version: 66.13
glider: 196
mission: 14
dive: 228
start: 9 2 117 11 16 6
data:
$ID,196
$MISSION,14
$DIVE,228
$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,27
$R_STBD_OVSHOOT,43
$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,644.0
$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
$GPS1,020917,110903,7439.2593,-15257.6289,30,0.8,30,19.7,0.0,0.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.4
$GPS2,020917,111531,7439.2500,-15257.6455,6,0.8,8,19.7,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.0,127965,-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,63,end surface,CONTROL_FINISHED_OK
$STATE,63,begin dive
$GC,66,-0.57,-145.9,193,2228,496,494,0.0,0.0,0,169,0.00,0.00,-101.55,0.000,16386,0.000,0.000,192,2227,2364,2312,2417,0,0,0,0,0,0,14.59,28.83,14.61
$GC,172,-0.57,-145.9,193,2228,2315,2418,4.7,-7.2,10,219,12.80,2.70,-28.98,0.000,18724,0.459,2.143,2377,3585,3963,3940,3986,0,0,0,0,0,0,13.66,12.88,14.18
$GC,329,-0.73,-145.9,2377,3587,3946,3985,41.1,-12.7,41,337,0.00,2.33,0.00,0.000,1158,0.000,0.057,2377,2202,3965,3946,3984,0,0,0,0,0,0,14.38,14.26,14.41
$GC,636,-0.84,-145.9,2377,2202,3948,3984,80.7,-10.7,72,638,0.20,0.00,0.00,0.000,4230,0.114,0.000,2297,2201,3966,3948,3984,0,0,0,0,0,0,14.35,14.50,14.47
$GC,935,-0.84,-145.9,2298,2201,3949,3984,129.4,-15.6,90,939,0.00,2.42,0.00,0.000,260,0.000,0.086,2289,3597,3965,3947,3984,0,0,0,0,0,0,14.78,14.28,14.80
$GC,1000,-0.95,-145.9,2289,3598,3948,3985,138.1,-12.1,103,1004,0.00,2.35,0.00,0.000,1158,0.000,0.059,2289,2200,3965,3947,3984,0,0,0,0,0,0,14.46,14.33,14.50
$GC,1325,-0.97,-145.9,2289,2200,3949,3984,184.6,-14.1,118,1330,0.00,2.42,0.00,0.000,388,0.000,0.085,2280,3597,3967,3948,3987,0,0,0,0,0,0,14.81,14.29,14.82
$GC,1365,-1.07,-145.9,2281,3598,3949,3984,189.8,-12.5,126,1370,0.15,2.35,0.00,0.000,5254,0.117,0.060,2223,2197,3965,3947,3984,0,0,0,0,0,0,14.40,14.35,14.50
$GC,1685,-0.99,-145.9,2224,2196,3948,3984,248.4,-18.0,140,1690,0.12,2.42,0.00,0.000,2436,0.298,0.084,2241,3591,3965,3947,3984,0,0,0,0,0,0,14.05,14.30,14.22
$GC,1787,-1.04,-145.9,2243,3593,3948,3985,262.5,-13.0,160,1792,0.00,2.33,0.00,0.000,1158,0.000,0.057,2243,2199,3965,3947,3984,0,0,0,0,0,0,14.47,14.36,14.52
$GC,2107,-1.04,-145.9,2243,2199,3948,3985,306.4,-13.2,174,2112,0.00,2.42,0.00,0.000,260,0.000,0.088,2236,3594,3966,3948,3984,0,0,0,0,0,0,14.82,14.29,14.84
$GC,2182,-1.12,-145.9,2237,3594,3949,3984,315.6,-11.4,189,2188,0.00,2.33,0.00,0.000,1158,0.000,0.058,2236,2199,3966,3948,3984,0,0,0,0,0,0,14.49,14.35,14.52
$GC,2498,-1.12,-145.9,2237,2198,3948,3984,355.3,-12.4,202,2503,0.00,2.42,0.00,0.000,260,0.000,0.088,2236,3589,3966,3948,3984,0,0,0,0,0,0,14.83,14.28,14.84
$GC,2553,-1.21,-145.9,2236,3592,3949,3984,361.8,-11.2,213,2560,0.15,2.33,0.00,0.000,5254,0.132,0.057,2172,2199,3966,3948,3984,0,0,0,0,0,0,14.39,14.35,14.50
$GC,2860,-1.09,-145.9,2172,2198,3948,3986,414.8,-17.5,224,2865,0.22,2.45,0.00,0.000,2436,0.294,0.082,2213,3594,3965,3947,3983,0,0,0,0,0,0,13.81,14.14,14.00
$GC,2967,-1.12,-145.9,2213,3595,3944,3984,429.1,-12.1,245,2972,0.00,2.38,0.00,0.000,1158,0.000,0.057,2213,2190,3965,3947,3983,0,0,0,0,0,0,14.29,14.18,14.34
$GC,3282,-1.12,-145.9,2212,2189,3948,3983,470.9,-13.2,258,3287,0.00,2.47,0.00,0.000,260,0.000,0.087,2209,3592,3965,3947,3983,0,0,0,0,0,0,14.58,14.09,14.59
$STATE,3355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3355,begin apogee
$GC,3363,-0.13,0.0,2210,2094,3948,3983,480.6,-12.4,273,3583,1.27,0.00,216.18,1.419,10246,0.242,0.000,2528,2094,3367,3385,3350,0,0,0,0,0,0,13.81,13.48,12.66
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3584,begin climb
$GC,3587,0.57,145.9,2529,2093,3381,3342,491.7,0.0,280,3800,0.75,0.00,210.93,1.369,10502,0.063,0.000,2780,2093,2770,2813,2727,0,0,0,0,0,0,13.57,12.87,12.28
$GC,4078,0.16,145.9,2780,2093,2798,2714,460.8,15.4,302,4083,0.62,2.53,0.00,0.000,4740,0.324,0.078,2654,691,2755,2797,2713,0,0,0,0,0,0,13.40,13.74,13.62
$GC,4138,0.03,145.9,2655,691,2798,2714,454.1,10.0,314,4143,0.28,2.50,0.00,0.000,5254,0.271,0.078,2596,2083,2754,2794,2715,0,0,0,0,0,0,13.59,13.83,13.90
$GC,4470,0.03,213.7,2595,2084,2798,2713,430.5,6.9,330,4571,0.00,0.00,98.70,1.366,8614,0.000,0.000,2595,2085,2495,2553,2437,0,0,0,0,0,0,14.40,13.75,12.98
$GC,4858,0.05,251.7,2596,2079,2544,2417,399.0,8.2,358,4920,0.00,2.58,55.78,1.382,8484,0.000,0.083,2596,3508,2338,2396,2280,0,0,0,0,0,0,14.37,13.87,13.12
$GC,4952,0.08,251.7,2595,3511,2379,2280,390.8,10.1,371,4957,0.00,2.42,0.00,0.000,1158,0.000,0.060,2602,2092,2328,2378,2278,0,0,0,0,0,0,14.04,13.94,14.09
$GC,5284,0.14,276.7,2605,2093,2375,2276,361.2,8.8,387,5327,0.00,2.55,35.53,1.423,8868,0.000,0.088,2602,687,2233,2282,2184,0,0,0,0,0,0,14.42,14.02,13.22
$GC,5412,0.27,310.6,2602,688,2278,2185,350.0,8.4,413,5473,0.20,2.47,52.72,1.363,11430,0.096,0.080,2682,2101,2098,2148,2048,0,0,0,0,0,0,14.21,14.12,13.13
$GC,5793,0.20,310.6,2683,2101,2137,2037,296.0,14.1,439,5798,0.15,2.47,0.00,0.000,4740,0.246,0.082,2654,684,2086,2136,2037,0,0,0,0,0,0,13.97,14.18,14.14
$GC,5885,0.26,311.2,2655,684,2134,2037,285.9,10.0,457,5891,0.00,2.47,0.00,0.000,1190,0.000,0.079,2654,2102,2085,2133,2037,0,0,0,0,0,0,14.35,14.21,14.39
$GC,6216,0.26,314.7,2654,2104,2133,2035,251.3,9.8,473,6217,0.00,0.00,0.00,0.000,38,0.000,0.000,2654,2103,2083,2133,2034,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6516,0.27,336.3,2655,2103,2134,2033,224.1,9.0,483,6557,0.00,0.00,38.72,1.367,8742,0.000,0.000,2653,2103,1995,2046,1945,0,0,0,0,0,0,14.66,14.09,13.31
$GC,6877,0.35,370.6,2655,2103,2036,1934,193.2,8.4,500,6943,0.12,2.55,57.78,1.289,10916,0.128,0.086,2717,692,1850,1882,1818,0,0,0,0,0,0,14.33,14.02,13.26
$GC,7008,0.35,370.6,2717,692,1875,1817,178.3,11.0,526,7013,0.00,2.50,0.00,0.000,1030,0.000,0.078,2717,2108,1845,1874,1817,0,0,0,0,0,0,14.20,14.08,14.23
$GC,7328,0.32,370.6,2717,2109,1873,1812,140.8,11.2,540,7333,0.00,2.53,0.00,0.000,644,0.000,0.086,2717,685,1841,1873,1810,0,0,0,0,0,0,14.57,14.19,14.57
$GC,7393,0.36,370.6,2717,685,1872,1812,133.8,10.2,553,7399,0.00,2.47,0.00,0.000,1158,0.000,0.079,2717,2101,1842,1874,1811,0,0,0,0,0,0,14.35,14.22,14.40
$GC,7719,0.36,378.3,2717,2100,1872,1810,101.1,9.6,568,7723,0.00,0.00,2.85,1.107,8230,0.000,0.000,2717,2101,1820,1852,1789,0,0,0,0,0,0,14.61,14.18,12.86
$GC,8019,0.39,417.3,2717,2101,1854,1794,74.6,8.2,596,8046,0.00,2.47,21.70,0.428,8740,0.000,0.083,2717,691,1663,1690,1636,0,0,0,0,0,0,14.58,14.01,13.70
$GC,8101,0.52,464.3,2715,692,1691,1637,68.1,7.8,612,8134,0.00,2.47,25.23,0.405,9382,0.000,0.080,2717,2105,1471,1510,1433,0,0,0,0,0,0,14.19,14.06,13.66
$GC,8431,0.71,566.8,2717,2106,1511,1426,45.7,5.3,648,8491,0.28,2.58,53.67,0.337,10916,0.087,0.088,2822,690,1053,1120,986,0,0,0,0,0,0,14.31,13.99,13.78
$GC,8528,0.74,566.8,2822,688,1122,984,36.5,10.7,665,8533,0.00,2.47,0.00,0.000,1158,0.000,0.076,2822,2100,1052,1120,984,0,0,0,0,0,0,14.24,14.09,14.27
$GC,8839,0.81,616.4,2822,2101,1122,975,9.6,7.7,697,8869,0.00,0.00,26.20,0.236,8358,0.000,0.000,2822,2100,849,917,781,0,0,0,0,0,0,14.57,14.19,13.81
$STATE,8936,end climb,SURFACE_DEPTH_REACHED
$STATE,8936,begin surface coast
$FINISH,0.3,1.005045
$STATE,8956,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,8979,47.25,0.210,0,0,498,702.78
$SM_GC,1.32,8.18,0.17,47.25,0.087,0.111,0.210,197,2228,498,-7.39,-0.68,702.78,0,0,0,0,0,0,14.33,14.33,13.97
$RAFOS_CLK,299
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7440.57,-15307.91,020917,083441
$TT8_MAMPS,0.039697,0.911533
$HUMID,47.00
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,15974924288.000000
$PM_FREEKB_00,51197440
$24V_AH,12.28,152.266
$10V_AH,12.21,0.000
$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,25.500,78.950,895.975,47.250,0.000,0.000,0.000,200.225,3.500,0.000,11.648,0.000,6476.765,842.177,1875.761,235.633,0.000,1856.409,0.000,1017.651,2209.000,0.540,0.000
$DEVICE_MAMPS,459.000,2142.765,1422.900,209.610,0.000,0.000,0.000,130.050,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5296.000,5438.000,8918.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.318,20.000,9.897,0.000
$MEM,323612
$DATA_FILE_SIZE,23410,709
$CAP_FILE_SIZE,96485,0
$CFSIZE,2097872896,2018443264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.7
$CURRENT,0.050,274.72,1
$GPS,020917,134750,7440.176,-15255.176,23,0.7,32,19.7,0.0,298.0,11,9.9