version: 66.13
glider: 196
mission: 14
dive: 302
start: 9 10 117 20 52 4
data:
$ID,196
$MISSION,14
$DIVE,302
$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,28
$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,841.0
$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
$GPS1,100917,204033,7541.7153,-15108.6250,64,0.8,65,20.8,0.0,0.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.9
$GPS2,100917,205128,7541.7295,-15108.5918,5,0.8,10,20.8,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.5,106141,-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,-145.9,185,2221,506,490,0.0,0.0,0,143,0.00,0.00,-91.95,0.000,16386,0.000,0.000,184,2220,2137,2065,2209,0,0,0,0,0,0,14.35,28.83,14.37
$GC,146,-0.57,-145.9,185,2221,2067,2211,3.4,-4.6,9,204,12.88,2.83,-37.12,0.000,18724,0.452,2.139,2376,3600,3963,3949,3978,0,0,0,0,0,0,13.60,12.57,14.05
$GC,324,-0.72,-145.9,2376,3602,3953,3979,39.6,-13.3,44,331,0.00,2.42,0.00,0.000,1158,0.000,0.057,2376,2204,3965,3952,3978,0,0,0,0,0,0,13.99,13.88,14.02
$GC,629,-0.84,-145.9,2376,2204,3954,3979,81.1,-10.8,75,634,0.17,2.47,0.00,0.000,4484,0.114,0.083,2291,3602,3965,3954,3977,0,0,0,0,0,0,14.23,13.95,14.28
$GC,665,-0.87,-145.9,2292,3604,3954,3979,86.0,-15.3,82,671,0.00,2.42,0.00,0.000,1158,0.000,0.059,2287,2190,3966,3954,3978,0,0,0,0,0,0,14.11,13.97,14.16
$GC,969,-0.87,-145.9,2291,2190,3954,3979,133.0,-14.3,99,974,0.00,2.50,0.00,0.000,260,0.000,0.085,2281,3611,3965,3953,3978,0,0,0,0,0,0,14.63,14.10,14.64
$GC,1064,-0.99,-145.9,2281,3616,3956,3978,144.8,-11.6,118,1069,0.00,2.40,0.00,0.000,1158,0.000,0.057,2281,2196,3966,3954,3978,0,0,0,0,0,0,14.21,14.10,14.26
$GC,1390,-1.04,-145.9,2281,2195,3955,3978,188.1,-13.0,133,1395,0.12,2.47,0.00,0.000,4484,0.137,0.083,2223,3602,3966,3954,3978,0,0,0,0,0,0,14.31,14.14,14.34
$GC,1451,-1.06,-145.9,2223,3604,3954,3979,197.7,-15.8,145,1455,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2201,3965,3953,3978,0,0,0,0,0,0,14.33,14.20,14.38
$GC,1781,-1.02,-145.9,2223,2201,3954,3979,254.3,-16.3,161,1785,0.00,2.47,0.00,0.000,388,0.000,0.088,2222,3602,3965,3953,3978,0,0,0,0,0,0,14.65,14.14,14.67
$GC,1876,-1.07,-145.9,2222,3603,3955,3978,267.4,-12.7,180,1882,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2190,3966,3954,3978,0,0,0,0,0,0,14.32,14.20,14.35
$GC,2202,-1.07,-145.9,2222,2190,3954,3979,311.4,-12.9,195,2207,0.00,2.53,0.00,0.000,260,0.000,0.088,2222,3609,3964,3951,3978,0,0,0,0,0,0,14.55,14.04,14.56
$GC,2319,-1.15,-145.9,2223,3609,3954,3979,324.7,-10.9,218,2324,0.00,2.40,0.00,0.000,1158,0.000,0.055,2221,2190,3969,3961,3978,0,0,0,0,0,0,14.26,14.16,14.31
$GC,2622,-1.18,-145.9,2225,2190,3954,3979,361.7,-12.1,229,2627,0.00,2.50,0.00,0.000,388,0.000,0.088,2222,3603,3966,3954,3978,0,0,0,0,0,0,14.64,14.11,14.65
$GC,2697,-1.28,-145.9,2222,3604,3954,3979,370.2,-10.6,244,2703,0.17,2.38,0.00,0.000,5254,0.114,0.056,2156,2196,3965,3953,3978,0,0,0,0,0,0,14.25,14.21,14.33
$GC,3013,-1.17,-145.9,2156,2197,3954,3979,426.4,-18.1,257,3018,0.17,2.50,0.00,0.000,2436,0.331,0.083,2182,3603,3965,3953,3978,0,0,0,0,0,0,13.58,13.97,13.81
$GC,3138,-1.17,-145.9,2183,3604,3954,3978,444.7,-13.7,282,3144,0.00,2.40,0.00,0.000,1030,0.000,0.056,2182,2199,3965,3953,3978,0,0,0,0,0,0,14.32,14.19,14.35
$STATE,3371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3371,begin apogee
$GC,3377,-0.13,0.0,2183,2055,3953,3979,480.4,-15.3,294,3616,1.40,0.08,231.32,1.394,10246,0.245,0.180,2528,2098,3360,3378,3343,0,0,0,0,0,0,13.76,13.46,12.65
$STATE,3619,end apogee,CONTROL_FINISHED_OK
$STATE,3619,begin climb
$GC,3622,0.57,145.9,2532,2099,3374,3338,494.2,0.0,302,3847,0.73,2.65,213.82,1.355,10756,0.060,0.080,2781,735,2762,2796,2728,0,0,0,0,0,0,13.66,12.88,12.25
$GC,4072,0.17,145.9,2782,734,2786,2719,480.1,13.1,349,4079,0.68,2.42,0.00,0.000,5254,0.324,0.074,2637,2099,2751,2786,2717,0,0,0,0,0,0,13.43,13.81,13.83
$GC,4377,0.02,180.7,2641,2099,2788,2714,453.6,8.4,360,4433,0.20,2.53,50.97,1.384,12964,0.265,0.084,2593,726,2626,2673,2579,0,0,0,0,0,0,13.67,13.95,13.11
$GC,4573,0.06,239.5,2593,725,2665,2566,439.3,7.3,399,4670,0.00,2.42,91.20,1.340,9254,0.000,0.079,2593,2100,2388,2443,2333,0,0,0,0,0,0,14.22,14.09,12.98
$GC,4980,0.08,264.4,2593,2102,2421,2311,404.3,8.9,430,5014,0.00,0.00,32.42,1.401,8230,0.000,0.000,2593,2101,2289,2341,2238,0,0,0,0,0,0,14.54,14.03,13.19
$GC,5310,0.13,288.9,2593,2102,2324,2217,374.8,8.9,441,5350,0.00,0.00,36.70,1.378,8870,0.000,0.000,2593,2101,2185,2236,2135,0,0,0,0,0,0,14.59,14.06,13.22
$GC,5672,0.21,321.3,2593,2102,2219,2118,343.9,8.5,463,5727,0.15,2.50,49.67,1.333,10916,0.114,0.087,2669,730,2051,2098,2005,0,0,0,0,0,0,14.21,14.07,13.23
$GC,5793,0.21,321.3,2671,730,2080,1999,328.0,13.3,487,5797,0.00,2.40,0.00,0.000,1030,0.000,0.078,2669,2099,2038,2079,1998,0,0,0,0,0,0,14.17,14.05,14.21
$GC,6123,0.17,321.3,2669,2102,2079,1992,283.7,13.1,503,6128,0.12,2.40,0.00,0.000,4740,0.273,0.082,2644,726,2034,2078,1991,0,0,0,0,0,0,14.04,14.14,14.18
$GC,6163,0.21,321.3,2644,726,2078,1992,279.0,10.8,511,6168,0.00,2.38,0.00,0.000,1158,0.000,0.077,2644,2100,2033,2077,1990,0,0,0,0,0,0,14.36,14.23,14.41
$GC,6483,0.21,321.3,2644,2102,2077,1989,245.2,10.0,525,6489,0.00,2.42,0.00,0.000,516,0.000,0.086,2644,728,2033,2077,1989,0,0,0,0,0,0,14.66,14.06,14.68
$GC,6519,0.28,335.0,2644,729,2077,1989,241.9,9.4,532,6539,0.00,2.40,14.20,1.425,9382,0.000,0.076,2644,2101,1998,2042,1954,0,0,0,0,0,0,14.28,14.16,13.30
$GC,6844,0.33,363.8,2645,2100,2036,1939,212.9,8.7,547,6897,0.12,0.00,51.00,1.276,10406,0.125,0.000,2698,2101,1883,1915,1851,0,0,0,0,0,0,14.32,14.02,13.24
$GC,7174,0.29,363.8,2699,2101,1895,1837,174.8,11.3,558,7179,0.00,2.42,0.00,0.000,644,0.000,0.086,2699,722,1862,1893,1832,0,0,0,0,0,0,14.55,14.15,14.59
$GC,7259,0.32,363.8,2700,721,1892,1833,165.7,10.3,575,7266,0.00,2.45,0.00,0.000,1158,0.000,0.076,2704,2102,1864,1891,1838,0,0,0,0,0,0,14.19,14.10,14.23
$GC,7564,0.30,363.8,2699,2103,1892,1832,133.7,10.2,586,7569,0.00,2.42,0.00,0.000,644,0.000,0.084,2698,730,1861,1891,1832,0,0,0,0,0,0,14.50,14.09,14.52
$GC,7630,0.34,376.2,2699,731,1889,1833,127.4,9.4,599,7646,0.00,2.40,9.73,1.408,9382,0.000,0.076,2699,2110,1834,1862,1807,0,0,0,0,0,0,14.29,14.19,13.27
$GC,7948,0.36,406.8,2699,2109,1854,1800,97.9,8.6,615,7968,0.00,0.00,18.50,0.474,8230,0.000,0.000,2699,2109,1707,1733,1682,0,0,0,0,0,0,14.46,14.09,13.59
$GC,8266,0.45,467.4,2698,2110,1741,1687,73.3,7.2,647,8308,0.00,2.53,37.45,0.411,8868,0.000,0.083,2699,722,1456,1492,1421,0,0,0,0,0,0,14.59,14.05,13.66
$GC,8353,0.64,540.2,2699,722,1497,1424,67.3,6.6,660,8407,0.28,2.42,44.38,0.392,11430,0.083,0.076,2800,2102,1157,1220,1095,0,0,0,0,0,0,14.23,14.12,13.65
$GC,8712,0.66,573.9,2800,2102,1225,1104,31.5,8.4,701,8734,0.00,0.00,20.75,0.285,8230,0.000,0.000,2800,2102,1023,1091,956,0,0,0,0,0,0,14.52,14.11,13.73
$GC,9032,0.78,657.2,2800,2102,1092,970,10.4,6.2,733,9091,0.00,2.50,51.35,0.224,8868,0.000,0.089,2802,733,681,741,622,0,0,0,0,0,0,14.55,14.02,13.74
$GC,9133,0.98,742.2,2800,734,741,623,3.5,6.1,752,9152,0.30,2.42,14.20,0.207,11426,0.083,0.076,2909,2113,594,641,547,0,0,0,0,0,0,14.21,14.02,14.28
$STATE,9152,end climb,SURFACE_DEPTH_REACHED
$STATE,9153,begin surface coast
$FINISH,0.7,1.021567
$STATE,9155,end surface coast,CONTROL_FINISHED_OK
$STATE,9155,begin surface
$SM_CCo,9176,15.05,0.207,0,0,498,703.03
$SM_GC,0.90,8.43,0.15,15.05,0.081,0.129,0.207,205,2220,498,-7.36,-0.76,703.03,0,0,0,0,0,0,14.26,14.24,13.93
$RAFOS_CLK,410
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7542.41,-15113.64,100917,180559
$TT8_MAMPS,0.038948,0.984935
$HUMID,46.65
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,15
$CP_FREE,15943303168.000000
$PM_FREEKB_00,48519808
$24V_AH,12.25,188.347
$10V_AH,12.14,0.000
$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,25.925,83.975,967.675,15.050,0.000,0.000,0.000,384.425,3.750,0.000,11.663,0.000,6526.592,882.505,2142.230,310.488,0.000,2124.977,0.000,1090.394,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2138.940,1425.195,206.550,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9190.000,9152.000,9130.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.601,20.000,20.374,0.000
$MEM,323416
$DATA_FILE_SIZE,26694,756
$CAP_FILE_SIZE,101938,0
$CFSIZE,2097872896,2001043456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.022,116.06,1
$GPS,100917,232618,7540.426,-15109.359,14,0.8,16,20.8,0.8,46.6,11,8.8