version: 66.13
glider: 196
mission: 14
dive: 305
start: 9 11 117 5 14 34
data:
$ID,196
$MISSION,14
$DIVE,305
$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,61
$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,849.0
$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
$GPS1,110917,050318,7538.0317,-15109.7510,18,0.8,21,20.8,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.4
$GPS2,110917,051401,7538.0127,-15109.7500,16,0.7,28,20.8,0.5,124.5,12,7.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,161.3,99399,-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,-145.9,189,2226,509,493,0.0,0.0,0,144,0.00,0.00,-91.38,0.000,16386,0.000,0.000,188,2227,2137,2059,2215,0,0,0,0,0,0,14.53,28.83,14.55
$GC,148,-0.57,-145.9,189,2228,2061,2209,3.8,-5.0,9,205,12.85,2.78,-37.03,0.000,18724,0.451,2.141,2376,3590,3963,3948,3979,0,0,0,0,0,0,13.59,12.59,14.04
$GC,365,-0.73,-145.9,2377,3592,3953,3978,45.2,-12.5,52,372,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2231,3965,3952,3979,0,0,0,0,0,0,14.08,13.97,14.12
$GC,670,-0.86,-145.9,2376,2231,3954,3980,84.3,-10.6,83,671,0.22,0.00,0.00,0.000,4230,0.099,0.000,2290,2230,3966,3953,3979,0,0,0,0,0,0,14.21,14.33,14.31
$GC,980,-0.89,-145.9,2290,2232,3954,3980,131.8,-14.2,100,981,0.00,0.00,0.00,0.000,134,0.000,0.000,2290,2230,3965,3953,3978,0,0,0,0,0,0,14.61,14.68,14.64
$GC,1280,-0.96,-145.9,2290,2231,3954,3980,170.7,-12.3,110,1285,0.00,2.40,0.00,0.000,388,0.000,0.086,2280,3593,3965,3952,3979,0,0,0,0,0,0,14.65,14.10,14.66
$GC,1350,-1.10,-145.9,2281,3594,3957,3979,178.7,-10.8,124,1356,0.17,2.38,0.00,0.000,5254,0.105,0.057,2216,2190,3966,3954,3979,0,0,0,0,0,0,14.09,14.03,14.18
$GC,1672,-1.05,-145.9,2216,2191,3954,3979,237.1,-17.7,138,1677,0.00,2.47,0.00,0.000,388,0.000,0.086,2210,3592,3965,3953,3978,0,0,0,0,0,0,14.64,14.10,14.66
$GC,1752,-1.07,-145.9,2210,3593,3954,3980,249.5,-14.4,154,1757,0.00,2.38,0.00,0.000,1158,0.000,0.057,2210,2199,3966,3954,3979,0,0,0,0,0,0,14.27,14.16,14.26
$GC,2062,-1.04,-145.9,2210,2199,3954,3980,297.5,-14.8,166,2067,0.12,2.47,0.00,0.000,2436,0.301,0.085,2235,3597,3966,3954,3978,0,0,0,0,0,0,13.92,14.13,14.07
$GC,2174,-1.14,-145.9,2237,3598,3955,3979,309.9,-10.9,188,2180,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2201,3966,3954,3979,0,0,0,0,0,0,14.33,14.21,14.38
$GC,2485,-1.19,-145.9,2236,2199,3954,3978,345.1,-11.1,200,2491,0.12,2.47,0.00,0.000,4484,0.147,0.086,2170,3594,3965,3953,3978,0,0,0,0,0,0,14.23,14.07,14.29
$GC,2541,-1.15,-145.9,2170,3596,3954,3979,353.5,-15.3,211,2548,0.17,2.38,0.00,0.000,3206,0.265,0.057,2210,2202,3966,3955,3978,0,0,0,0,0,0,13.82,14.15,14.15
$GC,2846,-1.15,-145.9,2206,2199,3954,3979,394.6,-13.3,222,2851,0.00,2.47,0.00,0.000,260,0.000,0.086,2198,3597,3965,3952,3978,0,0,0,0,0,0,14.66,14.09,14.68
$GC,2931,-1.20,-145.9,2198,3597,3953,3980,405.6,-12.2,239,2938,0.00,2.40,0.00,0.000,1158,0.000,0.057,2194,2190,3964,3952,3976,0,0,0,0,0,0,14.26,14.12,14.30
$GC,3236,-1.20,-145.9,2199,2190,3953,3979,446.9,-13.5,250,3241,0.00,2.47,0.00,0.000,260,0.000,0.086,2189,3592,3965,3953,3978,0,0,0,0,0,0,14.64,14.08,14.66
$GC,3321,-1.23,-145.9,2189,3592,3954,3978,458.3,-12.7,267,3327,0.00,2.38,0.00,0.000,1158,0.000,0.054,2189,2190,3965,3952,3978,0,0,0,0,0,0,14.26,14.13,14.29
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3480,-0.13,0.0,2189,2060,3954,3979,480.2,-14.2,273,3712,1.35,0.00,228.00,1.400,10246,0.236,0.000,2529,2058,3366,3385,3347,0,0,0,0,0,0,13.74,13.52,12.68
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3716,begin climb
$GC,3719,0.57,145.9,2530,2058,3377,3336,492.1,0.0,280,3941,0.75,2.78,211.75,1.350,11012,0.060,0.073,2791,3495,2762,2801,2724,0,0,0,0,0,0,13.69,13.12,12.29
$GC,4079,0.07,145.9,2785,3497,2782,2716,488.7,15.2,345,4086,0.93,2.42,0.00,0.000,5254,0.350,0.055,2613,2128,2748,2781,2716,0,0,0,0,0,0,13.21,13.55,13.59
$GC,4382,-0.01,198.6,2613,2128,2782,2715,464.0,7.6,356,4464,0.15,0.00,79.43,1.362,12454,0.284,0.000,2583,2133,2554,2608,2501,0,0,0,0,0,0,13.76,13.80,12.99
$GC,4742,0.02,243.0,2584,2128,2596,2474,436.3,7.9,368,4812,0.00,0.00,68.05,1.356,8230,0.000,0.000,2583,2127,2373,2427,2320,0,0,0,0,0,0,14.41,13.87,13.07
$GC,5102,0.09,282.1,2584,2128,2406,2301,406.8,8.2,380,5168,0.00,2.65,61.42,1.336,8868,0.000,0.088,2588,687,2210,2259,2161,0,0,0,0,0,0,14.55,13.91,13.16
$GC,5225,0.23,318.2,2589,688,2242,2153,396.7,8.3,404,5289,0.20,2.47,55.72,1.318,11430,0.098,0.079,2672,2082,2063,2111,2015,0,0,0,0,0,0,14.14,14.00,13.06
$GC,5614,0.17,318.2,2672,2083,2094,1997,340.4,14.6,432,5619,0.12,2.45,0.00,0.000,4740,0.272,0.083,2647,691,2044,2093,1996,0,0,0,0,0,0,14.00,14.06,14.13
$GC,5644,0.17,318.2,2648,690,2092,1996,336.4,12.6,438,5649,0.00,2.47,0.00,0.000,1030,0.000,0.078,2647,2104,2044,2090,1999,0,0,0,0,0,0,14.22,14.09,14.26
$GC,5975,0.17,318.2,2647,2106,2091,1994,296.3,11.8,454,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,2041,2090,1993,0,0,0,0,0,0,14.66,14.68,14.68
$GC,6274,0.17,318.2,2648,2105,2091,1991,262.1,11.1,464,6279,0.00,2.50,0.00,0.000,516,0.000,0.086,2647,694,2041,2090,1992,0,0,0,0,0,0,14.52,14.00,14.54
$GC,6314,0.22,318.2,2648,694,2090,1990,257.9,10.3,472,6319,0.00,2.50,0.00,0.000,1158,0.000,0.077,2647,2108,2039,2088,1991,0,0,0,0,0,0,14.21,14.07,14.26
$GC,6634,0.23,334.2,2647,2110,2089,1993,226.6,9.3,486,6656,0.00,2.58,16.58,1.434,8740,0.000,0.085,2647,685,1999,2047,1951,0,0,0,0,0,0,14.52,14.10,13.23
$GC,6743,0.33,374.2,2648,685,2036,1947,217.5,8.2,507,6823,0.12,2.47,72.75,1.248,11430,0.126,0.078,2698,2101,1836,1865,1808,0,0,0,0,0,0,14.14,14.12,13.14
$GC,7148,0.30,374.2,2699,2101,1849,1791,171.1,11.2,538,7153,0.00,2.47,0.00,0.000,644,0.000,0.086,2699,694,1819,1848,1790,0,0,0,0,0,0,14.57,14.11,14.59
$GC,7203,0.33,374.2,2699,694,1844,1790,165.3,10.3,549,7210,0.00,2.47,0.00,0.000,1158,0.000,0.077,2698,2105,1817,1845,1790,0,0,0,0,0,0,14.11,14.00,14.15
$GC,7508,0.33,374.2,2699,2105,1845,1790,133.1,10.4,560,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2105,1817,1844,1790,0,0,0,0,0,0,14.65,14.67,14.67
$GC,7808,0.34,390.2,2699,2105,1844,1788,104.0,9.3,570,7833,0.00,2.50,18.67,1.330,8740,0.000,0.085,2705,682,1769,1794,1745,0,0,0,0,0,0,14.66,14.22,13.31
$GC,7933,0.45,439.6,2699,682,1782,1740,93.8,7.7,595,7966,0.00,2.50,27.65,0.470,9382,0.000,0.077,2699,2109,1572,1599,1545,0,0,0,0,0,0,14.14,14.01,13.66
$GC,8271,0.59,515.5,2699,2110,1611,1550,67.9,6.5,632,8325,0.22,2.55,45.03,0.396,10916,0.091,0.086,2794,695,1261,1316,1207,0,0,0,0,0,0,14.14,14.09,13.64
$GC,8345,0.55,515.5,2794,696,1317,1210,60.0,11.7,644,8350,0.15,2.50,0.00,0.000,5254,0.231,0.077,2763,2112,1262,1316,1209,0,0,0,0,0,0,13.88,14.12,14.13
$GC,8656,0.67,597.4,2763,2109,1317,1215,36.1,6.2,676,8710,0.00,2.60,48.05,0.303,8868,0.000,0.087,2767,688,927,998,857,0,0,0,0,0,0,14.58,14.00,13.74
$GC,8777,0.89,666.4,2768,689,1000,868,28.1,6.8,699,8826,0.30,2.47,43.75,0.275,11430,0.085,0.078,2880,2093,648,702,594,0,0,0,0,0,0,14.15,14.09,13.73
$STATE,8999,end climb,SURFACE_DEPTH_REACHED
$STATE,8999,begin surface coast
$FINISH,0.2,1.012821
$STATE,9009,end surface coast,CONTROL_FINISHED_OK
$STATE,9009,begin surface
$SM_CCo,9030,21.77,0.209,0,0,498,702.78
$SM_GC,1.03,8.32,0.17,21.77,0.081,0.123,0.209,205,2210,498,-7.37,-0.71,702.78,0,0,0,0,0,0,14.30,14.27,13.94
$RAFOS_CLK,417
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7540.39,-15058.41,110917,022404
$TT8_MAMPS,0.039697,0.870338
$HUMID,47.00
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,19
$CP_FREE,15942025216.000000
$PM_FREEKB_00,48369728
$24V_AH,12.29,189.902
$10V_AH,12.26,0.000
$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,26.300,79.850,976.850,21.775,0.000,0.000,0.000,356.600,4.750,0.000,30.114,0.000,6495.258,1012.483,1897.868,305.658,0.000,2066.350,0.000,1043.026,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2141.235,1433.610,208.845,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9042.000,9012.000,8984.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.628,20.000,18.668,0.000
$MEM,323344
$DATA_FILE_SIZE,26737,727
$CAP_FILE_SIZE,98522,0
$CFSIZE,2097872896,2000191488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$SOUNDSPEED,1448.1
$CURRENT,0.029,106.40,1
$GPS,110917,074647,7536.711,-15110.258,30,0.8,36,20.8,0.3,219.8,9,9.4