100,1590,1625,1556,0,0,0,0,0,0,14.14,14.10,13.67
$GC,8453,0.54,479.2,2766,2100,1626,1555,49.5,7.9,674,8484,0.00,2.53,23.27,0.350,8740,0.000,0.085,2768,702,1411,1454,1368,0,0,0,0,0,0,14.57,14.02,13.76
$GC,8567,0.66,541.3,2768,702,1453,1367,41.1,7.1,696,8608,0.00,2.45,33.17,0.323,9382,0.000,0.079,2770,2103,1155,1220,1091,0,0,0,0,0,0,14.20,14.04,13.76
$GC,8905,0.86,652.9,2768,2103,1221,1082,19.3,4.8,734,8969,0.25,2.50,58.12,0.264,10916,0.091,0.086,2877,695,700,759,641,0,0,0,0,0,0,14.23,13.93,13.75
$GC,9035,0.89,652.9,2877,695,759,638,5.7,10.9,759,9041,0.00,2.47,0.00,0.000,1158,0.000,0.079,2876,2102,698,758,638,0,0,0,0,0,0,13.71,13.74,13.72
$STATE,9067,end climb,SURFACE_DEPTH_REACHED
$STATE,9067,begin surface coast
$FINISH,0.3,1.021561
$STATE,9077,end surface coast,CONTROL_FINISHED_OK
$STATE,9077,begin surface
$SM_CCo,9098,26.85,0.211,0,0,500,702.78
$SM_GC,1.39,8.10,0.17,26.85,0.063,0.116,0.211,196,2225,500,-7.38,-0.59,702.78,0,0,0,0,0,0,14.30,14.28,13.97
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.21,-15304.34,020917,082832
$TT8_MAMPS,0.040446,0.862099
$HUMID,46.73
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,17
$CP_FREE,15975219200.000000
$PM_FREEKB_00,51227200
$24V_AH,12.32,151.831
$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,25.650,89.675,932.225,26.850,0.000,0.000,0.000,593.925,4.250,0.000,11.741,0.000,6686.165,840.252,2245.338,307.116,0.000,2290.160,0.000,1096.761,0.000,0.539,0.000
$DEVICE_MAMPS,460.530,2135.880,1523.115,211.140,0.000,0.000,0.000,163.710,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9040.000,9063.000,9052.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.531,20.000,9.879,0.000
$MEM,323516
$DATA_FILE_SIZE,26724,764
$CAP_FILE_SIZE,111376,0
$CFSIZE,2097872896,2018639872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.051,280.40,1
$GPS,020917,110903,7439.259,-15257.629,30,0.8,30,19.7,0.0,0.0,10,9.2