version: 66.13
glider: 196
mission: 14
dive: 294
start: 9 9 117 23 10 55
data:
$ID,196
$MISSION,14
$DIVE,294
$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,28
$R_STBD_OVSHOOT,24
$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,816.0
$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
$GPS1,090917,230336,7542.1572,-15110.2354,24,0.7,27,20.8,0.5,302.7,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.6
$GPS2,090917,231020,7542.1475,-15110.1748,6,0.8,22,20.8,0.5,244.8,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,138.8,107011,-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,48,begin dive
$GC,51,-0.57,-145.9,193,2204,511,491,0.0,0.0,0,145,0.00,0.00,-91.65,0.000,16386,0.000,0.000,190,2203,2124,2053,2196,0,0,0,0,0,0,14.51,28.83,14.54
$GC,147,-0.57,-145.9,191,2204,2055,2198,3.5,-4.0,9,205,12.98,2.83,-38.25,0.000,19236,0.454,2.133,2375,3604,3963,3947,3980,1,0,0,0,0,0,13.31,12.55,13.94
$GC,210,-0.42,-145.9,2376,3603,3951,3980,22.1,-27.2,21,216,0.28,2.40,0.00,0.000,3206,0.256,0.051,2435,2202,3965,3951,3979,0,0,0,0,0,0,13.71,13.95,13.95
$GC,521,-0.61,-145.9,2435,2203,3955,3981,59.0,-8.3,53,526,0.15,2.55,0.00,0.000,4516,0.118,0.086,2362,3607,3967,3955,3980,0,0,0,0,0,0,13.99,13.88,14.03
$GC,736,-0.81,-145.9,2363,3609,3954,3981,81.2,-9.4,96,744,0.15,2.42,0.00,0.000,5286,0.119,0.053,2305,2199,3967,3955,3980,0,0,0,0,0,0,13.93,13.94,14.02
$GC,1043,-0.85,-145.9,2305,2196,3961,3980,125.2,-13.4,115,1048,0.00,2.55,0.00,0.000,388,0.000,0.087,2296,3614,3967,3954,3980,0,0,0,0,0,0,14.26,13.90,14.27
$GC,1128,-0.98,-145.9,2296,3616,3956,3981,135.6,-11.3,132,1135,0.00,2.45,0.00,0.000,1158,0.000,0.058,2296,2202,3967,3954,3980,0,0,0,0,0,0,14.05,13.93,14.08
$GC,1433,-1.05,-145.9,2297,2201,3956,3980,173.3,-12.0,143,1435,0.17,0.00,0.00,0.000,4230,0.113,0.000,2236,2201,3967,3954,3980,0,0,0,0,0,0,14.00,14.09,14.07
$GC,1733,-1.02,-145.9,2235,2202,3955,3982,222.2,-16.1,153,1738,0.00,2.55,0.00,0.000,388,0.000,0.089,2235,3609,3967,3954,3980,0,0,0,0,0,0,14.28,13.90,14.30
$GC,1889,-1.09,-145.9,2235,3611,3955,3981,243.6,-12.9,184,1894,0.00,2.45,0.00,0.000,1158,0.000,0.057,2235,2199,3967,3954,3980,0,0,0,0,0,0,14.07,13.96,14.14
$GC,2215,-1.09,-145.9,2235,2199,3955,3981,286.5,-12.5,199,2219,0.00,2.55,0.00,0.000,260,0.000,0.089,2235,3607,3967,3954,3980,0,0,0,0,0,0,14.27,13.86,14.28
$GC,2285,-1.19,-145.9,2236,3607,3956,3980,294.6,-10.8,213,2290,0.12,2.45,0.00,0.000,5254,0.135,0.057,2185,2193,3966,3953,3980,0,0,0,0,0,0,13.97,13.98,14.08
$GC,2605,-1.12,-145.9,2186,2193,3955,3981,346.8,-16.3,227,2610,0.12,2.55,0.00,0.000,2436,0.288,0.083,2204,3607,3967,3954,3980,0,0,0,0,0,0,13.64,13.85,13.81
$GC,2697,-1.17,-145.9,2203,3609,3955,3981,359.0,-12.3,245,2702,0.00,2.47,0.00,0.000,1158,0.000,0.055,2204,2190,3967,3954,3980,0,0,0,0,0,0,14.03,13.91,14.07
$GC,3029,-1.17,-145.9,2210,2189,3955,3980,403.6,-13.5,261,3034,0.00,2.60,0.00,0.000,260,0.000,0.087,2194,3614,3967,3954,3980,0,0,0,0,0,0,14.14,13.78,14.16
$GC,3124,-1.21,-145.9,2197,3616,3954,3981,416.0,-12.4,280,3130,0.00,2.47,0.00,0.000,1158,0.000,0.054,2198,2201,3967,3954,3980,0,0,0,0,0,0,13.95,13.84,14.00
$GC,3450,-1.21,-145.9,2198,2200,3954,3984,460.5,-13.6,295,3455,0.00,2.55,0.00,0.000,260,0.000,0.087,2192,3607,3967,3954,3980,0,0,0,0,0,0,14.14,13.81,14.16
$GC,3530,-1.25,-145.9,2193,3609,3955,3981,471.2,-12.8,311,3535,0.00,2.47,0.00,0.000,1158,0.000,0.056,2192,2194,3966,3953,3980,0,0,0,0,0,0,13.85,13.74,13.88
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3604,-0.13,0.0,2193,2056,3954,3981,480.8,-13.8,315,3842,1.38,0.08,228.75,1.414,10246,0.237,0.177,2531,2104,3357,3376,3338,0,0,0,0,0,0,13.61,13.17,12.44
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3848,0.57,145.9,2533,2104,3374,3334,494.2,0.0,323,4240,0.75,0.00,212.15,1.357,10758,0.060,0.000,2782,2106,2749,2789,2710,0,0,0,0,0,0,13.43,12.71,12.16
$GC,4573,0.14,145.9,2782,2105,2787,2713,436.6,14.1,339,4578,0.68,2.47,0.00,0.000,4740,0.321,0.077,2647,720,2749,2786,2713,0,0,0,0,0,0,13.52,13.84,13.74
$GC,4609,0.01,164.7,2644,720,2787,2713,432.9,9.1,346,4639,0.25,2.45,24.02,1.469,13478,0.268,0.080,2591,2094,2689,2730,2648,0,0,0,0,0,0,13.65,13.85,13.09
$GC,4965,0.01,225.1,2591,2096,2723,2635,406.7,7.2,367,5064,0.00,0.00,97.07,1.333,8358,0.000,0.000,2590,2095,2446,2502,2390,0,0,0,0,0,0,14.22,13.69,12.95
$GC,5356,0.03,262.3,2591,2095,2487,2371,374.9,8.3,380,5416,0.00,0.00,56.97,1.341,8230,0.000,0.000,2591,2095,2295,2346,2245,0,0,0,0,0,0,14.19,13.78,13.05
$GC,5717,0.11,296.3,2592,2095,2334,2227,344.3,8.4,392,5777,0.00,2.55,54.53,1.326,8868,0.000,0.087,2591,720,2152,2201,2103,0,0,0,0,0,0,14.30,13.87,13.12
$GC,5804,0.25,335.3,2591,721,2186,2099,337.1,8.2,409,5873,0.22,2.45,61.20,1.287,11430,0.091,0.079,2678,2101,1993,2040,1946,0,0,0,0,0,0,13.99,13.90,12.98
$GC,6198,0.20,335.3,2678,2100,2028,1927,281.1,14.0,438,6204,0.12,2.45,0.00,0.000,4740,0.262,0.084,2654,726,1977,2027,1928,0,0,0,0,0,0,13.87,13.97,14.01
$GC,6249,0.24,335.3,2654,727,2025,1928,275.0,11.4,448,6255,0.00,2.42,0.00,0.000,1158,0.000,0.079,2654,2101,1975,2024,1926,0,0,0,0,0,0,14.12,14.02,14.15
$GC,6560,0.24,335.3,2655,2102,2025,1924,240.5,10.5,460,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2102,1974,2025,1924,0,0,0,0,0,0,14.35,14.38,14.37
$GC,6860,0.26,355.6,2655,2102,2025,1923,212.3,9.1,470,6891,0.00,2.53,26.62,1.366,8740,0.000,0.086,2654,725,1911,1954,1869,0,0,0,0,0,0,14.35,13.98,13.19
$GC,6949,0.38,393.7,2654,725,1940,1869,204.9,8.2,487,7023,0.15,2.45,67.47,1.242,11430,0.112,0.079,2712,2103,1759,1785,1733,0,0,0,0,0,0,14.00,13.94,13.11
$GC,7343,0.35,393.7,2712,2104,1775,1714,155.9,11.9,516,7349,0.00,2.47,0.00,0.000,644,0.000,0.087,2712,720,1743,1773,1713,0,0,0,0,0,0,14.31,13.98,14.33
$GC,7374,0.35,393.7,2713,718,1771,1713,152.3,11.3,522,7379,0.00,2.45,0.00,0.000,1030,0.000,0.077,2712,2105,1741,1770,1713,0,0,0,0,0,0,14.14,14.02,14.16
$GC,7704,0.35,393.7,2712,2106,1770,1712,116.2,10.4,538,7709,0.00,2.47,0.00,0.000,516,0.000,0.087,2712,719,1740,1770,1711,0,0,0,0,0,0,14.33,13.93,14.33
$GC,7749,0.40,393.7,2713,719,1767,1711,111.6,10.2,547,7754,0.00,2.45,0.00,0.000,1158,0.000,0.078,2712,2105,1739,1767,1711,0,0,0,0,0,0,14.06,13.95,14.09
$GC,8056,0.43,431.9,2713,2105,1768,1710,82.9,8.2,571,8078,0.00,0.00,20.12,0.437,8742,0.000,0.000,2712,2105,1602,1631,1574,0,0,0,0,0,0,14.31,13.91,13.51
$GC,8375,0.57,527.4,2713,2105,1641,1577,59.0,5.6,605,8439,0.12,2.47,55.88,0.369,10916,0.127,0.087,2778,728,1211,1270,1152,0,0,0,0,0,0,14.10,13.95,13.58
$GC,8544,0.69,585.7,2778,729,1271,1158,44.7,7.3,638,8583,0.00,2.42,34.45,0.329,9382,0.000,0.078,2779,2098,978,1045,911,0,0,0,0,0,0,14.03,13.96,13.62
$GC,8879,0.88,679.5,2778,2101,1045,915,21.2,5.7,675,8944,0.22,2.53,55.90,0.257,10916,0.096,0.094,2874,734,592,633,551,0,0,0,0,0,0,14.23,13.98,13.72
$GC,8994,0.92,700.4,2873,734,639,553,8.2,9.0,697,9016,0.00,2.42,13.52,0.224,9382,0.000,0.078,2873,2108,506,535,478,0,0,0,0,0,0,14.14,13.99,13.78
$STATE,9042,end climb,SURFACE_DEPTH_REACHED
$STATE,9042,begin surface coast
$FINISH,0.7,1.021558
$STATE,9052,end surface coast,CONTROL_FINISHED_OK
$STATE,9052,begin surface
$SM_CCo,9075,1.25,0.257,0,0,501,702.78
$SM_GC,1.80,8.25,0.15,1.25,0.074,0.125,0.257,199,2221,501,-7.39,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.95
$RAFOS_CLK,252
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7540.58,-15117.82,090917,202854
$TT8_MAMPS,0.040446,1.0149
$HUMID,46.65
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,5
$CP_FREE,15946711040.000000
$PM_FREEKB_00,48887616
$24V_AH,12.16,184.327
$10V_AH,11.99,0.000
$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,26.125,80.200,1008.675,1.250,0.000,0.000,0.000,201.250,1.250,0.000,24.120,0.000,6269.725,896.855,2075.224,256.527,0.000,2106.138,0.000,1011.844,2140.000,0.539,0.000
$DEVICE_MAMPS,453.645,2132.820,1468.800,257.040,0.000,0.000,0.000,133.110,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8656.000,9042.000,9029.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.380,20.000,98.607,0.000
$MEM,323628
$DATA_FILE_SIZE,23426,705
$CAP_FILE_SIZE,98437,0
$CFSIZE,2097872896,2003009536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.9
$CURRENT,0.039,36.36,1
$GPS,100917,014339,7541.104,-15109.463,36,0.7,43,20.8,0.3,325.1,12,9.2