version: 66.13
glider: 196
mission: 14
dive: 283
start: 9 8 117 17 26 5
data:
$ID,196
$MISSION,14
$DIVE,283
$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,23
$R_STBD_OVSHOOT,43
$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,788.0
$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
$GPS1,080917,171952,7533.8496,-15108.1357,15,0.8,16,20.8,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.0
$GPS2,080917,172535,7533.8433,-15108.1660,8,0.9,16,20.8,0.0,264.2,9,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.8,17180,-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,49,begin dive
$GC,52,-0.57,-145.9,197,2225,494,494,0.0,0.0,0,144,0.00,0.00,-91.18,0.000,16386,0.000,0.000,195,2225,2115,2047,2184,0,0,0,0,0,0,14.56,28.83,14.57
$GC,147,-0.57,-145.9,197,2225,2049,2191,3.0,-3.4,9,205,12.98,2.78,-38.95,0.000,18724,0.457,2.140,2375,3586,3964,3947,3981,0,0,0,0,0,0,13.56,12.51,14.06
$GC,230,-0.57,-145.9,2376,3587,3952,3981,27.0,-25.0,22,237,0.00,2.40,0.00,0.000,1030,0.000,0.063,2375,2193,3966,3951,3981,0,0,0,0,0,0,14.16,13.97,14.21
$GC,537,-0.67,-145.9,2376,2191,3954,3981,74.8,-11.7,53,538,0.00,0.00,0.00,0.000,134,0.000,0.000,2375,2191,3967,3954,3980,0,0,0,0,0,0,14.58,14.59,14.59
$GC,858,-0.82,-145.9,2375,2194,3955,3981,105.6,-8.4,81,863,0.17,2.50,0.00,0.000,4516,0.113,0.086,2294,3599,3967,3954,3981,0,0,0,0,0,0,14.28,14.14,14.32
$GC,953,-0.96,-145.9,2295,3601,3955,3981,117.0,-11.3,100,959,0.00,2.42,0.00,0.000,1158,0.000,0.057,2295,2185,3967,3954,3981,0,0,0,0,0,0,13.63,13.64,13.62
$GC,1279,-1.02,-145.9,2295,2184,3955,3981,159.3,-12.5,115,1284,0.12,2.50,0.00,0.000,4484,0.136,0.084,2236,3594,3965,3954,3976,0,0,0,0,0,0,14.18,14.07,14.20
$GC,1319,-1.02,-145.9,2237,3595,3955,3982,165.4,-15.8,123,1324,0.00,2.38,0.00,0.000,1030,0.000,0.057,2236,2193,3967,3954,3981,0,0,0,0,0,0,14.35,14.22,14.38
$GC,1639,-0.99,-145.9,2235,2192,3956,3981,219.9,-16.7,137,1644,0.00,2.47,0.00,0.000,388,0.000,0.088,2236,3590,3967,3954,3981,0,0,0,0,0,0,14.65,14.12,14.66
$GC,1729,-1.05,-145.9,2236,3591,3955,3982,233.4,-13.7,155,1734,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2193,3967,3954,3981,0,0,0,0,0,0,14.26,14.14,14.33
$GC,2059,-1.05,-145.9,2236,2195,3955,3981,279.6,-13.3,171,2064,0.00,2.47,0.00,0.000,260,0.000,0.088,2235,3592,3967,3954,3981,0,0,0,0,0,0,14.67,14.14,14.67
$GC,2140,-1.14,-145.9,2236,3594,3955,3982,288.9,-10.9,187,2144,0.00,2.38,0.00,0.000,1158,0.000,0.055,2236,2190,3967,3954,3981,0,0,0,0,0,0,14.35,14.22,14.38
$GC,2450,-1.18,-145.9,2236,2190,3955,3982,325.7,-11.7,199,2455,0.10,2.47,0.00,0.000,4484,0.173,0.084,2186,3594,3967,3954,3981,0,0,0,0,0,0,14.28,14.09,14.33
$GC,2520,-1.18,-145.9,2186,3595,3955,3981,335.9,-14.5,213,2525,0.00,2.35,0.00,0.000,1030,0.000,0.055,2186,2196,3967,3954,3981,0,0,0,0,0,0,14.35,14.23,14.39
$GC,2840,-1.12,-145.9,2186,2196,3954,3981,386.6,-15.7,227,2845,0.12,2.45,0.00,0.000,2436,0.304,0.084,2209,3588,3967,3954,3980,0,0,0,0,0,0,13.89,13.96,14.07
$GC,2920,-1.18,-145.9,2209,3589,3954,3981,396.9,-11.8,243,2925,0.00,2.35,0.00,0.000,1158,0.000,0.055,2209,2199,3967,3954,3981,0,0,0,0,0,0,14.35,14.22,14.38
$GC,3230,-1.18,-145.9,2210,2197,3955,3980,436.7,-12.7,255,3235,0.00,2.45,0.00,0.000,260,0.000,0.088,2209,3588,3968,3954,3983,0,0,0,0,0,0,14.67,13.99,14.69
$GC,3310,-1.25,-145.9,2210,3588,3955,3981,446.3,-11.3,271,3315,0.00,2.35,0.00,0.000,1158,0.000,0.056,2209,2197,3967,3954,3981,0,0,0,0,0,0,14.34,14.22,14.38
$STATE,3588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3588,begin apogee
$GC,3594,-0.13,0.0,2210,2053,3954,3981,481.1,-12.4,282,3816,1.25,0.00,218.55,1.427,10246,0.233,0.000,2528,2051,3369,3391,3348,0,0,0,0,0,0,13.81,13.52,12.67
$STATE,3819,end apogee,CONTROL_FINISHED_OK
$STATE,3819,begin climb
$GC,3822,0.57,145.9,2528,2051,3376,3341,492.5,0.0,289,4039,0.75,2.75,211.20,1.371,11012,0.060,0.073,2782,3486,2765,2805,2725,0,0,0,0,0,0,13.66,12.90,12.28
$GC,4090,0.08,145.9,2782,3486,2788,2724,498.5,14.3,347,4096,0.90,2.45,0.00,0.000,5254,0.344,0.054,2616,2128,2755,2788,2722,0,0,0,0,0,0,13.07,13.39,13.40
$GC,4401,-0.01,187.4,2616,2128,2788,2719,472.2,8.1,359,4463,0.12,0.00,58.05,1.421,12966,0.284,0.000,2592,2127,2598,2648,2548,0,0,0,0,0,0,13.78,13.83,13.00
$GC,4763,0.02,226.6,2588,2127,2646,2535,443.3,8.2,381,4827,0.00,2.58,56.88,1.418,8740,0.000,0.087,2590,697,2435,2491,2379,0,0,0,0,0,0,14.54,13.95,13.12
$GC,4917,0.12,267.8,2588,698,2486,2378,430.5,8.1,412,4983,0.00,2.45,61.78,1.392,9382,0.000,0.080,2589,2082,2272,2326,2218,0,0,0,0,0,0,14.16,14.04,13.03
$GC,5304,0.20,297.3,2590,2083,2318,2202,397.0,8.6,439,5349,0.15,0.00,42.67,1.414,10662,0.118,0.000,2664,2082,2152,2201,2103,0,0,0,0,0,0,14.28,14.01,13.17
$GC,5666,0.13,297.3,2664,2083,2191,2092,348.1,13.7,461,5671,0.15,2.47,0.00,0.000,4740,0.255,0.085,2630,688,2140,2190,2091,0,0,0,0,0,0,13.97,14.16,14.12
$GC,5722,0.19,297.3,2630,689,2188,2092,341.6,11.0,472,5728,0.00,2.45,0.00,0.000,1158,0.000,0.079,2630,2101,2139,2186,2093,0,0,0,0,0,0,14.30,14.19,14.36
$GC,6027,0.19,297.3,2630,2103,2188,2089,308.6,10.7,483,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2102,2137,2186,2089,0,0,0,0,0,0,14.66,14.69,14.68
$GC,6327,0.19,298.1,2630,2102,2189,2088,278.1,10.0,493,6331,0.00,2.50,0.00,0.000,548,0.000,0.085,2630,694,2137,2187,2088,0,0,0,0,0,0,14.71,14.23,14.70
$GC,6387,0.29,314.2,2631,694,2188,2088,272.4,9.3,505,6419,0.15,2.47,23.35,1.447,11430,0.112,0.078,2692,2101,2082,2128,2037,0,0,0,0,0,0,14.34,14.25,13.30
$GC,6718,0.20,314.2,2692,2102,2125,2030,229.7,12.1,521,6723,0.15,2.47,0.00,0.000,4740,0.237,0.083,2658,689,2077,2125,2029,0,0,0,0,0,0,14.00,14.17,14.14
$GC,6764,0.26,335.1,2657,688,2123,2029,225.1,9.0,530,6804,0.00,2.45,33.75,1.381,9382,0.000,0.079,2657,2100,1996,2041,1951,0,0,0,0,0,0,14.36,14.23,13.26
$GC,7111,0.30,357.5,2658,2101,2039,1943,193.6,9.0,549,7154,0.00,2.53,35.80,1.359,8612,0.000,0.083,2657,3510,1903,1940,1867,0,0,0,0,0,0,14.58,14.12,13.26
$GC,7191,0.35,362.8,2658,3511,1936,1867,186.3,9.8,565,7203,0.12,2.42,4.18,1.562,11430,0.124,0.063,2706,2096,1886,1920,1853,0,0,0,0,0,0,14.18,14.15,12.95
$GC,7499,0.31,362.8,2706,2095,1921,1854,152.0,10.9,577,7504,0.00,2.45,0.00,0.000,644,0.000,0.087,2708,689,1885,1920,1851,0,0,0,0,0,0,14.60,14.12,14.62
$GC,7659,0.32,368.5,2709,689,1918,1852,136.0,9.7,609,7674,0.00,2.45,9.35,1.550,9254,0.000,0.077,2708,2101,1863,1894,1832,0,0,0,0,0,0,14.14,14.01,13.24
$GC,7980,0.33,383.1,2714,2102,1886,1827,104.3,9.3,623,8005,0.00,2.47,19.05,1.393,8740,0.000,0.087,2709,682,1801,1826,1776,0,0,0,0,0,0,14.63,14.22,13.31
$GC,8082,0.41,413.2,2710,682,1821,1776,95.4,8.6,643,8104,0.00,2.53,16.38,0.493,9382,0.000,0.078,2710,2111,1677,1698,1656,0,0,0,0,0,0,14.31,14.17,13.61
$GC,8400,0.50,472.5,2710,2111,1703,1651,69.7,7.3,677,8438,0.00,2.47,31.30,0.412,8612,0.000,0.083,2710,3509,1437,1476,1399,0,0,0,0,0,0,14.57,14.07,13.62
$GC,8490,0.66,524.5,2710,3511,1480,1398,63.1,7.6,694,8523,0.28,2.45,27.73,0.392,11430,0.082,0.066,2807,2091,1227,1284,1170,0,0,0,0,0,0,14.07,14.00,13.71
$GC,8828,0.68,558.1,2807,2092,1284,1160,30.2,8.5,731,8851,0.00,2.55,17.65,0.298,8740,0.000,0.090,2808,688,1088,1153,1024,0,0,0,0,0,0,14.55,14.07,13.79
$GC,8958,0.83,646.4,2808,689,1153,1024,21.4,5.9,756,9011,0.12,2.47,47.08,0.271,11430,0.130,0.076,2865,2105,729,788,670,0,0,0,0,0,0,14.19,14.14,13.80
$STATE,9144,end climb,SURFACE_DEPTH_REACHED
$STATE,9144,begin surface coast
$FINISH,0.3,1.021571
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9175,32.92,0.207,0,0,499,702.78
$SM_GC,1.17,8.07,0.17,32.92,0.063,0.109,0.207,207,2234,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,13.95
$RAFOS_CLK,423
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7531.56,-15107.58,080917,144311
$TT8_MAMPS,0.038948,0.892808
$HUMID,47.04
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15951396864.000000
$PM_FREEKB_00,49606528
$24V_AH,12.28,177.990
$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,25.725,89.300,914.725,32.925,0.000,0.000,0.000,144.350,4.250,0.000,17.943,0.000,6638.390,826.116,1863.481,235.330,0.000,1829.452,0.000,1119.334,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2140.470,1562.130,207.315,0.000,0.000,0.000,139.230,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9097.000,9160.000,9127.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.621,20.000,9.863,0.000
$MEM,323540
$DATA_FILE_SIZE,26760,781
$CAP_FILE_SIZE,101423,0
$CFSIZE,2097872896,2005499904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.5
$CURRENT,0.019,219.56,1
$GPS,080917,200056,7535.068,-15107.408,38,0.7,38,20.8,0.0,0.0,10,8.3