version: 66.13
glider: 196
mission: 14
dive: 276
start: 9 7 117 22 42 49
data:
$ID,196
$MISSION,14
$DIVE,276
$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,27
$R_STBD_OVSHOOT,35
$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,771.0
$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
$GPS1,070917,222857,7525.5815,-15117.1289,28,0.8,39,20.7,0.5,245.7,11,9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.1
$GPS2,070917,224218,7525.5903,-15117.2354,2,0.7,17,20.7,0.0,79.9,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,349.2,32570,-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,48,begin dive
$GC,51,-0.57,-145.9,167,2220,506,470,0.0,0.0,0,143,0.00,0.00,-91.15,0.000,16386,0.000,0.000,164,2220,2159,2087,2231,0,0,0,0,0,0,14.59,28.83,14.62
$GC,146,-0.57,-145.9,165,2221,2090,2231,3.8,-5.3,9,203,13.05,2.78,-35.45,0.000,18724,0.457,2.139,2369,3595,3962,3945,3979,0,0,0,0,0,0,13.58,12.55,14.11
$GC,289,-0.71,-145.9,2369,3596,3951,3980,37.8,-13.5,37,294,0.00,2.38,0.00,0.000,1158,0.000,0.060,2369,2197,3964,3950,3979,0,0,0,0,0,0,14.31,14.19,14.35
$GC,599,-0.82,-145.9,2370,2196,3953,3978,83.2,-11.3,69,600,0.17,0.00,0.00,0.000,4230,0.117,0.000,2301,2195,3965,3952,3979,0,0,0,0,0,0,14.28,14.39,14.36
$GC,919,-0.85,-145.9,2301,2196,3952,3979,131.2,-13.9,87,924,0.00,2.42,0.00,0.000,388,0.000,0.087,2293,3604,3965,3951,3979,0,0,0,0,0,0,14.70,14.16,14.71
$GC,984,-0.98,-145.9,2293,3608,3952,3980,139.5,-11.6,100,990,0.00,2.38,0.00,0.000,1158,0.000,0.058,2293,2198,3965,3952,3978,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1310,-1.04,-145.9,2293,2198,3953,3979,180.5,-12.1,115,1315,0.12,2.45,0.00,0.000,4484,0.138,0.086,2236,3595,3965,3952,3978,0,0,0,0,0,0,14.35,14.19,14.39
$GC,1390,-1.07,-145.9,2236,3596,3952,3979,192.4,-14.6,131,1395,0.00,2.38,0.00,0.000,1158,0.000,0.058,2235,2193,3964,3951,3978,0,0,0,0,0,0,14.34,14.21,14.37
$GC,1700,-1.04,-145.9,2236,2193,3952,3979,243.4,-15.9,143,1705,0.00,2.47,0.00,0.000,388,0.000,0.087,2231,3601,3964,3950,3978,0,0,0,0,0,0,14.71,14.19,14.73
$GC,1760,-1.09,-145.9,2231,3603,3952,3980,252.0,-13.3,155,1765,0.00,2.38,0.00,0.000,1158,0.000,0.057,2231,2200,3965,3951,3979,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2090,-1.09,-145.9,2231,2200,3952,3979,297.3,-13.4,171,2095,0.00,2.45,0.00,0.000,260,0.000,0.088,2222,3597,3965,3952,3979,0,0,0,0,0,0,14.71,14.17,14.73
$GC,2166,-1.15,-145.9,2223,3598,3952,3979,307.0,-12.2,186,2170,0.00,2.35,0.00,0.000,1158,0.000,0.057,2223,2201,3964,3951,3978,0,0,0,0,0,0,14.38,14.23,14.41
$GC,2480,-1.15,-145.9,2223,2201,3952,3979,348.3,-13.0,199,2485,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3603,3964,3951,3978,0,0,0,0,0,0,14.72,14.16,14.74
$GC,2565,-1.24,-145.9,2223,3603,3952,3978,358.5,-11.3,216,2573,0.12,2.38,0.00,0.000,5254,0.134,0.058,2168,2196,3964,3951,3978,0,0,0,0,0,0,14.27,14.23,14.38
$GC,2871,-1.13,-145.9,2169,2196,3952,3977,412.0,-17.8,227,2876,0.17,2.47,0.00,0.000,2436,0.310,0.083,2197,3602,3964,3951,3978,0,0,0,0,0,0,13.83,14.16,14.02
$GC,2998,-1.17,-145.9,2197,3604,3951,3979,429.5,-13.0,252,3004,0.00,2.38,0.00,0.000,1158,0.000,0.057,2197,2201,3964,3950,3978,0,0,0,0,0,0,14.34,14.23,14.40
$GC,3324,-1.14,-145.9,2198,2200,3952,3977,476.0,-14.2,267,3329,0.00,2.45,0.00,0.000,388,0.000,0.085,2186,3600,3963,3950,3977,0,0,0,0,0,0,14.74,14.18,14.76
$STATE,3352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3352,begin apogee
$GC,3360,-0.13,0.0,2187,2098,3951,3978,480.5,-14.8,273,3596,1.38,0.00,228.55,1.401,10246,0.243,0.000,2530,2097,3359,3379,3339,0,0,0,0,0,0,13.80,13.27,12.65
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,0.57,145.9,2532,2098,3378,3338,494.0,0.0,281,3819,0.73,2.67,212.70,1.370,10500,0.063,0.071,2777,3497,2765,2807,2723,0,0,0,0,0,0,13.67,12.90,12.28
$GC,3920,0.09,145.9,2778,3497,2787,2719,491.8,15.6,341,3925,0.85,2.53,0.00,0.000,5254,0.345,0.057,2619,2091,2752,2786,2718,0,0,0,0,0,0,13.18,13.49,13.54
$GC,4251,-0.00,187.6,2619,2091,2787,2714,463.6,8.1,357,4317,0.12,2.53,58.28,1.420,12964,0.291,0.086,2590,694,2593,2644,2543,0,0,0,0,0,0,13.82,13.88,13.06
$GC,4373,0.06,232.6,2590,694,2641,2538,454.3,7.9,381,4448,0.00,2.50,68.28,1.377,9382,0.000,0.080,2590,2094,2411,2470,2353,0,0,0,0,0,0,14.13,14.00,12.93
$GC,4763,0.12,267.3,2591,2093,2457,2335,421.3,8.4,409,4817,0.00,0.00,52.08,1.379,8358,0.000,0.000,2590,2094,2276,2331,2222,0,0,0,0,0,0,14.41,13.92,13.12
$GC,5093,0.20,300.6,2591,2094,2321,2204,393.1,8.5,420,5146,0.15,0.00,50.45,1.381,10918,0.116,0.000,2662,2094,2139,2188,2090,0,0,0,0,0,0,14.14,13.93,13.14
$GC,5423,0.14,300.6,2664,2094,2179,2072,349.3,13.4,436,5429,0.12,2.50,0.00,0.000,4740,0.258,0.084,2639,688,2123,2174,2072,0,0,0,0,0,0,13.87,14.08,14.01
$GC,5494,0.19,300.6,2639,689,2173,2072,341.2,10.6,450,5499,0.00,2.47,0.00,0.000,1158,0.000,0.077,2639,2103,2122,2172,2072,0,0,0,0,0,0,14.14,13.97,14.21
$GC,5814,0.19,300.6,2639,2104,2172,2071,304.9,11.2,464,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2110,2120,2171,2070,0,0,0,0,0,0,14.48,14.50,14.50
$GC,6114,0.19,300.6,2640,2105,2173,2068,273.2,10.2,474,6119,0.00,2.53,0.00,0.000,516,0.000,0.086,2644,692,2121,2173,2069,0,0,0,0,0,0,14.48,14.09,14.50
$GC,6184,0.25,310.3,2644,693,2171,2068,266.3,9.5,488,6194,0.00,2.47,4.12,1.512,9382,0.000,0.078,2644,2105,2099,2149,2049,0,0,0,0,0,0,14.19,14.06,13.03
$GC,6505,0.26,331.9,2645,2105,2158,2055,236.2,9.0,502,6553,0.00,0.00,45.97,1.358,8230,0.000,0.000,2644,2105,2012,2059,1965,0,0,0,0,0,0,14.47,14.00,13.21
$GC,6837,0.33,371.8,2645,2105,2047,1948,208.3,8.2,513,6918,0.12,2.58,69.78,1.274,10916,0.125,0.088,2703,693,1843,1873,1814,0,0,0,0,0,0,14.14,13.88,13.15
$GC,7008,0.33,371.8,2704,692,1860,1812,188.4,11.6,547,7013,0.00,2.50,0.00,0.000,1030,0.000,0.077,2704,2099,1834,1858,1811,0,0,0,0,0,0,14.09,13.99,14.13
$GC,7320,0.31,371.8,2704,2100,1859,1806,153.9,10.8,559,7321,0.00,0.00,0.00,0.000,134,0.000,0.000,2709,2097,1831,1858,1805,0,0,0,0,0,0,14.53,14.54,14.54
$GC,7618,0.31,371.8,2704,2100,1859,1803,123.0,10.0,569,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1829,1857,1802,0,0,0,0,0,0,14.60,14.62,14.62
$GC,7918,0.33,403.5,2704,2100,1858,1802,95.2,8.5,581,7941,0.00,2.55,16.17,0.473,8740,0.000,0.087,2703,691,1721,1746,1697,0,0,0,0,0,0,14.59,14.11,13.61
$GC,8038,0.45,460.6,2707,691,1752,1700,85.9,7.4,604,8080,0.00,2.47,34.78,0.451,9382,0.000,0.079,2704,2101,1485,1520,1450,0,0,0,0,0,0,14.23,14.10,13.66
$GC,8385,0.61,547.5,2704,2101,1521,1451,60.9,6.0,643,8440,0.20,2.55,49.97,0.376,10660,0.096,0.082,2789,3511,1132,1194,1070,0,0,0,0,0,0,14.28,14.00,13.67
$GC,8501,0.66,547.5,2789,3512,1196,1076,48.9,10.1,665,8506,0.00,2.47,0.00,0.000,1158,0.000,0.067,2794,2097,1132,1190,1074,0,0,0,0,0,0,14.13,14.00,14.16
$GC,8811,0.79,636.3,2794,2095,1197,1070,23.8,5.9,697,8869,0.12,2.50,52.15,0.265,10916,0.133,0.086,2863,689,767,832,702,0,0,0,0,0,0,14.26,13.86,13.67
$GC,8911,0.82,636.3,2864,685,834,703,15.1,10.8,715,8917,0.00,2.47,0.00,0.000,1158,0.000,0.074,2863,2099,768,833,704,0,0,0,0,0,0,14.00,13.66,14.07
$STATE,9032,end climb,SURFACE_DEPTH_REACHED
$STATE,9032,begin surface coast
$FINISH,0.3,1.021547
$STATE,9042,end surface coast,CONTROL_FINISHED_OK
$STATE,9042,begin surface
$SM_CCo,9066,45.10,0.202,0,0,498,702.78
$SM_GC,1.32,8.27,0.17,45.10,0.082,0.116,0.202,204,2228,498,-7.38,-0.74,702.78,0,0,0,0,0,0,14.28,14.29,13.94
$RAFOS_CLK,208
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7528.91,-15123.37,070917,195234
$TT8_MAMPS,0.039697,0.957971
$HUMID,46.81
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,15954411520.000000
$PM_FREEKB_00,49807296
$24V_AH,12.28,174.783
$10V_AH,12.15,0.000
$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,25.725,79.650,943.275,45.100,0.000,0.000,0.000,362.775,5.000,0.000,26.402,0.000,6785.303,899.368,2008.746,233.030,0.000,2058.811,0.000,1043.929,2150.000,0.539,0.000
$DEVICE_MAMPS,457.470,2138.940,1511.640,201.960,0.000,0.000,0.000,136.170,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5390.000,9030.000,9002.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.592,20.000,9.887,0.000
$MEM,323420
$DATA_FILE_SIZE,26695,729
$CAP_FILE_SIZE,100568,0
$CFSIZE,2097872896,2006974464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.5
$CURRENT,0.025,276.01,1
$GPS,080917,011604,7526.830,-15115.795,36,0.7,38,20.7,1.0,306.2,12,7.3