version: 66.13
glider: 196
mission: 14
dive: 304
start: 9 11 117 2 28 39
data:
$ID,196
$MISSION,14
$DIVE,304
$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,25
$R_STBD_OVSHOOT,40
$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,847.0
$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
$GPS1,110917,021031,7539.2871,-15109.7354,16,0.7,32,20.8,0.6,130.4,11,7.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.2
$GPS2,110917,022805,7539.2671,-15109.4766,10,0.9,12,20.8,0.5,149.2,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.6,101680,-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,-145.9,178,2221,516,478,0.0,0.0,0,153,0.00,0.00,-100.82,0.000,16386,0.000,0.000,177,2222,2340,2284,2397,0,0,0,0,0,0,14.53,28.83,14.55
$GC,156,-0.57,-145.9,178,2222,2288,2397,4.9,-7.8,10,204,13.10,2.72,-28.73,0.000,18724,0.455,2.138,2375,3592,3962,3946,3978,1,0,0,0,0,0,13.40,12.86,14.09
$GC,379,-0.76,-145.9,2375,3593,3952,3979,50.0,-11.5,54,384,0.15,2.38,0.00,0.000,5254,0.116,0.057,2317,2199,3964,3951,3978,0,0,0,0,0,0,14.09,14.12,14.17
$GC,699,-0.79,-145.9,2317,2199,3952,3979,104.4,-14.0,85,705,0.00,2.47,0.00,0.000,388,0.000,0.086,2308,3600,3964,3951,3978,0,0,0,0,0,0,14.58,13.95,14.59
$GC,755,-0.95,-145.9,2305,3600,3953,3978,111.7,-11.6,96,761,0.00,2.40,0.00,0.000,1158,0.000,0.057,2308,2196,3965,3952,3979,0,0,0,0,0,0,14.12,14.00,14.16
$GC,1060,-1.01,-145.9,2307,2195,3953,3978,150.1,-12.0,107,1065,0.15,2.47,0.00,0.000,4484,0.120,0.085,2234,3592,3966,3954,3978,0,0,0,0,0,0,14.30,14.13,14.33
$GC,1116,-1.04,-145.9,2236,3593,3953,3978,158.8,-15.5,118,1122,0.00,2.38,0.00,0.000,1158,0.000,0.058,2236,2195,3965,3952,3978,0,0,0,0,0,0,14.28,14.15,14.32
$GC,1421,-1.00,-145.9,2236,2195,3951,3979,212.3,-16.9,129,1427,0.00,2.47,0.00,0.000,388,0.000,0.086,2230,3593,3965,3953,3978,0,0,0,0,0,0,14.63,14.09,14.65
$GC,1502,-1.05,-145.9,2231,3594,3952,3979,224.5,-13.9,145,1508,0.00,2.38,0.00,0.000,1158,0.000,0.058,2230,2199,3965,3952,3979,0,0,0,0,0,0,13.45,13.47,13.54
$GC,1813,-1.05,-145.9,2231,2198,3953,3978,271.1,-14.2,157,1818,0.00,2.45,0.00,0.000,260,0.000,0.086,2223,3592,3965,3952,3978,0,0,0,0,0,0,14.65,14.09,14.69
$GC,1919,-1.12,-145.9,2223,3593,3953,3979,284.1,-11.5,178,1924,0.00,2.38,0.00,0.000,1158,0.000,0.058,2223,2190,3965,3952,3978,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2234,-1.12,-145.9,2223,2189,3953,3979,325.5,-13.1,191,2239,0.00,2.47,0.00,0.000,260,0.000,0.087,2222,3592,3965,3952,3978,0,0,0,0,0,0,14.67,14.06,14.69
$GC,2334,-1.21,-145.9,2222,3592,3953,3978,337.3,-11.2,211,2339,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2198,3965,3952,3978,0,0,0,0,0,0,14.33,14.21,14.37
$GC,2654,-1.24,-145.9,2222,2197,3952,3979,375.9,-11.8,225,2660,0.12,2.47,0.00,0.000,4484,0.148,0.084,2158,3595,3965,3952,3978,0,0,0,0,0,0,14.28,14.06,14.31
$GC,2741,-1.18,-145.9,2158,3598,3950,3979,389.7,-16.6,242,2747,0.17,2.40,0.00,0.000,3206,0.273,0.057,2191,2194,3964,3951,3978,0,0,0,0,0,0,13.77,14.12,14.07
$GC,3046,-1.15,-145.9,2192,2194,3953,3978,434.3,-14.3,253,3052,0.00,2.47,0.00,0.000,388,0.000,0.084,2184,3592,3964,3951,3978,0,0,0,0,0,0,14.67,14.12,14.67
$GC,3132,-1.15,-145.9,2185,3594,3953,3978,446.3,-13.7,270,3138,0.00,2.38,0.00,0.000,1030,0.000,0.056,2184,2204,3964,3950,3978,0,0,0,0,0,0,14.25,14.12,14.29
$STATE,3375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3375,begin apogee
$GC,3381,-0.13,0.0,2185,2057,3953,3978,483.2,-15.1,279,3610,1.40,0.00,226.00,1.405,10246,0.244,0.000,2530,2052,3366,3376,3357,0,0,0,0,0,0,13.70,13.47,12.64
$STATE,3614,end apogee,CONTROL_FINISHED_OK
$STATE,3614,begin climb
$GC,3617,0.57,145.9,2530,2057,3370,3349,495.6,0.0,286,3840,0.75,2.53,211.95,1.359,11012,0.060,0.076,2794,722,2762,2793,2732,0,0,0,0,0,0,13.66,12.86,12.25
$GC,4065,0.15,145.9,2794,722,2784,2721,481.9,13.7,369,4072,0.77,2.45,0.00,0.000,5254,0.324,0.073,2633,2093,2750,2783,2718,0,0,0,0,0,0,13.38,13.74,13.76
$GC,4370,0.01,183.7,2630,2092,2784,2715,455.6,8.3,380,4433,0.17,2.50,55.33,1.395,12964,0.274,0.081,2599,721,2612,2659,2566,0,0,0,0,0,0,13.85,13.98,13.12
$GC,4498,0.05,235.6,2600,722,2649,2559,446.0,7.6,405,4585,0.00,2.42,81.28,1.343,9254,0.000,0.077,2603,2101,2405,2456,2355,0,0,0,0,0,0,14.12,13.93,12.97
$GC,4883,0.05,248.4,2600,2102,2438,2333,410.1,9.4,432,4897,0.00,0.00,12.88,1.562,8230,0.000,0.000,2599,2101,2353,2403,2304,0,0,0,0,0,0,14.54,14.07,13.19
$GC,5183,0.07,265.3,2600,2102,2390,2290,382.3,9.2,442,5215,0.00,2.42,25.00,1.443,8740,0.000,0.083,2600,726,2277,2323,2231,0,0,0,0,0,0,14.61,13.87,13.23
$GC,5251,0.16,288.5,2600,727,2319,2228,376.1,8.9,455,5296,0.10,2.40,36.33,1.385,11430,0.147,0.077,2651,2103,2181,2227,2136,0,0,0,0,0,0,14.19,14.16,13.15
$GC,5607,0.10,288.5,2651,2102,2217,2122,331.1,12.8,476,5612,0.12,2.45,0.00,0.000,4740,0.234,0.080,2629,725,2169,2216,2122,0,0,0,0,0,0,13.86,13.96,13.95
$GC,5647,0.14,288.5,2629,724,2215,2123,326.6,10.8,484,5652,0.00,2.42,0.00,0.000,1158,0.000,0.076,2629,2101,2167,2213,2122,0,0,0,0,0,0,14.14,14.01,14.17
$GC,5967,0.14,288.5,2629,2102,2214,2122,292.8,10.4,498,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2101,2167,2213,2121,0,0,0,0,0,0,14.33,14.34,14.34
$GC,6267,0.15,295.7,2629,2101,2215,2120,263.4,9.7,508,6268,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2101,2166,2213,2120,0,0,0,0,0,0,14.34,14.35,14.35
$GC,6567,0.18,338.1,2629,2102,2213,2120,237.7,8.0,518,6659,0.00,2.47,85.22,1.271,8740,0.000,0.083,2629,729,1978,2020,1937,0,0,0,0,0,0,14.35,13.66,13.08
$GC,6720,0.33,393.2,2629,735,2008,1937,226.1,7.5,548,6825,0.17,2.45,96.10,1.200,11430,0.102,0.076,2694,2100,1758,1780,1736,0,0,0,0,0,0,13.95,13.88,12.92
$GC,7142,0.33,393.2,2695,2101,1769,1718,176.6,11.6,582,7146,0.00,2.45,0.00,0.000,516,0.000,0.086,2696,726,1742,1767,1718,0,0,0,0,0,0,14.28,13.93,14.31
$GC,7207,0.38,393.2,2697,727,1766,1718,169.4,10.6,595,7212,0.00,2.45,0.00,0.000,1158,0.000,0.076,2696,2103,1741,1765,1717,0,0,0,0,0,0,14.00,13.88,14.03
$GC,7533,0.38,393.2,2697,2103,1766,1714,134.4,10.3,610,7538,0.00,2.45,0.00,0.000,516,0.000,0.085,2696,727,1739,1764,1714,0,0,0,0,0,0,14.42,14.07,14.46
$GC,7578,0.45,398.4,2697,727,1763,1714,129.9,9.8,619,7584,0.00,2.40,0.00,0.000,1190,0.000,0.076,2696,2100,1738,1762,1714,0,0,0,0,0,0,14.22,14.10,14.26
$GC,7897,0.49,420.8,2696,2101,1762,1713,100.2,9.0,632,7944,0.12,2.40,41.70,1.248,10916,0.134,0.083,2765,727,1646,1670,1623,0,0,0,0,0,0,14.09,13.75,13.19
$GC,7984,0.44,420.8,2765,724,1658,1616,89.4,12.7,649,7991,0.17,2.45,0.00,0.000,5254,0.247,0.076,2727,2109,1635,1656,1615,0,0,0,0,0,0,13.80,13.95,14.07
$GC,8289,0.48,477.0,2727,2109,1656,1608,62.5,7.4,680,8322,0.00,0.00,31.10,0.382,8230,0.000,0.000,2727,2109,1420,1456,1385,0,0,0,0,0,0,14.52,14.11,13.71
$GC,8619,0.66,594.1,2728,2109,1462,1386,43.7,4.6,713,8694,0.17,2.53,69.80,0.323,10916,0.101,0.087,2803,730,942,1009,875,0,0,0,0,0,0,14.16,14.05,13.68
$GC,8800,0.78,627.4,2804,723,1011,880,28.4,8.5,748,8827,0.00,2.42,20.62,0.278,9382,0.000,0.076,2803,2106,807,876,738,0,0,0,0,0,0,14.19,14.06,13.78
$GC,9125,0.93,690.3,2802,2106,877,746,5.5,7.1,783,9162,0.20,0.00,35.60,0.211,10914,0.097,0.000,2888,2106,575,614,537,0,0,0,0,0,0,14.14,28.83,14.18
$STATE,9163,end climb,SURFACE_DEPTH_REACHED
$STATE,9163,begin surface coast
$FINISH,0.0,1.021602
$STATE,9176,end surface coast,CONTROL_FINISHED_OK
$STATE,9176,begin surface
$SM_CCo,9198,12.10,0.211,0,0,499,702.78
$SM_GC,1.50,8.23,0.17,12.10,0.069,0.117,0.211,199,2225,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.30,14.29,13.95
$RAFOS_CLK,179
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7539.58,-15110.21,110917,021913
$TT8_MAMPS,0.038948,0.931007
$HUMID,45.70
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15942451200.000000
$PM_FREEKB_00,48403264
$24V_AH,12.25,189.434
$10V_AH,12.23,0.000
$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,26.100,83.475,1028.900,12.100,0.000,0.000,0.000,660.325,1.750,0.000,13.580,0.000,6631.880,1016.700,2285.278,342.841,0.000,2446.833,0.000,1134.580,2217.000,0.539,0.000
$DEVICE_MAMPS,455.175,2138.175,1562.130,211.140,0.000,0.000,0.000,157.590,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9209.000,9179.000,9151.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.376,20.000,23.876,0.000
$MEM,323412
$DATA_FILE_SIZE,26701,792
$CAP_FILE_SIZE,109239,0
$CFSIZE,2097872896,2000486400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1448.3
$CURRENT,0.046,75.90,1
$GPS,110917,050318,7538.032,-15109.751,18,0.8,21,20.8,0.0,0.0,10,9.7