version: 66.13
glider: 196
mission: 14
dive: 308
start: 9 11 117 13 33 12
data:
$ID,196
$MISSION,14
$DIVE,308
$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,64
$R_STBD_OVSHOOT,31
$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,857.0
$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
$GPS1,110917,131831,7534.1289,-15110.8184,15,0.7,25,20.7,0.3,327.5,11,6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.7
$GPS2,110917,133236,7534.1465,-15110.5850,8,0.7,11,20.7,0.0,32.3,10,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,159.5,92383,-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,-145.9,195,2215,504,486,0.0,0.0,0,144,0.00,0.00,-91.85,0.000,16386,0.000,0.000,194,2215,2107,2032,2182,0,0,0,0,0,0,14.51,28.83,14.53
$GC,148,-0.57,-145.9,196,2215,2035,2183,3.1,-3.3,9,205,12.82,2.75,-39.80,0.000,18724,0.451,2.139,2376,3598,3961,3947,3975,0,0,0,0,0,0,13.57,12.89,14.02
$GC,345,-0.73,-145.9,2376,3601,3954,3976,40.1,-12.7,48,352,0.00,2.33,0.00,0.000,1158,0.000,0.056,2376,2243,3964,3953,3975,0,0,0,0,0,0,14.14,14.01,14.21
$GC,650,-0.85,-145.9,2376,2242,3954,3975,80.6,-10.9,79,656,0.20,2.58,0.00,0.000,4740,0.106,0.080,2291,780,3964,3954,3975,0,0,0,0,0,0,14.18,14.12,14.23
$GC,711,-0.91,-145.9,2291,779,3955,3975,89.7,-14.8,91,716,0.00,2.53,0.00,0.000,1158,0.000,0.086,2288,2197,3964,3954,3975,0,0,0,0,0,0,14.27,14.12,14.31
$GC,1021,-0.94,-145.9,2288,2198,3954,3976,135.8,-13.8,107,1026,0.00,2.50,0.00,0.000,388,0.000,0.088,2280,3609,3964,3954,3975,0,0,0,0,0,0,14.66,14.06,14.66
$GC,1196,-1.06,-145.9,2280,3611,3955,3976,157.1,-11.4,142,1202,0.15,2.40,0.00,0.000,5254,0.115,0.057,2224,2196,3964,3954,3975,0,0,0,0,0,0,14.16,14.18,14.25
$GC,1501,-1.00,-145.9,2225,2195,3955,3975,212.4,-18.0,153,1506,0.12,2.53,0.00,0.000,2436,0.291,0.083,2243,3615,3964,3954,3975,0,0,0,0,0,0,13.85,14.07,13.97
$GC,1587,-1.08,-145.9,2244,3619,3955,3975,224.8,-12.6,170,1593,0.00,2.42,0.00,0.000,1158,0.000,0.057,2243,2202,3964,3954,3975,0,0,0,0,0,0,14.21,14.09,14.25
$GC,1892,-1.11,-145.9,2244,2201,3955,3975,265.8,-12.7,181,1897,0.00,2.50,0.00,0.000,388,0.000,0.086,2236,3610,3963,3952,3975,0,0,0,0,0,0,14.67,14.12,14.69
$GC,1952,-1.21,-145.9,2237,3611,3955,3975,273.0,-11.2,193,1957,0.15,2.42,0.00,0.000,5254,0.124,0.057,2178,2187,3964,3954,3975,0,0,0,0,0,0,14.23,14.19,14.33
$GC,2283,-1.12,-145.9,2178,2189,3955,3975,330.3,-17.2,209,2288,0.15,2.50,0.00,0.000,2436,0.279,0.083,2203,3609,3963,3954,3973,0,0,0,0,0,0,13.87,14.13,14.03
$GC,2405,-1.16,-145.9,2209,3607,3956,3975,346.6,-12.5,233,2410,0.00,2.40,0.00,0.000,1158,0.000,0.056,2203,2199,3964,3954,3975,0,0,0,0,0,0,14.31,14.18,14.34
$GC,2735,-1.16,-145.9,2203,2199,3954,3976,391.4,-13.3,249,2740,0.00,2.50,0.00,0.000,260,0.000,0.086,2197,3615,3965,3954,3977,0,0,0,0,0,0,14.65,14.12,14.67
$GC,2800,-1.20,-145.9,2197,3615,3953,3976,400.0,-12.7,262,2805,0.00,2.42,0.00,0.000,1158,0.000,0.056,2197,2195,3963,3952,3975,0,0,0,0,0,0,14.24,14.11,14.30
$GC,3125,-1.20,-145.9,2198,2194,3954,3975,443.9,-13.5,277,3130,0.00,2.53,0.00,0.000,260,0.000,0.086,2188,3619,3964,3953,3975,0,0,0,0,0,0,14.65,14.12,14.67
$GC,3186,-1.22,-145.9,2188,3621,3954,3976,452.2,-13.5,289,3191,0.00,2.42,0.00,0.000,1158,0.000,0.055,2188,2186,3963,3952,3975,0,0,0,0,0,0,14.31,14.17,14.33
$STATE,3393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3393,begin apogee
$GC,3399,-0.13,0.0,2188,2058,3953,3976,481.7,-14.1,301,3622,1.35,0.08,219.25,1.419,10246,0.239,0.182,2527,2113,3365,3377,3353,0,0,0,0,0,0,13.73,13.52,12.69
$STATE,3626,end apogee,CONTROL_FINISHED_OK
$STATE,3626,begin climb
$GC,3630,0.57,145.9,2528,2110,3371,3345,493.0,0.0,308,3848,0.75,2.62,207.15,1.372,10756,0.060,0.074,2792,720,2766,2799,2733,0,0,0,0,0,0,13.70,12.89,12.26
$GC,4073,0.16,145.9,2793,720,2787,2729,475.3,14.3,390,4078,0.75,2.45,0.00,0.000,5254,0.323,0.074,2635,2095,2757,2787,2728,0,0,0,0,0,0,13.43,13.82,13.83
$GC,4384,0.01,175.4,2636,2096,2787,2726,447.2,8.6,402,4429,0.17,2.42,39.92,1.451,12964,0.275,0.080,2602,727,2647,2689,2606,0,0,0,0,0,0,13.85,13.78,13.14
$GC,4599,0.05,226.1,2603,728,2686,2602,430.6,7.7,445,4680,0.00,2.40,75.57,1.385,9254,0.000,0.078,2602,2098,2445,2495,2395,0,0,0,0,0,0,14.23,14.10,13.05
$GC,4985,0.06,242.3,2602,2099,2485,2377,395.7,9.2,472,5008,0.00,0.00,21.70,1.503,8230,0.000,0.000,2602,2098,2379,2430,2329,0,0,0,0,0,0,14.48,14.05,13.19
$GC,5285,0.07,258.9,2602,2097,2422,2319,367.9,9.2,482,5317,0.00,2.42,24.23,1.489,8740,0.000,0.086,2598,727,2305,2352,2259,0,0,0,0,0,0,14.59,14.13,13.22
$GC,5347,0.15,282.1,2602,728,2350,2260,362.3,8.9,494,5388,0.00,2.40,36.00,1.419,9382,0.000,0.078,2602,2098,2214,2261,2167,0,0,0,0,0,0,14.26,14.16,13.13
$GC,5710,0.21,302.6,2603,2098,2256,2152,329.3,9.1,516,5742,0.15,0.00,29.67,1.428,10406,0.114,0.000,2671,2098,2132,2176,2089,0,0,0,0,0,0,14.33,14.08,13.21
$GC,6038,0.14,302.6,2671,2099,2168,2079,284.8,13.5,527,6043,0.15,2.40,0.00,0.000,4740,0.246,0.081,2642,725,2122,2168,2076,0,0,0,0,0,0,13.91,14.14,14.05
$GC,6119,0.19,302.6,2642,725,2166,2077,276.1,10.2,543,6124,0.00,2.40,0.00,0.000,1158,0.000,0.078,2642,2108,2120,2165,2076,0,0,0,0,0,0,14.35,14.21,14.40
$GC,6429,0.20,307.1,2642,2109,2165,2076,244.2,9.8,555,6430,0.00,0.00,0.00,0.000,38,0.000,0.000,2642,2108,2120,2165,2075,0,0,0,0,0,0,14.66,14.68,14.68
$GC,6729,0.22,341.6,2643,2109,2166,2074,217.7,8.4,565,6799,0.00,2.45,64.45,1.317,8740,0.000,0.084,2644,730,1968,2008,1928,0,0,0,0,0,0,14.67,14.07,13.22
$GC,6837,0.34,382.2,2644,731,2003,1928,209.1,8.1,586,6911,0.15,2.40,66.35,1.263,11430,0.114,0.077,2702,2098,1805,1828,1783,0,0,0,0,0,0,14.16,14.09,13.07
$GC,7210,0.32,382.2,2702,2099,1820,1772,165.0,11.6,611,7215,0.00,2.42,0.00,0.000,644,0.000,0.085,2708,723,1794,1819,1770,0,0,0,0,0,0,14.54,14.08,14.57
$GC,7235,0.32,382.2,2708,723,1819,1770,162.1,11.3,616,7241,0.00,2.42,0.00,0.000,1030,0.000,0.077,2708,2102,1794,1817,1771,0,0,0,0,0,0,14.11,13.98,14.15
$GC,7540,0.32,382.2,2709,2104,1817,1769,128.3,10.8,627,7545,0.00,2.42,0.00,0.000,516,0.000,0.085,2709,728,1792,1816,1768,0,0,0,0,0,0,14.64,14.12,14.66
$GC,7580,0.35,382.2,2710,728,1815,1768,124.1,10.5,635,7585,0.00,2.38,0.00,0.000,1158,0.000,0.077,2709,2093,1791,1814,1769,0,0,0,0,0,0,14.12,13.93,14.16
$GC,7890,0.36,394.3,2710,2095,1814,1768,93.5,9.4,652,7901,0.00,0.00,5.38,0.467,8230,0.000,0.000,2706,2094,1755,1778,1733,0,0,0,0,0,0,14.60,13.78,13.43
$GC,8200,0.44,467.0,2710,2095,1783,1734,69.1,6.6,683,8243,0.00,2.47,38.42,0.409,8868,0.000,0.084,2710,733,1463,1495,1431,0,0,0,0,0,0,14.59,14.09,13.66
$GC,8284,0.63,533.5,2710,732,1496,1430,63.2,6.9,699,8327,0.22,2.40,35.75,0.389,11430,0.091,0.076,2793,2103,1187,1246,1129,0,0,0,0,0,0,14.26,14.12,13.60
$GC,8624,0.66,577.0,2796,2102,1248,1120,30.7,8.0,737,8651,0.00,2.53,22.90,0.306,8740,0.000,0.087,2794,728,1011,1076,946,0,0,0,0,0,0,14.56,14.02,13.69
$GC,8739,0.85,661.9,2793,728,1077,946,23.2,6.1,759,8790,0.20,2.42,46.22,0.275,11430,0.098,0.078,2875,2106,665,719,611,0,0,0,0,0,0,14.12,14.02,13.62
$STATE,8919,end climb,SURFACE_DEPTH_REACHED
$STATE,8919,begin surface coast
$FINISH,0.3,1.021567
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,8950,22.88,0.210,0,0,496,702.78
$SM_GC,1.30,8.32,0.17,22.88,0.073,0.118,0.210,197,2219,496,-7.39,-0.62,702.78,0,0,0,0,0,0,14.14,14.15,13.83
$RAFOS_CLK,15
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7534.39,-15110.97,110917,132302
$TT8_MAMPS,0.085386,0.952728
$HUMID,46.18
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15940747264.000000
$PM_FREEKB_00,48266688
$24V_AH,12.26,191.399
$10V_AH,12.24,0.000
$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,25.825,83.975,932.975,22.875,0.000,0.000,0.000,512.175,4.000,0.000,12.704,0.000,6437.647,923.821,2149.349,323.700,0.000,2206.164,0.000,1126.328,2217.000,0.539,0.000
$DEVICE_MAMPS,451.350,2138.940,1503.225,210.375,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8963.000,8932.000,8902.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.388,20.000,12.105,0.000
$MEM,323412
$DATA_FILE_SIZE,26749,784
$CAP_FILE_SIZE,104853,0
$CFSIZE,2097872896,1999405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.8
$CURRENT,0.040,68.92,1
$GPS,110917,160356,7532.981,-15111.197,20,0.7,24,20.7,0.6,182.6,11,9.3