version: 66.13
glider: 196
mission: 14
dive: 303
start: 9 10 117 23 38 37
data:
$ID,196
$MISSION,14
$DIVE,303
$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,63
$R_STBD_OVSHOOT,42
$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,844.0
$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
$GPS1,100917,232618,7540.4263,-15109.3594,14,0.8,16,20.8,0.8,46.6,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.7
$GPS2,100917,233804,7540.4375,-15109.2598,10,0.8,34,20.8,0.4,326.9,9,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.5,103812,-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,-145.9,189,2223,509,490,0.0,0.0,0,144,0.00,0.00,-91.62,0.000,16386,0.000,0.000,185,2222,2115,2043,2188,0,0,0,0,0,0,14.51,28.83,14.55
$GC,148,-0.57,-145.9,188,2223,2046,2189,3.4,-4.3,9,205,12.90,2.72,-38.72,0.000,18724,0.452,2.137,2376,3594,3958,3942,3974,1,0,0,0,0,0,13.32,12.85,14.09
$GC,340,-0.73,-145.9,2377,3594,3948,3973,41.0,-12.8,47,345,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2234,3961,3948,3974,0,0,0,0,0,0,14.12,13.97,14.13
$GC,650,-0.85,-145.9,2375,2233,3950,3976,82.0,-10.2,79,655,0.20,2.53,0.00,0.000,4740,0.104,0.080,2291,793,3961,3949,3974,0,0,0,0,0,0,14.21,13.97,14.28
$GC,685,-0.85,-145.9,2290,794,3950,3976,87.2,-15.6,86,692,0.00,2.47,0.00,0.000,1030,0.000,0.086,2287,2176,3961,3949,3974,0,0,0,0,0,0,14.07,13.91,14.10
$GC,1011,-0.85,-145.9,2288,2177,3950,3975,138.1,-14.5,103,1015,0.00,2.58,0.00,0.000,260,0.000,0.089,2280,3616,3961,3949,3974,0,0,0,0,0,0,14.51,13.95,14.53
$GC,1196,-0.97,-145.9,2281,3619,3950,3975,160.3,-11.5,140,1201,0.00,2.42,0.00,0.000,1158,0.000,0.057,2280,2198,3963,3949,3977,0,0,0,0,0,0,14.23,14.12,14.28
$GC,1523,-1.03,-145.9,2282,2198,3950,3975,201.8,-12.5,155,1528,0.00,2.55,0.00,0.000,388,0.000,0.089,2280,3615,3962,3950,3974,0,0,0,0,0,0,14.45,14.00,14.46
$GC,1574,-1.16,-145.9,2280,3615,3950,3974,207.8,-10.5,165,1579,0.25,2.42,0.00,0.000,5254,0.101,0.056,2190,2199,3965,3957,3974,0,0,0,0,0,0,14.09,14.07,14.19
$GC,1885,-1.05,-145.9,2190,2199,3950,3975,268.5,-18.8,177,1890,0.20,2.53,0.00,0.000,2436,0.288,0.083,2224,3614,3961,3949,3974,0,0,0,0,0,0,13.62,13.93,13.81
$GC,2015,-1.13,-145.9,2225,3616,3950,3976,285.7,-11.7,203,2020,0.00,2.45,0.00,0.000,1158,0.000,0.057,2225,2191,3960,3949,3971,0,0,0,0,0,0,14.16,14.03,14.19
$GC,2335,-1.13,-145.9,2225,2186,3950,3974,326.8,-12.5,217,2340,0.00,2.58,0.00,0.000,260,0.000,0.088,2222,3610,3961,3949,3974,0,0,0,0,0,0,14.30,13.80,14.32
$GC,2420,-1.22,-145.9,2223,3612,3950,3975,336.7,-10.9,234,2426,0.00,2.42,0.00,0.000,1158,0.000,0.056,2222,2200,3960,3946,3974,0,0,0,0,0,0,13.98,13.86,14.01
$GC,2725,-1.25,-145.9,2224,2200,3947,3975,373.8,-12.2,245,2730,0.12,2.58,0.00,0.000,4484,0.149,0.084,2161,3614,3961,3949,3974,0,0,0,0,0,0,13.95,13.83,14.00
$GC,2791,-1.19,-145.9,2162,3615,3948,3974,384.4,-16.6,258,2796,0.15,2.45,0.00,0.000,3206,0.272,0.057,2188,2196,3960,3947,3974,0,0,0,0,0,0,13.62,13.93,13.92
$GC,3116,-1.15,-145.9,2187,2196,3948,3975,433.3,-14.8,273,3121,0.00,2.58,0.00,0.000,388,0.000,0.086,2183,3620,3962,3951,3974,0,0,0,0,0,0,14.33,13.83,14.31
$GC,3221,-1.15,-145.9,2183,3621,3948,3975,448.3,-13.6,294,3226,0.00,2.47,0.00,0.000,1030,0.000,0.056,2184,2194,3960,3947,3974,0,0,0,0,0,0,14.07,13.95,14.11
$STATE,3443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3449,-0.13,0.0,2184,2066,3947,3975,482.5,-15.3,304,3686,1.40,0.08,228.23,1.401,10246,0.246,0.179,2527,2114,3355,3372,3339,0,0,0,0,0,0,13.66,13.32,12.57
$STATE,3692,end apogee,CONTROL_FINISHED_OK
$STATE,3693,begin climb
$GC,3695,0.57,145.9,2528,2115,3372,3335,496.1,0.0,312,3915,0.75,2.60,209.95,1.355,10500,0.060,0.070,2777,3510,2762,2797,2728,0,0,0,0,0,0,13.52,12.80,12.19
$GC,4140,0.08,145.9,2779,3512,2779,2717,478.3,15.1,385,4147,0.85,2.42,0.00,0.000,5254,0.351,0.057,2617,2131,2747,2777,2718,0,0,0,0,0,0,13.45,13.74,13.81
$GC,4467,-0.01,194.8,2616,2131,2779,2716,451.8,7.7,400,4547,0.12,2.50,72.18,1.374,12708,0.294,0.081,2588,3495,2561,2609,2513,0,0,0,0,0,0,13.81,13.81,13.07
$GC,4692,-0.04,209.3,2588,3497,2593,2506,432.4,9.3,445,4713,0.00,2.40,14.93,1.541,9382,0.000,0.060,2589,2104,2509,2558,2461,0,0,0,0,0,0,14.16,14.05,13.12
$GC,5040,-0.02,246.8,2589,2104,2548,2445,403.7,8.3,464,5108,0.00,2.58,60.62,1.363,8740,0.000,0.089,2589,691,2353,2397,2309,0,0,0,0,0,0,14.46,13.94,13.15
$GC,5133,0.08,285.3,2589,690,2390,2304,395.7,8.2,478,5199,0.00,2.47,59.42,1.337,9382,0.000,0.078,2589,2094,2200,2248,2152,0,0,0,0,0,0,14.09,13.97,12.99
$GC,5520,0.16,312.5,2589,2092,2234,2128,361.8,8.7,505,5566,0.15,2.50,39.90,1.359,10916,0.118,0.087,2660,691,2086,2132,2040,0,0,0,0,0,0,14.24,13.95,13.17
$GC,5591,0.13,312.5,2664,692,2120,2034,352.8,13.7,514,5596,0.15,2.47,0.00,0.000,5254,0.242,0.077,2628,2098,2075,2119,2032,0,0,0,0,0,0,13.89,13.97,14.13
$GC,5911,0.13,312.5,2628,2099,2120,2021,317.2,10.8,528,5916,0.00,2.50,0.00,0.000,516,0.000,0.087,2630,692,2069,2119,2020,0,0,0,0,0,0,14.47,14.10,14.49
$GC,5941,0.17,312.5,2631,693,2119,2021,314.1,10.5,534,5946,0.00,2.47,0.00,0.000,1158,0.000,0.077,2630,2103,2069,2118,2020,0,0,0,0,0,0,14.30,14.14,14.32
$GC,6271,0.17,312.5,2630,2104,2119,2020,279.4,10.4,550,6276,0.00,2.53,0.00,0.000,516,0.000,0.086,2630,687,2068,2118,2019,0,0,0,0,0,0,14.53,14.12,14.54
$GC,6321,0.26,326.8,2631,688,2116,2020,274.5,9.3,560,6343,0.10,2.45,15.70,1.458,11430,0.146,0.076,2680,2101,2029,2072,1986,0,0,0,0,0,0,14.23,14.20,13.26
$GC,6665,0.20,326.8,2680,2101,2066,1973,232.1,11.9,578,6666,0.15,0.00,0.00,0.000,4230,0.248,0.000,2648,2101,2018,2065,1972,0,0,0,0,0,0,14.07,14.38,14.35
$GC,6964,0.25,362.2,2648,2101,2067,1970,205.4,8.4,588,7034,0.00,2.55,61.72,1.280,8868,0.000,0.088,2648,695,1881,1914,1848,0,0,0,0,0,0,14.69,14.03,13.22
$GC,7076,0.41,410.8,2648,696,1903,1846,196.6,7.8,610,7170,0.20,2.47,86.60,1.196,11430,0.101,0.077,2732,2101,1689,1713,1665,0,0,0,0,0,0,14.16,14.09,13.08
$GC,7475,0.38,410.8,2724,2102,1705,1638,144.2,12.9,640,7480,0.00,2.47,0.00,0.000,644,0.000,0.088,2726,692,1670,1702,1638,0,0,0,0,0,0,14.56,14.11,14.57
$GC,7570,0.38,410.8,2726,693,1700,1638,133.0,11.2,659,7575,0.00,2.47,0.00,0.000,1030,0.000,0.076,2726,2102,1668,1698,1638,0,0,0,0,0,0,14.09,13.96,14.12
$GC,7875,0.36,410.8,2727,2103,1700,1636,97.8,11.0,674,7880,0.12,2.53,0.00,0.000,4740,0.233,0.083,2699,688,1667,1699,1635,0,0,0,0,0,0,13.93,13.96,14.06
$GC,7930,0.48,450.2,2699,688,1698,1635,92.9,8.2,685,7959,0.12,2.50,20.45,0.463,11430,0.125,0.076,2756,2107,1529,1559,1499,0,0,0,0,0,0,14.02,13.97,13.56
$GC,8255,0.48,484.0,2756,2108,1569,1505,58.0,8.4,720,8282,0.00,2.50,20.90,0.363,8868,0.000,0.086,2756,687,1389,1430,1349,0,0,0,0,0,0,14.43,14.00,13.63
$GC,8302,0.56,564.6,2757,687,1434,1354,54.7,6.3,729,8356,0.00,2.50,47.97,0.359,9382,0.000,0.076,2757,2100,1061,1129,994,0,0,0,0,0,0,14.15,14.02,13.63
$GC,8662,0.74,651.2,2757,2100,1131,1003,30.7,6.0,770,8720,0.17,2.53,51.35,0.285,10916,0.106,0.089,2835,690,708,769,648,0,0,0,0,0,0,14.04,13.98,13.71
$GC,8790,0.84,670.5,2837,689,777,652,19.2,9.1,795,8808,0.00,2.53,12.95,0.256,9382,0.000,0.078,2836,2112,632,687,577,0,0,0,0,0,0,14.00,13.88,13.74
$STATE,8973,end climb,SURFACE_DEPTH_REACHED
$STATE,8973,begin surface coast
$FINISH,0.1,1.021575
$STATE,8993,end surface coast,CONTROL_FINISHED_OK
$STATE,8993,begin surface
$SM_CCo,9013,23.48,0.202,0,0,499,703.03
$SM_GC,0.99,8.15,0.15,23.48,0.076,0.129,0.202,196,2219,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.27,13.94
$RAFOS_CLK,349
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7552.12,-14850.09,100917,204502
$TT8_MAMPS,0.040446,0.957222
$HUMID,46.65
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,15942877184.000000
$PM_FREEKB_00,48455936
$24V_AH,12.19,188.891
$10V_AH,12.08,0.000
$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,26.275,95.400,1002.875,23.475,0.000,0.000,0.000,409.175,3.250,0.000,35.772,0.000,6278.220,988.662,2167.557,320.725,0.000,2215.991,0.000,1169.777,2134.000,0.539,0.000
$DEVICE_MAMPS,452.115,2137.410,1540.710,201.960,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9023.000,8986.000,8967.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.265,20.000,31.431,0.000
$MEM,323288
$DATA_FILE_SIZE,30009,817
$CAP_FILE_SIZE,109103,0
$CFSIZE,2097872896,2000781312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1448.7
$CURRENT,0.026,65.22,1
$GPS,110917,021031,7539.287,-15109.735,16,0.7,32,20.8,0.6,130.4,11,7.5