version: 66.13
glider: 196
mission: 14
dive: 289
start: 9 9 117 9 48 25
data:
$ID,196
$MISSION,14
$DIVE,289
$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,60
$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,802.0
$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
$GPS1,090917,093651,7540.9390,-15106.9717,38,0.8,39,20.8,0.0,317.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.4
$GPS2,090917,094749,7540.9385,-15107.0098,5,0.7,13,20.8,0.0,0.0,12,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.8,4327,-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,-145.9,187,2227,506,489,0.0,0.0,0,143,0.00,0.00,-91.90,0.000,16386,0.000,0.000,186,2227,2129,2058,2201,0,0,0,0,0,0,14.51,28.83,14.53
$GC,146,-0.57,-145.9,186,2227,2060,2201,3.3,-4.6,9,204,13.02,2.80,-37.55,0.000,18980,0.457,2.138,2384,835,3964,3947,3981,0,0,0,0,0,0,13.60,12.60,14.04
$GC,226,-0.49,-145.9,2385,829,3952,3981,26.9,-28.4,24,233,0.17,2.40,0.00,0.000,3206,0.269,0.088,2414,2176,3966,3951,3981,0,0,0,0,0,0,13.84,14.07,14.09
$GC,529,-0.64,-145.9,2414,2178,3955,3980,65.6,-9.4,55,534,0.12,2.58,0.00,0.000,4516,0.133,0.089,2350,3614,3967,3954,3981,0,0,0,0,0,0,14.26,14.00,14.28
$GC,610,-0.80,-145.9,2351,3616,3954,3980,74.5,-11.1,71,614,0.00,2.35,0.00,0.000,1158,0.000,0.055,2350,2233,3966,3952,3981,0,0,0,0,0,0,14.13,14.02,14.15
$GC,942,-0.91,-145.9,2350,2234,3954,3982,112.7,-10.2,97,943,0.20,0.00,0.00,0.000,4230,0.107,0.000,2276,2234,3968,3955,3981,0,0,0,0,0,0,14.09,14.19,14.16
$GC,1239,-0.91,-145.9,2273,2233,3955,3981,158.6,-15.0,107,1244,0.00,2.45,0.00,0.000,260,0.000,0.088,2265,3614,3968,3955,3981,0,0,0,0,0,0,14.67,14.03,14.67
$GC,1320,-1.02,-145.9,2266,3615,3954,3982,169.2,-12.0,123,1325,0.00,2.40,0.00,0.000,1158,0.000,0.058,2265,2201,3967,3954,3981,0,0,0,0,0,0,14.30,14.17,14.33
$GC,1630,-1.04,-145.9,2265,2200,3954,3982,212.7,-13.7,135,1635,0.00,2.50,0.00,0.000,388,0.000,0.087,2257,3613,3967,3954,3981,0,0,0,0,0,0,14.69,14.09,14.70
$GC,1685,-1.15,-145.9,2258,3613,3955,3977,219.9,-12.0,146,1691,0.15,2.42,0.00,0.000,5254,0.121,0.058,2199,2195,3967,3954,3981,0,0,0,0,0,0,14.16,14.00,14.28
$GC,1990,-1.06,-145.9,2200,2194,3954,3982,275.6,-17.4,157,1995,0.12,2.55,0.00,0.000,2436,0.314,0.083,2217,3619,3967,3954,3981,0,0,0,0,0,0,13.74,13.95,13.89
$GC,2066,-1.10,-145.9,2219,3620,3955,3980,286.6,-13.4,172,2071,0.00,2.42,0.00,0.000,1158,0.000,0.056,2222,2194,3967,3954,3981,0,0,0,0,0,0,13.78,13.80,13.78
$GC,2382,-1.10,-145.9,2219,2193,3954,3982,329.9,-13.5,185,2386,0.00,2.55,0.00,0.000,260,0.000,0.086,2211,3619,3967,3954,3981,0,0,0,0,0,0,14.64,14.06,14.64
$GC,2482,-1.15,-145.9,2210,3621,3954,3982,342.6,-12.1,205,2486,0.00,2.45,0.00,0.000,1158,0.000,0.056,2210,2196,3970,3961,3980,0,0,0,0,0,0,14.14,14.02,14.17
$GC,2802,-1.15,-145.9,2210,2196,3954,3981,384.6,-13.0,219,2806,0.00,2.58,0.00,0.000,260,0.000,0.088,2207,3620,3967,3954,3980,0,0,0,0,0,0,14.47,13.96,14.49
$GC,2882,-1.21,-145.9,2208,3620,3955,3980,394.5,-11.9,235,2886,0.00,2.45,0.00,0.000,1158,0.000,0.055,2208,2198,3966,3953,3980,0,0,0,0,0,0,14.11,14.00,14.16
$GC,3192,-1.21,-145.9,2208,2197,3958,3979,434.9,-13.1,247,3196,0.00,2.53,0.00,0.000,260,0.000,0.086,2198,3613,3966,3953,3979,0,0,0,0,0,0,14.60,14.07,14.63
$GC,3257,-1.25,-145.9,2198,3615,3954,3980,443.5,-12.4,260,3262,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2201,3966,3953,3979,0,0,0,0,0,0,14.29,14.15,14.33
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3520,begin apogee
$GC,3526,-0.13,0.0,2198,2059,3954,3980,480.4,-14.0,273,3752,1.35,0.10,221.93,1.417,10246,0.240,0.158,2532,2121,3365,3389,3341,0,0,0,0,0,0,13.68,13.38,12.60
$STATE,3756,end apogee,CONTROL_FINISHED_OK
$STATE,3756,begin climb
$GC,3761,0.57,145.9,2533,2121,3380,3333,492.3,0.0,280,3985,0.73,2.70,212.90,1.357,10756,0.062,0.080,2780,728,2757,2801,2714,0,0,0,0,0,0,13.60,12.86,12.26
$GC,4033,0.18,145.9,2781,727,2794,2711,498.3,13.1,291,4038,0.68,2.55,0.00,0.000,5254,0.321,0.074,2647,2095,2753,2793,2714,0,0,0,0,0,0,13.04,13.35,13.40
$GC,4344,0.01,155.4,2646,2094,2793,2706,468.0,9.6,303,4348,0.25,0.00,2.30,0.623,12454,0.256,0.000,2590,2093,2731,2774,2689,0,0,0,0,0,0,13.69,13.83,12.47
$GC,4644,0.00,220.6,2590,2094,2789,2702,446.6,7.0,313,4765,0.00,0.00,115.62,1.335,8358,0.000,0.000,2589,2095,2457,2518,2397,0,0,0,0,0,0,14.33,13.56,12.98
$GC,5064,0.03,256.1,2590,2093,2510,2382,411.8,8.4,327,5125,0.00,2.47,52.83,1.375,8740,0.000,0.088,2589,736,2316,2373,2260,0,0,0,0,0,0,14.54,13.95,13.14
$GC,5172,0.17,303.4,2590,737,2358,2256,403.0,7.8,348,5252,0.15,2.40,74.30,1.325,11430,0.118,0.079,2663,2099,2128,2182,2075,0,0,0,0,0,0,14.14,14.05,13.00
$GC,5577,0.12,303.4,2656,2099,2164,2053,349.8,13.3,379,5582,0.12,2.40,0.00,0.000,4740,0.245,0.083,2632,729,2108,2163,2053,0,0,0,0,0,0,14.02,14.18,14.16
$GC,5607,0.15,303.4,2633,729,2162,2053,346.1,11.4,385,5613,0.00,2.40,0.00,0.000,1158,0.000,0.078,2632,2103,2107,2161,2053,0,0,0,0,0,0,14.33,14.19,14.37
$GC,5939,0.15,303.4,2633,2104,2162,2051,308.9,11.0,401,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2103,2105,2160,2051,0,0,0,0,0,0,14.41,14.42,14.42
$GC,6238,0.15,303.4,2632,2105,2160,2056,277.4,10.3,411,6244,0.00,2.45,0.00,0.000,516,0.000,0.086,2633,730,2105,2160,2050,0,0,0,0,0,0,14.38,13.88,14.40
$GC,6289,0.24,314.3,2632,731,2158,2051,272.4,9.5,421,6301,0.00,2.42,4.05,1.514,9382,0.000,0.078,2633,2101,2084,2137,2032,0,0,0,0,0,0,14.09,13.97,13.00
$GC,6599,0.28,335.8,2634,2102,2146,2038,243.4,9.0,433,6646,0.12,0.00,45.85,1.348,10406,0.129,0.000,2689,2102,1996,2045,1948,0,0,0,0,0,0,14.11,13.95,13.18
$GC,6929,0.23,335.8,2690,2102,2030,1931,204.6,11.6,444,6934,0.12,2.47,0.00,0.000,4740,0.252,0.086,2660,728,1980,2030,1930,0,0,0,0,0,0,13.81,13.90,13.96
$GC,7021,0.32,364.3,2661,728,2030,1931,196.3,8.7,462,7074,0.00,2.45,47.12,1.300,9382,0.000,0.079,2655,2102,1878,1916,1840,0,0,0,0,0,0,14.15,14.01,13.19
$GC,7381,0.40,396.4,2660,2103,1900,1832,164.7,8.5,484,7446,0.15,2.53,56.00,1.261,10916,0.115,0.087,2723,732,1748,1769,1727,0,0,0,0,0,0,14.01,13.92,13.18
$GC,7493,0.40,396.4,2724,728,1762,1718,151.8,11.3,501,7498,0.00,2.45,0.00,0.000,1030,0.000,0.077,2723,2105,1739,1761,1717,0,0,0,0,0,0,14.01,13.90,14.02
$GC,7804,0.38,396.4,2724,2105,1761,1709,114.8,11.4,513,7805,0.00,0.00,0.00,0.000,134,0.000,0.000,2723,2105,1736,1760,1712,0,0,0,0,0,0,14.32,14.33,14.34
$GC,8104,0.39,414.3,2724,2104,1760,1708,83.9,9.2,533,8116,0.00,2.55,8.15,0.422,8740,0.000,0.084,2724,729,1677,1705,1649,0,0,0,0,0,0,14.21,13.90,13.45
$GC,8193,0.47,459.4,2723,729,1709,1653,76.7,7.9,550,8224,0.00,2.45,25.40,0.425,9382,0.000,0.076,2723,2102,1491,1524,1458,0,0,0,0,0,0,13.95,13.84,13.48
$GC,8530,0.62,553.7,2724,2103,1528,1459,52.7,5.6,587,8582,0.15,0.00,50.38,0.353,10662,0.112,0.000,2790,2102,1105,1171,1040,0,0,0,0,0,0,13.90,13.86,13.51
$GC,8880,0.75,638.9,2791,2103,1171,1046,24.9,6.1,627,8933,0.00,2.47,45.67,0.278,8868,0.000,0.089,2792,729,758,826,691,0,0,0,0,0,0,14.17,13.84,13.57
$GC,9010,1.02,743.5,2792,729,827,696,17.9,5.2,652,9053,0.38,2.45,35.90,0.255,11430,0.075,0.077,2923,2098,499,520,478,0,0,0,0,0,0,13.90,13.78,13.67
$STATE,9115,end climb,SURFACE_DEPTH_REACHED
$STATE,9115,begin surface coast
$FINISH,0.5,1.021630
$STATE,9125,end surface coast,CONTROL_FINISHED_OK
$STATE,9126,begin surface
$SM_CCo,9191,0.00,0.000,0,0,503,702.78
$SM_GC,1.20,8.40,0.17,0.00,0.067,0.109,0.000,199,2222,503,-7.38,-0.74,702.78,0,0,0,0,0,0,14.14,14.12,14.40
$RAFOS_CLK,67
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7539.58,-15110.21,090917,070009
$TT8_MAMPS,0.085386,0.953477
$HUMID,44.21
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,11
$CP_FREE,0.000000
$PM_FREEKB_00,49363072
$24V_AH,12.26,180.906
$10V_AH,12.11,0.000
$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,26.400,79.900,998.400,0.000,0.000,0.000,0.000,387.950,2.750,0.000,15.794,0.000,6593.551,892.867,2053.107,324.638,0.000,2089.110,0.000,959.833,2194.000,0.539,0.000
$DEVICE_MAMPS,456.705,2138.175,1513.935,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8944.000,9162.000,9143.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.960,20.000,56.210,0.000
$MEM,323644
$DATA_FILE_SIZE,23407,668
$CAP_FILE_SIZE,98421,0
$CFSIZE,2097872896,2004025344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.050,260.25,1
$GPS,090917,122333,7542.211,-15108.285,72,0.8,72,20.8,0.6,351.5,10,8.7