version: 66.13
glider: 196
mission: 14
dive: 290
start: 9 9 117 12 30 26
data:
$ID,196
$MISSION,14
$DIVE,290
$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,61
$R_STBD_OVSHOOT,42
$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,805.0
$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
$GPS1,090917,122333,7542.2114,-15108.2852,72,0.8,72,20.8,0.6,351.5,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.4
$GPS2,090917,122950,7542.2075,-15108.2451,5,0.8,11,20.8,0.0,0.0,10,7.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,140.7,106998,-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,-145.9,191,2225,518,486,0.0,0.0,0,144,0.00,0.00,-91.28,0.000,16386,0.000,0.000,189,2224,2124,2055,2193,0,0,0,0,0,0,14.32,28.83,14.35
$GC,147,-0.57,-145.9,189,2224,2057,2195,3.2,-4.3,9,204,13.12,2.80,-38.42,0.000,18980,0.455,2.129,2387,829,3959,3941,3977,0,0,0,0,0,0,13.50,12.75,13.95
$GC,324,-0.71,-145.9,2387,828,3948,3977,40.0,-13.1,44,332,0.12,2.47,0.00,0.000,5254,0.122,0.087,2339,2180,3962,3947,3977,0,0,0,0,0,0,13.90,13.84,14.00
$GC,630,-0.76,-145.9,2339,2180,3949,3977,90.7,-13.2,75,634,0.00,2.55,0.00,0.000,388,0.000,0.088,2333,3610,3962,3947,3977,0,0,0,0,0,0,14.16,13.80,14.18
$GC,770,-0.93,-145.9,2333,3610,3953,3978,106.0,-10.3,103,775,0.17,2.38,0.00,0.000,5254,0.109,0.054,2263,2234,3962,3947,3977,0,0,0,0,0,0,13.90,13.84,13.93
$GC,1081,-0.93,-145.9,2264,2237,3949,3977,158.6,-16.3,115,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2237,3962,3948,3977,0,0,0,0,0,0,14.31,14.33,14.33
$GC,1381,-0.93,-145.9,2264,2238,3949,3978,203.3,-14.3,125,1385,0.00,2.47,0.00,0.000,260,0.000,0.086,2259,3610,3962,3948,3977,0,0,0,0,0,0,14.30,13.82,14.31
$GC,1431,-1.03,-145.9,2260,3612,3948,3978,210.0,-12.5,135,1436,0.00,2.42,0.00,0.000,1158,0.000,0.056,2259,2204,3962,3948,3977,0,0,0,0,0,0,14.04,13.92,14.07
$GC,1741,-1.06,-145.9,2259,2203,3949,3976,250.4,-12.5,147,1746,0.00,2.55,0.00,0.000,388,0.000,0.087,2254,3614,3962,3948,3977,0,0,0,0,0,0,14.27,13.87,14.31
$GC,1826,-1.18,-145.9,2254,3615,3948,3977,260.0,-10.7,164,1833,0.17,2.47,0.00,0.000,5254,0.114,0.058,2188,2194,3962,3948,3977,0,0,0,0,0,0,13.85,13.80,13.95
$GC,2131,-1.09,-145.9,2188,2194,3948,3977,312.3,-17.2,175,2136,0.15,2.55,0.00,0.000,2436,0.272,0.082,2213,3613,3962,3948,3977,0,0,0,0,0,0,13.36,13.78,13.62
$GC,2197,-1.14,-145.9,2214,3614,3949,3976,321.5,-12.7,188,2202,0.00,2.45,0.00,0.000,1158,0.000,0.056,2212,2193,3962,3948,3977,0,0,0,0,0,0,14.04,13.94,14.08
$GC,2522,-1.14,-145.9,2213,2192,3949,3977,365.7,-13.4,203,2527,0.00,2.58,0.00,0.000,260,0.000,0.086,2210,3613,3962,3947,3977,0,0,0,0,0,0,14.28,13.88,14.29
$GC,2593,-1.20,-145.9,2210,3614,3948,3978,374.4,-11.9,217,2598,0.00,2.45,0.00,0.000,1158,0.000,0.054,2210,2199,3961,3946,3977,0,0,0,0,0,0,14.07,13.94,14.09
$GC,2913,-1.20,-145.9,2210,2199,3948,3975,416.7,-13.2,231,2918,0.00,2.55,0.00,0.000,260,0.000,0.089,2209,3609,3960,3947,3973,0,0,0,0,0,0,14.26,13.85,14.26
$GC,2988,-1.27,-145.9,2210,3610,3948,3977,425.9,-11.4,246,2993,0.12,2.45,0.00,0.000,5254,0.142,0.055,2161,2195,3961,3947,3976,0,0,0,0,0,0,13.95,13.90,14.04
$STATE,3301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3301,begin apogee
$GC,3307,-0.13,0.0,2161,2054,3947,3978,480.4,-17.5,259,3606,1.58,0.10,295.05,1.285,10246,0.269,0.158,2530,2118,3369,3387,3351,0,0,0,0,0,0,13.58,13.22,12.50
$STATE,3610,end apogee,CONTROL_FINISHED_OK
$STATE,3612,begin climb
$GC,3614,0.57,145.9,2530,2119,3379,3340,498.1,0.0,269,3836,0.75,2.67,216.57,1.322,10500,0.060,0.071,2780,3498,2763,2803,2723,0,0,0,0,0,0,13.45,12.78,12.21
$GC,4064,0.09,145.9,2780,3497,2770,2706,473.9,16.4,361,4069,0.85,2.42,0.00,0.000,5254,0.344,0.057,2617,2131,2739,2773,2705,0,0,0,0,0,0,13.32,13.62,13.65
$GC,4384,0.01,185.4,2617,2131,2770,2703,446.2,8.2,375,4446,0.12,2.53,55.70,1.321,12708,0.287,0.081,2588,3498,2603,2650,2556,0,0,0,0,0,0,13.76,13.85,13.10
$GC,4526,-0.02,202.2,2588,3499,2631,2544,434.2,9.2,403,4551,0.00,2.42,19.27,1.431,9382,0.000,0.059,2589,2100,2539,2589,2489,0,0,0,0,0,0,14.04,13.93,13.08
$GC,4868,0.01,239.8,2590,2101,2575,2465,406.0,8.3,421,4942,0.00,2.60,67.10,1.255,8740,0.000,0.090,2589,692,2381,2431,2332,0,0,0,0,0,0,14.30,13.84,13.15
$GC,4977,0.12,275.6,2589,692,2422,2326,396.7,8.4,433,5049,0.00,2.50,65.90,1.225,9382,0.000,0.079,2586,2087,2240,2293,2188,0,0,0,0,0,0,13.97,13.86,12.99
$GC,5348,0.21,310.3,2589,2088,2278,2166,365.4,8.4,457,5409,0.20,0.00,56.62,1.259,10406,0.099,0.000,2674,2087,2098,2148,2048,0,0,0,0,0,0,14.10,13.85,13.14
$GC,5708,0.14,310.3,2674,2088,2134,2031,315.1,13.9,469,5713,0.17,2.50,0.00,0.000,4740,0.249,0.084,2638,686,2081,2133,2030,0,0,0,0,0,0,13.82,14.00,13.97
$GC,5763,0.20,310.3,2639,685,2133,2030,308.8,10.6,480,5770,0.00,2.53,0.00,0.000,1158,0.000,0.078,2638,2109,2081,2132,2030,0,0,0,0,0,0,14.13,13.99,14.14
$GC,6068,0.20,310.3,2638,2111,2132,2030,275.8,10.8,491,6073,0.00,2.55,0.00,0.000,516,0.000,0.087,2641,688,2080,2131,2029,0,0,0,0,0,0,14.33,13.98,14.35
$GC,6103,0.24,310.3,2641,687,2130,2029,272.1,10.4,498,6108,0.00,2.50,0.00,0.000,1158,0.000,0.079,2640,2101,2079,2130,2029,0,0,0,0,0,0,14.16,14.04,14.20
$GC,6428,0.25,323.6,2641,2102,2131,2028,240.0,9.4,513,6443,0.00,0.00,13.45,1.419,8230,0.000,0.000,2641,2101,2046,2096,1997,0,0,0,0,0,0,14.32,14.03,13.21
$GC,6728,0.31,359.7,2641,2101,2084,1983,214.1,8.3,523,6799,0.12,2.55,63.10,1.233,10916,0.124,0.087,2702,692,1892,1928,1857,0,0,0,0,0,0,14.09,13.86,13.16
$GC,6834,0.31,359.7,2704,692,1913,1856,201.9,11.7,544,6840,0.00,2.53,0.00,0.000,1030,0.000,0.078,2706,2107,1883,1912,1854,0,0,0,0,0,0,14.02,13.90,14.04
$GC,7151,0.27,359.7,2704,2107,1911,1845,165.6,11.1,557,7156,0.12,2.53,0.00,0.000,4740,0.230,0.086,2669,696,1877,1910,1845,0,0,0,0,0,0,13.89,13.88,13.68
$GC,7171,0.27,359.7,2673,694,1909,1845,163.6,10.0,561,7176,0.00,2.50,0.00,0.000,1030,0.000,0.079,2672,2103,1876,1908,1845,0,0,0,0,0,0,14.15,14.01,14.19
$GC,7481,0.33,389.3,2673,2104,1909,1844,136.2,8.6,573,7544,0.00,2.60,56.38,1.201,8868,0.000,0.087,2672,694,1775,1801,1749,0,0,0,0,0,0,14.32,13.91,13.19
$GC,7581,0.49,435.5,2673,694,1790,1745,128.2,7.9,592,7671,0.20,2.53,84.00,1.134,11430,0.103,0.078,2753,2105,1589,1620,1558,0,0,0,0,0,0,13.96,13.92,13.00
$GC,7977,0.45,435.5,2753,2105,1609,1528,78.1,11.5,635,7981,0.00,2.55,0.00,0.000,644,0.000,0.086,2754,690,1567,1607,1527,0,0,0,0,0,0,14.25,13.65,14.27
$GC,8001,0.45,435.5,2755,691,1606,1528,75.4,10.7,640,8009,0.00,2.53,0.00,0.000,1030,0.000,0.078,2754,2107,1566,1600,1533,0,0,0,0,0,0,13.95,13.85,13.99
$GC,8307,0.51,528.5,2755,2107,1605,1524,49.3,5.7,671,8361,0.00,2.60,47.40,0.343,8740,0.000,0.085,2755,691,1207,1269,1145,0,0,0,0,0,0,14.30,13.95,13.59
$GC,8423,0.70,609.3,2754,692,1272,1158,42.6,6.3,693,8476,0.17,2.53,45.83,0.321,11430,0.106,0.079,2820,2105,880,953,808,0,0,0,0,0,0,13.99,13.93,13.64
$GC,8771,0.77,643.6,2821,2106,954,815,11.5,8.4,733,8798,0.00,2.60,20.00,0.239,8868,0.000,0.090,2821,698,739,806,673,0,0,0,0,0,0,14.26,13.84,13.71
$GC,8853,0.97,713.5,2822,697,807,677,4.8,6.8,749,8887,0.22,2.50,28.20,0.213,11426,0.088,0.078,2901,2102,544,582,507,0,0,0,0,0,0,14.04,13.95,14.13
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.6,1.021553
$STATE,8890,end surface coast,CONTROL_FINISHED_OK
$STATE,8890,begin surface
$SM_CCo,8913,7.85,0.212,0,0,497,702.78
$SM_GC,1.68,8.30,0.17,7.85,0.071,0.111,0.212,206,2231,497,-7.37,-0.65,702.78,0,0,0,0,0,0,14.22,14.24,13.95
$RAFOS_CLK,396
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7544.23,-15109.44,090917,094118
$TT8_MAMPS,0.040446,0.981939
$HUMID,47.55
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.60
$XPDR_PINGS,6
$CP_FREE,15948414976.000000
$PM_FREEKB_00,49264448
$24V_AH,12.21,181.605
$10V_AH,12.05,0.000
$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,26.700,91.350,1134.575,7.850,0.000,0.000,0.000,185.300,1.500,0.000,12.582,0.000,6207.604,1003.914,1853.678,251.566,0.000,2048.374,0.000,1084.216,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,2128.995,1430.550,211.905,0.000,0.000,0.000,132.345,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8836.000,8892.000,8864.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.272,20.000,101.938,0.000
$MEM,323600
$DATA_FILE_SIZE,26749,756
$CAP_FILE_SIZE,102359,0
$CFSIZE,2097872896,2003828736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.032,40.31,1
$GPS,090917,150050,7541.134,-15107.074,57,0.8,57,20.8,1.2,129.7,10,8.9