version: 66.13
glider: 196
mission: 14
dive: 244
start: 9 4 117 7 46 3
data:
$ID,196
$MISSION,14
$DIVE,244
$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,61
$R_STBD_OVSHOOT,29
$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,686.0
$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
$GPS1,040917,073019,7451.0366,-15225.5078,15,0.8,23,20.0,0.0,336.0,10,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.8
$GPS2,040917,074530,7451.1084,-15225.6895,3,0.9,28,20.0,0.3,337.0,9,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.2,102218,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,200,2211,480,495,0.0,0.0,0,143,0.00,0.00,-91.38,0.000,16386,0.000,0.000,199,2213,2125,2058,2192,0,0,0,0,0,0,14.51,28.83,14.54
$GC,146,-0.57,-145.9,204,2212,2060,2195,3.1,-3.4,9,204,12.75,2.78,-39.65,0.000,18724,0.452,2.139,2375,3603,3962,3944,3980,0,0,0,0,0,0,13.60,12.81,14.08
$GC,399,-0.72,-145.9,2375,3604,3952,3981,47.7,-12.2,59,404,0.00,2.33,0.00,0.000,1158,0.000,0.057,2375,2240,3965,3951,3980,0,0,0,0,0,0,14.27,14.14,14.32
$GC,709,-0.84,-145.9,2375,2234,3953,3980,85.1,-10.2,91,714,0.17,2.53,0.00,0.000,4740,0.116,0.083,2297,789,3966,3952,3980,0,0,0,0,0,0,14.21,14.00,14.25
$GC,740,-0.84,-145.9,2298,789,3953,3980,89.3,-15.6,97,744,0.00,2.50,0.00,0.000,1030,0.000,0.086,2293,2197,3966,3952,3980,0,0,0,0,0,0,14.13,14.00,14.16
$GC,1080,-0.84,-145.9,2293,2199,3953,3981,140.5,-14.1,113,1085,0.00,2.53,0.00,0.000,260,0.000,0.090,2298,3616,3965,3952,3979,0,0,0,0,0,0,14.44,14.04,14.46
$GC,1222,-0.95,-145.9,2293,3617,3953,3981,157.8,-11.7,141,1227,0.00,2.45,0.00,0.000,1158,0.000,0.057,2292,2194,3965,3952,3979,0,0,0,0,0,0,13.76,13.26,13.94
$GC,1532,-1.00,-145.9,2292,2194,3953,3980,197.2,-12.2,153,1533,0.00,0.00,0.00,0.000,134,0.000,0.000,2292,2193,3965,3952,3979,0,0,0,0,0,0,14.44,14.49,14.47
$GC,1832,-1.07,-145.9,2292,2194,3953,3980,231.7,-11.2,163,1837,0.15,2.53,0.00,0.000,4484,0.123,0.085,2226,3610,3965,3952,3979,0,0,0,0,0,0,14.14,14.03,14.18
$GC,1877,-1.07,-145.9,2226,3610,3953,3978,238.1,-15.2,172,1883,0.00,2.42,0.00,0.000,1030,0.000,0.057,2226,2194,3965,3952,3979,0,0,0,0,0,0,14.22,14.09,14.24
$GC,2193,-1.03,-145.9,2226,2194,3953,3981,287.7,-14.9,185,2198,0.00,2.53,0.00,0.000,388,0.000,0.089,2223,3610,3965,3952,3979,0,0,0,0,0,0,14.46,14.02,14.47
$GC,2288,-1.03,-145.9,2223,3610,3953,3979,301.1,-13.3,204,2294,0.00,2.42,0.00,0.000,1030,0.000,0.055,2222,2199,3965,3952,3979,0,0,0,0,0,0,14.15,14.04,14.19
$GC,2614,-1.03,-145.9,2223,2198,3952,3979,346.2,-13.6,219,2618,0.00,2.53,0.00,0.000,260,0.000,0.090,2222,3613,3965,3952,3979,0,0,0,0,0,0,14.46,13.96,14.47
$GC,2724,-1.08,-145.9,2222,3614,3952,3976,360.1,-12.0,241,2729,0.00,2.42,0.00,0.000,1158,0.000,0.055,2222,2196,3964,3951,3977,0,0,0,0,0,0,14.20,14.09,14.23
$GC,3036,-1.08,-145.9,2223,2195,3952,3979,399.2,-12.4,253,3041,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3610,3964,3949,3979,0,0,0,0,0,0,14.45,13.97,14.46
$GC,3122,-1.15,-145.9,2223,3610,3952,3979,409.5,-10.9,270,3128,0.00,2.42,0.00,0.000,1158,0.000,0.055,2222,2190,3964,3950,3979,0,0,0,0,0,0,14.14,14.02,14.17
$GC,3427,-1.15,-145.9,2222,2190,3952,3979,445.8,-11.9,281,3432,0.00,2.55,0.00,0.000,260,0.000,0.089,2222,3610,3965,3950,3980,0,0,0,0,0,0,14.45,13.97,14.47
$GC,3504,-1.23,-145.9,2222,3610,3950,3980,454.4,-11.0,296,3509,0.12,2.38,0.00,0.000,5254,0.142,0.054,2169,2201,3964,3949,3979,0,0,0,0,0,0,14.13,14.18,14.23
$STATE,3667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3667,begin apogee
$GC,3673,-0.13,0.0,2170,2056,3950,3979,481.1,-16.6,304,3899,1.48,0.10,221.85,1.454,10246,0.268,0.158,2527,2118,3365,3379,3351,0,0,0,0,0,0,13.78,13.43,12.60
$STATE,3903,end apogee,CONTROL_FINISHED_OK
$STATE,3903,begin climb
$GC,3907,0.57,145.9,2528,2123,3373,3341,492.0,0.0,311,4123,0.75,2.67,210.43,1.397,10756,0.063,0.078,2785,734,2765,2802,2728,0,0,0,0,0,0,13.58,12.89,12.28
$GC,4245,0.19,145.9,2784,735,2789,2720,482.1,15.6,384,4251,0.65,2.50,0.00,0.000,5254,0.309,0.074,2650,2099,2753,2789,2717,0,0,0,0,0,0,13.23,13.54,13.57
$GC,4572,0.03,150.4,2650,2099,2790,2712,448.7,9.8,399,4573,0.25,0.00,0.00,0.000,4262,0.281,0.000,2594,2099,2750,2789,2712,0,0,0,0,0,0,13.81,14.19,14.10
$GC,4871,0.03,216.9,2591,2098,2790,2711,427.4,6.9,409,4980,0.00,0.00,106.62,1.381,8870,0.000,0.000,2594,2099,2480,2534,2426,0,0,0,0,0,0,14.59,13.82,13.02
$GC,5261,0.09,257.5,2594,2097,2520,2405,396.4,8.1,427,5332,0.00,2.50,61.75,1.369,8868,0.000,0.083,2601,732,2309,2359,2260,0,0,0,0,0,0,14.51,13.95,13.12
$GC,5385,0.21,292.4,2602,732,2355,2256,386.3,8.4,451,5444,0.15,2.42,52.00,1.382,11430,0.112,0.077,2668,2101,2168,2218,2119,0,0,0,0,0,0,14.10,14.03,13.02
$GC,5743,0.16,292.4,2668,2104,2208,2103,338.2,13.7,473,5744,0.15,0.00,0.00,0.000,4230,0.252,0.000,2636,2104,2154,2207,2102,0,0,0,0,0,0,14.01,14.32,14.27
$GC,6042,0.16,292.4,2637,2104,2207,2101,305.7,10.5,483,6047,0.00,2.40,0.00,0.000,516,0.000,0.084,2644,731,2153,2206,2101,0,0,0,0,0,0,14.66,14.15,14.65
$GC,6118,0.22,292.4,2645,731,2204,2101,297.9,10.2,498,6122,0.00,2.38,0.00,0.000,1158,0.000,0.078,2644,2101,2152,2203,2101,0,0,0,0,0,0,14.40,14.26,14.45
$GC,6433,0.22,297.2,2644,2103,2204,2101,265.7,9.8,511,6438,0.00,2.40,0.00,0.000,548,0.000,0.083,2644,725,2151,2203,2099,0,0,0,0,0,0,14.66,14.26,14.69
$GC,6483,0.30,318.9,2644,726,2201,2100,261.1,9.0,521,6526,0.00,2.38,37.10,1.381,9382,0.000,0.078,2644,2101,2063,2107,2019,0,0,0,0,0,0,14.40,14.27,13.32
$GC,6825,0.36,348.6,2644,2102,2102,2008,230.9,8.6,539,6879,0.12,2.42,48.20,1.350,10916,0.125,0.083,2706,730,1939,1981,1897,0,0,0,0,0,0,14.28,13.84,13.24
$GC,6944,0.36,348.6,2707,730,1973,1896,216.9,11.5,563,6949,0.00,2.40,0.00,0.000,1030,0.000,0.077,2706,2101,1933,1971,1896,0,0,0,0,0,0,14.23,14.10,14.26
$GC,7274,0.33,348.6,2706,2102,1972,1890,178.0,11.6,579,7275,0.00,0.00,0.00,0.000,134,0.000,0.000,2706,2102,1930,1972,1888,0,0,0,0,0,0,14.58,14.61,14.61
$GC,7574,0.30,348.6,2706,2102,1972,1887,145.1,10.6,589,7579,0.00,2.40,0.00,0.000,644,0.000,0.084,2712,722,1928,1971,1886,0,0,0,0,0,0,14.64,14.24,14.66
$GC,7684,0.31,354.2,2713,721,1970,1886,134.2,9.7,611,7689,0.12,2.40,0.77,0.312,13350,0.224,0.080,2683,2100,1920,1961,1880,0,0,0,0,0,0,14.11,14.23,13.90
$GC,7995,0.39,404.7,2684,2101,1966,1882,109.6,7.7,623,8089,0.00,0.00,92.45,1.249,8358,0.000,0.000,2683,2100,1717,1745,1690,0,0,0,0,0,0,14.64,13.94,13.19
$GC,8385,0.53,472.8,2684,2101,1738,1673,80.6,6.9,652,8427,0.20,2.42,35.10,0.444,10916,0.102,0.089,2769,732,1435,1474,1397,0,0,0,0,0,0,14.12,14.05,13.60
$GC,8484,0.56,472.8,2769,732,1475,1398,69.2,11.6,671,8490,0.00,2.42,0.00,0.000,1158,0.000,0.077,2769,2105,1435,1474,1397,0,0,0,0,0,0,14.19,14.07,14.22
$GC,8788,0.62,531.8,2769,2106,1475,1389,41.3,7.3,702,8820,0.00,0.00,30.90,0.326,8358,0.000,0.000,2768,2106,1197,1254,1141,0,0,0,0,0,0,14.57,14.17,13.80
$GC,9118,0.80,632.3,2769,2105,1254,1134,19.8,5.4,735,9178,0.17,0.00,53.28,0.267,11174,0.114,0.000,2849,2105,784,845,723,0,0,0,0,0,0,14.26,14.17,13.86
$STATE,9337,end climb,SURFACE_DEPTH_REACHED
$STATE,9337,begin surface coast
$FINISH,0.3,1.021320
$STATE,9355,end surface coast,CONTROL_FINISHED_OK
$STATE,9355,begin surface
$SM_CCo,9375,38.60,0.210,0,0,501,703.03
$SM_GC,1.12,8.15,0.17,38.60,0.076,0.131,0.210,200,2213,501,-7.37,-0.59,703.03,0,0,0,0,0,0,14.33,14.28,14.01
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7451.27,-15238.25,040917,073844
$TT8_MAMPS,0.038948,0.924266
$HUMID,47.28
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,15968108544.000000
$PM_FREEKB_00,50742272
$24V_AH,12.28,159.815
$10V_AH,12.14,0.000
$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,25.400,74.350,950.450,38.600,0.000,0.000,0.000,543.725,2.750,0.000,29.797,0.000,6918.012,888.839,2244.258,289.456,0.000,2250.562,0.000,1092.616,2210.000,0.539,0.000
$DEVICE_MAMPS,452.115,2138.940,1453.500,210.375,0.000,0.000,0.000,163.710,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9333.000,9360.000,9327.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.782,20.000,9.911,0.000
$MEM,323336
$DATA_FILE_SIZE,26752,762
$CAP_FILE_SIZE,103594,0
$CFSIZE,2097872896,2014347264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$CURRENT,0.103,260.23,1
$GPS,040917,102425,7451.824,-15223.746,40,0.9,43,20.0,0.0,319.1,10,8.0