version: 66.13
glider: 196
mission: 14
dive: 346
start: 9 15 117 23 28 50
data:
$ID,196
$MISSION,14
$DIVE,346
$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,30
$R_STBD_OVSHOOT,41
$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,968.0
$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
$GPS1,150917,231716,7446.8638,-15048.8545,16,0.8,17,20.8,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.8
$GPS2,150917,232819,7446.8682,-15048.9336,6,0.9,20,20.8,0.0,79.9,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,117.3,5529,-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,-145.9,205,2231,497,492,0.0,0.0,0,145,0.00,0.00,-91.32,0.000,16386,0.000,0.000,204,2230,2141,2068,2214,0,0,0,0,0,0,14.49,28.83,14.51
$GC,149,-0.57,-145.9,206,2230,2072,2215,3.8,-4.9,9,202,12.85,2.90,-35.15,0.000,18980,0.453,2.158,2384,804,3965,3950,3981,0,0,0,0,0,0,13.54,12.59,14.00
$GC,282,-0.72,-145.9,2384,801,3955,3980,37.2,-13.3,35,288,0.12,2.47,0.00,0.000,5254,0.122,0.085,2335,2188,3967,3955,3980,0,0,0,0,0,0,14.13,14.05,14.23
$GC,593,-0.78,-145.9,2336,2189,3957,3980,90.4,-13.7,67,598,0.00,2.53,0.00,0.000,388,0.000,0.088,2332,3610,3968,3956,3980,0,0,0,0,0,0,14.57,14.02,14.57
$GC,716,-0.96,-145.9,2333,3611,3957,3980,103.4,-9.9,91,721,0.20,2.42,0.00,0.000,5286,0.100,0.054,2253,2194,3967,3954,3980,0,0,0,0,0,0,14.02,13.95,14.09
$GC,1046,-0.96,-145.9,2253,2195,3957,3980,160.6,-16.6,107,1051,0.00,2.53,0.00,0.000,260,0.000,0.085,2243,3610,3967,3956,3979,0,0,0,0,0,0,14.61,14.00,14.63
$GC,1107,-1.03,-145.9,2244,3611,3957,3981,169.8,-14.2,119,1112,0.00,2.42,0.00,0.000,1158,0.000,0.057,2243,2197,3967,3956,3979,0,0,0,0,0,0,14.24,14.07,14.28
$GC,1437,-1.03,-145.9,2243,2195,3957,3980,220.7,-14.8,135,1442,0.00,2.55,0.00,0.000,260,0.000,0.087,2236,3617,3969,3956,3982,0,0,0,0,0,0,14.64,14.03,14.66
$GC,1517,-1.11,-145.9,2237,3619,3957,3981,231.5,-12.5,151,1522,0.00,2.42,0.00,0.000,1158,0.000,0.057,2236,2189,3967,3956,3979,0,0,0,0,0,0,14.28,14.15,14.33
$GC,1828,-1.14,-145.9,2237,2189,3957,3981,273.6,-13.1,163,1828,0.00,0.00,0.00,0.000,134,0.000,0.000,2236,2188,3968,3956,3980,0,0,0,0,0,0,14.65,14.66,14.66
$GC,2128,-1.17,-145.9,2237,2187,3957,3980,309.5,-11.6,173,2133,0.00,2.58,0.00,0.000,388,0.000,0.089,2236,3608,3967,3956,3979,0,0,0,0,0,0,14.44,13.48,14.45
$GC,2228,-1.29,-145.9,2236,3609,3957,3980,320.1,-10.2,193,2233,0.22,2.42,0.00,0.000,5254,0.101,0.057,2156,2199,3968,3956,3980,0,0,0,0,0,0,14.07,14.00,14.16
$GC,2549,-1.18,-145.9,2156,2198,3956,3979,378.6,-18.5,207,2554,0.17,2.55,0.00,0.000,2436,0.321,0.083,2181,3616,3967,3955,3979,0,0,0,0,0,0,13.47,13.83,13.69
$GC,2624,-1.18,-145.9,2182,3614,3956,3979,390.3,-14.0,222,2629,0.00,2.45,0.00,0.000,1030,0.000,0.057,2181,2198,3967,3955,3980,0,0,0,0,0,0,14.06,13.94,14.09
$GC,2940,-1.14,-145.9,2182,2196,3956,3979,437.8,-15.0,235,2945,0.12,2.58,0.00,0.000,2436,0.318,0.083,2198,3613,3967,3955,3979,0,0,0,0,0,0,13.60,13.88,13.78
$GC,3052,-1.20,-145.9,2199,3613,3956,3980,451.8,-11.8,257,3057,0.00,2.45,0.00,0.000,1158,0.000,0.055,2197,2198,3965,3954,3976,0,0,0,0,0,0,14.10,13.98,14.12
$STATE,3270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3270,begin apogee
$GC,3276,-0.13,0.0,2199,2058,3956,3979,480.6,-12.9,266,3499,1.33,0.10,219.02,1.434,10246,0.228,0.158,2530,2123,3365,3379,3351,0,0,0,0,0,0,13.62,13.43,12.58
$STATE,3503,end apogee,CONTROL_FINISHED_OK
$STATE,3503,begin climb
$GC,3508,0.57,145.9,2530,2124,3374,3341,492.4,0.0,273,3727,0.75,2.67,207.93,1.382,10756,0.063,0.075,2789,724,2766,2802,2731,0,0,0,0,0,0,13.58,12.77,12.18
$GC,3952,0.15,145.9,2792,727,2788,2728,475.9,14.2,355,3957,0.75,2.47,0.00,0.000,5254,0.322,0.074,2636,2089,2756,2787,2726,0,0,0,0,0,0,13.29,13.45,13.69
$GC,4265,0.00,172.0,2637,2090,2787,2723,447.6,8.8,367,4305,0.20,2.38,34.80,1.473,12964,0.275,0.082,2589,725,2659,2699,2619,0,0,0,0,0,0,13.65,13.72,13.08
$GC,4371,0.04,229.2,2589,725,2698,2614,439.6,7.4,388,4463,0.00,2.40,84.40,1.383,9254,0.000,0.080,2589,2111,2429,2484,2375,0,0,0,0,0,0,14.13,14.01,12.93
$GC,4779,0.06,259.3,2591,2111,2473,2360,404.6,8.6,419,4825,0.00,0.00,43.70,1.423,8230,0.000,0.000,2589,2111,2306,2357,2256,0,0,0,0,0,0,14.56,13.99,13.14
$GC,5109,0.12,288.0,2589,2111,2348,2244,375.9,8.7,430,5158,0.00,2.50,42.17,1.421,8868,0.000,0.087,2589,733,2186,2233,2140,0,0,0,0,0,0,14.58,14.04,13.16
$GC,5216,0.26,324.5,2590,733,2229,2138,367.0,8.3,451,5279,0.25,2.42,56.60,1.362,11430,0.085,0.080,2687,2107,2040,2083,1998,0,0,0,0,0,0,14.23,14.12,13.09
$GC,5590,0.17,324.5,2687,2107,2075,1984,309.7,15.3,476,5595,0.17,2.42,0.00,0.000,4740,0.246,0.083,2652,730,2028,2074,1983,0,0,0,0,0,0,13.85,14.08,14.04
$GC,5661,0.17,324.5,2652,730,2073,1983,300.7,11.7,490,5666,0.00,2.40,0.00,0.000,1030,0.000,0.078,2652,2100,2027,2072,1983,0,0,0,0,0,0,14.28,14.17,14.35
$GC,5981,0.17,324.5,2653,2100,2072,1980,262.8,11.6,504,5987,0.00,2.42,0.00,0.000,516,0.000,0.087,2654,721,2025,2071,1980,0,0,0,0,0,0,14.60,14.16,14.62
$GC,6057,0.21,324.5,2655,722,2071,1980,254.6,10.3,519,6062,0.00,2.40,0.00,0.000,1158,0.000,0.077,2654,2103,2025,2070,1980,0,0,0,0,0,0,14.33,14.19,14.38
$GC,6373,0.21,334.7,2654,2106,2070,1980,223.0,9.5,532,6388,0.00,2.40,10.70,1.547,8740,0.000,0.085,2654,730,1997,2042,1953,0,0,0,0,0,0,14.62,13.94,13.31
$GC,6438,0.30,364.8,2655,730,2039,1953,217.2,8.6,545,6494,0.00,2.40,50.78,1.336,9382,0.000,0.079,2654,2102,1878,1911,1846,0,0,0,0,0,0,14.18,14.05,13.19
$GC,6795,0.36,386.2,2654,2103,1899,1837,184.9,9.0,566,6835,0.12,2.50,34.65,1.343,10916,0.126,0.086,2716,731,1784,1804,1765,0,0,0,0,0,0,14.23,14.08,13.21
$GC,6875,0.36,386.2,2717,731,1804,1765,175.2,12.3,582,6880,0.00,2.40,0.00,0.000,1030,0.000,0.076,2716,2100,1783,1803,1764,0,0,0,0,0,0,14.26,14.14,14.31
$GC,7186,0.32,386.2,2717,2101,1804,1758,137.9,11.7,594,7191,0.12,2.42,0.00,0.000,4740,0.236,0.085,2685,723,1780,1802,1758,0,0,0,0,0,0,14.00,14.14,14.11
$GC,7246,0.42,407.8,2685,724,1802,1759,131.9,9.0,606,7287,0.00,2.40,34.83,1.321,9382,0.000,0.077,2685,2100,1702,1722,1682,0,0,0,0,0,0,14.32,14.18,13.25
$GC,7609,0.50,438.6,2684,2102,1719,1670,99.8,8.6,628,7632,0.17,2.42,16.27,0.504,10916,0.106,0.085,2766,730,1576,1600,1553,0,0,0,0,0,0,14.25,13.87,13.54
$GC,7700,0.45,438.6,2768,730,1601,1554,88.5,13.0,645,7706,0.17,2.42,0.00,0.000,5254,0.250,0.078,2730,2107,1576,1601,1552,0,0,0,0,0,0,13.90,14.11,14.16
$GC,8003,0.53,513.3,2730,2107,1601,1549,62.0,6.6,676,8044,0.00,0.00,39.83,0.388,8358,0.000,0.000,2730,2106,1271,1321,1222,0,0,0,0,0,0,14.59,14.12,13.71
$GC,8343,0.74,622.2,2730,2107,1322,1214,42.5,5.0,710,8407,0.25,2.45,57.92,0.324,10916,0.086,0.086,2838,731,825,891,759,0,0,0,0,0,0,14.22,13.93,13.69
$GC,8439,0.74,622.2,2838,731,892,758,33.0,11.3,728,8445,0.00,2.40,0.00,0.000,1030,0.000,0.076,2837,2099,824,891,758,0,0,0,0,0,0,14.20,14.07,14.23
$GC,8751,0.80,652.8,2837,2099,891,752,4.5,8.6,760,8772,0.00,2.50,16.52,0.220,8868,0.000,0.088,2838,730,699,760,639,0,0,0,0,0,0,14.53,14.02,13.78
$STATE,8775,end climb,SURFACE_DEPTH_REACHED
$STATE,8775,begin surface coast
$FINISH,0.1,1.021241
$STATE,8795,end surface coast,CONTROL_FINISHED_OK
$STATE,8795,begin surface
$SM_CCo,8821,27.95,0.210,0,0,499,703.03
$SM_GC,1.40,8.18,2.58,27.95,0.078,0.063,0.210,202,2207,499,-7.38,-0.76,703.03,0,0,0,0,0,0,14.29,14.21,13.90
$RAFOS_CLK,312
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7448.41,-15033.62,150917,204002
$TT8_MAMPS,0.040446,0.955724
$HUMID,47.51
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,7
$CP_FREE,15924723712.000000
$PM_FREEKB_00,46642048
$24V_AH,12.18,210.371
$10V_AH,12.29,0.000
$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,26.175,89.350,950.125,27.950,0.000,0.000,0.000,368.800,1.750,0.000,21.995,0.000,6218.374,960.389,1996.986,346.584,0.000,2070.081,0.000,1105.637,2146.000,0.539,0.000
$DEVICE_MAMPS,452.880,2158.065,1546.830,210.375,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8827.000,8798.000,8771.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.673,20.000,11.204,0.000
$MEM,323368
$DATA_FILE_SIZE,26695,769
$CAP_FILE_SIZE,104154,0
$CFSIZE,2097872896,1989148672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.060,24.28,1
$GPS,160917,015732,7445.937,-15046.412,27,0.8,27,20.8,0.0,0.0,11,8.6