version: 66.13
glider: 196
mission: 14
dive: 306
start: 9 11 117 7 59 4
data:
$ID,196
$MISSION,14
$DIVE,306
$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,26
$R_STBD_OVSHOOT,29
$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,851.0
$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
$GPS1,110917,074647,7536.7114,-15110.2578,30,0.8,36,20.8,0.3,219.8,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.1
$GPS2,110917,075830,7536.7261,-15110.2891,13,0.8,13,20.8,0.0,0.0,10,6.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.6,97080,-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,51,-0.57,-145.9,192,2213,505,479,0.0,0.0,0,140,0.00,0.00,-87.82,0.000,16386,0.000,0.000,189,2215,2019,1946,2092,0,0,0,0,0,0,14.50,28.83,14.52
$GC,143,-0.57,-145.9,190,2214,1947,2103,3.2,-4.0,9,206,12.93,2.85,-43.53,0.000,18724,0.452,2.134,2373,3603,3964,3951,3978,0,0,0,0,0,0,13.54,12.60,14.02
$GC,316,-0.74,-145.9,2377,3605,3957,3979,35.6,-12.5,43,321,0.12,2.42,0.00,0.000,5254,0.128,0.055,2327,2195,3967,3956,3978,0,0,0,0,0,0,14.04,14.00,14.13
$GC,627,-0.79,-145.9,2326,2195,3958,3978,90.0,-14.6,75,631,0.00,2.55,0.00,0.000,388,0.000,0.083,2319,3610,3966,3956,3976,0,0,0,0,0,0,14.40,13.97,14.43
$GC,682,-0.94,-145.9,2320,3610,3958,3979,97.0,-11.4,86,688,0.15,2.45,0.00,0.000,5254,0.115,0.057,2258,2195,3967,3957,3977,0,0,0,0,0,0,14.06,14.04,14.14
$GC,1007,-0.94,-145.9,2258,2196,3956,3979,153.5,-16.8,99,1011,0.00,2.53,0.00,0.000,260,0.000,0.086,2249,3604,3967,3957,3978,0,0,0,0,0,0,14.43,14.00,14.45
$GC,1092,-1.00,-145.9,2250,3606,3965,3978,166.1,-13.6,116,1098,0.00,2.42,0.00,0.000,1158,0.000,0.057,2249,2193,3967,3957,3977,0,0,0,0,0,0,14.15,14.02,14.19
$GC,1397,-1.00,-145.9,2249,2193,3958,3978,213.0,-14.8,127,1401,0.00,2.55,0.00,0.000,260,0.000,0.086,2240,3609,3967,3957,3978,0,0,0,0,0,0,14.44,13.95,14.47
$GC,1472,-1.09,-145.9,2241,3610,3958,3978,223.1,-12.5,142,1477,0.00,2.45,0.00,0.000,1158,0.000,0.057,2240,2194,3967,3957,3977,0,0,0,0,0,0,13.30,13.29,13.53
$GC,1787,-1.11,-145.9,2241,2194,3957,3979,266.5,-13.0,155,1792,0.00,2.55,0.00,0.000,388,0.000,0.087,2236,3601,3967,3957,3978,0,0,0,0,0,0,14.45,13.93,14.47
$GC,1862,-1.22,-145.9,2236,3601,3958,3978,275.4,-11.0,170,1867,0.15,2.45,0.00,0.000,5254,0.123,0.057,2180,2189,3967,3957,3978,0,0,0,0,0,0,13.98,13.94,14.08
$GC,2178,-1.13,-145.9,2179,2189,3956,3978,330.6,-17.5,183,2183,0.12,2.55,0.00,0.000,2436,0.290,0.083,2198,3604,3967,3957,3978,0,0,0,0,0,0,13.68,13.93,13.86
$GC,2308,-1.16,-145.9,2198,3607,3957,3978,349.1,-13.0,209,2313,0.00,2.40,0.00,0.000,1158,0.000,0.055,2198,2182,3967,3957,3978,0,0,0,0,0,0,14.12,13.96,14.17
$GC,2630,-1.14,-145.9,2198,2180,3958,3978,394.4,-14.0,223,2635,0.00,2.53,0.00,0.000,388,0.000,0.086,2188,3601,3967,3956,3978,0,0,0,0,0,0,14.26,13.82,14.27
$GC,2741,-1.16,-145.9,2188,3602,3956,3979,409.9,-13.0,245,2745,0.00,2.40,0.00,0.000,1158,0.000,0.057,2188,2194,3966,3956,3977,0,0,0,0,0,0,14.21,14.09,14.24
$GC,3051,-1.13,-145.9,2191,2190,3958,3978,455.2,-14.4,257,3056,0.00,2.50,0.00,0.000,388,0.000,0.086,2178,3607,3966,3956,3977,0,0,0,0,0,0,14.62,14.09,14.63
$GC,3141,-1.13,-145.9,2179,3609,3957,3979,468.0,-14.3,275,3146,0.15,2.40,0.00,0.000,3078,0.247,0.055,2208,2192,3967,3956,3978,0,0,0,0,0,0,13.85,14.13,14.12
$STATE,3259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3259,begin apogee
$GC,3265,-0.13,0.0,2209,2068,3956,3977,482.9,-12.0,284,3488,1.23,0.00,219.40,1.424,10246,0.223,0.000,2527,2067,3365,3380,3351,0,0,0,0,0,0,13.84,13.52,12.66
$STATE,3491,end apogee,CONTROL_FINISHED_OK
$STATE,3491,begin climb
$GC,3494,0.57,145.9,2528,2067,3375,3342,494.5,0.0,291,3719,0.75,0.00,211.60,1.367,11014,0.061,0.000,2782,2067,2760,2795,2726,0,0,0,0,0,0,13.67,13.07,12.26
$GC,4040,0.13,145.9,2782,2067,2787,2721,466.0,13.7,307,4041,0.70,0.00,0.00,0.000,4230,0.318,0.000,2632,2066,2753,2786,2720,0,0,0,0,0,0,13.57,14.04,13.97
$GC,4340,0.01,187.6,2632,2067,2787,2719,440.9,8.1,317,4401,0.17,0.00,59.72,1.408,12454,0.291,0.000,2590,2066,2600,2647,2554,0,0,0,0,0,0,13.90,13.96,13.13
$GC,4700,0.02,236.4,2591,2068,2642,2535,413.4,7.8,329,4775,0.00,0.00,73.05,1.380,8358,0.000,0.000,2591,2066,2402,2454,2350,0,0,0,0,0,0,14.58,13.90,13.09
$GC,5060,0.06,269.9,2591,2066,2443,2336,383.2,8.5,341,5115,0.00,2.40,50.28,1.395,8868,0.000,0.087,2591,722,2260,2309,2212,0,0,0,0,0,0,14.53,13.76,13.16
$GC,5142,0.17,306.5,2592,721,2302,2209,376.5,8.3,357,5206,0.15,2.42,56.00,1.349,11430,0.118,0.079,2657,2098,2111,2156,2066,0,0,0,0,0,0,14.11,14.04,13.02
$GC,5511,0.12,306.5,2657,2099,2149,2052,329.4,12.7,381,5516,0.12,2.42,0.00,0.000,4740,0.249,0.081,2634,723,2100,2148,2052,0,0,0,0,0,0,13.83,14.04,14.00
$GC,5567,0.17,306.5,2634,723,2146,2052,323.3,11.1,392,5574,0.00,2.40,0.00,0.000,1158,0.000,0.076,2639,2106,2099,2145,2054,0,0,0,0,0,0,14.29,14.16,14.33
$GC,5872,0.17,306.5,2633,2107,2145,2051,290.2,10.7,403,5876,0.00,2.45,0.00,0.000,516,0.000,0.087,2633,719,2097,2145,2050,0,0,0,0,0,0,14.64,14.21,14.66
$GC,5902,0.20,306.5,2634,718,2145,2050,287.0,10.1,409,5907,0.00,2.40,0.00,0.000,1158,0.000,0.078,2634,2100,2097,2144,2050,0,0,0,0,0,0,14.37,14.25,14.42
$GC,6232,0.21,318.3,2634,2102,2144,2051,254.6,9.5,425,6253,0.00,2.45,12.43,1.543,8740,0.000,0.085,2633,727,2063,2108,2019,0,0,0,0,0,0,14.67,14.26,13.29
$GC,6298,0.32,344.8,2634,727,2104,2020,248.6,8.8,438,6348,0.15,2.40,43.47,1.350,11430,0.113,0.078,2694,2101,1961,2001,1921,0,0,0,0,0,0,14.28,14.19,13.23
$GC,6655,0.26,344.8,2695,2102,1996,1905,204.7,12.1,459,6657,0.12,0.00,0.00,0.000,4230,0.236,0.000,2668,2102,1950,1995,1905,0,0,0,0,0,0,14.09,14.36,14.31
$GC,6954,0.27,363.0,2669,2102,1996,1903,176.2,9.2,469,6989,0.00,2.47,28.17,1.371,8740,0.000,0.088,2675,730,1881,1917,1846,0,0,0,0,0,0,14.64,14.16,13.26
$GC,7051,0.37,391.3,2672,731,1910,1849,167.7,8.7,488,7106,0.00,2.42,49.38,1.289,9382,0.000,0.080,2672,2101,1769,1794,1744,0,0,0,0,0,0,14.26,14.12,13.19
$GC,7407,0.44,420.5,2673,2106,1786,1732,136.3,8.7,509,7467,0.12,2.50,50.35,1.260,10916,0.135,0.087,2737,728,1645,1670,1621,0,0,0,0,0,0,14.20,14.04,13.25
$GC,7508,0.44,420.5,2737,729,1665,1620,124.0,12.2,529,7513,0.00,2.42,0.00,0.000,1030,0.000,0.077,2737,2106,1641,1664,1619,0,0,0,0,0,0,14.19,14.07,14.23
$GC,7821,0.41,420.5,2737,2108,1665,1612,87.0,10.5,550,7825,0.00,2.45,0.00,0.000,644,0.000,0.086,2737,723,1637,1664,1611,0,0,0,0,0,0,14.54,14.16,14.57
$GC,7891,0.44,426.5,2738,722,1664,1611,79.9,9.7,564,7897,0.00,2.45,1.45,0.335,9382,0.000,0.078,2737,2105,1627,1655,1600,0,0,0,0,0,0,14.24,14.07,13.59
$GC,8202,0.49,501.1,2738,2107,1659,1601,54.5,6.6,596,8255,0.00,2.53,44.12,0.363,8484,0.000,0.083,2737,3511,1319,1366,1272,0,0,0,0,0,0,14.59,14.04,13.66
$GC,8285,0.60,555.2,2738,3511,1367,1272,48.9,7.5,608,8323,0.12,2.38,31.48,0.347,11430,0.121,0.063,2788,2129,1100,1164,1036,0,0,0,0,0,0,14.22,14.17,13.72
$GC,8629,0.76,648.7,2789,2130,1165,1030,22.0,5.7,646,8688,0.12,2.62,53.38,0.259,10916,0.134,0.093,2851,695,717,780,655,0,0,0,0,0,0,14.18,13.97,13.83
$GC,8798,0.83,648.7,2851,695,782,652,6.3,10.2,679,8804,0.00,2.47,0.00,0.000,1158,0.000,0.075,2851,2103,716,780,652,0,0,0,0,0,0,14.17,14.04,14.21
$STATE,8840,end climb,SURFACE_DEPTH_REACHED
$STATE,8840,begin surface coast
$FINISH,0.7,1.021583
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8916,32.05,0.208,0,0,501,702.78
$SM_GC,1.28,8.12,0.17,32.05,0.070,0.114,0.208,203,2226,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,13.93
$RAFOS_CLK,411
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7537.75,-15114.39,110917,050744
$TT8_MAMPS,0.038948,0.98868
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,8
$CP_FREE,0.000000
$PM_FREEKB_00,48328832
$24V_AH,12.26,190.412
$10V_AH,12.12,0.000
$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,25.525,84.400,984.275,32.050,0.000,0.000,0.000,430.200,2.000,0.000,14.574,0.000,6325.204,851.792,2176.566,311.337,0.000,2167.663,0.000,983.467,2156.000,0.856,0.000
$DEVICE_MAMPS,452.115,2134.350,1543.005,208.080,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8884.000,8892.000,8870.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.292,20.000,16.122,0.000
$MEM,323276
$DATA_FILE_SIZE,23405,685
$CAP_FILE_SIZE,101677,0
$CFSIZE,2097872896,1999929344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1447.1
$CURRENT,0.031,101.82,1
$GPS,110917,102932,7535.419,-15110.564,33,0.8,33,20.8,0.5,27.5,10,9.6