version: 66.13
glider: 196
mission: 14
dive: 241
start: 9 3 117 23 35 9
data:
$ID,196
$MISSION,14
$DIVE,241
$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,30
$R_STBD_OVSHOOT,37
$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,679.0
$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
$GPS1,030917,231954,7449.1099,-15231.1084,17,0.7,20,20.0,0.0,0.0,12,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.1
$GPS2,030917,233434,7449.0942,-15231.1865,10,0.7,25,20.0,0.0,258.4,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.4,106580,-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,-145.9,200,2219,497,488,0.0,0.0,0,152,0.00,0.00,-101.38,0.000,16386,0.000,0.000,200,2219,2381,2332,2431,0,0,0,0,0,0,14.52,28.83,14.54
$GC,155,-0.57,-145.9,199,2220,2333,2433,4.9,-7.3,10,203,12.85,2.75,-28.65,0.000,18724,0.456,2.141,2375,3594,3963,3945,3982,0,0,0,0,0,0,13.54,12.62,14.03
$GC,413,-0.74,-145.9,2376,3595,3953,3983,53.8,-12.1,61,420,0.00,2.38,0.00,0.000,1158,0.000,0.059,2375,2204,3967,3953,3982,0,0,0,0,0,0,14.22,14.10,14.26
$GC,720,-0.86,-145.9,2376,2203,3955,3983,88.8,-9.9,92,725,0.20,2.47,0.00,0.000,4516,0.108,0.084,2283,3600,3968,3954,3982,0,0,0,0,0,0,14.23,13.93,14.29
$GC,735,-0.94,-145.9,2283,3601,3954,3982,90.9,-11.0,95,741,0.00,2.38,0.00,0.000,1158,0.000,0.054,2283,2200,3968,3954,3982,0,0,0,0,0,0,14.06,14.02,14.06
$GC,1060,-0.94,-145.9,2283,2201,3955,3982,144.7,-15.8,110,1065,0.00,2.45,0.00,0.000,260,0.000,0.087,2279,3595,3968,3954,3982,0,0,0,0,0,0,14.63,14.17,14.65
$GC,1150,-1.02,-145.9,2279,3595,3955,3982,156.9,-12.7,128,1155,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2192,3968,3954,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1481,-1.04,-145.9,2280,2191,3954,3982,203.7,-13.8,144,1485,0.00,2.45,0.00,0.000,388,0.000,0.086,2269,3595,3968,3954,3982,0,0,0,0,0,0,14.69,14.19,14.69
$GC,1519,-1.09,-145.9,2271,3595,3955,3982,208.9,-13.1,149,1527,0.15,2.38,0.00,0.000,5254,0.122,0.057,2220,2201,3968,3954,3982,0,0,0,0,0,0,13.97,14.10,14.07
$GC,1825,-1.01,-145.9,2217,2199,3955,3982,263.2,-17.5,160,1830,0.12,2.47,0.00,0.000,2436,0.294,0.083,2236,3597,3967,3953,3982,0,0,0,0,0,0,13.81,14.04,13.97
$GC,1932,-1.06,-145.9,2237,3599,3955,3982,277.6,-12.5,181,1937,0.00,2.35,0.00,0.000,1158,0.000,0.056,2237,2196,3966,3951,3982,0,0,0,0,0,0,14.20,14.08,14.26
$GC,2247,-1.06,-145.9,2236,2195,3954,3983,319.8,-13.0,194,2252,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3598,3965,3950,3981,0,0,0,0,0,0,14.45,14.02,14.47
$GC,2287,-1.12,-145.9,2236,3599,3954,3981,324.8,-12.2,202,2292,0.00,2.40,0.00,0.000,1158,0.000,0.057,2239,2193,3967,3953,3981,0,0,0,0,0,0,14.19,14.07,14.23
$GC,2607,-1.12,-145.9,2236,2192,3954,3981,364.7,-12.3,216,2612,0.00,2.50,0.00,0.000,260,0.000,0.087,2235,3594,3967,3953,3981,0,0,0,0,0,0,14.45,14.01,14.46
$GC,2647,-1.19,-145.9,2235,3596,3953,3983,369.4,-11.6,224,2652,0.12,2.38,0.00,0.000,5254,0.145,0.057,2186,2199,3966,3952,3981,0,0,0,0,0,0,14.09,14.09,14.20
$GC,2968,-1.12,-145.9,2186,2196,3952,3983,420.2,-15.9,238,2973,0.12,2.47,0.00,0.000,2436,0.295,0.082,2204,3596,3966,3951,3981,0,0,0,0,0,0,13.76,13.95,13.93
$GC,3080,-1.12,-145.9,2204,3597,3952,3983,435.3,-13.0,260,3084,0.00,2.40,0.00,0.000,1030,0.000,0.056,2203,2192,3966,3951,3981,0,0,0,0,0,0,14.04,13.92,14.04
$GC,3390,-1.09,-145.9,2204,2190,3952,3981,478.3,-13.7,272,3395,0.00,2.45,0.00,0.000,388,0.000,0.085,2201,3594,3966,3951,3982,0,0,0,0,0,0,14.45,13.94,14.47
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3402,begin apogee
$GC,3411,-0.13,0.0,2193,2096,3951,3982,480.5,-13.7,275,3631,1.35,0.00,217.40,1.467,10246,0.250,0.000,2524,2093,3366,3382,3351,0,0,0,0,0,0,13.64,13.37,12.56
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3638,0.57,145.9,2527,2095,3375,3344,491.8,0.0,282,3854,0.77,2.70,205.05,1.402,10756,0.061,0.077,2794,692,2765,2804,2726,0,0,0,0,0,0,13.47,13.05,12.25
$GC,3904,0.18,145.9,2794,692,2797,2722,492.4,15.2,327,3911,0.73,2.58,0.00,0.000,5254,0.318,0.073,2650,2094,2760,2800,2721,0,0,0,0,0,0,12.98,13.26,13.31
$GC,4223,0.02,148.3,2647,2092,2797,2714,460.0,9.9,340,4228,0.20,2.47,0.00,0.000,4772,0.263,0.077,2602,691,2755,2796,2714,0,0,0,0,0,0,13.71,13.95,13.88
$GC,4263,0.06,195.9,2603,691,2797,2714,456.4,7.8,348,4345,0.00,2.50,71.75,1.414,9254,0.000,0.078,2602,2102,2557,2611,2504,0,0,0,0,0,0,14.14,14.01,12.95
$GC,4643,0.07,219.0,2602,2103,2609,2494,423.1,8.9,374,4680,0.00,2.50,30.17,1.473,8740,0.000,0.084,2602,691,2469,2525,2413,0,0,0,0,0,0,14.50,14.05,13.17
$GC,4700,0.13,256.4,2603,696,2523,2413,418.0,8.3,380,4767,0.00,2.47,57.40,1.407,9382,0.000,0.079,2602,2101,2315,2364,2267,0,0,0,0,0,0,14.19,14.07,13.03
$GC,5067,0.18,274.5,2602,2102,2359,2252,384.4,9.2,403,5097,0.12,0.00,24.30,1.477,10406,0.130,0.000,2663,2100,2242,2293,2192,0,0,0,0,0,0,14.28,14.06,13.21
$GC,5395,0.13,274.5,2662,2101,2290,2185,341.2,13.2,414,5400,0.15,2.47,0.00,0.000,4740,0.259,0.083,2630,684,2236,2288,2185,0,0,0,0,0,0,14.04,14.21,14.19
$GC,5470,0.19,274.5,2630,684,2288,2186,333.2,10.6,429,5475,0.00,2.45,0.00,0.000,1158,0.000,0.078,2630,2100,2235,2286,2185,0,0,0,0,0,0,14.38,14.25,14.42
$GC,5785,0.19,274.5,2631,2101,2288,2184,300.0,10.3,442,5790,0.00,2.47,0.00,0.000,516,0.000,0.085,2630,682,2235,2286,2184,0,0,0,0,0,0,14.66,14.26,14.67
$GC,5821,0.26,277.0,2631,682,2287,2191,296.6,9.9,449,5825,0.00,2.45,0.00,0.000,1190,0.000,0.077,2630,2101,2235,2286,2184,0,0,0,0,0,0,14.41,14.27,14.45
$GC,6146,0.29,296.9,2631,2102,2287,2183,265.7,9.1,464,6182,0.15,0.00,34.88,1.414,10406,0.115,0.000,2696,2102,2154,2199,2109,0,0,0,0,0,0,14.41,14.15,13.31
$GC,6476,0.21,296.9,2696,2103,2190,2098,225.3,11.9,475,6481,0.15,2.47,0.00,0.000,4740,0.241,0.083,2659,688,2142,2189,2096,0,0,0,0,0,0,14.01,14.18,14.16
$GC,6594,0.29,336.8,2660,688,2189,2097,215.1,8.2,498,6667,0.00,2.47,65.47,1.327,9382,0.000,0.080,2659,2111,1988,2031,1945,0,0,0,0,0,0,14.28,14.14,13.21
$GC,6988,0.37,373.7,2659,2112,2027,1934,180.9,8.3,527,7054,0.12,2.60,61.72,1.300,10916,0.130,0.084,2726,691,1835,1866,1804,0,0,0,0,0,0,14.26,14.00,13.23
$GC,7106,0.37,373.7,2727,691,1858,1807,167.2,12.0,545,7112,0.00,2.47,0.00,0.000,1030,0.000,0.078,2726,2099,1831,1856,1806,0,0,0,0,0,0,14.15,14.03,14.19
$GC,7409,0.33,373.7,2727,2100,1856,1800,130.5,11.7,556,7415,0.12,2.47,0.00,0.000,4740,0.237,0.082,2699,688,1827,1854,1800,0,0,0,0,0,0,14.07,14.04,14.20
$GC,7455,0.42,390.8,2699,688,1853,1800,126.0,9.2,565,7481,0.00,2.47,21.42,1.370,9382,0.000,0.077,2699,2106,1771,1796,1746,0,0,0,0,0,0,14.19,14.09,13.32
$GC,7783,0.49,419.3,2699,2108,1790,1736,97.1,8.7,584,7803,0.12,0.00,14.93,0.500,10406,0.131,0.000,2757,2107,1655,1679,1631,0,0,0,0,0,0,14.29,14.14,13.62
$GC,8101,0.47,427.8,2758,2108,1680,1628,60.8,9.6,616,8113,0.00,2.50,5.07,0.382,8868,0.000,0.083,2766,691,1622,1653,1591,0,0,0,0,0,0,14.58,13.92,13.64
$GC,8168,0.53,465.1,2766,691,1649,1592,54.9,8.3,629,8195,0.00,2.47,20.12,0.367,9382,0.000,0.082,2766,2102,1469,1500,1438,0,0,0,0,0,0,14.30,14.16,13.64
$GC,8493,0.63,557.7,2767,2102,1502,1429,32.6,5.7,664,8545,0.00,0.00,48.85,0.300,8614,0.000,0.000,2766,2102,1089,1150,1028,0,0,0,0,0,0,14.57,14.15,13.81
$GC,8843,0.86,669.6,2766,2103,1150,1018,12.7,4.8,700,8908,0.25,2.58,58.70,0.241,10916,0.092,0.089,2877,689,632,677,587,0,0,0,0,0,0,14.21,14.08,13.87
$STATE,8948,end climb,SURFACE_DEPTH_REACHED
$STATE,8948,begin surface coast
$FINISH,0.8,1.021410
$STATE,8956,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,8979,17.98,0.215,0,0,500,702.78
$SM_GC,0.90,8.23,2.67,17.98,0.075,0.074,0.215,197,2201,500,-7.39,-0.76,702.78,0,0,0,0,0,0,14.29,14.19,13.96
$RAFOS_CLK,340
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7450.32,-15230.95,030917,232426
$TT8_MAMPS,0.040446,0.940744
$HUMID,46.69
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15969386496.000000
$PM_FREEKB_00,50829568
$24V_AH,12.25,158.392
$10V_AH,12.28,0.000
$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,26.050,94.450,937.250,17.975,0.000,0.000,0.000,543.425,3.250,0.000,27.049,0.000,6490.631,993.974,2094.033,313.690,0.000,2241.172,0.000,1035.819,2158.000,0.540,0.000
$DEVICE_MAMPS,455.940,2141.235,1477.215,214.965,0.000,0.000,0.000,162.945,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8987.000,8958.000,8929.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.799,20.000,9.915,0.000
$MEM,323384
$DATA_FILE_SIZE,26716,722
$CAP_FILE_SIZE,105630,0
$CFSIZE,2097872896,2015100928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.7
$CURRENT,0.093,253.18,1
$GPS,040917,020627,7449.722,-15228.895,36,0.8,37,20.0,0.0,0.0,10,7.2