version: 66.13
glider: 196
mission: 14
dive: 317
start: 9 12 117 14 16 47
data:
$ID,196
$MISSION,14
$DIVE,317
$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,31
$R_STBD_OVSHOOT,51
$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,879.0
$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
$GPS1,120917,140602,7522.8755,-15111.6475,35,0.7,35,20.7,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.0
$GPS2,120917,141612,7522.9048,-15111.5059,10,0.9,11,20.7,0.0,350.3,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.2,71998,-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,-145.9,195,2196,514,493,0.0,0.0,0,144,0.00,0.00,-91.93,0.000,16386,0.000,0.000,193,2196,2136,2064,2209,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,194,2196,2065,2209,3.3,-3.5,9,206,13.05,2.75,-38.50,0.000,18724,0.458,2.144,2377,3578,3963,3950,3977,0,0,0,0,0,0,13.57,12.89,14.07
$GC,243,-0.69,-145.9,2378,3579,3954,3978,27.7,-17.3,26,249,0.00,2.38,0.00,0.000,1158,0.000,0.063,2377,2201,3965,3954,3977,0,0,0,0,0,0,14.19,14.04,14.22
$GC,546,-0.79,-145.9,2377,2200,3956,3979,72.0,-12.0,57,548,0.17,0.00,0.00,0.000,4230,0.119,0.000,2308,2199,3967,3956,3978,0,0,0,0,0,0,14.19,14.31,14.29
$GC,858,-0.84,-145.9,2308,2200,3956,3979,117.6,-13.7,80,864,0.00,2.45,0.00,0.000,388,0.000,0.087,2306,3582,3967,3956,3978,0,0,0,0,0,0,14.58,14.11,14.59
$GC,960,-0.98,-145.9,2306,3582,3957,3978,129.4,-11.0,100,966,0.15,2.35,0.00,0.000,5254,0.109,0.057,2245,2196,3966,3956,3977,0,0,0,0,0,0,14.12,14.05,14.20
$GC,1281,-0.95,-145.9,2245,2196,3957,3979,183.6,-16.7,114,1287,0.12,2.47,0.00,0.000,2436,0.280,0.083,2264,3587,3967,3956,3978,0,0,0,0,0,0,13.87,14.05,14.02
$GC,1342,-1.06,-145.9,2263,3589,3957,3979,191.8,-12.1,126,1347,0.00,2.38,0.00,0.000,1158,0.000,0.057,2264,2197,3966,3956,3977,0,0,0,0,0,0,14.34,14.17,14.34
$GC,1672,-1.11,-145.9,2265,2196,3957,3978,234.4,-12.4,142,1677,0.12,2.47,0.00,0.000,4484,0.145,0.085,2209,3586,3967,3956,3978,0,0,0,0,0,0,14.21,14.07,14.22
$GC,1747,-1.11,-145.9,2209,3589,3956,3979,245.8,-15.5,157,1752,0.00,2.38,0.00,0.000,1030,0.000,0.057,2209,2190,3966,3956,3977,0,0,0,0,0,0,14.31,14.18,14.35
$GC,2063,-1.07,-145.9,2209,2191,3956,3979,295.6,-14.9,170,2067,0.00,2.47,0.00,0.000,388,0.000,0.086,2203,3588,3966,3955,3977,0,0,0,0,0,0,14.64,14.12,14.65
$GC,2138,-1.09,-145.9,2204,3588,3957,3978,306.2,-13.4,185,2143,0.00,2.35,0.00,0.000,1158,0.000,0.055,2204,2201,3967,3956,3978,0,0,0,0,0,0,14.32,14.18,14.36
$GC,2453,-1.09,-145.9,2204,2201,3956,3978,351.2,-13.9,198,2458,0.00,2.45,0.00,0.000,260,0.000,0.087,2197,3587,3966,3956,3977,0,0,0,0,0,0,14.65,14.11,14.66
$GC,2558,-1.12,-145.9,2197,3589,3956,3978,365.2,-12.8,219,2563,0.00,2.35,0.00,0.000,1158,0.000,0.055,2197,2200,3966,3955,3977,0,0,0,0,0,0,14.32,14.19,14.35
$GC,2873,-1.10,-145.9,2198,2198,3957,3976,408.7,-13.7,232,2879,0.00,2.45,0.00,0.000,388,0.000,0.086,2190,3582,3965,3955,3976,0,0,0,0,0,0,14.64,14.10,14.66
$GC,2939,-1.10,-145.9,2190,3585,3956,3977,417.7,-13.2,245,2944,0.15,2.38,0.00,0.000,3078,0.248,0.055,2219,2195,3966,3955,3977,0,0,0,0,0,0,13.76,14.09,14.03
$GC,3265,-1.14,-145.9,2221,2194,3957,3975,454.7,-11.2,260,3270,0.00,2.45,0.00,0.000,388,0.000,0.086,2212,3581,3965,3955,3976,0,0,0,0,0,0,14.66,14.04,14.68
$GC,3320,-1.22,-145.9,2213,3580,3956,3976,461.0,-10.9,271,3326,0.00,2.35,0.00,0.000,1158,0.000,0.056,2212,2203,3965,3955,3976,0,0,0,0,0,0,14.15,14.02,14.19
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3503,begin apogee
$GC,3509,-0.13,0.0,2213,2054,3956,3976,482.6,-11.7,278,3747,1.25,0.00,232.68,1.386,10246,0.227,0.000,2531,2053,3361,3385,3338,0,0,0,0,0,0,13.80,13.50,12.66
$STATE,3750,end apogee,CONTROL_FINISHED_OK
$STATE,3750,begin climb
$GC,3753,0.57,145.9,2531,2054,3380,3331,495.8,0.0,286,3978,0.73,1.92,210.60,1.350,10500,0.060,0.075,2779,3475,2755,2796,2715,0,0,0,0,0,0,13.69,13.13,12.28
$GC,4204,0.09,145.9,2780,3473,2780,2711,470.9,16.1,333,4210,0.82,2.33,0.00,0.000,5254,0.346,0.057,2619,2133,2746,2782,2710,0,0,0,0,0,0,13.49,13.85,13.85
$GC,4509,-0.01,184.3,2619,2132,2785,2710,444.4,8.2,344,4570,0.12,2.40,54.53,1.392,12708,0.291,0.078,2595,3487,2605,2655,2555,0,0,0,0,0,0,13.83,13.74,13.11
$GC,4597,-0.07,186.6,2591,3487,2649,2549,437.6,9.9,361,4604,0.12,2.40,0.00,0.000,5286,0.278,0.060,2565,2095,2595,2643,2548,0,0,0,0,0,0,13.86,14.04,14.10
$GC,4901,0.02,262.1,2566,2096,2644,2543,417.2,6.5,372,5026,0.00,0.00,124.07,1.319,8358,0.000,0.000,2565,2095,2296,2351,2242,0,0,0,0,0,0,14.57,13.82,13.00
$GC,5321,0.16,328.8,2566,2095,2334,2221,388.3,6.9,386,5436,0.17,2.62,105.15,1.294,10916,0.106,0.090,2648,686,2019,2069,1969,0,0,0,0,0,0,14.10,13.86,13.06
$GC,5493,0.19,328.8,2649,686,2055,1966,367.7,12.1,420,5499,0.00,2.47,0.00,0.000,1158,0.000,0.077,2648,2070,2010,2054,1967,0,0,0,0,0,0,14.09,13.96,14.12
$GC,5804,0.19,328.8,2649,2072,2054,1955,327.7,13.0,432,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2071,2003,2053,1954,0,0,0,0,0,0,14.57,14.59,14.59
$GC,6104,0.19,328.8,2649,2072,2053,1954,290.8,12.1,442,6109,0.00,2.45,0.00,0.000,516,0.000,0.088,2652,685,2002,2052,1953,0,0,0,0,0,0,14.63,14.19,14.64
$GC,6170,0.25,328.8,2651,686,2050,1954,283.1,11.2,452,6176,0.00,2.50,0.00,0.000,1158,0.000,0.076,2650,2105,2001,2049,1953,0,0,0,0,0,0,14.26,14.12,14.31
$GC,6481,0.25,328.8,2651,2106,2050,1953,248.2,10.8,464,6487,0.00,2.53,0.00,0.000,516,0.000,0.087,2651,691,1998,2048,1948,0,0,0,0,0,0,14.50,14.01,14.51
$GC,6542,0.32,339.0,2651,691,2049,1952,242.2,9.5,476,6552,0.10,2.47,2.75,0.898,11430,0.145,0.077,2694,2098,1982,2031,1934,0,0,0,0,0,0,14.08,14.04,12.82
$GC,6875,0.26,339.0,2695,2099,2043,1944,203.4,11.2,492,6877,0.00,0.00,1.77,0.252,8326,0.000,0.000,2694,2098,1982,2032,1933,0,0,0,0,0,0,14.46,14.09,13.76
$GC,7173,0.20,339.0,2695,2099,2042,1943,170.7,10.7,502,7182,0.17,2.60,1.50,0.239,12932,0.227,0.087,2651,687,1982,2031,1934,0,0,0,0,0,0,13.81,14.04,13.77
$GC,7213,0.34,389.3,2651,687,2036,1938,167.3,7.7,510,7318,0.12,2.50,96.88,1.258,11430,0.127,0.078,2701,2105,1775,1803,1747,0,0,0,0,0,0,14.08,14.00,13.09
$GC,7625,0.34,389.3,2701,2106,1796,1735,124.0,10.3,542,7630,0.00,2.53,0.00,0.000,516,0.000,0.087,2703,691,1764,1795,1734,0,0,0,0,0,0,14.40,14.02,14.42
$GC,7690,0.41,401.7,2704,691,1793,1734,117.7,9.4,555,7710,0.00,2.50,12.48,1.412,9382,0.000,0.077,2704,2102,1724,1752,1696,0,0,0,0,0,0,14.17,14.06,13.18
$GC,8017,0.46,432.1,2702,2102,1752,1685,88.0,8.6,578,8039,0.00,2.53,15.85,0.461,8868,0.000,0.086,2704,685,1601,1633,1569,0,0,0,0,0,0,14.39,13.85,13.54
$GC,8094,0.60,471.1,2706,686,1635,1566,81.2,8.2,593,8121,0.22,2.53,21.27,0.444,11430,0.090,0.079,2789,2105,1445,1480,1410,0,0,0,0,0,0,14.13,13.95,13.62
$GC,8419,0.58,526.6,2789,2105,1481,1404,45.7,7.4,628,8457,0.00,2.53,29.65,0.338,8868,0.000,0.086,2794,692,1215,1271,1160,0,0,0,0,0,0,14.40,13.98,13.66
$GC,8498,0.66,568.2,2794,693,1272,1161,39.9,8.1,643,8526,0.00,2.50,22.38,0.319,9382,0.000,0.077,2800,2102,1047,1114,981,0,0,0,0,0,0,14.13,14.00,13.67
$GC,8825,0.80,668.2,2792,2102,1114,978,16.5,5.4,678,8884,0.12,2.60,53.50,0.254,10916,0.132,0.092,2860,691,636,686,586,0,0,0,0,0,0,14.09,14.01,13.72
$GC,8910,0.85,668.2,2861,690,688,586,8.2,11.2,694,8915,0.00,2.50,0.00,0.000,1158,0.000,0.076,2860,2102,636,686,586,0,0,0,0,0,0,14.21,14.07,14.23
$STATE,8967,end climb,SURFACE_DEPTH_REACHED
$STATE,8967,begin surface coast
$FINISH,0.4,1.021409
$STATE,8977,end surface coast,CONTROL_FINISHED_OK
$STATE,8977,begin surface
$SM_CCo,8999,18.92,0.210,0,0,499,703.03
$SM_GC,0.96,8.15,0.17,18.92,0.070,0.112,0.210,197,2230,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.27,14.27,13.97
$RAFOS_CLK,137
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7527.37,-15115.85,120917,113002
$TT8_MAMPS,0.039697,0.897302
$HUMID,43.54
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,6
$CP_FREE,15937011712.000000
$PM_FREEKB_00,47916736
$24V_AH,12.28,195.869
$10V_AH,12.14,0.000
$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,25.900,88.675,985.050,18.925,0.000,0.000,0.000,351.500,1.500,0.000,12.193,0.000,6388.969,913.481,2026.260,312.324,0.000,2100.526,0.000,1007.544,2217.000,0.540,0.000
$DEVICE_MAMPS,458.235,2143.530,1412.190,210.375,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9011.000,8962.000,8954.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.338,20.000,10.690,0.000
$MEM,323520
$DATA_FILE_SIZE,23381,702
$CAP_FILE_SIZE,103893,0
$CFSIZE,2097872896,1997012992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.1
$CURRENT,0.051,66.96,1
$GPS,120917,164807,7521.612,-15111.062,12,0.8,16,20.7,0.3,51.8,11,9.5