version: 66.13
glider: 196
mission: 14
dive: 288
start: 9 9 117 7 3 9
data:
$ID,196
$MISSION,14
$DIVE,288
$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,35
$R_STBD_OVSHOOT,50
$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,800.0
$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
$GPS1,090917,064957,7539.7749,-15106.4014,38,0.7,39,20.8,0.5,302.9,11,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.3
$GPS2,090917,070233,7539.7456,-15106.4521,5,0.7,11,20.8,0.5,204.2,11,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,328.4,6495,-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,-145.9,190,2182,509,493,0.0,0.0,0,153,0.00,0.00,-100.97,0.000,16386,0.000,0.000,188,2185,2341,2285,2398,0,0,0,0,0,0,14.51,28.83,14.51
$GC,156,-0.57,-145.9,188,2182,2288,2398,4.5,-7.1,10,204,12.98,2.78,-29.88,0.000,18724,0.454,2.136,2375,3579,3964,3947,3981,0,0,0,0,0,0,13.54,12.81,14.04
$GC,279,-0.74,-145.9,2374,3579,3954,3982,36.5,-12.4,34,284,0.12,2.33,0.00,0.000,5254,0.129,0.057,2325,2209,3967,3952,3982,0,0,0,0,0,0,14.18,14.09,14.27
$GC,589,-0.74,-145.9,2325,2209,3954,3983,94.0,-14.6,66,594,0.00,2.45,0.00,0.000,260,0.000,0.086,2319,3586,3967,3954,3981,0,0,0,0,0,0,14.56,13.97,14.57
$GC,669,-0.87,-145.9,2320,3587,3954,3982,104.1,-11.6,82,674,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2195,3967,3954,3981,0,0,0,0,0,0,14.14,13.99,14.14
$GC,980,-0.95,-145.9,2320,2194,3955,3981,142.3,-11.8,94,985,0.12,2.47,0.00,0.000,4740,0.135,0.083,2259,784,3970,3954,3986,0,0,0,0,0,0,14.26,14.13,14.30
$GC,995,-1.00,-145.9,2259,784,3955,3982,144.4,-12.1,97,1001,0.00,2.45,0.00,0.000,1158,0.000,0.086,2252,2175,3967,3954,3981,0,0,0,0,0,0,14.29,14.12,14.34
$GC,1311,-1.00,-145.9,2253,2176,3955,3982,196.6,-16.0,110,1316,0.00,2.55,0.00,0.000,260,0.000,0.090,2244,3617,3967,3954,3981,0,0,0,0,0,0,14.64,14.12,14.65
$GC,1477,-1.07,-145.9,2245,3619,3955,3982,219.4,-13.0,143,1481,0.00,2.40,0.00,0.000,1158,0.000,0.058,2244,2202,3967,3954,3981,0,0,0,0,0,0,14.31,14.18,14.36
$GC,1791,-1.07,-145.9,2244,2202,3955,3982,263.9,-13.2,156,1796,0.00,2.50,0.00,0.000,260,0.000,0.087,2236,3610,3967,3954,3981,0,0,0,0,0,0,14.65,14.12,14.66
$GC,1877,-1.15,-145.9,2237,3610,3955,3980,274.1,-11.4,173,1884,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2198,3967,3954,3981,0,0,0,0,0,0,14.26,14.13,14.30
$GC,2182,-1.17,-145.9,2238,2198,3956,3981,311.8,-12.0,184,2187,0.10,2.50,0.00,0.000,4484,0.166,0.086,2189,3613,3967,3954,3981,0,0,0,0,0,0,14.27,14.13,14.32
$GC,2232,-1.15,-145.9,2190,3614,3955,3982,319.1,-14.9,194,2237,0.00,2.40,0.00,0.000,1158,0.000,0.057,2190,2196,3967,3954,3981,0,0,0,0,0,0,14.33,14.19,14.37
$GC,2542,-1.08,-145.9,2187,2196,3951,3980,368.3,-15.8,206,2548,0.15,2.50,0.00,0.000,2436,0.302,0.083,2214,3614,3967,3954,3981,0,0,0,0,0,0,13.85,14.14,14.02
$GC,2623,-1.15,-145.9,2214,3616,3954,3982,378.6,-11.6,222,2628,0.00,2.40,0.00,0.000,1158,0.000,0.057,2214,2195,3967,3954,3981,0,0,0,0,0,0,14.26,14.16,14.31
$GC,2933,-1.15,-145.9,2215,2194,3955,3980,417.9,-12.6,234,2938,0.00,2.50,0.00,0.000,260,0.000,0.088,2210,3609,3967,3954,3980,0,0,0,0,0,0,14.66,14.12,14.68
$GC,3023,-1.22,-145.9,2210,3610,3955,3980,428.7,-11.4,252,3028,0.00,2.40,0.00,0.000,1158,0.000,0.055,2210,2193,3966,3954,3979,0,0,0,0,0,0,14.33,14.21,14.37
$GC,3353,-1.22,-145.9,2210,2193,3955,3980,470.5,-12.7,268,3373,0.00,2.50,0.00,0.000,260,0.000,0.087,2209,3611,3969,3955,3983,0,0,0,0,0,0,14.66,14.12,14.68
$GC,3418,-1.29,-145.9,2210,3610,3955,3980,478.4,-11.4,278,3424,0.15,2.40,0.00,0.000,5254,0.120,0.054,2152,2201,3966,3954,3979,0,0,0,0,0,0,14.12,14.07,14.22
$STATE,3456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3456,begin apogee
$GC,3462,-0.13,0.0,2152,2061,3954,3980,484.5,-14.8,281,3700,1.60,0.08,231.62,1.386,10246,0.276,0.180,2528,2108,3360,3382,3338,0,0,0,0,0,0,13.66,13.40,12.59
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3707,0.57,145.9,2528,2109,3376,3331,497.8,0.0,289,3920,0.75,0.00,210.98,1.349,10758,0.060,0.000,2781,2107,2771,2814,2728,0,0,0,0,0,0,13.56,12.83,12.23
$GC,4209,0.14,145.9,2781,2108,2789,2709,467.7,15.0,331,4214,0.68,2.47,0.00,0.000,4740,0.320,0.079,2643,726,2748,2787,2709,0,0,0,0,0,0,13.43,13.79,13.66
$GC,4321,0.03,174.7,2643,727,2788,2710,457.2,8.7,353,4365,0.22,2.45,37.75,1.433,13478,0.261,0.080,2595,2097,2651,2699,2604,0,0,0,0,0,0,13.69,13.95,13.05
$GC,4690,0.02,221.2,2596,2103,2689,2584,428.3,7.9,377,4764,0.00,0.00,72.45,1.362,8358,0.000,0.000,2595,2097,2464,2524,2405,0,0,0,0,0,0,14.42,13.87,13.09
$GC,5050,0.05,252.7,2595,2098,2507,2385,397.9,8.5,389,5099,0.00,0.00,47.70,1.383,8230,0.000,0.000,2595,2097,2336,2390,2283,0,0,0,0,0,0,14.42,13.95,13.16
$GC,5380,0.11,284.2,2596,2098,2374,2266,369.5,8.5,400,5436,0.00,2.47,49.25,1.362,8868,0.000,0.086,2597,720,2203,2254,2152,0,0,0,0,0,0,14.43,13.69,13.17
$GC,5483,0.25,321.9,2597,720,2241,2148,361.0,8.3,420,5551,0.20,2.45,59.35,1.333,11430,0.095,0.079,2677,2106,2053,2104,2002,0,0,0,0,0,0,14.06,13.97,13.03
$GC,5862,0.18,321.9,2677,2105,2086,1987,306.9,14.3,446,5863,0.15,0.00,0.00,0.000,4230,0.252,0.000,2645,2105,2035,2085,1985,0,0,0,0,0,0,13.90,14.19,14.14
$GC,6161,0.18,321.9,2647,2105,2085,1984,273.3,10.9,456,6166,0.00,2.45,0.00,0.000,516,0.000,0.090,2646,720,2033,2084,1983,0,0,0,0,0,0,14.58,14.12,14.62
$GC,6278,0.25,328.0,2648,720,2083,1983,261.7,9.7,479,6284,0.00,2.40,0.00,0.000,1190,0.000,0.079,2646,2102,2032,2081,1983,0,0,0,0,0,0,14.28,14.14,14.31
$GC,6581,0.26,342.5,2646,2104,2082,1982,231.8,9.3,490,6614,0.00,0.00,30.23,1.374,8230,0.000,0.000,2646,2103,1968,2017,1919,0,0,0,0,0,0,14.66,14.13,13.29
$GC,6912,0.33,371.8,2646,2104,2004,1907,203.2,8.6,501,6968,0.12,2.50,51.65,1.294,10916,0.129,0.086,2703,730,1848,1883,1814,0,0,0,0,0,0,14.34,14.07,13.26
$GC,7025,0.33,371.8,2704,731,1865,1813,190.0,11.7,518,7031,0.00,2.40,0.00,0.000,1030,0.000,0.077,2704,2101,1837,1865,1810,0,0,0,0,0,0,14.24,14.11,14.28
$GC,7336,0.31,371.8,2704,2100,1863,1806,154.2,11.2,530,7337,0.00,0.00,0.00,0.000,134,0.000,0.000,2704,2101,1834,1863,1805,0,0,0,0,0,0,14.61,14.63,14.63
$GC,7636,0.31,371.8,2704,2102,1862,1804,122.8,10.2,540,7641,0.00,2.38,0.00,0.000,516,0.000,0.087,2704,720,1836,1869,1803,0,0,0,0,0,0,14.67,14.20,14.67
$GC,7711,0.37,393.0,2704,721,1859,1804,115.8,9.0,555,7752,0.00,2.40,31.60,1.314,9382,0.000,0.078,2703,2106,1757,1782,1733,0,0,0,0,0,0,14.37,14.23,13.29
$GC,8057,0.43,439.5,2705,2107,1777,1724,85.1,7.9,584,8087,0.00,0.00,23.85,0.452,8870,0.000,0.000,2704,2106,1573,1603,1543,0,0,0,0,0,0,14.57,14.05,13.57
$GC,8387,0.59,518.3,2704,2106,1607,1544,61.1,6.4,618,8435,0.17,2.50,42.40,0.379,10916,0.103,0.089,2785,727,1247,1304,1190,0,0,0,0,0,0,14.23,14.09,13.66
$GC,8600,0.70,584.8,2785,728,1308,1197,42.9,6.9,660,8644,0.00,2.40,35.70,0.327,9382,0.000,0.078,2786,2099,977,1044,910,0,0,0,0,0,0,14.30,14.16,13.71
$GC,8940,0.88,681.3,2786,2100,1048,922,19.8,5.5,698,8995,0.22,0.00,52.50,0.262,10918,0.093,0.000,2878,2100,587,626,548,0,0,0,0,0,0,14.14,14.06,13.74
$STATE,9088,end climb,SURFACE_DEPTH_REACHED
$STATE,9088,begin surface coast
$FINISH,0.2,1.013138
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9100,begin surface
$SM_CCo,9121,12.40,0.214,0,0,499,703.03
$SM_GC,0.95,8.12,0.17,12.40,0.063,0.093,0.214,202,2225,499,-7.36,-0.62,703.03,0,0,0,0,0,0,14.30,14.33,13.94
$RAFOS_CLK,258
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7538.57,-15102.62,090917,065351
$TT8_MAMPS,0.040446,0.926513
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15949266944.000000
$PM_FREEKB_00,49438656
$24V_AH,12.23,180.304
$10V_AH,12.09,0.000
$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,25.875,74.075,977.025,12.400,0.000,0.000,0.000,459.875,2.250,0.000,12.586,0.000,6630.217,910.627,2047.281,317.028,0.000,2168.156,0.000,1027.452,2215.000,0.540,0.000
$DEVICE_MAMPS,454.410,2135.880,1432.845,214.200,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9079.000,9092.000,9055.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.383,20.000,10.100,0.000
$MEM,323628
$DATA_FILE_SIZE,23437,715
$CAP_FILE_SIZE,100314,0
$CFSIZE,2097872896,2004287488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.2
$CURRENT,0.044,237.82,1
$GPS,090917,093651,7540.939,-15106.972,38,0.8,39,20.8,0.0,317.4,10,9.8