version: 66.13
glider: 196
mission: 14
dive: 337
start: 9 14 117 22 27 20
data:
$ID,196
$MISSION,14
$DIVE,337
$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,62
$R_STBD_OVSHOOT,38
$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,938.0
$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
$GPS1,140917,221227,7457.1509,-15102.7637,37,0.8,37,20.7,0.0,0.0,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.4
$GPS2,140917,222644,7457.1787,-15102.6143,6,0.8,8,20.7,0.0,93.5,10,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,138.1,25185,-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,52,-0.57,-145.9,194,2220,523,476,0.0,0.0,0,144,0.00,0.00,-91.05,0.000,16386,0.000,0.000,192,2219,2122,2045,2199,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,194,2220,2050,2202,3.6,-4.4,9,205,12.85,2.78,-37.15,0.000,18724,0.451,2.153,2376,3589,3964,3951,3978,0,0,0,0,0,0,13.55,12.60,14.06
$GC,355,-0.72,-145.9,2377,3590,3956,3978,44.1,-13.2,50,361,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2235,3966,3955,3978,0,0,0,0,0,0,14.08,13.96,14.12
$GC,661,-0.85,-145.9,2377,2234,3957,3978,79.9,-9.3,81,662,0.22,0.00,0.00,0.000,4262,0.099,0.000,2296,2234,3967,3956,3978,0,0,0,0,0,0,14.18,14.29,14.26
$GC,983,-0.90,-145.9,2293,2234,3958,3978,124.8,-13.3,101,988,0.00,2.42,0.00,0.000,388,0.000,0.086,2284,3595,3967,3957,3978,0,0,0,0,0,0,14.60,14.09,14.62
$GC,1073,-1.02,-145.9,2285,3597,3958,3978,136.2,-11.9,119,1078,0.00,2.38,0.00,0.000,1158,0.000,0.057,2284,2200,3967,3957,3978,0,0,0,0,0,0,14.23,14.09,14.25
$GC,1403,-1.08,-145.9,2284,2200,3958,3979,178.7,-12.5,135,1408,0.15,2.47,0.00,0.000,4484,0.132,0.084,2223,3594,3967,3957,3978,0,0,0,0,0,0,14.22,14.07,14.26
$GC,1439,-1.08,-145.9,2223,3595,3957,3979,184.2,-16.6,142,1443,0.00,2.40,0.00,0.000,1030,0.000,0.057,2222,2191,3967,3957,3978,0,0,0,0,0,0,14.28,14.15,14.32
$GC,1764,-1.03,-145.9,2223,2189,3959,3978,243.0,-18.0,157,1769,0.00,2.50,0.00,0.000,388,0.000,0.088,2222,3595,3967,3957,3978,0,0,0,0,0,0,14.64,14.01,14.66
$GC,1881,-1.08,-145.9,2223,3597,3958,3977,260.9,-14.3,180,1888,0.00,2.42,0.00,0.000,1158,0.000,0.057,2222,2183,3967,3957,3978,0,0,0,0,0,0,14.21,14.10,14.26
$GC,2184,-1.08,-145.9,2223,2183,3958,3978,306.2,-13.8,191,2189,0.00,2.53,0.00,0.000,260,0.000,0.089,2222,3600,3967,3956,3978,0,0,0,0,0,0,14.65,14.03,14.66
$GC,2264,-1.16,-145.9,2223,3601,3958,3980,316.2,-11.7,207,2269,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2204,3967,3957,3977,0,0,0,0,0,0,14.29,14.16,14.33
$GC,2574,-1.18,-145.9,2223,2202,3958,3978,356.0,-12.7,219,2579,0.00,2.47,0.00,0.000,388,0.000,0.089,2222,3595,3967,3957,3978,0,0,0,0,0,0,14.65,14.00,14.66
$GC,2650,-1.29,-145.9,2222,3594,3958,3978,364.8,-11.0,234,2655,0.17,2.38,0.00,0.000,5254,0.115,0.056,2158,2196,3967,3957,3978,0,0,0,0,0,0,14.12,14.08,14.23
$GC,2965,-1.18,-145.9,2158,2196,3959,3979,419.7,-17.7,247,2970,0.15,2.50,0.00,0.000,2436,0.335,0.083,2178,3600,3967,3956,3978,0,0,0,0,0,0,13.59,14.00,13.83
$GC,3088,-1.18,-145.9,2179,3601,3956,3978,437.6,-14.0,271,3092,0.00,2.42,0.00,0.000,1030,0.000,0.057,2179,2190,3966,3955,3978,0,0,0,0,0,0,14.23,14.11,14.28
$STATE,3385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3385,begin apogee
$GC,3391,-0.13,0.0,2179,2062,3956,3978,483.4,-15.0,286,3631,1.42,0.00,236.02,1.394,10246,0.248,0.000,2530,2060,3366,3380,3353,0,0,0,0,0,0,13.73,13.51,12.64
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3637,0.57,145.9,2530,2061,3371,3341,497.7,0.0,294,4197,0.75,2.55,216.77,1.337,10756,0.061,0.076,2793,733,2749,2783,2715,0,0,0,0,0,0,13.69,12.86,12.24
$GC,4209,0.57,145.9,2792,734,2784,2715,464.5,6.8,297,4215,0.00,2.38,0.00,0.000,1030,0.000,0.075,2794,2087,2748,2783,2713,0,0,0,0,0,0,14.15,14.02,14.19
$GC,4526,0.12,145.9,2794,2088,2783,2710,417.7,14.2,310,4531,0.73,2.47,0.00,0.000,4484,0.311,0.075,2630,3514,2745,2782,2709,0,0,0,0,0,0,13.69,14.09,13.93
$GC,4756,-0.08,162.1,2629,3516,2780,2709,395.3,9.3,356,4777,0.32,2.35,14.77,1.537,13478,0.278,0.058,2562,2124,2705,2742,2669,0,0,0,0,0,0,13.83,14.20,13.26
$GC,5100,-0.00,267.4,2563,2125,2735,2653,376.3,5.1,374,5282,0.00,0.00,177.75,1.276,8486,0.000,0.000,2562,2124,2276,2326,2226,0,0,0,0,0,0,14.66,13.69,12.90
$GC,5596,0.15,333.5,2562,2125,2308,2199,344.6,7.0,415,5715,0.20,2.65,108.00,1.251,10916,0.096,0.090,2654,697,1997,2042,1953,0,0,0,0,0,0,14.09,13.77,13.03
$GC,5786,0.18,333.5,2654,698,2027,1948,321.3,11.6,454,5791,0.00,2.45,0.00,0.000,1158,0.000,0.076,2654,2103,1986,2027,1946,0,0,0,0,0,0,14.00,13.88,14.04
$GC,6101,0.18,333.5,2655,2104,2027,1936,284.5,11.5,467,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2103,1979,2023,1935,0,0,0,0,0,0,14.44,14.47,14.45
$GC,6401,0.19,337.9,2654,2104,2027,1935,253.6,9.8,477,6407,0.00,2.50,0.00,0.000,548,0.000,0.087,2654,698,1980,2027,1934,0,0,0,0,0,0,14.45,14.01,14.48
$GC,6492,0.27,375.1,2654,697,2025,1934,245.7,8.3,495,6568,0.00,2.50,68.32,1.254,9382,0.000,0.078,2650,2102,1832,1861,1804,0,0,0,0,0,0,14.00,13.88,13.15
$GC,6884,0.34,406.3,2654,2103,1844,1790,211.5,8.6,523,6945,0.12,2.58,52.42,1.255,10916,0.126,0.089,2712,698,1702,1722,1682,0,0,0,0,0,0,14.15,13.92,13.17
$GC,7011,0.37,406.3,2713,697,1714,1675,196.9,11.5,548,7016,0.00,2.47,0.00,0.000,1158,0.000,0.077,2712,2098,1693,1714,1673,0,0,0,0,0,0,14.09,14.01,14.12
$GC,7336,0.37,406.3,2713,2101,1712,1669,157.1,12.1,563,7341,0.00,2.50,0.00,0.000,516,0.000,0.089,2713,692,1690,1712,1668,0,0,0,0,0,0,14.45,14.05,14.47
$GC,7406,0.41,406.3,2713,693,1709,1669,149.1,10.9,577,7412,0.00,2.50,0.00,0.000,1158,0.000,0.076,2712,2104,1688,1709,1668,0,0,0,0,0,0,14.21,14.08,14.26
$GC,7727,0.41,406.3,2713,2108,1710,1664,113.6,10.7,591,7732,0.00,2.53,0.00,0.000,516,0.000,0.086,2713,690,1687,1709,1666,0,0,0,0,0,0,14.42,13.88,14.43
$MODEM_MSG,CACST,6,1,20170915000140.454485,3,68,-5,0113,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27
$GC,7763,0.45,406.3,2712,690,1709,1667,109.8,10.7,598,7767,0.00,2.45,0.00,0.000,1158,0.000,0.076,2713,2101,1687,1708,1666,0,0,0,0,0,0,13.98,13.86,14.02
$GC,8068,0.45,412.9,2713,2103,1709,1665,78.5,9.7,625,8069,0.00,0.00,0.00,0.000,38,0.000,0.000,2713,2102,1686,1708,1664,0,0,0,0,0,0,14.40,14.42,14.42
$GC,8368,0.55,499.0,2713,2103,1708,1664,56.1,6.0,655,8426,0.12,2.55,49.88,0.360,10660,0.126,0.082,2777,3511,1329,1372,1287,0,0,0,0,0,0,14.20,14.04,13.71
$GC,8654,0.57,555.7,2777,3513,1373,1298,32.1,7.4,711,8696,0.00,2.42,33.78,0.289,9382,0.000,0.065,2781,2104,1097,1155,1040,0,0,0,0,0,0,14.26,14.14,13.64
$GC,8992,0.75,677.8,2781,2105,1156,1050,13.5,4.4,749,9071,0.12,2.53,73.55,0.233,10916,0.132,0.090,2841,690,596,635,557,0,0,0,0,0,0,14.20,13.91,13.74
$GC,9122,0.87,691.6,2843,689,636,552,3.1,9.4,774,9138,0.00,2.50,8.10,0.216,9382,0.000,0.076,2839,2110,540,573,508,0,0,0,0,0,0,14.21,14.07,13.81
$STATE,9144,end climb,SURFACE_DEPTH_REACHED
$STATE,9144,begin surface coast
$FINISH,0.0,1.021354
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9175,6.53,0.219,0,0,499,702.78
$SM_GC,2.03,8.12,0.17,6.53,0.071,0.131,0.219,198,2215,499,-7.39,-0.51,702.78,0,0,0,0,0,0,14.28,14.20,13.89
$RAFOS_CLK,171
$MODEM,0,1505433700,75.36600,-145.04601,46.454,67239.7
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7457.66,-15101.55,140917,221709
$TT8_MAMPS,0.040446,0.966959
$HUMID,46.06
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,5
$CP_FREE,15928590336.000000
$PM_FREEKB_00,47013952
$24V_AH,12.24,205.919
$10V_AH,12.12,0.000
$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,25.475,79.575,1039.375,6.525,0.000,0.000,0.000,514.425,1.250,0.000,10.054,0.000,6177.146,889.007,2634.762,353.833,0.000,2634.584,0.000,1116.231,2145.000,0.539,0.000
$DEVICE_MAMPS,450.585,2153.475,1536.885,218.790,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9189.000,9141.000,9130.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.892,20.000,11.744,0.000
$MEM,323512
$DATA_FILE_SIZE,26721,779
$CAP_FILE_SIZE,105039,0
$CFSIZE,2097872896,1991606272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.087,189.76,1
$GPS,150917,010132,7455.602,-15101.804,22,0.8,22,20.7,0.0,0.0,10,8.8