version: 66.13
glider: 196
mission: 14
dive: 318
start: 9 12 117 16 59 41
data:
$ID,196
$MISSION,14
$DIVE,318
$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,24
$R_STBD_OVSHOOT,47
$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,882.0
$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
$GPS1,120917,164807,7521.6118,-15111.0615,12,0.8,16,20.7,0.3,51.8,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.1
$GPS2,120917,165911,7521.6460,-15111.0488,7,0.7,22,20.7,0.6,346.3,12,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.2,69672,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,184,2232,508,478,0.0,0.0,0,144,0.00,0.00,-90.95,0.000,16386,0.000,0.000,187,2232,2127,2058,2196,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,183,2232,2060,2198,3.5,-4.1,9,204,13.00,0.00,-38.00,0.000,18982,0.454,0.000,2384,2233,3962,3947,3977,0,0,0,0,0,0,13.57,12.69,14.07
$GC,502,-0.67,-145.9,2385,2233,3954,3977,68.7,-11.9,47,503,0.00,0.00,0.00,0.000,134,0.000,0.000,2384,2233,3965,3953,3977,0,0,0,0,0,0,14.58,14.60,14.59
$GC,805,-0.84,-145.9,2385,2233,3954,3978,96.7,-8.0,77,810,0.22,2.42,0.00,0.000,4516,0.096,0.085,2289,3588,3965,3953,3977,0,0,0,0,0,0,14.17,13.94,14.22
$GC,830,-0.92,-145.9,2289,3588,3954,3978,99.8,-12.8,82,836,0.00,2.38,0.00,0.000,1158,0.000,0.057,2288,2199,3965,3953,3977,0,0,0,0,0,0,14.07,13.98,14.11
$GC,1136,-0.95,-145.9,2290,2199,3954,3977,144.0,-13.8,93,1140,0.00,2.45,0.00,0.000,388,0.000,0.086,2280,3585,3965,3953,3977,0,0,0,0,0,0,14.64,14.12,14.66
$GC,1191,-1.08,-145.9,2281,3586,3954,3978,151.2,-11.7,104,1198,0.15,2.40,0.00,0.000,5254,0.112,0.058,2226,2188,3966,3955,3977,0,0,0,0,0,0,14.02,13.96,14.12
$GC,1496,-1.02,-145.9,2225,2188,3953,3978,207.1,-18.0,115,1501,0.00,2.47,0.00,0.000,388,0.000,0.087,2223,3582,3965,3953,3977,0,0,0,0,0,0,14.64,14.10,14.66
$GC,1596,-1.05,-145.9,2223,3585,3954,3977,223.2,-14.8,135,1601,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2194,3965,3953,3977,0,0,0,0,0,0,14.22,14.09,14.24
$GC,1917,-1.03,-145.9,2223,2194,3954,3978,273.7,-15.0,149,1921,0.00,2.45,0.00,0.000,388,0.000,0.087,2222,3583,3965,3953,3977,0,0,0,0,0,0,14.66,14.11,14.69
$GC,1972,-1.08,-145.9,2222,3586,3953,3977,281.2,-12.5,160,1979,0.00,2.38,0.00,0.000,1158,0.000,0.057,2221,2188,3965,3953,3977,0,0,0,0,0,0,14.23,14.10,14.28
$GC,2277,-1.08,-145.9,2222,2189,3954,3978,322.0,-13.2,171,2281,0.00,2.47,0.00,0.000,260,0.000,0.088,2221,3582,3965,3953,3977,0,0,0,0,0,0,14.67,14.09,14.69
$GC,2419,-1.16,-145.9,2222,3584,3954,3977,338.2,-11.3,199,2423,0.00,2.35,0.00,0.000,1158,0.000,0.057,2222,2198,3965,3953,3977,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2729,-1.19,-145.9,2222,2196,3954,3977,375.6,-11.8,211,2734,0.00,2.45,0.00,0.000,388,0.000,0.088,2220,3583,3964,3952,3977,0,0,0,0,0,0,14.66,14.10,14.68
$GC,2799,-1.29,-145.9,2222,3585,3953,3977,383.4,-10.4,225,2804,0.17,2.38,0.00,0.000,5254,0.110,0.057,2154,2193,3964,3952,3977,0,0,0,0,0,0,14.24,14.17,14.33
$GC,3119,-1.17,-145.9,2154,2193,3952,3978,440.5,-18.2,239,3124,0.17,2.45,0.00,0.000,2436,0.323,0.081,2181,3585,3964,3951,3977,0,0,0,0,0,0,13.66,13.87,13.62
$GC,3244,-1.17,-145.9,2182,3587,3952,3978,458.9,-13.8,264,3250,0.00,2.38,0.00,0.000,1030,0.000,0.057,2181,2192,3964,3951,3977,0,0,0,0,0,0,14.22,14.16,14.24
$STATE,3388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3388,begin apogee
$GC,3394,-0.13,0.0,2181,2060,3953,3977,480.7,-15.0,273,3762,1.40,0.00,362.98,1.236,10246,0.249,0.000,2527,2059,3367,3381,3353,0,0,0,0,0,0,13.72,13.38,12.60
$STATE,3766,end apogee,CONTROL_FINISHED_OK
$STATE,3766,begin climb
$GC,3770,0.57,145.9,2527,2060,3378,3349,501.6,0.0,285,4040,0.75,2.75,213.95,1.324,10500,0.060,0.073,2782,3484,2740,2770,2711,0,0,0,0,0,0,13.57,12.85,12.22
$GC,4135,0.09,145.9,2783,3484,2767,2710,492.6,16.3,305,4140,0.90,2.40,0.00,0.000,5254,0.346,0.057,2614,2125,2737,2766,2709,0,0,0,0,0,0,13.26,13.64,13.63
$GC,4460,0.01,191.5,2614,2125,2767,2707,465.3,7.9,320,4528,0.12,0.00,65.40,1.329,12454,0.296,0.000,2589,2123,2584,2631,2538,0,0,0,0,0,0,13.92,13.91,13.09
$GC,4820,0.01,232.3,2589,2124,2618,2508,436.5,8.1,332,4900,0.00,2.58,73.57,1.262,8868,0.000,0.090,2590,690,2411,2465,2358,0,0,0,0,0,0,14.56,13.97,13.15
$GC,4937,0.11,269.2,2590,690,2455,2352,427.0,8.3,355,5011,0.00,2.45,67.12,1.235,9382,0.000,0.079,2589,2074,2267,2320,2215,0,0,0,0,0,0,14.13,14.00,13.05
$GC,5332,0.18,295.7,2590,2075,2305,2193,392.5,8.8,384,5374,0.15,0.00,39.50,1.333,10406,0.116,0.000,2659,2074,2158,2205,2111,0,0,0,0,0,0,14.25,14.03,13.20
$GC,5662,0.13,295.7,2659,2074,2187,2089,348.1,13.5,395,5667,0.12,2.42,0.00,0.000,4740,0.256,0.085,2634,696,2137,2186,2088,0,0,0,0,0,0,13.84,14.12,13.94
$GC,5702,0.16,295.7,2634,694,2184,2084,343.4,11.0,403,5707,0.00,2.47,0.00,0.000,1158,0.000,0.078,2632,2108,2135,2183,2087,0,0,0,0,0,0,14.21,14.09,14.26
$GC,6022,0.16,295.7,2634,2109,2184,2087,308.4,10.8,417,6027,0.00,2.47,0.00,0.000,516,0.000,0.086,2637,694,2134,2182,2087,0,0,0,0,0,0,14.61,14.16,14.63
$GC,6053,0.18,295.7,2638,694,2183,2087,305.2,10.5,423,6057,0.00,2.45,0.00,0.000,1158,0.000,0.078,2636,2099,2134,2181,2087,0,0,0,0,0,0,14.35,14.21,14.40
$GC,6383,0.18,295.7,2637,2101,2182,2087,270.5,10.3,439,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2101,2133,2181,2086,0,0,0,0,0,0,14.66,14.69,14.69
$GC,6683,0.21,326.1,2637,2101,2182,2087,243.2,8.6,449,6745,0.00,2.50,54.85,1.248,8740,0.000,0.085,2637,691,2031,2075,1988,0,0,0,0,0,0,14.64,13.78,13.21
$GC,6778,0.31,357.8,2638,691,2065,1986,235.0,8.5,467,6837,0.15,2.47,54.10,1.237,11430,0.113,0.078,2697,2100,1906,1940,1872,0,0,0,0,0,0,14.16,14.10,13.13
$GC,7135,0.27,357.8,2697,2101,1916,1852,192.1,11.7,489,7140,0.00,2.50,0.00,0.000,644,0.000,0.087,2699,693,1883,1915,1852,0,0,0,0,0,0,14.56,14.11,14.57
$GC,7190,0.27,357.8,2699,693,1914,1853,186.1,10.5,500,7197,0.00,2.47,0.00,0.000,1030,0.000,0.077,2698,2106,1882,1912,1852,0,0,0,0,0,0,14.26,14.13,14.29
$GC,7496,0.24,357.8,2699,2107,1912,1850,153.5,10.4,511,7501,0.15,2.50,0.00,0.000,4740,0.221,0.086,2659,695,1880,1912,1849,0,0,0,0,0,0,13.98,14.10,14.12
$GC,7536,0.39,406.3,2660,696,1914,1850,150.1,7.8,519,7627,0.15,2.45,82.65,1.195,11430,0.117,0.080,2722,2100,1705,1727,1683,0,0,0,0,0,0,14.21,14.14,13.19
$GC,7947,0.39,406.3,2722,2101,1717,1663,103.2,10.8,551,7952,0.00,2.50,0.00,0.000,516,0.000,0.086,2725,693,1689,1716,1662,0,0,0,0,0,0,14.54,14.12,14.57
$GC,7992,0.43,413.9,2726,693,1714,1663,98.7,9.6,560,7999,0.00,2.47,1.40,0.254,9382,0.000,0.077,2726,2099,1676,1703,1650,0,0,0,0,0,0,14.26,14.16,13.88
$GC,8299,0.45,449.5,2726,2101,1712,1656,70.0,8.4,592,8321,0.00,0.00,20.98,0.397,8230,0.000,0.000,2725,2100,1532,1561,1503,0,0,0,0,0,0,14.58,14.10,13.66
$GC,8619,0.60,569.3,2726,2101,1574,1510,49.1,4.5,624,8694,0.12,2.55,64.85,0.341,10916,0.127,0.087,2793,697,1041,1107,975,0,0,0,0,0,0,14.16,14.06,13.74
$GC,8815,0.71,603.0,2795,696,1114,987,33.5,8.4,662,8841,0.00,2.47,20.10,0.292,9382,0.000,0.078,2794,2102,904,973,835,0,0,0,0,0,0,14.26,14.12,13.74
$GC,9147,0.90,716.9,2794,2101,977,850,10.8,4.7,698,9211,0.20,2.60,58.30,0.227,10916,0.097,0.096,2890,695,496,514,478,0,0,0,0,0,0,14.21,13.89,13.89
$STATE,9218,end climb,SURFACE_DEPTH_REACHED
$STATE,9218,begin surface coast
$FINISH,0.9,1.021409
$STATE,9226,end surface coast,CONTROL_FINISHED_OK
$STATE,9226,begin surface
$SM_CCo,9309,0.00,0.000,0,0,493,704.99
$SM_GC,1.30,8.30,2.67,0.00,0.078,0.070,0.000,193,2209,493,-7.38,-0.51,704.99,0,0,0,0,0,0,14.28,14.17,14.35
$RAFOS_CLK,421
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7521.72,-15109.12,120917,141016
$TT8_MAMPS,0.040446,0.889063
$HUMID,46.81
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,14
$CP_FREE,15936585728.000000
$PM_FREEKB_00,47869376
$24V_AH,12.22,196.368
$10V_AH,12.08,0.000
$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,26.250,84.150,1179.750,0.000,0.000,0.000,0.000,382.900,3.500,0.000,23.732,0.000,6500.865,1058.056,2105.619,318.532,0.000,2329.415,0.000,1023.187,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,111.690,1333.395,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9251.000,9202.000,9192.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.535,20.000,10.900,0.000
$MEM,323292
$DATA_FILE_SIZE,23433,713
$CAP_FILE_SIZE,100138,0
$CFSIZE,2097872896,1996750848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.061,98.44,1
$GPS,120917,193602,7520.288,-15110.648,30,0.8,30,20.7,0.8,140.0,9,8.0