version: 66.13
glider: 196
mission: 14
dive: 336
start: 9 14 117 19 37 0
data:
$ID,196
$MISSION,14
$DIVE,336
$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,25
$R_STBD_OVSHOOT,33
$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,936.0
$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
$GPS1,140917,192431,7458.7744,-15103.1250,13,0.7,16,20.7,0.0,29.5,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.3
$GPS2,140917,193625,7458.7969,-15103.1826,7,0.8,24,20.7,0.6,33.7,10,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.7,28029,-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,-145.9,192,2215,508,482,0.0,0.0,0,145,0.00,0.00,-91.80,0.000,16386,0.000,0.000,190,2216,2141,2067,2215,0,0,0,0,0,0,14.51,28.83,14.53
$GC,149,-0.57,-145.9,191,2216,2072,2216,3.8,-5.4,9,202,12.82,2.83,-35.92,0.000,18724,0.450,2.153,2376,3600,3964,3950,3978,0,0,0,0,0,0,13.55,12.59,14.02
$GC,373,-0.73,-145.9,2376,3601,3956,3978,47.2,-13.3,53,377,0.00,2.42,0.00,0.000,1158,0.000,0.060,2376,2192,3966,3955,3978,0,0,0,0,0,0,14.22,14.09,14.26
$GC,685,-0.87,-145.9,2376,2192,3956,3978,82.9,-9.7,85,690,0.20,2.47,0.00,0.000,4772,0.106,0.079,2291,787,3967,3957,3978,0,0,0,0,0,0,14.14,13.88,14.19
$GC,721,-0.91,-145.9,2292,788,3957,3980,87.7,-14.4,92,728,0.00,2.50,0.00,0.000,1158,0.000,0.086,2288,2182,3967,3956,3978,0,0,0,0,0,0,14.05,13.90,14.07
$GC,1046,-0.95,-145.9,2288,2183,3958,3978,133.8,-13.5,109,1051,0.00,2.55,0.00,0.000,388,0.000,0.088,2280,3619,3967,3956,3978,0,0,0,0,0,0,14.62,13.95,14.64
$GC,1168,-1.07,-145.9,2280,3621,3957,3979,147.9,-11.2,133,1173,0.15,2.45,0.00,0.000,5254,0.112,0.057,2224,2198,3967,3956,3978,0,0,0,0,0,0,14.16,14.06,14.26
$GC,1499,-1.01,-145.9,2223,2201,3952,3978,208.6,-18.6,149,1504,0.12,2.55,0.00,0.000,2436,0.283,0.083,2242,3623,3967,3957,3978,0,0,0,0,0,0,13.63,13.90,13.78
$GC,1584,-1.09,-145.9,2242,3623,3957,3978,221.7,-13.7,166,1590,0.00,2.45,0.00,0.000,1158,0.000,0.057,2242,2209,3970,3956,3985,0,0,0,0,0,0,14.12,13.96,14.12
$GC,1889,-1.09,-145.9,2242,2203,3956,3978,268.5,-15.0,177,1894,0.00,2.55,0.00,0.000,260,0.000,0.087,2236,3622,3967,3957,3978,0,0,0,0,0,0,14.42,13.96,14.43
$GC,2040,-1.19,-145.9,2237,3623,3957,3978,287.1,-11.5,207,2045,0.12,2.47,0.00,0.000,5254,0.138,0.057,2187,2185,3967,3956,3978,0,0,0,0,0,0,14.02,14.00,14.14
$GC,2370,-1.12,-145.9,2187,2184,3952,3979,342.2,-16.8,223,2375,0.12,2.58,0.00,0.000,2436,0.277,0.083,2204,3619,3967,3956,3978,0,0,0,0,0,0,13.70,13.91,13.85
$GC,2526,-1.18,-145.9,2205,3620,3957,3978,362.8,-12.3,254,2530,0.00,2.47,0.00,0.000,1158,0.000,0.056,2204,2191,3967,3956,3978,0,0,0,0,0,0,14.00,13.87,14.00
$GC,2851,-1.18,-145.9,2205,2189,3957,3978,406.1,-13.2,269,2855,0.00,2.58,0.00,0.000,260,0.000,0.086,2197,3620,3967,3956,3978,0,0,0,0,0,0,14.38,13.83,14.38
$GC,2983,-1.23,-145.9,2197,3622,3956,3979,422.7,-12.3,295,2987,0.00,2.45,0.00,0.000,1158,0.000,0.056,2197,2198,3966,3955,3978,0,0,0,0,0,0,14.09,13.97,14.13
$GC,3303,-1.23,-145.9,2197,2196,3956,3978,466.5,-13.5,309,3308,0.00,2.58,0.00,0.000,260,0.000,0.086,2188,3622,3966,3955,3978,0,0,0,0,0,0,14.38,13.88,14.39
$GC,3378,-1.27,-145.9,2189,3623,3957,3978,476.4,-12.8,324,3384,0.00,2.47,0.00,0.000,1158,0.000,0.056,2188,2193,3970,3962,3978,0,0,0,0,0,0,14.05,13.93,14.09
$STATE,3421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3421,begin apogee
$GC,3428,-0.13,0.0,2188,2063,3955,3977,482.7,-13.7,328,3666,1.38,0.10,231.68,1.411,10246,0.235,0.154,2533,2129,3362,3378,3346,0,0,0,0,0,0,13.64,13.38,12.57
$STATE,3672,end apogee,CONTROL_FINISHED_OK
$STATE,3672,begin climb
$GC,3674,0.57,145.9,2528,2130,3373,3339,496.0,0.0,336,3895,0.77,2.70,207.65,1.372,10756,0.070,0.078,2795,727,2764,2799,2729,0,0,0,0,0,0,13.54,13.01,12.14
$GC,3906,0.16,198.0,2791,728,2801,2728,507.7,7.6,374,3990,0.77,2.53,76.05,1.397,13478,0.325,0.073,2640,2087,2558,2617,2500,0,0,0,0,0,0,12.81,13.09,12.09
$GC,4286,0.03,198.0,2640,2088,2599,2475,465.7,11.5,400,4287,0.20,0.00,0.00,0.000,4230,0.251,0.000,2596,2087,2536,2598,2474,0,0,0,0,0,0,13.67,14.04,13.98
$GC,4586,0.03,234.1,2596,2088,2598,2474,440.0,8.3,410,4647,0.00,2.47,51.45,1.414,8868,0.000,0.086,2596,727,2401,2455,2347,0,0,0,0,0,0,14.56,14.00,13.12
$GC,4695,0.10,263.2,2597,727,2447,2342,430.8,8.7,431,4743,0.00,2.42,42.25,1.418,9382,0.000,0.080,2596,2106,2288,2341,2235,0,0,0,0,0,0,14.18,14.06,13.06
$GC,5069,0.15,284.5,2596,2100,2329,2216,396.3,9.0,456,5100,0.00,0.00,29.85,1.439,8358,0.000,0.000,2596,2102,2205,2256,2154,0,0,0,0,0,0,14.55,14.03,13.19
$GC,5399,0.21,300.8,2597,2108,2241,2138,365.7,9.2,467,5430,0.12,2.47,21.85,1.481,10916,0.129,0.088,2669,732,2132,2178,2086,0,0,0,0,0,0,14.27,14.13,13.24
$GC,5456,0.15,300.8,2669,732,2172,2087,358.3,14.4,478,5462,0.17,2.40,0.00,0.000,5254,0.243,0.080,2629,2100,2128,2171,2085,0,0,0,0,0,0,14.00,14.12,14.26
$GC,5760,0.15,300.8,2629,2101,2172,2077,324.9,10.4,489,5766,0.00,2.42,0.00,0.000,516,0.000,0.086,2630,729,2124,2171,2077,0,0,0,0,0,0,14.61,14.16,14.61
$GC,5787,0.18,307.1,2632,729,2172,2077,322.4,9.7,494,5793,0.00,2.42,0.00,0.000,1190,0.000,0.078,2630,2105,2123,2170,2077,0,0,0,0,0,0,14.28,14.14,14.30
$GC,6091,0.18,307.1,2630,2104,2171,2076,291.7,10.1,505,6094,0.00,0.00,1.45,0.256,8198,0.000,0.000,2630,2105,2111,2157,2065,0,0,0,0,0,0,14.62,14.17,13.88
$GC,6392,0.23,341.5,2631,2105,2167,2072,265.3,8.4,515,6465,0.00,0.00,72.10,1.321,8358,0.000,0.000,2630,2105,1974,2018,1930,0,0,0,0,0,0,14.69,13.97,13.18
$GC,6752,0.33,402.9,2630,2106,2004,1912,237.9,7.2,527,6874,0.17,2.47,113.38,1.232,10916,0.101,0.086,2702,731,1715,1737,1693,0,0,0,0,0,0,14.24,13.64,13.07
$GC,6909,0.35,402.9,2704,733,1729,1690,220.3,11.6,553,6915,0.00,2.45,0.00,0.000,1158,0.000,0.077,2703,2109,1708,1728,1688,0,0,0,0,0,0,14.04,13.93,14.08
$GC,7235,0.35,402.9,2704,2111,1729,1679,182.2,11.5,568,7240,0.00,2.47,0.00,0.000,516,0.000,0.088,2704,722,1703,1728,1678,0,0,0,0,0,0,14.59,14.11,14.61
$GC,7280,0.40,402.9,2704,723,1727,1679,177.2,10.9,577,7286,0.00,2.42,0.00,0.000,1158,0.000,0.077,2702,2103,1702,1726,1678,0,0,0,0,0,0,14.30,14.16,14.35
$GC,7597,0.40,402.9,2704,2101,1723,1677,142.4,10.9,590,7602,0.00,2.45,0.00,0.000,516,0.000,0.087,2704,724,1701,1726,1676,0,0,0,0,0,0,14.62,14.16,14.64
$GC,7662,0.47,408.6,2704,724,1722,1676,135.8,9.7,603,7667,0.00,2.40,0.00,0.000,1190,0.000,0.077,2704,2100,1699,1723,1676,0,0,0,0,0,0,14.24,14.14,14.28
$GC,7987,0.47,408.6,2704,2101,1724,1674,101.5,10.3,618,7992,0.00,2.42,0.00,0.000,516,0.000,0.086,2705,730,1698,1722,1675,0,0,0,0,0,0,14.62,14.12,14.64
$GC,8017,0.52,408.6,2705,730,1722,1674,98.4,10.6,624,8023,0.15,2.40,0.00,0.000,3206,0.116,0.077,2770,2100,1698,1721,1675,0,0,0,0,0,0,14.24,14.16,14.35
$GC,8329,0.43,417.6,2771,2101,1723,1674,59.2,9.6,656,8341,0.20,2.45,5.75,0.340,12964,0.271,0.084,2726,731,1661,1688,1635,0,0,0,0,0,0,13.71,13.78,13.50
$GC,8567,0.59,565.5,2727,731,1697,1640,46.9,3.2,703,8652,0.15,2.42,79.12,0.336,11430,0.112,0.076,2789,2108,1057,1125,989,0,0,0,0,0,0,14.19,14.12,13.72
$GC,8957,0.75,676.1,2789,2108,1126,996,19.4,4.9,750,9022,0.00,2.53,60.22,0.262,8868,0.000,0.086,2792,730,609,660,559,0,0,0,0,0,0,14.52,14.01,13.75
$GC,9173,0.99,746.5,2792,730,661,560,5.7,6.8,792,9195,0.32,2.40,15.55,0.221,11430,0.084,0.074,2906,2098,498,528,469,0,0,0,0,0,0,14.20,14.05,13.76
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$FINISH,0.1,1.021290
$STATE,9220,end surface coast,CONTROL_FINISHED_OK
$STATE,9220,begin surface
$SM_CCo,9243,-0.03,0.000,0,0,500,702.78
$SM_GC,1.35,8.38,0.17,-0.03,0.077,0.116,0.000,200,2216,500,-7.38,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.76
$RAFOS_CLK,364
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7501.48,-15112.08,140917,164631
$TT8_MAMPS,0.039697,0.945238
$HUMID,46.69
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,8
$CP_FREE,15929016320.000000
$PM_FREEKB_00,47056448
$24V_AH,12.09,205.413
$10V_AH,11.53,0.000
$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,26.350,89.950,1008.350,0.000,0.000,0.000,0.000,416.900,2.000,0.000,27.428,0.000,6506.946,1013.089,2104.515,347.203,0.000,2196.503,0.000,1146.600,2194.000,0.540,0.000
$DEVICE_MAMPS,449.820,2153.475,1481.040,0.000,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9252.000,9225.000,9197.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.493,20.000,12.102,0.000
$MEM,323628
$DATA_FILE_SIZE,26735,799
$CAP_FILE_SIZE,107874,0
$CFSIZE,2097872896,1991901184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.094,142.79,1
$GPS,140917,221227,7457.151,-15102.764,37,0.8,37,20.7,0.0,0.0,10,8.1