version: 66.13
glider: 196
mission: 14
dive: 347
start: 9 16 117 2 20 0
data:
$ID,196
$MISSION,14
$DIVE,347
$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,29
$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,970.0
$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
$GPS1,160917,015732,7445.9370,-15046.4121,27,0.8,27,20.8,0.0,0.0,11,8.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.5
$GPS2,160917,021924,7445.9243,-15046.6123,7,0.8,9,20.8,0.0,0.0,11,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,114.8,3572,-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,-145.9,201,2209,494,495,0.0,0.0,0,145,0.00,0.00,-91.45,0.000,16386,0.000,0.000,200,2209,2133,2058,2208,0,0,0,0,0,0,14.50,28.83,14.52
$GC,149,-0.57,-145.9,200,2209,2060,2208,3.5,-4.4,9,206,13.02,2.78,-36.12,0.000,18980,0.457,2.160,2383,838,3965,3952,3978,0,0,0,0,0,0,13.52,12.59,14.00
$GC,281,-0.72,-145.9,2388,838,3958,3979,35.7,-13.3,35,286,0.00,2.42,0.00,0.000,1158,0.000,0.085,2379,2198,3967,3957,3978,0,0,0,0,0,0,14.23,14.06,14.23
$GC,592,-0.83,-145.9,2379,2199,3960,3979,79.9,-10.9,67,597,0.20,2.53,0.00,0.000,4484,0.108,0.088,2291,3610,3968,3959,3978,0,0,0,0,0,0,14.07,14.07,14.10
$GC,732,-0.93,-145.9,2292,3613,3960,3982,99.5,-12.7,95,737,0.00,2.35,0.00,0.000,1158,0.000,0.057,2291,2237,3968,3959,3977,0,0,0,0,0,0,14.16,14.04,14.20
$GC,1043,-0.97,-145.9,2291,2237,3959,3979,142.8,-13.5,107,1048,0.00,2.45,0.00,0.000,388,0.000,0.086,2285,3610,3968,3959,3978,0,0,0,0,0,0,14.62,14.09,14.64
$GC,1088,-1.10,-145.9,2285,3612,3960,3977,148.6,-11.8,116,1095,0.20,2.42,0.00,0.000,5254,0.099,0.058,2211,2195,3968,3959,3977,0,0,0,0,0,0,14.23,14.15,14.31
$GC,1405,-1.02,-145.9,2212,2195,3960,3978,210.1,-19.1,129,1411,0.15,2.53,0.00,0.000,2436,0.287,0.083,2236,3609,3968,3959,3977,0,0,0,0,0,0,13.79,14.02,13.97
$GC,1503,-1.09,-145.9,2237,3610,3960,3978,224.3,-13.0,148,1509,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2201,3968,3959,3978,0,0,0,0,0,0,14.26,14.13,14.29
$GC,1829,-1.09,-145.9,2237,2200,3959,3978,269.5,-13.2,163,1834,0.00,2.53,0.00,0.000,260,0.000,0.088,2236,3608,3968,3959,3978,0,0,0,0,0,0,14.62,14.07,14.64
$GC,1879,-1.20,-145.9,2236,3610,3960,3978,275.7,-11.5,173,1885,0.15,2.40,0.00,0.000,5254,0.120,0.057,2175,2195,3968,3959,3978,0,0,0,0,0,0,14.20,14.15,14.30
$GC,2190,-1.12,-145.9,2176,2195,3959,3979,329.5,-17.0,185,2195,0.17,2.50,0.00,0.000,2436,0.273,0.083,2205,3610,3967,3958,3977,0,0,0,0,0,0,13.03,13.31,13.20
$GC,2256,-1.17,-145.9,2205,3611,3960,3978,338.7,-12.4,198,2260,0.00,2.40,0.00,0.000,1158,0.000,0.056,2205,2199,3968,3959,3978,0,0,0,0,0,0,14.23,14.07,14.28
$GC,2581,-1.17,-145.9,2205,2198,3959,3978,381.6,-13.1,213,2586,0.00,2.50,0.00,0.000,260,0.000,0.086,2196,3609,3968,3958,3978,0,0,0,0,0,0,14.64,14.06,14.66
$GC,2666,-1.22,-145.9,2198,3609,3959,3978,392.6,-12.2,230,2672,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2200,3967,3957,3978,0,0,0,0,0,0,14.18,14.04,14.21
$GC,2971,-1.22,-145.9,2197,2198,3959,3978,433.2,-13.2,241,2976,0.00,2.53,0.00,0.000,260,0.000,0.087,2190,3613,3967,3957,3978,0,0,0,0,0,0,14.66,14.07,14.67
$GC,3042,-1.26,-145.9,2190,3615,3957,3979,442.5,-13.0,255,3046,0.00,2.42,0.00,0.000,1158,0.000,0.056,2190,2192,3967,3957,3978,0,0,0,0,0,0,14.19,14.06,14.21
$STATE,3329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3329,begin apogee
$GC,3336,-0.13,0.0,2191,2062,3957,3978,481.9,-13.5,268,3557,1.35,0.08,217.40,1.439,10246,0.235,0.179,2529,2112,3365,3378,3352,0,0,0,0,0,0,13.63,13.52,12.67
$STATE,3561,end apogee,CONTROL_FINISHED_OK
$STATE,3561,begin climb
$GC,3565,0.57,145.9,2530,2112,3374,3344,493.7,0.0,275,3786,0.73,2.67,206.90,1.385,11012,0.060,0.080,2781,731,2763,2794,2732,0,0,0,0,0,0,13.73,13.12,12.25
$GC,4012,0.17,145.9,2781,732,2786,2729,476.7,13.8,348,4018,0.68,2.42,0.00,0.000,5254,0.323,0.074,2642,2093,2756,2786,2726,0,0,0,0,0,0,13.41,13.81,13.81
$GC,4339,0.01,170.1,2642,2095,2786,2723,446.4,8.9,363,4375,0.20,2.42,31.52,1.487,12964,0.265,0.081,2596,722,2668,2707,2630,0,0,0,0,0,0,13.80,13.78,13.13
$GC,4601,0.05,226.7,2597,727,2704,2625,426.7,7.4,415,4692,0.00,2.42,84.93,1.391,9254,0.000,0.079,2596,2105,2439,2490,2388,0,0,0,0,0,0,14.29,14.15,13.05
$GC,5003,0.07,249.9,2597,2106,2483,2373,391.7,8.9,445,5043,0.00,2.47,32.17,1.450,8740,0.000,0.085,2596,732,2342,2390,2295,0,0,0,0,0,0,14.57,14.09,13.17
$GC,5096,0.16,278.0,2597,733,2387,2294,383.6,8.7,463,5145,0.12,2.40,42.75,1.405,11430,0.125,0.078,2657,2106,2231,2279,2184,0,0,0,0,0,0,14.16,14.07,13.11
$GC,5455,0.08,278.0,2657,2107,2272,2170,336.4,13.2,485,5460,0.17,2.42,0.00,0.000,4740,0.239,0.083,2615,724,2218,2271,2165,0,0,0,0,0,0,13.93,14.15,14.10
$GC,5496,0.15,280.5,2616,725,2268,2170,332.0,9.9,493,5501,0.00,2.40,0.00,0.000,1190,0.000,0.078,2615,2101,2219,2268,2170,0,0,0,0,0,0,14.30,14.16,14.33
$GC,5816,0.15,288.5,2616,2102,2268,2168,300.4,9.6,507,5836,0.00,2.45,12.23,1.561,8740,0.000,0.086,2616,729,2185,2231,2139,0,0,0,0,0,0,14.64,14.20,13.26
$GC,5867,0.23,300.9,2616,730,2228,2139,295.7,9.4,517,5892,0.12,2.38,19.20,1.470,11430,0.122,0.076,2675,2099,2135,2179,2092,0,0,0,0,0,0,14.28,14.23,13.23
$GC,6207,0.15,300.9,2676,2100,2174,2084,252.3,12.3,535,6213,0.15,2.45,0.00,0.000,4740,0.263,0.080,2646,723,2129,2173,2085,0,0,0,0,0,0,13.84,14.01,14.02
$GC,6283,0.20,313.1,2646,723,2173,2080,244.9,9.4,550,6305,0.00,2.45,17.58,1.502,9382,0.000,0.079,2646,2111,2089,2132,2046,0,0,0,0,0,0,14.20,14.07,13.20
$GC,6633,0.22,341.0,2647,2113,2126,2038,213.4,8.7,569,6685,0.00,2.50,45.90,1.353,8740,0.000,0.086,2646,734,1971,2012,1931,0,0,0,0,0,0,14.45,13.99,13.18
$GC,6733,0.34,381.2,2646,735,2007,1940,205.0,8.1,589,6806,0.15,2.40,66.53,1.275,11430,0.112,0.077,2704,2099,1812,1834,1790,0,0,0,0,0,0,14.09,14.01,13.05
$GC,7111,0.32,381.2,2704,2099,1825,1778,160.2,11.7,615,7116,0.00,2.45,0.00,0.000,644,0.000,0.087,2706,727,1800,1824,1777,0,0,0,0,0,0,14.39,13.92,14.41
$GC,7172,0.34,381.2,2706,728,1821,1778,153.5,10.7,627,7176,0.00,2.42,0.00,0.000,1158,0.000,0.076,2706,2101,1798,1820,1777,0,0,0,0,0,0,14.10,13.95,14.16
$GC,7502,0.34,381.2,2707,2101,1820,1774,118.6,10.2,643,7506,0.00,2.45,0.00,0.000,516,0.000,0.086,2706,732,1797,1820,1774,0,0,0,0,0,0,14.45,14.04,14.46
$GC,7572,0.37,385.7,2707,732,1820,1778,111.7,9.8,657,7577,0.00,2.45,0.00,0.000,1190,0.000,0.076,2706,2106,1796,1819,1774,0,0,0,0,0,0,14.19,14.05,14.22
$GC,7885,0.41,441.3,2706,2107,1819,1773,84.3,7.4,682,7917,0.00,0.00,30.85,0.454,8230,0.000,0.000,2706,2106,1565,1589,1542,0,0,0,0,0,0,14.40,14.03,13.59
$GC,8213,0.57,542.7,2707,2107,1589,1537,61.1,5.3,715,8273,0.15,2.53,52.45,0.381,10916,0.110,0.090,2781,733,1148,1203,1094,0,0,0,0,0,0,13.95,13.83,13.62
$GC,8291,0.60,554.6,2781,733,1209,1094,54.5,9.5,729,8302,0.00,2.40,6.68,0.363,9382,0.000,0.076,2781,2108,1105,1167,1043,0,0,0,0,0,0,13.99,13.86,13.63
$GC,8603,0.70,606.5,2782,2109,1168,1039,29.3,7.6,761,8636,0.00,2.50,27.67,0.293,8868,0.000,0.087,2779,734,890,955,826,0,0,0,0,0,0,14.37,13.86,13.64
$GC,8761,0.96,710.3,2788,731,956,823,19.6,5.2,792,8825,0.32,2.45,55.90,0.257,11430,0.080,0.076,2898,2107,498,518,479,0,0,0,0,0,0,14.07,13.95,13.76
$STATE,8907,end climb,SURFACE_DEPTH_REACHED
$STATE,8907,begin surface coast
$FINISH,0.0,1.012494
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8984,1.08,0.243,0,0,501,702.78
$SM_GC,1.24,8.27,0.17,1.08,0.069,0.109,0.243,202,2235,501,-7.37,-0.48,702.78,0,0,0,0,0,0,14.27,14.27,13.97
$RAFOS_CLK,143
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7447.61,-15044.79,160917,021440
$TT8_MAMPS,0.039697,1.0456
$HUMID,44.56
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,22
$CP_FREE,0.000000
$PM_FREEKB_00,46596160
$24V_AH,12.25,210.868
$10V_AH,12.27,0.000
$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,26.325,93.875,950.650,1.075,0.000,0.000,0.000,786.200,5.500,0.000,9.785,0.000,6476.530,909.616,2528.719,396.072,0.000,2512.726,0.000,1165.940,2196.000,0.540,0.000
$DEVICE_MAMPS,457.470,2159.595,1560.600,242.505,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8950.000,8953.000,8935.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.721,20.000,11.932,0.000
$MEM,323636
$DATA_FILE_SIZE,26764,814
$CAP_FILE_SIZE,115837,0
$CFSIZE,2097872896,1988886528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.064,11.09,1
$GPS,160917,045104,7445.114,-15043.947,32,0.8,33,20.8,0.0,0.0,10,7.1