version: 66.13
glider: 196
mission: 14
dive: 344
start: 9 15 117 18 6 22
data:
$ID,196
$MISSION,14
$DIVE,344
$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,54
$R_STBD_OVSHOOT,22
$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,962.0
$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
$GPS1,150917,175432,7448.7207,-15053.0439,31,0.8,31,20.7,0.0,0.0,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.5
$GPS2,150917,180546,7448.7183,-15053.2021,6,0.8,9,20.7,0.0,255.6,10,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,122.5,9429,-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,-145.9,196,2200,495,478,0.0,0.0,0,144,0.00,0.00,-91.47,0.000,16386,0.000,0.000,196,2203,2124,2051,2198,0,0,0,0,0,0,14.48,28.83,14.49
$GC,148,-0.57,-145.9,197,2204,2054,2200,3.7,-4.5,9,204,12.93,0.00,-36.33,0.000,19238,0.454,0.000,2384,2202,3961,3946,3976,0,0,0,0,0,0,13.54,12.53,13.97
$GC,503,-0.67,-145.9,2385,2204,3952,3971,70.3,-12.2,47,507,0.00,2.50,0.00,0.000,388,0.000,0.087,2378,3614,3963,3951,3976,0,0,0,0,0,0,14.59,14.07,14.59
$GC,563,-0.91,-145.9,2378,3614,3953,3976,76.5,-8.9,59,568,0.30,2.35,0.00,0.000,5286,0.093,0.054,2267,2223,3963,3951,3976,0,0,0,0,0,0,14.22,14.18,14.32
$GC,876,-0.89,-145.9,2267,2221,3953,3976,132.2,-16.8,79,881,0.00,2.47,0.00,0.000,388,0.000,0.086,2257,3616,3963,3951,3976,0,0,0,0,0,0,14.62,14.12,14.64
$GC,921,-0.95,-145.9,2258,3616,3953,3976,139.7,-14.7,88,928,0.00,2.40,0.00,0.000,1158,0.000,0.057,2257,2202,3964,3952,3976,0,0,0,0,0,0,14.30,14.16,14.32
$GC,1238,-0.95,-145.9,2257,2201,3953,3976,188.1,-14.6,101,1243,0.00,2.50,0.00,0.000,260,0.000,0.086,2250,3616,3963,3951,3976,0,0,0,0,0,0,14.64,14.04,14.65
$GC,1313,-1.05,-145.9,2250,3617,3955,3977,198.0,-12.1,116,1319,0.00,2.40,0.00,0.000,1158,0.000,0.057,2249,2202,3963,3950,3976,0,0,0,0,0,0,14.25,14.12,14.29
$GC,1630,-1.05,-145.9,2249,2202,3952,3977,242.3,-13.6,129,1635,0.00,2.50,0.00,0.000,260,0.000,0.087,2243,3607,3963,3951,3976,0,0,0,0,0,0,14.64,14.09,14.66
$GC,1685,-1.17,-145.9,2243,3607,3953,3976,249.3,-11.6,140,1693,0.12,2.42,0.00,0.000,5254,0.133,0.057,2192,2190,3963,3951,3976,0,0,0,0,0,0,14.12,14.09,14.23
$GC,1990,-1.10,-145.9,2193,2189,3953,3976,301.1,-16.6,151,1995,0.12,2.55,0.00,0.000,2436,0.292,0.083,2210,3621,3963,3951,3976,0,0,0,0,0,0,13.88,14.07,14.02
$GC,2056,-1.15,-145.9,2210,3623,3952,3977,310.3,-12.8,164,2062,0.00,2.42,0.00,0.000,1158,0.000,0.055,2210,2201,3963,3951,3976,0,0,0,0,0,0,14.21,14.09,14.26
$GC,2382,-1.15,-145.9,2210,2199,3952,3976,354.5,-13.3,179,2387,0.00,2.53,0.00,0.000,260,0.000,0.089,2209,3616,3963,3951,3976,0,0,0,0,0,0,14.60,14.05,14.62
$GC,2462,-1.23,-145.9,2210,3617,3953,3976,364.3,-11.3,195,2467,0.00,2.45,0.00,0.000,1158,0.000,0.057,2209,2194,3963,3951,3976,0,0,0,0,0,0,14.20,14.07,14.23
$GC,2772,-1.23,-145.9,2210,2193,3952,3976,403.3,-12.7,207,2777,0.00,2.53,0.00,0.000,260,0.000,0.089,2211,3614,3962,3949,3976,0,0,0,0,0,0,14.61,14.07,14.63
$GC,2848,-1.32,-145.9,2209,3615,3951,3977,412.2,-11.1,222,2853,0.17,2.40,0.00,0.000,5254,0.110,0.055,2148,2196,3963,3951,3975,0,0,0,0,0,0,14.14,14.08,14.23
$GC,3164,-1.20,-145.9,2148,2196,3951,3977,468.2,-18.1,235,3169,0.17,2.50,0.00,0.000,2436,0.318,0.081,2174,3610,3962,3950,3975,0,0,0,0,0,0,13.66,13.98,13.88
$STATE,3241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3242,begin apogee
$GC,3250,-0.13,0.0,2174,2102,3950,3977,480.6,-14.0,251,3485,1.42,0.00,228.27,1.398,10246,0.243,0.000,2526,2100,3360,3375,3346,0,0,0,0,0,0,13.71,13.29,12.66
$STATE,3489,end apogee,CONTROL_FINISHED_OK
$STATE,3489,begin climb
$GC,3491,0.57,145.9,2527,2101,3373,3344,494.2,0.0,259,3889,0.75,2.70,213.75,1.372,10756,0.060,0.074,2792,692,2756,2787,2726,0,0,0,0,0,0,13.72,12.88,12.26
$GC,3894,0.57,145.9,2792,693,2786,2725,484.2,2.5,262,3898,0.00,2.53,0.00,0.000,1030,0.000,0.074,2791,2101,2755,2786,2724,0,0,0,0,0,0,13.84,13.74,13.90
$GC,4209,0.12,145.9,2792,2103,2786,2718,439.2,14.2,275,4211,0.75,0.00,0.00,0.000,4230,0.318,0.000,2629,2103,2752,2785,2720,0,0,0,0,0,0,13.64,14.20,14.12
$GC,4509,0.00,192.0,2629,2103,2786,2718,414.3,7.9,285,4584,0.15,2.58,66.28,1.402,12964,0.293,0.083,2602,682,2575,2623,2527,0,0,0,0,0,0,13.85,13.99,13.10
$GC,4634,0.03,235.3,2602,683,2619,2523,404.9,8.0,310,4704,0.00,2.53,63.72,1.375,9254,0.000,0.079,2601,2102,2402,2455,2349,0,0,0,0,0,0,14.16,14.04,13.00
$GC,5020,0.05,253.0,2602,2103,2445,2336,370.0,9.2,337,5044,0.00,0.00,23.00,1.473,8230,0.000,0.000,2602,2102,2335,2385,2285,0,0,0,0,0,0,14.54,14.05,13.18
$GC,5320,0.06,274.2,2602,2102,2375,2273,342.7,9.0,347,5352,0.00,0.00,31.45,1.443,8230,0.000,0.000,2602,2102,2248,2296,2200,0,0,0,0,0,0,14.59,14.06,13.19
$GC,5650,0.11,299.2,2602,2103,2289,2186,313.0,8.8,358,5695,0.00,2.55,37.83,1.388,8868,0.000,0.086,2602,692,2140,2186,2095,0,0,0,0,0,0,14.60,14.07,13.21
$GC,5742,0.24,323.6,2603,692,2180,2094,305.1,8.9,376,5787,0.17,2.47,37.35,1.370,11430,0.103,0.078,2675,2106,2044,2087,2002,0,0,0,0,0,0,14.09,14.03,13.14
$GC,6102,0.18,323.6,2676,2106,2080,1988,258.8,12.3,398,6107,0.12,2.50,0.00,0.000,4740,0.262,0.083,2653,690,2033,2079,1988,0,0,0,0,0,0,13.98,14.15,14.13
$GC,6183,0.24,330.0,2654,689,2077,1988,250.5,9.7,414,6193,0.00,2.47,3.85,1.524,9382,0.000,0.078,2654,2106,2018,2062,1974,0,0,0,0,0,0,14.26,14.12,12.95
$GC,6493,0.25,345.8,2655,2107,2066,1976,220.8,9.3,426,6529,0.00,2.53,29.33,1.406,8740,0.000,0.086,2654,685,1950,1994,1907,0,0,0,0,0,0,14.64,14.07,13.25
$GC,6592,0.35,382.2,2654,686,1989,1910,212.5,8.3,445,6660,0.12,2.50,62.15,1.288,11430,0.126,0.078,2704,2103,1805,1829,1782,0,0,0,0,0,0,14.18,14.13,13.14
$GC,6975,0.32,382.2,2705,2104,1817,1770,166.8,11.8,472,6981,0.00,2.55,0.00,0.000,644,0.000,0.086,2712,685,1791,1817,1765,0,0,0,0,0,0,14.41,13.98,14.42
$GC,7051,0.32,382.2,2712,685,1814,1770,157.9,11.1,487,7056,0.00,2.50,0.00,0.000,1030,0.000,0.077,2711,2103,1791,1814,1769,0,0,0,0,0,0,14.21,14.05,14.23
$GC,7367,0.29,382.2,2712,2106,1813,1767,123.0,10.8,500,7373,0.12,2.53,0.00,0.000,4740,0.227,0.084,2685,688,1789,1812,1766,0,0,0,0,0,0,13.93,14.03,14.04
$GC,7419,0.40,411.5,2686,686,1811,1766,118.2,8.6,510,7468,0.00,2.53,43.45,1.282,9382,0.000,0.076,2685,2102,1684,1703,1666,0,0,0,0,0,0,14.07,13.95,13.21
$GC,7769,0.51,473.6,2686,2103,1705,1658,89.3,7.1,542,7809,0.17,0.00,35.05,0.467,10406,0.105,0.000,2761,2103,1433,1466,1400,0,0,0,0,0,0,14.13,13.91,13.62
$GC,8109,0.54,521.3,2762,2103,1467,1395,54.2,7.8,576,8141,0.00,2.62,27.20,0.360,8740,0.000,0.086,2764,681,1237,1284,1190,0,0,0,0,0,0,14.40,14.02,13.62
$GC,8277,0.68,594.0,2768,686,1290,1190,42.3,6.6,609,8324,0.00,2.53,42.47,0.322,9382,0.000,0.079,2767,2101,941,1007,876,0,0,0,0,0,0,14.07,13.93,13.71
$GC,8622,0.95,711.9,2768,2101,1008,871,20.4,4.6,648,8691,0.35,2.60,63.60,0.252,10916,0.078,0.089,2902,690,497,513,481,0,0,0,0,0,0,14.04,13.92,13.75
$GC,8741,0.95,711.9,2903,691,515,481,5.8,13.5,671,8747,0.00,2.53,0.00,0.000,1030,0.000,0.075,2903,2106,497,514,481,0,0,0,0,0,0,14.04,13.92,14.08
$STATE,8773,end climb,SURFACE_DEPTH_REACHED
$STATE,8773,begin surface coast
$FINISH,0.1,1.021269
$STATE,8783,end surface coast,CONTROL_FINISHED_OK
$STATE,8784,begin surface
$SM_CCo,8865,0.00,0.000,0,0,496,704.26
$SM_GC,1.17,8.43,0.17,0.00,0.077,0.104,0.000,205,2244,496,-7.37,-0.48,704.26,0,0,0,0,0,0,14.14,14.16,14.21
$RAFOS_CLK,101
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7449.63,-15059.12,150917,151114
$TT8_MAMPS,0.085386,0.963963
$HUMID,43.93
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,18
$CP_FREE,15925608448.000000
$PM_FREEKB_00,46726656
$24V_AH,12.26,209.428
$10V_AH,12.11,0.000
$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,26.400,85.475,1008.750,0.000,0.000,0.000,0.000,387.900,4.500,0.000,10.876,0.000,6148.228,879.346,2191.148,332.309,0.000,2271.643,0.000,970.892,2216.000,0.539,0.000
$DEVICE_MAMPS,453.645,104.040,1523.880,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8613.000,8776.000,8758.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.655,20.000,12.167,0.000
$MEM,323612
$DATA_FILE_SIZE,23458,676
$CAP_FILE_SIZE,97637,0
$CFSIZE,2097872896,1989705728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.7
$CURRENT,0.043,335.48,1
$GPS,150917,203526,7447.744,-15051.281,13,0.8,36,20.7,0.0,280.9,10,7.9