version: 66.13
glider: 196
mission: 14
dive: 256
start: 9 5 117 16 44 7
data:
$ID,196
$MISSION,14
$DIVE,256
$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,29
$R_STBD_OVSHOOT,44
$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,718.0
$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
$GPS1,050917,163002,7502.1533,-15158.3838,28,0.7,40,20.3,1.0,324.7,11,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.4
$GPS2,050917,164332,7502.2832,-15158.3555,9,0.7,9,20.3,0.0,25.5,12,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,2.8,78679,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,52,-0.57,-145.9,192,2227,502,502,0.0,0.0,0,144,0.00,0.00,-91.18,0.000,16386,0.000,0.000,191,2227,2139,2070,2209,0,0,0,0,0,0,14.39,28.83,14.40
$GC,147,-0.57,-145.9,192,2227,2074,2209,3.2,-4.0,9,204,12.77,2.72,-38.85,0.000,18724,0.453,2.139,2377,3587,3961,3945,3977,0,0,0,0,0,0,13.60,12.81,14.10
$GC,410,-0.74,-145.9,2377,3589,3952,3978,49.1,-12.7,61,415,0.12,2.35,0.00,0.000,5254,0.124,0.058,2329,2204,3964,3951,3977,0,0,0,0,0,0,13.77,14.18,13.76
$GC,720,-0.79,-145.9,2330,2202,3953,3978,98.5,-13.2,93,725,0.00,2.42,0.00,0.000,388,0.000,0.087,2321,3588,3965,3952,3978,0,0,0,0,0,0,14.67,14.19,14.69
$GC,785,-0.94,-145.9,2321,3589,3953,3979,106.4,-10.9,106,790,0.15,2.38,0.00,0.000,5254,0.115,0.058,2257,2189,3965,3952,3978,0,0,0,0,0,0,14.26,14.09,14.39
$GC,1111,-0.91,-145.9,2258,2188,3953,3977,162.0,-16.6,121,1115,0.00,2.45,0.00,0.000,388,0.000,0.086,2248,3588,3964,3952,3977,0,0,0,0,0,0,14.71,14.21,14.73
$GC,1171,-0.95,-145.9,2248,3590,3953,3979,171.3,-14.4,133,1175,0.00,2.35,0.00,0.000,1158,0.000,0.057,2247,2189,3965,3952,3978,0,0,0,0,0,0,14.40,14.27,14.44
$GC,1501,-0.95,-145.9,2248,2189,3953,3978,223.8,-15.2,149,1505,0.00,2.45,0.00,0.000,260,0.000,0.088,2240,3586,3965,3952,3978,0,0,0,0,0,0,14.73,14.21,14.74
$GC,1638,-1.02,-145.9,2240,3589,3953,3978,242.3,-13.0,176,1643,0.00,2.35,0.00,0.000,1158,0.000,0.057,2240,2194,3964,3951,3977,0,0,0,0,0,0,14.33,14.21,14.37
$GC,1953,-1.02,-145.9,2241,2194,3953,3978,285.7,-13.2,189,1958,0.00,2.47,0.00,0.000,260,0.000,0.090,2236,3595,3964,3952,3976,0,0,0,0,0,0,14.73,14.14,14.76
$GC,2008,-1.09,-145.9,2236,3598,3953,3978,292.4,-11.6,200,2015,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2189,3965,3952,3978,0,0,0,0,0,0,14.40,14.27,14.44
$GC,2314,-1.12,-145.9,2236,2190,3953,3978,329.2,-12.0,211,2318,0.00,2.47,0.00,0.000,388,0.000,0.090,2236,3589,3964,3952,3977,0,0,0,0,0,0,14.74,14.15,14.76
$GC,2388,-1.22,-145.9,2236,3590,3951,3978,337.6,-10.6,226,2394,0.15,2.35,0.00,0.000,5254,0.129,0.057,2177,2199,3964,3951,3977,0,0,0,0,0,0,14.23,14.20,14.34
$GC,2704,-1.13,-145.9,2178,2198,3953,3976,390.0,-16.9,239,2709,0.12,2.45,0.00,0.000,2436,0.290,0.083,2196,3590,3963,3951,3976,0,0,0,0,0,0,13.97,14.15,14.12
$GC,2804,-1.13,-145.9,2197,3592,3950,3977,404.2,-13.3,259,2809,0.00,2.35,0.00,0.000,1030,0.000,0.057,2196,2195,3963,3951,3976,0,0,0,0,0,0,14.39,14.26,14.42
$GC,3124,-1.10,-145.9,2197,2196,3952,3977,450.3,-14.4,273,3130,0.12,2.40,0.00,0.000,2436,0.290,0.085,2217,3588,3963,3951,3976,0,0,0,0,0,0,13.93,14.14,14.09
$GC,3227,-1.18,-145.9,2218,3587,3953,3975,462.4,-11.2,293,3232,0.00,2.33,0.00,0.000,1158,0.000,0.056,2218,2202,3963,3951,3976,0,0,0,0,0,0,14.34,14.20,14.39
$STATE,3394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3394,begin apogee
$GC,3400,-0.13,0.0,2218,2058,3952,3976,483.0,-12.1,302,3631,1.20,0.00,227.65,1.434,10246,0.230,0.000,2526,2056,3366,3390,3343,0,0,0,0,0,0,13.91,13.52,12.66
$STATE,3634,end apogee,CONTROL_FINISHED_OK
$STATE,3634,begin climb
$GC,3637,0.57,145.9,2528,2056,3382,3333,494.4,0.0,309,3859,0.75,2.55,212.05,1.378,10756,0.061,0.076,2791,733,2759,2802,2716,0,0,0,0,0,0,13.62,12.90,12.28
$GC,4067,0.17,145.9,2792,729,2791,2711,477.1,14.5,348,4073,0.70,2.45,0.00,0.000,5254,0.324,0.075,2645,2086,2749,2790,2709,0,0,0,0,0,0,13.35,13.73,13.69
$GC,4384,0.02,168.9,2645,2086,2791,2705,447.6,8.9,361,4416,0.20,0.00,30.42,1.457,12454,0.262,0.000,2593,2086,2676,2723,2629,0,0,0,0,0,0,13.43,14.02,13.16
$GC,4714,0.02,223.0,2597,2087,2712,2611,422.7,7.5,372,4805,0.00,2.45,85.15,1.367,8868,0.000,0.082,2602,723,2448,2508,2389,0,0,0,0,0,0,14.57,13.69,13.09
$GC,4845,0.10,253.7,2603,721,2500,2383,412.1,8.6,398,4897,0.00,2.45,47.08,1.379,9382,0.000,0.079,2601,2106,2329,2386,2272,0,0,0,0,0,0,14.08,13.97,12.98
$GC,5197,0.14,272.0,2603,2106,2368,2252,380.2,9.2,418,5227,0.00,2.45,23.70,1.456,8868,0.000,0.084,2601,722,2249,2305,2194,0,0,0,0,0,0,14.50,13.80,13.19
$GC,5267,0.25,296.2,2602,722,2298,2191,373.6,8.9,432,5313,0.20,2.40,35.75,1.400,11430,0.098,0.079,2682,2099,2152,2204,2101,0,0,0,0,0,0,14.21,14.12,13.14
$GC,5620,0.16,296.2,2683,2099,2196,2086,322.3,14.8,452,5625,0.17,2.40,0.00,0.000,4740,0.253,0.082,2647,724,2140,2195,2086,0,0,0,0,0,0,13.85,14.19,14.09
$GC,5665,0.19,296.2,2648,723,2194,2086,316.4,11.9,461,5670,0.00,2.40,0.00,0.000,1158,0.000,0.079,2647,2106,2139,2193,2085,0,0,0,0,0,0,14.35,14.21,14.39
$GC,5980,0.19,296.2,2648,2107,2193,2085,280.6,11.1,474,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2106,2138,2193,2083,0,0,0,0,0,0,14.64,14.67,14.67
$GC,6281,0.19,301.8,2648,2107,2194,2083,250.4,9.7,484,6286,0.00,2.40,0.00,0.000,548,0.000,0.084,2648,725,2137,2192,2082,0,0,0,0,0,0,14.68,14.25,14.69
$GC,6346,0.26,329.8,2645,724,2193,2083,244.4,8.7,497,6408,0.00,2.40,55.50,1.327,9382,0.000,0.079,2647,2102,2022,2075,1970,0,0,0,0,0,0,14.37,14.23,13.22
$GC,6733,0.32,360.7,2648,2101,2056,1953,210.7,8.6,524,6794,0.00,2.50,51.40,1.308,8868,0.000,0.085,2648,727,1889,1927,1852,0,0,0,0,0,0,14.59,14.04,13.22
$GC,6859,0.47,403.4,2648,727,1916,1850,200.4,8.0,549,6941,0.25,2.42,75.90,1.236,11430,0.091,0.080,2748,2108,1722,1750,1695,0,0,0,0,0,0,14.18,14.10,13.09
$GC,7246,0.40,403.4,2749,2108,1738,1671,144.7,14.4,576,7252,0.12,2.42,0.00,0.000,4740,0.238,0.081,2726,721,1703,1736,1671,0,0,0,0,0,0,13.95,14.16,14.08
$GC,7282,0.40,403.4,2726,722,1732,1673,140.0,12.4,583,7287,0.00,2.40,0.00,0.000,1030,0.000,0.078,2726,2101,1701,1731,1672,0,0,0,0,0,0,14.28,14.16,14.33
$GC,7607,0.40,403.4,2727,2102,1733,1668,102.8,11.1,598,7612,0.00,2.40,0.00,0.000,516,0.000,0.086,2726,727,1699,1731,1668,0,0,0,0,0,0,14.63,14.24,14.65
$GC,7704,0.44,415.6,2727,727,1730,1668,93.5,9.4,617,7714,0.00,2.40,4.68,0.399,9382,0.000,0.077,2726,2103,1668,1700,1637,0,0,0,0,0,0,14.23,14.09,13.52
$GC,8020,0.50,470.2,2727,2103,1709,1644,65.8,7.5,650,8052,0.00,0.00,30.30,0.392,8358,0.000,0.000,2726,2102,1448,1488,1409,0,0,0,0,0,0,14.63,14.05,13.64
$GC,8350,0.68,579.2,2726,2104,1490,1412,46.6,5.0,683,8414,0.20,2.45,57.92,0.334,10916,0.097,0.086,2808,720,1002,1072,932,0,0,0,0,0,0,14.26,13.97,13.72
$GC,8480,0.76,593.4,2808,721,1073,938,35.0,9.3,708,8496,0.00,2.42,8.88,0.297,9382,0.000,0.076,2809,2101,946,1017,876,0,0,0,0,0,0,14.23,14.10,13.60
$GC,8794,0.90,660.9,2808,2101,1015,885,8.7,6.9,741,8838,0.17,2.53,37.17,0.226,10916,0.107,0.089,2890,721,666,721,611,0,0,0,0,0,0,14.27,14.12,13.89
$STATE,8856,end climb,SURFACE_DEPTH_REACHED
$STATE,8856,begin surface coast
$FINISH,1.0,1.021420
$STATE,8863,end surface coast,CONTROL_FINISHED_OK
$STATE,8863,begin surface
$SM_CCo,8886,23.50,0.209,0,0,500,702.78
$SM_GC,1.27,8.25,2.70,23.50,0.071,0.096,0.209,199,2199,500,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.16,13.95
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7500.94,-15200.54,050917,163425
$TT8_MAMPS,0.039697,1.32049
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,23
$CP_FREE,15962898432.000000
$PM_FREEKB_00,50390080
$24V_AH,12.28,165.494
$10V_AH,12.16,0.000
$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,25.675,87.850,983.550,23.500,0.000,0.000,0.000,484.925,5.750,0.000,9.714,0.000,6287.936,872.906,2259.723,313.027,0.000,2238.956,0.000,1079.001,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2138.940,1456.560,208.845,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5053.000,8857.000,8835.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.580,20.000,9.854,0.000
$MEM,323696
$DATA_FILE_SIZE,26721,754
$CAP_FILE_SIZE,103716,0
$CFSIZE,2097872896,2011332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.1
$CURRENT,0.057,304.28,1
$GPS,050917,191342,7503.367,-15156.120,18,0.8,21,20.3,0.5,332.9,10,9.3