version: 66.13
glider: 196
mission: 14
dive: 286
start: 9 9 117 1 32 53
data:
$ID,196
$MISSION,14
$DIVE,286
$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,25
$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,796.0
$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
$GPS1,090917,012300,7537.5166,-15106.4893,16,0.7,19,20.8,0.2,126.1,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.5
$GPS2,090917,013219,7537.4932,-15106.4043,5,0.7,40,20.8,0.0,0.0,11,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.6,10560,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,195,2231,497,490,0.0,0.0,0,144,0.00,0.00,-91.15,0.000,16386,0.000,0.000,194,2230,2121,2051,2192,0,0,0,0,0,0,14.57,28.83,14.59
$GC,147,-0.57,-145.9,194,2232,2055,2194,3.3,-4.4,9,205,12.85,2.88,-38.42,0.000,18980,0.455,2.142,2384,792,3964,3949,3980,0,0,0,0,0,0,13.62,12.53,14.13
$GC,262,-0.69,-145.9,2384,792,3955,3980,32.0,-15.1,31,267,0.00,2.47,0.00,0.000,1158,0.000,0.088,2383,2186,3966,3954,3979,0,0,0,0,0,0,14.31,14.16,14.35
$GC,573,-0.81,-145.9,2385,2188,3956,3979,76.1,-11.2,63,578,0.17,2.50,0.00,0.000,4484,0.115,0.087,2305,3609,3967,3955,3979,0,0,0,0,0,0,14.23,14.18,14.30
$GC,685,-0.92,-145.9,2305,3611,3956,3979,90.9,-12.5,85,690,0.00,2.38,0.00,0.000,1158,0.000,0.059,2305,2202,3967,3955,3979,0,0,0,0,0,0,14.38,14.24,14.42
$GC,995,-0.96,-145.9,2305,2202,3956,3980,133.8,-12.9,101,1000,0.12,2.47,0.00,0.000,4484,0.137,0.085,2241,3613,3968,3958,3979,0,0,0,0,0,0,14.38,14.20,14.40
$GC,1060,-0.96,-145.9,2241,3615,3956,3980,144.2,-16.1,114,1065,0.00,2.40,0.00,0.000,1030,0.000,0.059,2241,2196,3967,3955,3979,0,0,0,0,0,0,14.39,14.25,14.42
$GC,1386,-0.92,-145.9,2242,2195,3956,3979,201.6,-17.0,129,1391,0.15,2.47,0.00,0.000,2436,0.289,0.082,2266,3613,3967,3956,3979,0,0,0,0,0,0,13.95,14.21,14.12
$GC,1478,-1.03,-145.9,2267,3614,3956,3979,213.0,-11.4,147,1482,0.00,2.40,0.00,0.000,1158,0.000,0.057,2266,2186,3967,3955,3979,0,0,0,0,0,0,14.39,14.26,14.43
$GC,1808,-1.08,-145.9,2266,2185,3956,3980,253.4,-11.7,163,1813,0.00,2.50,0.00,0.000,388,0.000,0.087,2256,3613,3966,3954,3979,0,0,0,0,0,0,14.73,14.20,14.73
$GC,1838,-1.17,-145.9,2256,3615,3956,3980,256.9,-11.7,169,1843,0.17,2.38,0.00,0.000,5254,0.112,0.057,2186,2201,3967,3955,3979,0,0,0,0,0,0,14.31,14.26,14.42
$GC,2168,-1.07,-145.9,2187,2200,3956,3980,314.3,-17.2,185,2174,0.17,2.47,0.00,0.000,2436,0.292,0.084,2218,3614,3967,3955,3979,0,0,0,0,0,0,13.88,14.20,14.07
$GC,2296,-1.15,-145.9,2219,3617,3956,3979,330.2,-11.5,210,2300,0.00,2.40,0.00,0.000,1158,0.000,0.056,2218,2195,3966,3955,3977,0,0,0,0,0,0,14.30,14.17,14.34
$GC,2621,-1.15,-145.9,2218,2195,3955,3980,371.6,-12.6,225,2625,0.00,2.50,0.00,0.000,260,0.000,0.086,2210,3614,3967,3955,3979,0,0,0,0,0,0,14.74,14.19,14.78
$GC,2706,-1.21,-145.9,2211,3616,3955,3979,382.0,-11.7,242,2712,0.00,2.40,0.00,0.000,1158,0.000,0.057,2210,2191,3967,3955,3979,0,0,0,0,0,0,14.39,14.26,14.42
$GC,3011,-1.21,-145.9,2210,2192,3955,3979,421.0,-12.8,253,3015,0.00,2.50,0.00,0.000,260,0.000,0.088,2209,3613,3967,3955,3979,0,0,0,0,0,0,14.76,14.15,14.78
$GC,3086,-1.28,-145.9,2210,3613,3955,3979,430.2,-11.7,268,3092,0.12,2.38,0.00,0.000,5254,0.135,0.056,2158,2198,3966,3954,3978,0,0,0,0,0,0,14.21,14.19,14.33
$STATE,3369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3370,begin apogee
$GC,3376,-0.13,0.0,2159,2054,3955,3979,480.4,-18.0,280,3598,1.55,0.10,218.23,1.435,10246,0.272,0.158,2528,2119,3367,3380,3354,0,0,0,0,0,0,13.74,13.54,12.68
$STATE,3601,end apogee,CONTROL_FINISHED_OK
$STATE,3601,begin climb
$GC,3604,0.57,145.9,2529,2119,3374,3346,492.5,0.0,287,3820,0.75,2.62,211.73,1.376,11012,0.063,0.072,2781,3491,2765,2801,2730,0,0,0,0,0,0,13.69,12.83,12.26
$GC,4047,0.09,145.9,2782,3493,2780,2725,469.6,16.4,380,4054,0.85,2.38,0.00,0.000,5254,0.345,0.055,2618,2133,2752,2779,2725,0,0,0,0,0,0,13.45,13.83,13.83
$GC,4359,-0.00,185.7,2619,2132,2780,2723,442.6,8.2,392,4421,0.12,2.50,55.83,1.421,12708,0.293,0.081,2588,3498,2601,2642,2560,0,0,0,0,0,0,13.90,13.98,13.12
$GC,4648,-0.03,202.7,2589,3499,2634,2555,417.4,9.2,449,4677,0.00,2.38,22.08,1.526,9382,0.000,0.060,2589,2104,2534,2580,2489,0,0,0,0,0,0,14.27,14.12,13.18
$GC,4994,-0.01,234.1,2589,2104,2578,2478,388.2,8.6,468,5042,0.00,0.00,47.12,1.430,8230,0.000,0.000,2588,2105,2408,2455,2362,0,0,0,0,0,0,14.60,14.03,13.18
$GC,5322,0.05,264.2,2590,2104,2446,2352,359.5,8.6,479,5373,0.00,2.53,45.60,1.411,8868,0.000,0.089,2588,685,2281,2324,2239,0,0,0,0,0,0,14.59,13.78,13.17
$GC,5430,0.20,308.2,2589,685,2319,2236,350.6,8.0,500,5505,0.17,2.47,67.22,1.341,11430,0.106,0.080,2665,2092,2105,2148,2063,0,0,0,0,0,0,14.19,14.09,13.05
$GC,5803,0.14,308.2,2666,2092,2141,2048,300.4,13.4,525,5809,0.12,2.47,0.00,0.000,4740,0.253,0.083,2644,690,2094,2140,2048,0,0,0,0,0,0,13.93,13.63,14.08
$GC,5854,0.19,308.2,2644,693,2139,2048,294.4,11.1,535,5859,0.00,2.47,0.00,0.000,1158,0.000,0.078,2644,2111,2093,2138,2048,0,0,0,0,0,0,14.33,14.19,14.37
$GC,6164,0.19,308.2,2644,2113,2138,2046,260.0,10.9,547,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2112,2092,2138,2046,0,0,0,0,0,0,14.65,14.69,14.66
$GC,6464,0.20,325.2,2644,2112,2139,2045,230.8,9.2,557,6495,0.00,2.53,22.45,1.437,8740,0.000,0.087,2644,688,2035,2078,1992,0,0,0,0,0,0,14.66,14.20,13.31
$GC,6567,0.32,366.3,2644,689,2074,1993,222.2,8.1,577,6640,0.12,2.47,68.30,1.298,11430,0.129,0.079,2695,2103,1871,1901,1842,0,0,0,0,0,0,14.21,14.15,13.16
$GC,6946,0.29,366.3,2696,2104,1889,1828,178.3,11.2,603,6950,0.00,2.50,0.00,0.000,644,0.000,0.088,2696,691,1858,1888,1828,0,0,0,0,0,0,14.58,13.98,14.59
$GC,6996,0.33,366.3,2695,691,1885,1829,173.1,10.1,613,7000,0.00,2.47,0.00,0.000,1158,0.000,0.079,2696,2101,1856,1884,1828,0,0,0,0,0,0,14.28,14.14,14.31
$GC,7306,0.33,366.3,2696,2103,1885,1826,140.8,10.3,625,7310,0.00,2.47,0.00,0.000,516,0.000,0.086,2695,694,1855,1884,1826,0,0,0,0,0,0,14.67,14.00,14.66
$GC,7361,0.38,377.4,2697,693,1883,1826,135.4,9.5,636,7377,0.00,2.45,11.12,1.486,9382,0.000,0.078,2696,2101,1829,1855,1803,0,0,0,0,0,0,14.26,14.14,13.28
$GC,7697,0.40,404.3,2696,2102,1851,1796,104.2,8.8,653,7748,0.00,2.50,44.08,1.290,8484,0.000,0.083,2696,3511,1713,1735,1691,0,0,0,0,0,0,14.62,14.12,13.28
$GC,7773,0.43,404.3,2696,3512,1731,1692,97.3,10.2,668,7780,0.00,2.42,0.00,0.000,1158,0.000,0.063,2698,2101,1710,1730,1690,0,0,0,0,0,0,14.21,14.10,14.24
$GC,8078,0.54,466.4,2699,2102,1730,1683,73.1,7.1,699,8116,0.15,2.50,32.55,0.419,10916,0.115,0.088,2772,689,1464,1498,1430,0,0,0,0,0,0,14.12,13.97,13.67
$GC,8271,0.57,504.5,2772,690,1491,1427,54.3,8.2,737,8298,0.00,2.47,20.70,0.364,9254,0.000,0.077,2772,2102,1306,1351,1261,0,0,0,0,0,0,14.17,14.05,13.72
$GC,8604,0.68,587.6,2773,2105,1352,1253,31.2,6.2,773,8656,0.00,2.53,44.60,0.291,8612,0.000,0.081,2772,3508,965,1032,899,0,0,0,0,0,0,14.57,14.06,13.71
$GC,8694,0.89,659.7,2771,3511,1035,904,25.3,6.7,790,8742,0.30,2.45,39.67,0.272,11430,0.083,0.067,2884,2094,671,725,617,0,0,0,0,0,0,14.16,14.06,13.74
$STATE,8886,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FINISH,0.3,1.021587
$STATE,8896,end surface coast,CONTROL_FINISHED_OK
$STATE,8896,begin surface
$SM_CCo,8962,24.55,0.210,0,0,499,702.78
$SM_GC,1.25,8.18,0.20,24.55,0.060,0.091,0.210,199,2245,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.22,13.88
$RAFOS_CLK,15
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7539.58,-15110.21,080917,224809
$TT8_MAMPS,0.083888,1.06733
$HUMID,46.77
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,24
$CP_FREE,0.000000
$PM_FREEKB_00,49514752
$24V_AH,12.26,179.393
$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,26.100,89.575,951.275,24.550,0.000,0.000,0.000,305.925,6.000,0.000,41.952,0.000,6278.470,849.096,2145.166,291.809,0.000,2034.587,0.000,1164.023,2213.000,0.539,0.000
$DEVICE_MAMPS,455.175,2142.000,1526.175,209.610,0.000,0.000,0.000,156.060,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5251.000,8945.000,8913.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.816,20.000,9.885,0.000
$MEM,323680
$DATA_FILE_SIZE,26751,814
$CAP_FILE_SIZE,104347,0
$CFSIZE,2097872896,2004779008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.6
$CURRENT,0.032,275.92,1
$GPS,090917,040342,7538.661,-15106.417,15,0.8,18,20.8,0.6,97.4,11,9.6