version: 66.13
glider: 196
mission: 14
dive: 301
start: 9 10 117 18 7 37
data:
$ID,196
$MISSION,14
$DIVE,301
$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,29
$R_STBD_OVSHOOT,68
$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,839.0
$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
$GPS1,100917,175521,7542.9995,-15108.8545,13,0.8,25,20.8,0.0,137.4,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.1
$GPS2,100917,180701,7542.9805,-15108.8457,6,0.8,39,20.8,1.3,128.8,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.7,108454,-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,-145.9,184,2197,497,485,0.0,0.0,0,153,0.00,0.00,-100.88,0.000,16386,0.000,0.000,182,2197,2327,2276,2378,0,0,0,0,0,0,14.51,28.83,14.52
$GC,156,-0.57,-145.9,183,2198,2280,2379,4.6,-7.0,10,204,12.93,2.78,-29.38,0.000,18980,0.451,2.143,2384,799,3963,3946,3980,1,0,0,0,0,0,13.45,12.87,14.04
$GC,344,-0.70,-145.9,2384,799,3952,3981,47.1,-13.7,47,350,0.00,2.40,0.00,0.000,1158,0.000,0.086,2384,2152,3966,3952,3980,0,0,0,0,0,0,14.23,14.09,14.26
$GC,649,-0.84,-145.9,2384,2153,3954,3981,83.5,-10.0,78,654,0.22,2.60,0.00,0.000,4516,0.099,0.087,2289,3613,3966,3953,3980,0,0,0,0,0,0,13.89,13.88,13.87
$GC,819,-0.90,-145.9,2290,3615,3954,3981,107.2,-13.4,112,824,0.00,2.40,0.00,0.000,1158,0.000,0.056,2290,2198,3965,3952,3979,0,0,0,0,0,0,14.12,14.00,14.13
$GC,1130,-0.94,-145.9,2289,2197,3954,3981,152.0,-13.8,124,1134,0.00,2.50,0.00,0.000,388,0.000,0.086,2280,3610,3966,3953,3980,0,0,0,0,0,0,14.64,14.07,14.66
$GC,1220,-1.07,-145.9,2281,3612,3954,3980,163.1,-11.8,142,1225,0.15,2.42,0.00,0.000,5254,0.116,0.058,2224,2189,3966,3953,3980,0,0,0,0,0,0,14.22,14.14,14.33
$GC,1551,-1.01,-145.9,2224,2188,3954,3981,223.1,-17.8,158,1556,0.12,2.50,0.00,0.000,2436,0.295,0.083,2243,3610,3966,3953,3979,0,0,0,0,0,0,13.92,14.14,14.07
$GC,1668,-1.09,-145.9,2243,3611,3953,3976,238.6,-12.2,181,1675,0.00,2.40,0.00,0.000,1158,0.000,0.057,2238,2196,3966,3953,3980,0,0,0,0,0,0,14.29,14.16,14.33
$GC,1971,-1.12,-145.9,2243,2196,3954,3981,279.0,-12.8,192,1976,0.00,2.53,0.00,0.000,388,0.000,0.088,2234,3619,3966,3952,3980,0,0,0,0,0,0,14.66,14.05,14.67
$GC,2047,-1.23,-145.9,2236,3619,3953,3981,288.0,-11.4,207,2052,0.17,2.40,0.00,0.000,5254,0.113,0.057,2166,2200,3966,3953,3980,0,0,0,0,0,0,14.20,14.14,14.33
$GC,2362,-1.12,-145.9,2165,2199,3953,3981,345.9,-18.5,220,2367,0.20,2.50,0.00,0.000,2436,0.291,0.083,2203,3610,3964,3953,3975,0,0,0,0,0,0,13.81,13.76,13.97
$GC,2464,-1.17,-145.9,2203,3611,3954,3981,359.8,-12.3,240,2469,0.00,2.42,0.00,0.000,1158,0.000,0.057,2202,2196,3966,3953,3980,0,0,0,0,0,0,14.13,14.02,14.19
$GC,2784,-1.17,-145.9,2203,2195,3954,3980,403.6,-13.5,254,2789,0.00,2.53,0.00,0.000,260,0.000,0.086,2196,3614,3965,3952,3979,0,0,0,0,0,0,14.64,14.11,14.68
$GC,2879,-1.23,-145.9,2197,3617,3953,3981,416.0,-12.4,273,2885,0.00,2.40,0.00,0.000,1158,0.000,0.056,2196,2199,3966,3952,3980,0,0,0,0,0,0,14.11,13.98,14.14
$GC,3205,-1.23,-145.9,2197,2198,3953,3981,460.7,-13.6,288,3210,0.00,2.50,0.00,0.000,260,0.000,0.087,2196,3610,3966,3952,3980,0,0,0,0,0,0,14.66,14.12,14.67
$GC,3295,-1.28,-145.9,2196,3612,3953,3980,472.3,-12.2,306,3300,0.00,2.42,0.00,0.000,1158,0.000,0.056,2196,2195,3966,3952,3980,0,0,0,0,0,0,14.22,14.09,14.25
$STATE,3353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3353,begin apogee
$GC,3359,-0.13,0.0,2197,2055,3953,3980,480.3,-13.5,313,3589,1.30,0.10,226.25,1.411,10246,0.233,0.158,2527,2122,3365,3376,3355,0,0,0,0,0,0,13.81,13.47,12.65
$STATE,3593,end apogee,CONTROL_FINISHED_OK
$STATE,3593,begin climb
$GC,3597,0.57,145.9,2528,2122,3370,3343,492.4,0.0,320,3820,0.75,2.65,211.80,1.353,11012,0.061,0.073,2780,3498,2767,2795,2740,0,0,0,0,0,0,13.66,13.12,12.26
$GC,3925,0.08,145.9,2781,3498,2777,2726,493.2,14.9,379,3932,0.90,2.45,0.00,0.000,5254,0.352,0.056,2614,2127,2751,2776,2726,0,0,0,0,0,0,13.16,13.50,13.52
$GC,4231,-0.01,199.8,2615,2126,2778,2723,468.9,7.5,390,4320,0.15,0.00,83.12,1.356,12454,0.291,0.000,2583,2126,2543,2594,2493,0,0,0,0,0,0,13.85,13.78,13.02
$GC,4620,0.03,248.1,2584,2126,2590,2476,439.4,7.8,403,4700,0.00,0.00,75.25,1.357,8742,0.000,0.000,2584,2126,2349,2397,2301,0,0,0,0,0,0,14.55,13.66,13.08
$GC,5011,0.10,288.3,2584,2127,2384,2287,407.8,8.1,421,5081,0.00,2.58,64.05,1.346,8868,0.000,0.088,2588,694,2181,2225,2137,0,0,0,0,0,0,14.56,13.90,13.11
$GC,5157,0.25,327.2,2589,694,2214,2132,395.8,8.2,450,5224,0.22,2.45,60.97,1.323,11430,0.093,0.080,2678,2087,2029,2069,1989,0,0,0,0,0,0,14.14,14.05,13.07
$GC,5522,0.17,327.2,2679,2087,2056,1967,341.6,15.1,473,5527,0.15,2.45,0.00,0.000,4740,0.265,0.084,2647,691,2010,2054,1967,0,0,0,0,0,0,13.93,14.15,14.09
$GC,5578,0.21,327.2,2649,691,2052,1967,334.5,11.7,484,5584,0.00,2.47,0.00,0.000,1158,0.000,0.077,2647,2109,2009,2051,1967,0,0,0,0,0,0,14.33,14.19,14.38
$GC,5883,0.21,327.2,2647,2111,2052,1963,298.2,11.7,495,5887,0.00,2.50,0.00,0.000,516,0.000,0.086,2646,690,2007,2050,1964,0,0,0,0,0,0,14.66,14.08,14.67
$GC,5907,0.21,327.2,2647,690,2050,1963,295.3,11.2,500,5914,0.00,2.47,0.00,0.000,1030,0.000,0.076,2647,2101,2006,2049,1964,0,0,0,0,0,0,14.31,14.21,14.36
$GC,6213,0.21,327.2,2647,2102,2048,1964,260.9,11.1,511,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,2005,2049,1962,0,0,0,0,0,0,14.66,14.71,14.70
$GC,6513,0.22,341.6,2647,2102,2050,1963,231.5,9.3,521,6533,0.00,2.47,14.40,1.461,8740,0.000,0.087,2647,693,1969,2012,1927,0,0,0,0,0,0,14.68,14.17,13.30
$GC,6610,0.33,372.7,2647,693,2003,1924,223.1,8.6,540,6674,0.12,2.45,56.58,1.279,11430,0.127,0.078,2698,2103,1844,1871,1817,0,0,0,0,0,0,14.28,14.19,13.17
$GC,7011,0.29,372.7,2699,2104,1854,1803,175.7,11.5,567,7015,0.00,2.50,0.00,0.000,644,0.000,0.086,2699,695,1828,1854,1802,0,0,0,0,0,0,14.45,14.07,14.46
$GC,7056,0.32,372.7,2699,696,1853,1803,170.7,10.7,576,7060,0.00,2.45,0.00,0.000,1158,0.000,0.077,2699,2099,1827,1852,1802,0,0,0,0,0,0,14.22,14.10,14.27
$GC,7371,0.32,372.7,2698,2100,1852,1801,137.8,10.1,589,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2099,1826,1852,1800,0,0,0,0,0,0,14.47,14.49,14.49
$GC,7671,0.33,386.2,2699,2100,1853,1798,109.2,9.4,599,7691,0.00,2.50,14.25,1.403,8740,0.000,0.086,2699,687,1787,1810,1764,0,0,0,0,0,0,14.46,14.10,13.23
$GC,7721,0.42,418.3,2699,687,1803,1762,104.9,8.5,609,7787,0.00,2.50,58.95,1.219,9382,0.000,0.077,2699,2110,1657,1680,1634,0,0,0,0,0,0,14.18,14.06,13.18
$GC,8093,0.52,471.9,2700,2111,1673,1613,74.4,7.5,653,8129,0.12,2.53,30.42,0.416,10916,0.128,0.086,2768,695,1439,1473,1406,0,0,0,0,0,0,14.12,14.04,13.62
$GC,8175,0.52,471.9,2768,695,1477,1407,66.2,10.0,669,8180,0.00,2.47,0.00,0.000,1030,0.000,0.075,2768,2100,1442,1477,1407,0,0,0,0,0,0,14.18,14.06,14.21
$GC,8485,0.59,565.4,2767,2101,1479,1408,41.1,5.7,701,8548,0.00,2.53,56.72,0.320,8740,0.000,0.085,2768,689,1057,1121,994,0,0,0,0,0,0,14.41,13.92,13.69
$GC,8610,0.78,637.5,2768,689,1123,1004,33.5,6.7,725,8663,0.15,2.47,44.92,0.291,11430,0.072,0.077,2840,2098,763,830,696,0,0,0,0,0,0,14.06,14.02,13.69
$STATE,8938,end climb,SURFACE_DEPTH_REACHED
$STATE,8938,begin surface coast
$FINISH,0.1,1.021559
$STATE,8956,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,9024,41.67,0.204,0,0,499,702.78
$SM_GC,0.88,8.30,0.20,41.67,0.083,0.125,0.204,200,2217,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.21,14.15,13.88
$RAFOS_CLK,116
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7540.58,-15117.82,100917,152710
$TT8_MAMPS,0.083888,0.910035
$HUMID,43.85
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,0.000000
$PM_FREEKB_00,48559488
$24V_AH,12.26,187.878
$10V_AH,12.22,0.000
$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,25.975,85.150,997.700,41.675,0.000,0.000,0.000,405.025,4.000,0.000,42.172,0.000,6342.872,1048.075,2069.794,320.358,0.000,2185.208,0.000,1097.316,2217.000,0.540,0.000
$DEVICE_MAMPS,451.350,2142.765,1461.150,204.255,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8987.000,9005.000,8977.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.781,20.000,17.128,0.000
$MEM,323696
$DATA_FILE_SIZE,26712,765
$CAP_FILE_SIZE,101739,0
$CFSIZE,2097872896,2001305600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.022,97.54,1
$GPS,100917,204033,7541.715,-15108.625,64,0.8,65,20.8,0.0,0.0,10,7.4