version: 66.13
glider: 196
mission: 14
dive: 330
start: 9 14 117 2 55 33
data:
$ID,196
$MISSION,14
$DIVE,330
$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,27
$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,916.0
$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
$GPS1,140917,024357,7506.7402,-15108.1729,36,0.8,37,20.7,0.5,40.4,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.8
$GPS2,140917,025502,7506.7280,-15108.0566,7,0.8,8,20.7,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,147.5,42612,-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,-145.9,183,2209,513,487,0.0,0.0,0,145,0.00,0.00,-91.90,0.000,16386,0.000,0.000,180,2210,2124,2052,2196,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,182,2210,2055,2200,3.6,-4.6,9,205,13.00,2.80,-36.47,0.000,18724,0.454,2.149,2375,3594,3963,3949,3978,1,0,0,0,0,0,13.31,12.59,14.02
$GC,310,-0.70,-145.9,2375,3591,3954,3977,38.4,-13.9,41,315,0.00,2.40,0.00,0.000,1158,0.000,0.058,2374,2196,3965,3953,3978,0,0,0,0,0,0,14.12,13.95,14.16
$GC,623,-0.82,-145.9,2375,2196,3955,3979,81.4,-10.8,73,628,0.15,2.50,0.00,0.000,4484,0.123,0.084,2306,3605,3966,3954,3978,0,0,0,0,0,0,14.08,14.02,14.14
$GC,673,-0.91,-145.9,2306,3604,3954,3979,88.8,-14.1,83,678,0.00,2.42,0.00,0.000,1158,0.000,0.060,2305,2192,3966,3954,3978,0,0,0,0,0,0,14.29,14.15,14.33
$GC,993,-0.96,-145.9,2306,2190,3955,3978,132.4,-12.8,100,995,0.12,0.00,0.00,0.000,4230,0.132,0.000,2254,2191,3966,3954,3978,0,0,0,0,0,0,14.31,14.40,14.38
$GC,1293,-0.96,-145.9,2254,2191,3955,3979,180.3,-15.4,110,1298,0.00,2.50,0.00,0.000,260,0.000,0.086,2244,3608,3966,3954,3978,0,0,0,0,0,0,14.64,14.04,14.66
$GC,1449,-1.05,-145.9,2245,3604,3955,3978,201.2,-12.6,141,1453,0.00,2.40,0.00,0.000,1158,0.000,0.059,2244,2198,3966,3954,3978,0,0,0,0,0,0,14.23,14.11,14.28
$GC,1774,-1.05,-145.9,2245,2196,3955,3978,248.1,-14.1,156,1780,0.00,2.50,0.00,0.000,260,0.000,0.086,2236,3607,3966,3954,3978,0,0,0,0,0,0,14.64,14.09,14.65
$GC,1850,-1.14,-145.9,2236,3608,3955,3979,258.0,-12.0,171,1855,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2193,3966,3954,3978,0,0,0,0,0,0,14.30,14.16,14.34
$GC,2165,-1.17,-145.9,2237,2192,3955,3978,298.6,-12.3,184,2171,0.00,2.50,0.00,0.000,388,0.000,0.088,2236,3604,3966,3954,3978,0,0,0,0,0,0,14.64,14.09,14.66
$GC,2246,-1.29,-145.9,2236,3604,3955,3978,307.7,-10.1,200,2252,0.22,2.40,0.00,0.000,5254,0.100,0.057,2153,2199,3966,3954,3978,0,0,0,0,0,0,14.16,14.09,14.25
$GC,2558,-1.16,-145.9,2153,2199,3954,3977,368.0,-19.7,212,2564,0.20,2.50,0.00,0.000,2436,0.321,0.081,2186,3610,3966,3954,3978,0,0,0,0,0,0,13.65,14.01,13.88
$GC,2659,-1.16,-145.9,2186,3611,3954,3979,383.4,-13.7,232,2664,0.00,2.40,0.00,0.000,1030,0.000,0.057,2186,2198,3966,3954,3978,0,0,0,0,0,0,14.28,14.16,14.33
$GC,2980,-1.12,-145.9,2186,2197,3954,3978,430.8,-14.7,246,2985,0.12,2.50,0.00,0.000,2436,0.308,0.083,2204,3601,3966,3954,3978,0,0,0,0,0,0,13.83,13.99,14.00
$GC,3060,-1.20,-145.9,2205,3601,3955,3978,440.8,-11.4,262,3065,0.00,2.40,0.00,0.000,1158,0.000,0.056,2204,2196,3965,3953,3978,0,0,0,0,0,0,14.14,13.99,14.15
$GC,3371,-1.20,-145.9,2205,2195,3954,3978,480.0,-12.6,274,3375,0.00,2.47,0.00,0.000,260,0.000,0.086,2196,3607,3965,3953,3978,0,0,0,0,0,0,14.62,14.00,14.65
$STATE,3378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3378,begin apogee
$GC,3386,-0.13,0.0,2197,2101,3954,3978,481.2,-12.4,276,3622,1.33,0.00,227.30,1.411,10246,0.236,0.000,2532,2099,3356,3374,3339,0,0,0,0,0,0,13.74,13.51,12.65
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3628,0.57,145.9,2529,2099,3373,3334,495.2,0.0,284,3849,0.75,2.70,212.43,1.362,10500,0.060,0.070,2782,3509,2767,2806,2729,0,0,0,0,0,0,13.70,12.85,12.23
$GC,3974,0.08,145.9,2782,3504,2782,2720,493.1,14.9,339,3980,0.93,2.53,0.00,0.000,5254,0.346,0.054,2613,2098,2750,2781,2719,0,0,0,0,0,0,12.66,13.50,13.27
$GC,4300,-0.01,199.6,2614,2099,2782,2716,467.5,7.5,354,4383,0.15,0.00,80.88,1.378,12454,0.288,0.000,2588,2097,2554,2603,2505,0,0,0,0,0,0,13.71,13.78,12.97
$GC,4660,0.02,243.1,2585,2098,2590,2470,439.6,8.0,366,4731,0.00,2.53,65.03,1.370,8740,0.000,0.086,2589,691,2367,2419,2316,0,0,0,0,0,0,14.40,13.65,13.06
$GC,4761,0.11,272.0,2589,692,2408,2310,431.0,8.7,376,4813,0.00,2.50,42.60,1.382,9382,0.000,0.078,2588,2100,2252,2302,2202,0,0,0,0,0,0,14.05,13.94,12.96
$GC,5114,0.18,298.9,2588,2101,2292,2179,400.0,8.8,396,5157,0.12,2.50,37.42,1.396,10916,0.129,0.087,2658,694,2139,2188,2091,0,0,0,0,0,0,14.12,13.76,13.13
$GC,5189,0.15,298.9,2658,695,2175,2087,390.5,13.4,411,5194,0.00,2.47,0.00,0.000,1158,0.000,0.077,2658,2099,2129,2174,2085,0,0,0,0,0,0,14.13,14.01,14.16
$GC,5504,0.08,298.9,2658,2100,2174,2076,347.7,13.3,424,5509,0.17,2.50,0.00,0.000,4740,0.245,0.085,2615,689,2124,2174,2075,0,0,0,0,0,0,13.87,14.06,14.04
$GC,5540,0.15,298.9,2616,687,2172,2076,343.9,10.2,431,5544,0.00,2.47,0.00,0.000,1158,0.000,0.076,2616,2105,2123,2172,2075,0,0,0,0,0,0,14.23,14.12,14.26
$GC,5865,0.18,307.1,2616,2103,2173,2074,311.8,9.6,446,5870,0.00,0.00,1.50,0.240,8870,0.000,0.000,2615,2103,2110,2159,2062,0,0,0,0,0,0,14.47,14.13,13.86
$GC,6197,0.23,328.5,2616,2103,2170,2070,280.9,9.0,462,6251,0.12,2.55,44.80,1.336,10916,0.125,0.087,2684,700,2017,2059,1975,0,0,0,0,0,0,14.14,13.93,13.19
$GC,6323,0.23,328.5,2684,700,2044,1971,265.5,12.1,487,6328,0.00,2.42,0.00,0.000,1030,0.000,0.077,2682,2097,2008,2047,1970,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6650,0.17,328.5,2684,2100,2048,1967,226.8,11.6,502,6655,0.17,2.47,0.00,0.000,4740,0.243,0.083,2646,694,2006,2047,1965,0,0,0,0,0,0,13.77,14.05,13.95
$GC,6666,0.15,328.5,2646,694,2047,1967,224.9,11.2,505,6672,0.00,2.47,0.00,0.000,1158,0.000,0.078,2642,2106,2005,2046,1965,0,0,0,0,0,0,14.29,14.16,14.33
$GC,6983,0.21,371.9,2646,2107,2047,1963,198.7,8.0,518,7062,0.00,2.53,75.12,1.256,8868,0.000,0.085,2654,691,1847,1876,1818,0,0,0,0,0,0,14.63,13.76,13.19
$GC,7108,0.37,417.9,2647,692,1859,1814,188.6,7.9,533,7196,0.17,2.50,82.85,1.190,11430,0.107,0.078,2712,2109,1664,1688,1640,0,0,0,0,0,0,14.10,14.02,13.07
$GC,7493,0.37,417.9,2712,2109,1677,1606,143.3,11.5,560,7497,0.00,2.50,0.00,0.000,516,0.000,0.089,2713,692,1641,1676,1606,0,0,0,0,0,0,14.56,14.12,14.57
$GC,7558,0.43,417.9,2713,695,1673,1606,136.3,10.3,573,7563,0.00,2.47,0.00,0.000,1158,0.000,0.076,2713,2103,1639,1672,1606,0,0,0,0,0,0,14.22,14.15,14.29
$GC,7884,0.43,417.9,2713,2103,1673,1603,101.9,10.1,588,7888,0.00,2.50,0.00,0.000,516,0.000,0.088,2713,694,1637,1672,1602,0,0,0,0,0,0,14.63,14.02,14.64
$GC,7944,0.53,439.1,2713,694,1671,1604,96.3,9.0,600,7961,0.12,2.47,10.25,0.438,11430,0.125,0.076,2770,2105,1573,1605,1541,0,0,0,0,0,0,14.06,13.95,13.50
$GC,8266,0.49,465.7,2770,2106,1615,1551,60.5,8.8,634,8289,0.12,2.58,17.15,0.367,12964,0.258,0.086,2742,696,1464,1500,1428,0,0,0,0,0,0,13.81,13.97,13.62
$GC,8385,0.63,547.9,2743,696,1509,1438,52.3,6.2,657,8444,0.12,2.47,50.55,0.352,11430,0.125,0.077,2796,2101,1130,1191,1069,0,0,0,0,0,0,14.16,14.09,13.63
$GC,8740,0.71,607.6,2795,2101,1192,1075,23.7,7.2,698,8783,0.00,2.50,36.08,0.265,8868,0.000,0.086,2795,695,885,952,819,0,0,0,0,0,0,14.57,13.90,13.69
$GC,8914,0.92,694.5,2795,696,955,832,13.7,6.0,732,8977,0.25,2.47,54.47,0.233,11430,0.086,0.076,2888,2105,530,560,501,0,0,0,0,0,0,14.07,13.93,13.78
$STATE,9021,end climb,SURFACE_DEPTH_REACHED
$STATE,9023,begin surface coast
$FINISH,-0.1,1.010810
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9097,5.45,0.216,0,0,501,702.78
$SM_GC,1.72,8.38,0.17,5.45,0.083,0.112,0.216,202,2222,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.28,14.28,13.88
$RAFOS_CLK,243
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7508.50,-15107.31,140917,000034
$TT8_MAMPS,0.040446,0.940744
$HUMID,46.53
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,47332992
$24V_AH,12.23,202.421
$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,26.750,95.000,1038.425,5.450,0.000,0.000,0.000,387.025,3.000,0.000,10.956,0.000,6371.682,1009.450,2060.786,336.412,0.000,2182.097,0.000,1076.510,2215.000,0.539,0.000
$DEVICE_MAMPS,453.645,2148.885,1411.425,215.730,0.000,0.000,0.000,184.365,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9067.000,9069.000,9050.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.443,20.000,10.008,0.000
$MEM,323724
$DATA_FILE_SIZE,26740,750
$CAP_FILE_SIZE,106520,0
$CFSIZE,2097872896,1993539584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.059,68.25,1
$GPS,140917,052822,7505.508,-15107.031,16,0.8,20,20.7,0.3,17.1,10,9.6