version: 66.13
glider: 196
mission: 14
dive: 319
start: 9 12 117 19 48 24
data:
$ID,196
$MISSION,14
$DIVE,319
$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,27
$R_STBD_OVSHOOT,24
$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,886.0
$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
$GPS1,120917,193602,7520.2876,-15110.6484,30,0.8,30,20.7,0.8,140.0,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.2
$GPS2,120917,194748,7520.3472,-15110.7070,6,0.9,7,20.7,0.0,332.7,9,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,159.5,67288,-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,-145.9,178,2214,495,476,0.0,0.0,0,144,0.00,0.00,-91.82,0.000,16386,0.000,0.000,175,2213,2155,2082,2229,0,0,0,0,0,0,14.48,28.83,14.52
$GC,147,-0.57,-145.9,177,2214,2086,2231,3.9,-5.3,9,201,13.07,2.90,-35.45,0.000,18980,0.457,2.144,2384,796,3965,3950,3980,1,0,0,0,0,0,13.30,12.61,14.02
$GC,221,-0.51,-145.9,2384,797,3953,3980,26.9,-27.2,23,227,0.15,2.50,0.00,0.000,3206,0.275,0.083,2409,2199,3969,3954,3984,0,0,0,0,0,0,13.85,14.06,14.16
$GC,532,-0.66,-145.9,2409,2201,3957,3981,66.1,-10.0,55,537,0.12,2.53,0.00,0.000,4516,0.132,0.087,2349,3615,3968,3956,3980,0,0,0,0,0,0,14.15,14.04,14.17
$GC,597,-0.82,-145.9,2350,3617,3957,3981,73.3,-10.8,68,605,0.00,2.45,0.00,0.000,1158,0.000,0.057,2350,2195,3968,3956,3980,0,0,0,0,0,0,14.24,14.12,14.28
$GC,921,-0.94,-145.9,2350,2195,3956,3981,109.8,-10.4,94,922,0.22,0.00,0.00,0.000,4230,0.103,0.000,2263,2195,3968,3957,3980,0,0,0,0,0,0,14.09,14.22,14.18
$GC,1221,-0.94,-145.9,2264,2194,3957,3980,157.2,-15.5,104,1226,0.00,2.55,0.00,0.000,260,0.000,0.087,2256,3609,3968,3957,3979,0,0,0,0,0,0,14.42,13.95,14.44
$GC,1349,-1.02,-145.9,2253,3611,3957,3981,174.4,-13.1,129,1354,0.00,2.42,0.00,0.000,1158,0.000,0.057,2256,2203,3968,3956,3980,0,0,0,0,0,0,14.15,14.03,14.19
$GC,1674,-1.02,-145.9,2256,2203,3957,3981,220.6,-13.8,144,1679,0.00,2.53,0.00,0.000,260,0.000,0.086,2251,3611,3968,3956,3980,0,0,0,0,0,0,14.40,13.95,14.42
$GC,1730,-1.12,-145.9,2248,3614,3957,3980,227.7,-11.9,155,1736,0.00,2.45,0.00,0.000,1158,0.000,0.057,2248,2199,3968,3956,3980,0,0,0,0,0,0,13.99,13.87,14.02
$GC,2035,-1.15,-145.9,2248,2199,3957,3981,267.6,-12.5,166,2040,0.12,2.53,0.00,0.000,4484,0.145,0.083,2184,3610,3968,3957,3980,0,0,0,0,0,0,14.07,13.95,14.12
$GC,2090,-1.11,-145.9,2185,3610,3957,3981,276.6,-16.7,177,2097,0.17,2.45,0.00,0.000,3206,0.252,0.057,2219,2197,3967,3954,3980,0,0,0,0,0,0,13.66,13.84,13.95
$GC,2395,-1.11,-145.9,2220,2196,3957,3980,318.9,-13.2,188,2401,0.00,2.53,0.00,0.000,260,0.000,0.085,2211,3610,3966,3956,3976,0,0,0,0,0,0,14.38,13.93,14.40
$GC,2518,-1.18,-145.9,2212,3611,3957,3980,334.0,-12.3,212,2523,0.00,2.45,0.00,0.000,1158,0.000,0.057,2210,2192,3967,3956,3979,0,0,0,0,0,0,14.12,14.00,14.18
$GC,2849,-1.18,-145.9,2212,2190,3955,3980,377.8,-13.0,228,2854,0.00,2.55,0.00,0.000,260,0.000,0.089,2207,3609,3968,3956,3980,0,0,0,0,0,0,14.40,13.89,14.42
$MODEM_MSG,CACST,6,1,20170912203139.886988,3,72,00,0096,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,2912,-1.25,-145.9,2209,3611,3955,3981,385.4,-11.3,240,2918,0.10,2.45,0.00,0.000,5254,0.150,0.056,2163,2194,3967,3955,3980,0,0,0,0,0,0,13.97,13.92,14.09
$GC,3244,-1.16,-145.9,2164,2194,3956,3980,442.5,-17.4,256,3250,0.17,2.50,0.00,0.000,2436,0.307,0.081,2190,3610,3970,3954,3986,0,0,0,0,0,0,13.55,13.88,13.76
$GC,3371,-1.20,-145.9,2190,3612,3955,3981,459.9,-12.6,281,3375,0.00,2.42,0.00,0.000,1158,0.000,0.056,2190,2192,3967,3954,3980,0,0,0,0,0,0,14.23,14.10,14.27
$STATE,3513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3513,begin apogee
$GC,3519,-0.13,0.0,2191,2061,3955,3980,480.1,-14.0,290,3765,1.35,0.08,242.30,1.378,10246,0.239,0.180,2528,2110,3365,3384,3347,0,0,0,0,0,0,13.73,13.45,12.62
$STATE,3769,end apogee,CONTROL_FINISHED_OK
$STATE,3769,begin climb
$GC,3773,0.57,145.9,2528,2111,3375,3334,493.5,0.0,298,3997,0.75,2.62,211.43,1.339,10756,0.061,0.078,2794,734,2763,2803,2723,0,0,0,0,0,0,13.66,13.14,12.28
$GC,4222,0.15,145.9,2794,730,2784,2713,475.5,14.4,381,4230,0.75,2.42,0.00,0.000,5254,0.325,0.074,2637,2095,2746,2784,2709,0,0,0,0,0,0,13.42,13.81,13.82
$GC,4527,0.01,174.9,2638,2096,2785,2705,447.9,8.7,392,4573,0.17,2.45,37.67,1.396,12964,0.271,0.083,2602,733,2646,2690,2602,0,0,0,0,0,0,13.84,14.04,13.15
$GC,4633,0.04,221.0,2603,732,2687,2588,439.8,7.9,413,4710,0.00,2.40,70.05,1.328,9254,0.000,0.079,2608,2101,2463,2523,2403,0,0,0,0,0,0,14.21,14.07,13.05
$GC,5009,0.03,236.9,2602,2102,2504,2383,405.6,9.3,438,5028,0.00,0.00,18.55,1.454,8358,0.000,0.000,2602,2101,2400,2458,2342,0,0,0,0,0,0,14.56,14.06,13.21
$GC,5308,0.04,250.0,2603,2100,2439,2325,377.4,9.4,448,5327,0.00,0.00,14.05,1.502,8742,0.000,0.000,2602,2101,2343,2394,2292,0,0,0,0,0,0,14.61,14.13,13.26
$GC,5638,0.06,271.7,2602,2102,2386,2282,347.2,9.0,464,5679,0.00,2.47,33.65,1.382,8740,0.000,0.086,2602,726,2250,2301,2200,0,0,0,0,0,0,14.64,14.12,13.25
$GC,5741,0.17,307.0,2603,725,2292,2192,338.4,8.4,484,5804,0.12,2.40,56.55,1.301,11430,0.125,0.079,2658,2100,2110,2158,2063,0,0,0,0,0,0,14.21,14.16,13.14
$GC,6120,0.12,307.0,2662,2101,2144,2043,290.4,12.6,510,6125,0.15,2.42,0.00,0.000,4740,0.252,0.083,2630,730,2093,2144,2042,0,0,0,0,0,0,13.93,14.15,14.07
$GC,6150,0.17,307.0,2630,731,2142,2043,287.0,10.5,516,6155,0.00,2.40,0.00,0.000,1158,0.000,0.077,2630,2099,2091,2141,2042,0,0,0,0,0,0,14.32,14.19,14.37
$GC,6480,0.21,332.0,2631,2101,2141,2040,255.8,8.8,532,6518,0.00,0.00,36.67,1.315,8358,0.000,0.000,2630,2101,2016,2068,1965,0,0,0,0,0,0,14.66,14.07,13.26
$GC,6810,0.30,370.7,2631,2102,2046,1946,227.9,8.2,543,6886,0.15,2.50,67.35,1.242,10916,0.112,0.087,2698,733,1847,1877,1817,0,0,0,0,0,0,14.16,13.97,13.19
$GC,6928,0.30,370.7,2699,732,1864,1813,214.3,12.0,561,6935,0.00,2.40,0.00,0.000,1030,0.000,0.077,2698,2098,1837,1862,1813,0,0,0,0,0,0,14.16,14.04,14.22
$GC,7231,0.27,370.7,2699,2099,1861,1805,178.5,11.5,572,7236,0.12,2.40,0.00,0.000,4740,0.224,0.084,2672,732,1832,1860,1805,0,0,0,0,0,0,13.96,14.14,14.07
$GC,7257,0.30,370.7,2672,733,1859,1806,175.9,10.6,577,7264,0.00,2.42,0.00,0.000,1158,0.000,0.079,2672,2105,1831,1858,1805,0,0,0,0,0,0,14.27,14.14,14.32
$GC,7562,0.36,398.2,2672,2106,1859,1809,148.2,8.7,588,7612,0.00,2.45,43.20,1.251,8868,0.000,0.087,2672,730,1734,1757,1712,0,0,0,0,0,0,14.64,14.05,13.25
$GC,7665,0.51,435.9,2672,729,1747,1707,139.6,8.3,608,7738,0.22,2.42,66.97,1.182,11430,0.097,0.078,2762,2107,1586,1614,1558,0,0,0,0,0,0,14.19,14.12,13.16
$GC,8044,0.44,435.9,2760,2106,1604,1531,87.1,13.1,640,8049,0.15,2.45,0.00,0.000,4740,0.257,0.082,2733,725,1566,1602,1531,0,0,0,0,0,0,13.88,14.03,14.04
$GC,8079,0.48,435.9,2733,727,1601,1532,83.2,10.3,647,8086,0.00,2.42,0.00,0.000,1158,0.000,0.077,2733,2100,1565,1600,1531,0,0,0,0,0,0,14.18,14.03,14.26
$GC,8385,0.55,502.7,2734,2101,1603,1528,57.3,6.9,678,8425,0.00,0.00,35.47,0.366,8614,0.000,0.000,2733,2100,1318,1369,1267,0,0,0,0,0,0,14.59,13.83,13.58
$GC,8724,0.74,614.7,2734,2100,1367,1274,38.0,4.8,713,8799,0.22,2.50,65.22,0.304,10916,0.095,0.089,2826,730,858,926,790,0,0,0,0,0,0,14.20,14.02,13.68
$GC,8826,0.78,614.7,2826,730,929,795,28.6,10.8,732,8832,0.00,2.40,0.00,0.000,1158,0.000,0.075,2826,2099,860,924,797,0,0,0,0,0,0,14.18,14.04,14.21
$STATE,9127,end climb,SURFACE_DEPTH_REACHED
$STATE,9127,begin surface coast
$FINISH,0.1,1.011184
$STATE,9147,end surface coast,CONTROL_FINISHED_OK
$STATE,9147,begin surface
$SM_CCo,9168,58.25,0.201,0,0,499,703.03
$SM_GC,1.31,8.05,0.20,58.25,0.073,0.121,0.201,201,2218,499,-7.39,-0.37,703.03,0,0,0,0,0,0,14.28,14.27,13.93
$RAFOS_CLK,394
$MODEM,5,1505248299,74.50000,-149.00000,72.887,105520.5
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7523.72,-15124.05,120917,165234
$TT8_MAMPS,0.039697,0.944489
$HUMID,47.55
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,8
$CP_FREE,15936159744.000000
$PM_FREEKB_00,47813696
$24V_AH,12.28,196.875
$10V_AH,12.37,0.000
$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,26.375,84.600,999.150,58.250,0.000,0.000,0.000,432.675,2.000,0.000,9.044,0.000,6504.760,1067.099,2045.091,334.065,0.000,2240.865,0.000,1096.648,2217.000,0.540,0.000
$DEVICE_MAMPS,456.705,2144.295,1502.460,201.195,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9180.000,9149.000,9121.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.650,20.000,11.321,0.000
$MEM,323508
$DATA_FILE_SIZE,26748,765
$CAP_FILE_SIZE,106096,0
$CFSIZE,2097872896,1996488704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.055,103.27,1
$GPS,120917,222403,7518.964,-15110.789,66,0.8,66,20.7,0.5,311.9,10,9.1