version: 66.13
glider: 196
mission: 14
dive: 345
start: 9 15 117 20 46 51
data:
$ID,196
$MISSION,14
$DIVE,345
$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,31
$R_STBD_OVSHOOT,57
$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,965.0
$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
$GPS1,150917,203526,7447.7437,-15051.2812,13,0.8,36,20.7,0.0,280.9,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.8
$GPS2,150917,204614,7447.7744,-15051.4648,7,0.8,9,20.7,0.0,0.0,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,117.5,7576,-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,51,end surface,CONTROL_FINISHED_OK
$STATE,51,begin dive
$GC,54,-0.57,-145.9,203,2186,499,480,0.0,0.0,0,146,0.00,0.00,-90.78,0.000,16386,0.000,0.000,203,2186,2119,2044,2194,0,0,0,0,0,0,14.33,28.83,14.33
$GC,150,-0.57,-145.9,204,2186,2047,2195,3.6,-4.5,9,207,12.90,2.78,-36.40,0.000,18980,0.454,2.150,2384,807,3964,3950,3979,0,0,0,0,0,0,13.53,12.55,14.00
$GC,227,-0.57,-145.9,2385,807,3953,3981,27.2,-24.0,24,234,0.00,2.42,0.00,0.000,1030,0.000,0.084,2382,2164,3964,3949,3980,0,0,0,0,0,0,14.13,13.99,14.18
$GC,532,-0.68,-145.9,2382,2164,3956,3980,73.1,-11.7,55,537,0.00,2.60,0.00,0.000,388,0.000,0.089,2378,3616,3967,3955,3980,0,0,0,0,0,0,14.59,14.09,14.57
$GC,608,-0.91,-145.9,2378,3617,3956,3981,80.0,-8.9,70,614,0.30,2.40,0.00,0.000,5286,0.090,0.051,2264,2196,3967,3955,3979,0,0,0,0,0,0,14.18,14.14,14.27
$GC,935,-0.89,-145.9,2265,2196,3956,3980,137.7,-16.4,89,940,0.00,2.53,0.00,0.000,388,0.000,0.086,2254,3614,3967,3955,3979,0,0,0,0,0,0,14.58,13.31,14.60
$GC,1030,-0.97,-145.9,2254,3614,3956,3980,152.2,-13.6,108,1036,0.00,2.38,0.00,0.000,1158,0.000,0.057,2254,2205,3967,3955,3979,0,0,0,0,0,0,14.31,14.18,14.35
$GC,1356,-0.97,-145.9,2254,2204,3956,3980,200.9,-14.5,123,1361,0.00,2.50,0.00,0.000,260,0.000,0.086,2247,3610,3967,3955,3979,0,0,0,0,0,0,14.65,14.11,14.66
$GC,1406,-1.06,-145.9,2247,3611,3956,3979,207.7,-12.9,133,1411,0.00,2.40,0.00,0.000,1158,0.000,0.057,2246,2198,3967,3955,3979,0,0,0,0,0,0,14.31,14.16,14.34
$GC,1717,-1.08,-145.9,2246,2197,3956,3980,251.3,-13.5,145,1721,0.00,2.53,0.00,0.000,388,0.000,0.087,2240,3610,3965,3951,3979,0,0,0,0,0,0,14.63,14.05,14.64
$GC,1777,-1.19,-145.9,2240,3613,3956,3979,258.5,-11.2,157,1782,0.15,2.42,0.00,0.000,5254,0.122,0.058,2178,2198,3967,3955,3979,0,0,0,0,0,0,14.21,14.16,14.31
$GC,2108,-1.10,-145.9,2179,2197,3956,3979,317.2,-17.6,173,2113,0.17,2.50,0.00,0.000,2436,0.275,0.083,2209,3610,3967,3955,3979,0,0,0,0,0,0,13.76,14.05,13.93
$GC,2184,-1.16,-145.9,2210,3611,3956,3979,327.7,-12.6,188,2189,0.00,2.40,0.00,0.000,1158,0.000,0.056,2209,2196,3967,3955,3979,0,0,0,0,0,0,14.29,14.16,14.33
$GC,2500,-1.16,-145.9,2209,2197,3956,3980,369.6,-13.0,201,2505,0.00,2.55,0.00,0.000,260,0.000,0.088,2204,3614,3967,3955,3979,0,0,0,0,0,0,14.63,14.04,14.64
$GC,2590,-1.23,-145.9,2205,3616,3956,3979,380.7,-11.7,219,2595,0.00,2.40,0.00,0.000,1158,0.000,0.057,2204,2201,3966,3954,3979,0,0,0,0,0,0,14.28,14.15,14.33
$GC,2920,-1.23,-145.9,2204,2200,3955,3980,422.6,-12.5,235,2925,0.00,2.50,0.00,0.000,260,0.000,0.086,2198,3610,3966,3954,3979,0,0,0,0,0,0,14.62,14.04,14.62
$GC,2996,-1.30,-145.9,2198,3611,3953,3979,431.9,-11.7,250,3001,0.12,2.40,0.00,0.000,5254,0.132,0.057,2150,2199,3966,3954,3979,0,0,0,0,0,0,14.16,14.13,14.28
$STATE,3279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3279,begin apogee
$GC,3285,-0.13,0.0,2151,2054,3955,3979,481.8,-17.8,262,3535,1.58,0.10,245.60,1.368,10246,0.271,0.157,2526,2120,3365,3381,3350,0,0,0,0,0,0,13.67,13.50,12.66
$STATE,3539,end apogee,CONTROL_FINISHED_OK
$STATE,3539,begin climb
$GC,3544,0.57,145.9,2527,2121,3373,3339,495.6,0.0,270,3770,0.75,2.62,216.38,1.329,11012,0.061,0.072,2782,3492,2759,2792,2727,0,0,0,0,0,0,13.70,12.86,12.24
$GC,3775,0.57,145.9,2782,3493,2785,2726,508.7,-5.6,273,3780,0.00,2.47,0.00,0.000,1030,0.000,0.054,2791,2130,2751,2781,2721,0,0,0,0,0,0,13.32,13.24,13.36
$GC,4091,0.12,145.9,2792,2130,2782,2714,463.3,14.8,286,4093,0.77,0.00,0.00,0.000,4230,0.317,0.000,2626,2131,2745,2776,2715,0,0,0,0,0,0,13.49,13.97,13.93
$GC,4391,-0.00,186.8,2626,2131,2777,2712,437.9,8.1,296,4458,0.17,2.60,59.25,1.357,12964,0.287,0.085,2596,701,2593,2638,2549,0,0,0,0,0,0,13.71,13.97,13.12
$GC,4498,0.06,238.1,2589,702,2635,2539,429.9,7.6,307,4584,0.00,2.45,78.53,1.309,9382,0.000,0.079,2596,2093,2389,2443,2336,0,0,0,0,0,0,14.16,14.08,12.98
$GC,4905,0.10,268.2,2589,2094,2425,2317,395.1,8.6,338,4948,0.00,0.00,42.25,1.355,8358,0.000,0.000,2589,2093,2272,2322,2223,0,0,0,0,0,0,14.57,14.01,13.17
$GC,5235,0.18,300.1,2589,2094,2306,2198,366.8,8.5,349,5289,0.12,2.50,47.90,1.327,10916,0.134,0.087,2658,690,2135,2181,2089,0,0,0,0,0,0,14.25,14.06,13.18
$GC,5340,0.18,300.1,2658,691,2167,2087,353.8,12.6,370,5345,0.00,2.47,0.00,0.000,1030,0.000,0.076,2658,2100,2124,2166,2083,0,0,0,0,0,0,14.20,14.07,14.26
$GC,5655,0.12,300.1,2658,2102,2167,2074,312.7,13.1,383,5660,0.12,2.47,0.00,0.000,4740,0.255,0.083,2633,688,2119,2165,2074,0,0,0,0,0,0,14.00,14.16,14.14
$GC,5701,0.18,300.1,2634,688,2165,2075,307.5,10.9,392,5705,0.00,2.47,0.00,0.000,1158,0.000,0.078,2633,2105,2119,2164,2074,0,0,0,0,0,0,14.31,14.18,14.36
$GC,6016,0.18,300.1,2634,2107,2165,2073,274.8,10.3,405,6021,0.00,2.47,0.00,0.000,516,0.000,0.085,2633,698,2118,2164,2073,0,0,0,0,0,0,14.64,14.16,14.66
$GC,6067,0.26,308.3,2634,698,2164,2074,269.6,9.6,415,6077,0.00,2.47,1.65,0.239,9382,0.000,0.078,2633,2109,2106,2151,2062,0,0,0,0,0,0,14.32,14.18,13.79
$GC,6377,0.27,331.0,2633,2110,2161,2067,241.0,9.0,427,6433,0.12,2.53,48.22,1.292,10788,0.123,0.086,2699,691,2009,2050,1969,0,0,0,0,0,0,14.30,14.05,13.22
$GC,6499,0.23,331.0,2699,691,2038,1962,226.7,12.0,451,6504,0.17,2.47,0.00,0.000,5254,0.215,0.077,2659,2106,1998,2036,1961,0,0,0,0,0,0,13.93,14.08,14.17
$GC,6829,0.25,353.4,2659,2106,2037,1955,195.2,9.0,467,6870,0.00,2.53,34.50,1.304,8740,0.000,0.088,2659,691,1917,1952,1883,0,0,0,0,0,0,14.59,14.06,13.25
$GC,6918,0.37,391.2,2660,691,1938,1880,187.8,8.3,484,6991,0.12,2.47,65.32,1.218,11430,0.127,0.078,2708,2103,1767,1788,1746,0,0,0,0,0,0,14.16,14.12,13.12
$GC,7312,0.34,391.2,2709,2104,1775,1728,141.7,11.4,513,7317,0.00,2.47,0.00,0.000,644,0.000,0.088,2712,698,1750,1773,1727,0,0,0,0,0,0,14.58,14.13,14.59
$GC,7383,0.37,391.2,2713,697,1771,1727,133.8,10.7,527,7388,0.00,2.47,0.00,0.000,1158,0.000,0.076,2712,2100,1749,1771,1727,0,0,0,0,0,0,13.73,13.33,14.04
$GC,7703,0.37,391.2,2712,2101,1771,1726,99.8,10.3,541,7710,0.00,2.53,0.00,0.000,516,0.000,0.087,2713,675,1747,1770,1725,0,0,0,0,0,0,14.62,14.00,14.64
$GC,7760,0.43,413.0,2714,675,1770,1725,94.7,9.0,552,7777,0.00,2.53,10.07,0.432,9382,0.000,0.076,2713,2106,1680,1702,1659,0,0,0,0,0,0,14.18,14.05,13.50
$GC,8075,0.52,483.8,2713,2108,1719,1665,69.6,6.7,585,8123,0.10,2.53,41.95,0.399,10916,0.146,0.085,2768,694,1391,1429,1353,0,0,0,0,0,0,14.22,13.91,13.63
$GC,8149,0.52,483.8,2768,694,1433,1354,63.0,10.0,599,8153,0.00,2.50,0.00,0.000,1030,0.000,0.079,2768,2106,1393,1433,1354,0,0,0,0,0,0,14.12,13.96,14.15
$GC,8459,0.58,574.6,2768,2108,1436,1358,40.3,5.8,631,8517,0.00,2.50,52.47,0.314,8740,0.000,0.086,2768,695,1022,1087,957,0,0,0,0,0,0,14.53,13.95,13.71
$GC,8580,0.78,647.7,2768,696,1088,965,32.7,6.6,654,8633,0.20,2.50,45.62,0.289,11430,0.099,0.078,2849,2103,725,784,667,0,0,0,0,0,0,14.11,14.00,13.69
$STATE,8886,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FINISH,0.1,1.021277
$STATE,8906,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8928,32.20,0.210,0,0,499,702.78
$SM_GC,1.44,8.23,0.17,32.20,0.079,0.107,0.210,205,2228,499,-7.36,-0.48,702.78,0,0,0,0,0,0,14.27,14.29,13.89
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7451.45,-15055.12,150917,175914
$TT8_MAMPS,0.038948,0.917525
$HUMID,47.44
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,15925182464.000000
$PM_FREEKB_00,46682560
$24V_AH,12.24,209.884
$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,26.125,95.275,989.725,32.200,0.000,0.000,0.000,368.850,5.000,0.000,9.782,0.000,6356.790,918.852,2014.414,335.911,0.000,2122.948,0.000,993.613,0.000,0.539,0.000
$DEVICE_MAMPS,454.410,2149.650,1367.820,209.610,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8937.000,8898.000,8878.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.752,20.000,12.120,0.000
$MEM,323548
$DATA_FILE_SIZE,23408,692
$CAP_FILE_SIZE,100206,0
$CFSIZE,2097872896,1989410816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.8
$CURRENT,0.045,354.49,1
$GPS,150917,231716,7446.864,-15048.854,16,0.8,17,20.8,0.0,0.0,10,10.0