version: 66.13
glider: 196
mission: 14
dive: 239
start: 9 3 117 18 4 9
data:
$ID,196
$MISSION,14
$DIVE,239
$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,62
$R_STBD_OVSHOOT,39
$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,674.0
$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
$GPS1,030917,174141,7447.9048,-15234.4316,13,0.8,15,19.9,0.2,0.0,11,9.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.2
$GPS2,030917,180336,7447.9199,-15234.6299,11,0.8,16,19.9,0.0,0.0,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,17.0,109167,-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,-145.9,197,2222,483,497,0.0,0.0,0,152,0.00,0.00,-101.12,0.000,16386,0.000,0.000,196,2219,2366,2313,2420,0,0,0,0,0,0,14.54,28.83,14.57
$GC,155,-0.57,-145.9,197,2223,2315,2421,4.7,-7.1,10,203,12.88,2.72,-29.00,0.000,18724,0.457,2.140,2377,3589,3962,3944,3981,0,0,0,0,0,0,13.54,12.84,14.02
$GC,418,-0.72,-145.9,2377,3591,3952,3981,53.2,-11.9,62,423,0.00,2.30,0.00,0.000,1158,0.000,0.057,2377,2236,3965,3951,3980,0,0,0,0,0,0,14.29,14.17,14.33
$GC,730,-0.85,-145.9,2378,2235,3953,3980,87.4,-9.7,94,735,0.20,2.53,0.00,0.000,4772,0.108,0.081,2291,790,3966,3952,3980,0,0,0,0,0,0,14.25,14.06,14.30
$GC,745,-0.92,-145.9,2291,791,3951,3981,89.4,-10.4,97,752,0.00,2.45,0.00,0.000,1158,0.000,0.083,2288,2180,3966,3952,3980,0,0,0,0,0,0,14.12,13.98,14.16
$GC,1050,-0.92,-145.9,2288,2182,3953,3981,137.9,-15.1,112,1055,0.00,2.53,0.00,0.000,260,0.000,0.090,2280,3615,3966,3952,3980,0,0,0,0,0,0,14.64,14.13,14.66
$GC,1187,-1.02,-145.9,2280,3617,3953,3981,155.6,-12.4,139,1192,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2195,3966,3952,3980,0,0,0,0,0,0,14.33,14.18,14.36
$GC,1502,-1.04,-145.9,2280,2194,3952,3981,199.4,-13.4,152,1507,0.12,2.50,0.00,0.000,4484,0.141,0.085,2222,3615,3966,3952,3980,0,0,0,0,0,0,14.31,14.13,14.35
$GC,1567,-1.04,-145.9,2223,3617,3953,3972,210.0,-16.2,165,1573,0.00,2.40,0.00,0.000,1030,0.000,0.057,2222,2199,3966,3952,3980,0,0,0,0,0,0,14.37,14.24,14.40
$GC,1893,-0.98,-145.9,2222,2198,3953,3980,267.2,-16.7,180,1898,0.15,2.50,0.00,0.000,2436,0.293,0.083,2248,3620,3965,3951,3980,0,0,0,0,0,0,13.90,14.09,14.09
$GC,1995,-1.06,-145.9,2248,3620,3953,3980,279.9,-11.4,200,2000,0.00,2.40,0.00,0.000,1158,0.000,0.058,2247,2198,3966,3952,3980,0,0,0,0,0,0,14.38,14.24,14.40
$GC,2315,-1.08,-145.9,2248,2197,3952,3981,318.9,-11.9,214,2320,0.00,2.53,0.00,0.000,388,0.000,0.088,2241,3620,3966,3952,3980,0,0,0,0,0,0,14.67,14.07,14.69
$GC,2437,-1.17,-145.9,2241,3621,3959,3981,332.7,-11.1,238,2442,0.12,2.42,0.00,0.000,5254,0.143,0.057,2190,2191,3966,3952,3980,0,0,0,0,0,0,14.26,14.25,14.38
$GC,2768,-1.10,-145.9,2190,2190,3951,3981,384.8,-15.6,254,2773,0.12,2.50,0.00,0.000,2436,0.291,0.083,2208,3613,3965,3950,3980,0,0,0,0,0,0,13.26,13.96,13.69
$GC,2884,-1.10,-145.9,2208,3613,3951,3980,400.3,-12.7,277,2891,0.00,2.40,0.00,0.000,1030,0.000,0.055,2208,2190,3965,3950,3980,0,0,0,0,0,0,14.32,14.20,14.36
$GC,3188,-1.08,-145.9,2208,2190,3951,3981,442.2,-13.8,288,3193,0.00,2.50,0.00,0.000,388,0.000,0.086,2197,3614,3965,3950,3980,0,0,0,0,0,0,14.68,14.18,14.69
$GC,3258,-1.08,-145.9,2201,3615,3950,3981,452.1,-13.6,302,3263,0.15,2.38,0.00,0.000,3078,0.253,0.054,2227,2202,3964,3949,3980,0,0,0,0,0,0,13.93,14.26,14.16
$STATE,3516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3516,begin apogee
$GC,3522,-0.13,0.0,2228,2058,3950,3981,482.6,-11.5,314,3745,1.15,0.10,218.98,1.421,10246,0.224,0.158,2527,2120,3362,3378,3346,0,0,0,0,0,0,13.80,13.47,12.65
$STATE,3749,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3753,0.57,145.9,2528,2121,3374,3338,493.5,0.0,321,4147,0.75,2.70,207.27,1.380,11012,0.061,0.080,2791,724,2756,2793,2720,0,0,0,0,0,0,13.64,13.14,12.31
$GC,4152,0.57,145.9,2792,725,2795,2720,473.3,5.3,324,4157,0.00,2.47,0.00,0.000,1030,0.000,0.074,2791,2092,2755,2793,2718,0,0,0,0,0,0,13.78,13.69,13.83
$GC,4467,0.15,145.9,2792,2093,2792,2715,421.8,16.3,337,4469,0.70,0.00,0.00,0.000,4230,0.314,0.000,2637,2093,2753,2791,2715,0,0,0,0,0,0,13.73,14.23,14.13
$GC,4768,0.03,165.3,2637,2093,2796,2714,393.3,9.1,347,4799,0.15,2.40,24.23,1.476,12964,0.280,0.083,2602,724,2685,2726,2644,0,0,0,0,0,0,13.98,14.15,13.26
$GC,4879,0.07,219.9,2603,725,2724,2640,384.7,7.5,369,4970,0.00,2.42,81.75,1.363,9254,0.000,0.078,2602,2109,2461,2515,2408,0,0,0,0,0,0,14.20,14.08,13.05
$GC,5280,0.09,250.8,2602,2109,2509,2395,350.2,8.6,399,5330,0.00,2.47,44.00,1.386,8484,0.000,0.084,2602,3507,2339,2389,2289,0,0,0,0,0,0,14.54,14.02,13.19
$GC,5382,0.13,252.5,2603,3508,2378,2287,341.0,9.9,419,5387,0.00,2.38,0.00,0.000,1190,0.000,0.061,2602,2122,2331,2377,2286,0,0,0,0,0,0,14.19,14.11,14.24
$GC,5702,0.20,284.5,2602,2122,2376,2285,313.2,8.5,433,5758,0.12,2.55,50.67,1.365,10916,0.127,0.085,2672,685,2203,2246,2161,0,0,0,0,0,0,14.34,13.83,13.22
$GC,5858,0.20,284.5,2673,685,2238,2157,294.4,11.7,464,5863,0.00,2.47,0.00,0.000,1030,0.000,0.079,2672,2095,2196,2237,2156,0,0,0,0,0,0,14.24,14.11,14.29
$GC,6184,0.15,284.5,2671,2096,2237,2150,255.5,11.5,479,6189,0.15,2.45,0.00,0.000,4740,0.261,0.081,2644,685,2194,2237,2151,0,0,0,0,0,0,14.02,14.23,14.16
$GC,6254,0.25,314.3,2644,686,2237,2157,249.1,8.6,493,6307,0.00,2.47,46.40,1.349,9382,0.000,0.078,2644,2114,2081,2125,2038,0,0,0,0,0,0,14.31,14.21,13.26
$GC,6606,0.32,360.5,2645,2114,2120,2027,219.9,7.9,513,6689,0.12,2.60,75.05,1.294,10916,0.128,0.086,2705,692,1890,1923,1858,0,0,0,0,0,0,14.31,13.94,13.17
$GC,6779,0.32,360.5,2707,691,1913,1855,199.9,11.0,548,6785,0.00,2.47,0.00,0.000,1030,0.000,0.076,2706,2099,1884,1912,1857,0,0,0,0,0,0,14.11,14.00,14.16
$GC,7084,0.32,360.5,2707,2100,1912,1850,166.0,10.9,559,7089,0.00,2.47,0.00,0.000,516,0.000,0.086,2706,693,1880,1911,1850,0,0,0,0,0,0,14.46,14.05,14.47
$GC,7144,0.36,360.5,2707,694,1906,1851,159.8,10.2,571,7149,0.00,2.47,0.00,0.000,1158,0.000,0.077,2706,2103,1879,1908,1850,0,0,0,0,0,0,14.21,14.09,14.26
$GC,7474,0.36,360.5,2707,2104,1909,1848,125.8,10.1,587,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2104,1878,1908,1848,0,0,0,0,0,0,14.47,14.50,14.50
$GC,7775,0.37,380.8,2706,2104,1908,1848,97.5,9.1,597,7791,0.00,2.55,9.48,0.496,8740,0.000,0.086,2709,696,1811,1837,1786,0,0,0,0,0,0,14.46,13.97,13.54
$GC,7858,0.48,415.2,2707,697,1839,1787,90.5,8.4,613,7883,0.00,2.47,19.38,0.474,9382,0.000,0.078,2707,2102,1669,1695,1644,0,0,0,0,0,0,14.14,14.02,13.59
$GC,8188,0.59,480.6,2707,2102,1695,1641,63.6,7.0,649,8231,0.17,2.55,34.30,0.391,10916,0.104,0.086,2794,694,1406,1447,1365,0,0,0,0,0,0,14.08,13.96,13.68
$GC,8288,0.59,480.6,2794,695,1442,1364,52.9,10.9,668,8294,0.00,2.53,0.00,0.000,1030,0.000,0.078,2794,2112,1402,1441,1363,0,0,0,0,0,0,14.14,14.01,14.17
$GC,8591,0.65,554.4,2795,2112,1442,1354,26.9,6.6,699,8638,0.00,2.58,38.20,0.291,8740,0.000,0.086,2794,696,1103,1163,1043,0,0,0,0,0,0,14.41,13.91,13.72
$GC,8701,0.81,625.4,2794,697,1163,1042,20.0,6.7,719,8743,0.15,2.50,37.62,0.269,11430,0.120,0.076,2858,2107,813,876,750,0,0,0,0,0,0,14.05,13.99,13.73
$STATE,8876,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$FINISH,0.1,1.011087
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8917,42.08,0.210,0,0,498,702.78
$SM_GC,1.11,8.23,0.17,42.08,0.075,0.123,0.210,202,2212,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.17,14.14,13.88
$RAFOS_CLK,101
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7450.38,-15249.33,030917,175809
$TT8_MAMPS,0.085386,1.02763
$HUMID,43.77
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15970238464.000000
$PM_FREEKB_00,50885568
$24V_AH,12.31,157.449
$10V_AH,12.18,0.000
$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,25.450,89.900,887.325,42.075,0.000,0.000,0.000,798.425,4.250,0.000,17.464,0.000,6435.561,832.724,2675.240,345.031,0.000,2657.125,0.000,1065.097,2210.000,0.539,0.000
$DEVICE_MAMPS,456.705,2139.705,1476.450,210.375,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8925.000,8887.000,8869.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.881,20.000,9.870,0.000
$MEM,323352
$DATA_FILE_SIZE,26727,743
$CAP_FILE_SIZE,108374,0
$CFSIZE,2097872896,2015526912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.2
$CURRENT,0.109,248.88,1
$GPS,030917,203451,7448.513,-15233.025,36,0.8,37,19.9,0.0,0.0,9,7.7