version: 66.13
glider: 196
mission: 14
dive: 236
start: 9 3 117 9 31 18
data:
$ID,196
$MISSION,14
$DIVE,236
$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,47
$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,48
$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,667.0
$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
$GPS1,030917,090839,7445.8003,-15240.5879,22,0.7,29,19.9,0.0,0.0,12,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.8
$GPS2,030917,093045,7445.7324,-15240.9434,7,0.7,28,19.9,0.4,257.5,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,21.8,113981,-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,49,-0.57,-145.9,201,2232,492,491,0.0,0.0,0,152,0.00,0.00,-101.50,0.000,16386,0.000,0.000,201,2231,2361,2305,2417,0,0,0,0,0,0,14.59,28.83,14.59
$GC,155,-0.57,-145.9,201,2231,2310,2417,4.4,-6.4,10,202,12.60,2.67,-30.17,0.000,18724,0.451,2.143,2376,3581,3962,3945,3979,0,0,0,0,0,0,13.64,12.86,14.16
$GC,323,-0.73,-145.9,2376,3583,3953,3981,40.6,-12.4,43,329,0.00,2.35,0.00,0.000,1158,0.000,0.059,2376,2189,3966,3952,3980,0,0,0,0,0,0,14.35,14.23,14.39
$GC,630,-0.84,-145.9,2376,2189,3955,3980,79.3,-10.5,74,631,0.22,0.00,0.00,0.000,4230,0.105,0.000,2286,2189,3967,3954,3980,0,0,0,0,0,0,14.35,14.49,14.44
$GC,938,-0.84,-145.9,2287,2189,3955,3980,129.3,-15.3,93,943,0.00,2.45,0.00,0.000,260,0.000,0.087,2277,3594,3967,3954,3980,0,0,0,0,0,0,14.73,14.23,14.76
$GC,1099,-0.92,-145.9,2278,3595,3954,3981,151.2,-13.0,125,1104,0.00,2.35,0.00,0.000,1158,0.000,0.057,2277,2196,3966,3954,3979,0,0,0,0,0,0,14.42,14.31,14.47
$GC,1419,-0.94,-145.9,2278,2196,3955,3981,196.8,-13.9,139,1420,0.00,0.00,0.00,0.000,134,0.000,0.000,2278,2195,3967,3954,3980,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1719,-0.98,-145.9,2278,2195,3955,3980,235.1,-12.1,149,1725,0.00,2.45,0.00,0.000,388,0.000,0.087,2268,3588,3966,3954,3979,0,0,0,0,0,0,14.77,14.19,14.79
$GC,1805,-1.08,-145.9,2268,3589,3954,3981,245.0,-11.1,166,1812,0.12,2.33,0.00,0.000,5254,0.132,0.057,2221,2199,3967,3955,3980,0,0,0,0,0,0,14.34,14.31,14.45
$GC,2110,-1.04,-145.9,2221,2199,3954,3981,292.8,-15.3,177,2116,0.00,2.45,0.00,0.000,388,0.000,0.086,2211,3592,3966,3954,3979,0,0,0,0,0,0,14.76,14.22,14.78
$GC,2196,-1.04,-145.9,2211,3592,3955,3980,305.8,-14.5,194,2202,0.15,2.33,0.00,0.000,3078,0.259,0.057,2245,2197,3967,3954,3980,0,0,0,0,0,0,14.01,14.31,14.27
$GC,2501,-1.07,-145.9,2241,2197,3954,3981,342.4,-11.5,205,2507,0.00,2.45,0.00,0.000,388,0.000,0.086,2236,3593,3967,3954,3980,0,0,0,0,0,0,14.76,14.12,14.78
$GC,2558,-1.15,-145.9,2237,3593,3954,3980,348.8,-11.0,216,2564,0.00,2.33,0.00,0.000,1158,0.000,0.056,2236,2203,3967,3954,3980,0,0,0,0,0,0,14.43,14.31,14.45
$GC,2862,-1.18,-145.9,2236,2202,3954,3980,383.9,-11.4,227,2867,0.00,2.45,0.00,0.000,388,0.000,0.088,2235,3594,3966,3953,3979,0,0,0,0,0,0,14.79,14.22,14.78
$GC,2938,-1.27,-145.9,2236,3594,3953,3981,392.1,-10.3,242,2943,0.20,2.35,0.00,0.000,5254,0.109,0.056,2158,2196,3965,3952,3979,0,0,0,0,0,0,14.35,14.30,14.44
$GC,3253,-1.13,-145.9,2159,2195,3953,3979,449.5,-18.7,255,3258,0.22,2.42,0.00,0.000,2436,0.317,0.082,2198,3586,3966,3954,3979,0,0,0,0,0,0,13.76,14.13,13.97
$GC,3433,-1.13,-145.9,2200,3587,3952,3980,475.1,-13.3,291,3438,0.00,2.35,0.00,0.000,1030,0.000,0.054,2198,2190,3965,3951,3979,0,0,0,0,0,0,14.41,14.29,14.45
$STATE,3491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3491,begin apogee
$GC,3497,-0.13,0.0,2199,2061,3953,3979,483.6,-14.3,298,3717,1.33,0.00,215.75,1.433,10246,0.246,0.000,2532,2060,3365,3385,3345,0,0,0,0,0,0,13.89,13.54,12.69
$STATE,3720,end apogee,CONTROL_FINISHED_OK
$STATE,3720,begin climb
$GC,3722,0.57,145.9,2536,2060,3382,3339,494.9,0.0,305,3943,0.73,2.72,208.98,1.379,11012,0.064,0.073,2781,3484,2762,2802,2722,0,0,0,0,0,0,13.64,12.93,12.32
$GC,3968,0.11,145.9,2779,3484,2797,2721,499.0,13.0,311,3973,0.85,2.45,0.00,0.000,5254,0.343,0.056,2622,2130,2758,2796,2720,0,0,0,0,0,0,13.04,13.33,13.35
$GC,4300,0.02,181.0,2622,2129,2797,2716,469.7,8.4,327,4360,0.12,2.65,49.25,1.443,12964,0.295,0.084,2601,690,2619,2666,2573,0,0,0,0,0,0,13.80,13.85,12.99
$GC,4426,0.08,226.7,2602,689,2670,2568,459.9,7.9,352,4501,0.00,2.45,66.53,1.411,9382,0.000,0.078,2601,2074,2434,2492,2376,0,0,0,0,0,0,14.08,13.96,12.91
$GC,4812,0.09,250.5,2602,2075,2489,2368,425.9,8.9,379,4846,0.00,0.00,33.50,1.460,8230,0.000,0.000,2601,2074,2343,2397,2290,0,0,0,0,0,0,14.50,14.00,13.17
$GC,5142,0.14,271.3,2602,2075,2388,2280,396.2,9.0,390,5174,0.00,0.00,30.05,1.468,8358,0.000,0.000,2602,2074,2258,2311,2206,0,0,0,0,0,0,14.57,14.08,13.26
$GC,5472,0.21,289.9,2602,2075,2304,2196,366.1,9.1,401,5504,0.12,0.00,26.80,1.478,10918,0.132,0.000,2668,2074,2177,2228,2127,0,0,0,0,0,0,14.28,14.08,13.25
$GC,5802,0.16,289.9,2669,2075,2225,2123,322.3,13.1,417,5807,0.12,2.42,0.00,0.000,4740,0.260,0.083,2645,690,2173,2224,2122,0,0,0,0,0,0,14.02,14.21,14.16
$GC,5887,0.20,289.9,2646,690,2223,2124,312.8,10.6,434,5894,0.00,2.45,0.00,0.000,1158,0.000,0.078,2646,2100,2172,2222,2123,0,0,0,0,0,0,14.25,14.16,14.31
$GC,6192,0.20,289.9,2646,2101,2223,2122,280.1,10.5,445,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2101,2172,2222,2122,0,0,0,0,0,0,14.66,14.71,14.68
$GC,6492,0.21,303.2,2646,2101,2223,2122,250.6,9.4,455,6517,0.00,2.50,18.42,1.508,8740,0.000,0.086,2647,673,2124,2173,2076,0,0,0,0,0,0,14.68,14.26,13.38
$GC,6594,0.32,338.1,2647,675,2169,2077,241.8,8.4,475,6658,0.12,2.50,57.62,1.334,11430,0.132,0.079,2698,2111,1985,2029,1942,0,0,0,0,0,0,14.24,14.19,13.21
$GC,6973,0.29,338.1,2698,2112,2024,1928,197.5,11.4,501,6978,0.00,2.47,0.00,0.000,644,0.000,0.085,2699,694,1974,2022,1927,0,0,0,0,0,0,14.56,14.14,14.58
$GC,7028,0.31,338.1,2699,695,2021,1928,191.7,10.3,512,7034,0.00,2.45,0.00,0.000,1158,0.000,0.077,2699,2102,1976,2025,1927,0,0,0,0,0,0,14.31,14.17,14.35
$GC,7334,0.29,338.1,2700,2103,2022,1926,159.3,10.4,523,7338,0.00,2.47,0.00,0.000,644,0.000,0.084,2698,685,1972,2018,1926,0,0,0,0,0,0,14.63,14.17,14.65
$GC,7404,0.34,351.4,2699,684,2020,1925,152.4,9.4,537,7429,0.00,2.45,18.30,1.439,9382,0.000,0.077,2699,2106,1931,1976,1887,0,0,0,0,0,0,14.38,14.25,13.34
$GC,7756,0.35,372.9,2700,2103,1966,1884,118.9,9.0,557,7795,0.00,2.55,31.58,1.345,8740,0.000,0.086,2699,693,1841,1872,1811,0,0,0,0,0,0,14.60,13.98,13.34
$GC,7852,0.46,417.1,2699,694,1866,1811,110.9,8.0,576,7931,0.00,2.45,73.15,1.207,9382,0.000,0.078,2699,2095,1663,1693,1634,0,0,0,0,0,0,14.16,14.03,13.18
$GC,8236,0.57,464.7,2699,2094,1690,1615,79.6,7.8,619,8267,0.20,0.00,24.27,0.444,10406,0.099,0.000,2780,2092,1468,1505,1432,0,0,0,0,0,0,14.23,14.12,13.67
$GC,8566,0.60,501.6,2781,2096,1505,1425,42.5,8.3,652,8593,0.00,2.53,19.30,0.332,8740,0.000,0.086,2781,698,1318,1365,1272,0,0,0,0,0,0,14.59,14.11,13.78
$GC,8680,0.71,557.7,2781,697,1365,1271,33.9,7.4,674,8717,0.00,2.45,30.33,0.303,9382,0.000,0.078,2781,2103,1090,1149,1031,0,0,0,0,0,0,14.26,14.14,13.81
$GC,9033,0.90,657.4,2781,2103,1150,1017,11.6,5.4,712,9095,0.28,2.58,52.58,0.238,10916,0.085,0.092,2889,694,680,732,628,0,0,0,0,0,0,14.16,13.93,13.82
$GC,9105,0.87,657.4,2889,693,732,626,3.8,11.7,721,9110,0.00,2.47,0.00,0.000,1158,0.000,0.076,2889,2099,680,732,628,0,0,0,0,0,0,14.18,14.05,14.21
$STATE,9123,end climb,SURFACE_DEPTH_REACHED
$STATE,9123,begin surface coast
$FINISH,0.1,1.021148
$STATE,9133,end surface coast,CONTROL_FINISHED_OK
$STATE,9133,begin surface
$SM_CCo,9199,24.58,0.211,0,0,502,702.78
$SM_GC,1.36,8.35,0.17,24.58,0.078,0.112,0.211,202,2219,502,-7.38,-0.74,702.78,0,0,0,0,0,0,14.17,14.19,13.92
$RAFOS_CLK,23
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7446.07,-15238.51,030917,092525
$TT8_MAMPS,0.084637,0.868091
$HUMID,46.14
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,21
$CP_FREE,0.000000
$PM_FREEKB_00,50973120
$24V_AH,12.32,156.020
$10V_AH,12.19,0.000
$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,25.750,79.075,956.400,24.575,0.000,0.000,0.000,797.450,5.250,0.000,29.298,0.000,6795.079,879.892,2555.610,332.399,0.000,2528.993,0.000,1038.775,2213.000,0.539,0.000
$DEVICE_MAMPS,451.350,2142.765,1507.815,211.140,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5247.000,9173.000,9153.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.906,20.000,9.863,0.000
$MEM,323488
$DATA_FILE_SIZE,23404,725
$CAP_FILE_SIZE,107334,0
$CFSIZE,2097872896,2016378880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1438.9
$CURRENT,0.087,263.99,1
$GPS,030917,120625,7446.489,-15238.548,34,0.7,39,19.9,0.2,256.3,12,9.1