version: 66.13
glider: 196
mission: 14
dive: 307
start: 9 11 117 10 40 46
data:
$ID,196
$MISSION,14
$DIVE,307
$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,26
$R_STBD_OVSHOOT,43
$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,854.0
$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
$GPS1,110917,102932,7535.4189,-15110.5645,33,0.8,33,20.8,0.5,27.5,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.8
$GPS2,110917,104010,7535.4404,-15110.4883,9,0.9,12,20.8,0.0,0.0,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.8,94742,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,51,-0.57,-145.9,190,2228,498,493,0.0,0.0,0,143,0.00,0.00,-91.18,0.000,16386,0.000,0.000,192,2229,2107,2036,2179,0,0,0,0,0,0,14.50,28.83,14.52
$GC,146,-0.57,-145.9,190,2230,2036,2182,3.1,-4.0,9,204,12.93,2.70,-39.28,0.000,18724,0.453,2.140,2376,3586,3963,3949,3977,0,0,0,0,0,0,13.59,12.87,14.10
$GC,329,-0.73,-145.9,2379,3587,3951,3979,38.5,-12.9,45,334,0.00,2.40,0.00,0.000,1158,0.000,0.058,2376,2192,3965,3954,3977,0,0,0,0,0,0,14.15,14.03,14.18
$GC,640,-0.86,-145.9,2376,2191,3957,3974,80.1,-10.9,77,641,0.22,0.00,0.00,0.000,4230,0.101,0.000,2289,2191,3966,3955,3978,0,0,0,0,0,0,14.26,14.38,14.35
$GC,950,-0.88,-145.9,2289,2192,3956,3979,128.3,-14.7,96,956,0.00,2.47,0.00,0.000,388,0.000,0.086,2279,3594,3966,3955,3978,0,0,0,0,0,0,14.60,14.12,14.64
$GC,1046,-0.99,-145.9,2280,3594,3956,3978,140.8,-11.9,115,1051,0.00,2.38,0.00,0.000,1158,0.000,0.057,2279,2199,3966,3955,3978,0,0,0,0,0,0,13.88,13.90,13.88
$GC,1371,-1.04,-145.9,2280,2198,3957,3978,184.2,-12.9,130,1372,0.12,0.00,0.00,0.000,4230,0.139,0.000,2235,2198,3966,3955,3978,0,0,0,0,0,0,14.31,14.42,14.39
$GC,1671,-1.04,-145.9,2235,2199,3956,3978,231.0,-15.1,140,1676,0.00,2.47,0.00,0.000,260,0.000,0.088,2227,3592,3967,3956,3978,0,0,0,0,0,0,14.64,14.08,14.66
$GC,1817,-1.11,-145.9,2228,3594,3956,3978,251.2,-12.9,169,1823,0.00,2.40,0.00,0.000,1158,0.000,0.057,2227,2189,3966,3955,3978,0,0,0,0,0,0,14.26,14.13,14.29
$GC,2122,-1.11,-145.9,2227,2188,3957,3978,292.8,-13.2,180,2128,0.00,2.47,0.00,0.000,260,0.000,0.088,2223,3588,3966,3955,3977,0,0,0,0,0,0,14.67,14.12,14.69
$GC,2168,-1.18,-145.9,2223,3588,3957,3978,298.7,-12.2,189,2173,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2199,3966,3955,3978,0,0,0,0,0,0,14.28,14.21,14.31
$GC,2483,-1.21,-145.9,2223,2199,3956,3978,337.8,-12.1,202,2488,0.10,2.47,0.00,0.000,4484,0.172,0.084,2173,3588,3966,3955,3978,0,0,0,0,0,0,14.22,14.00,14.28
$GC,2519,-1.15,-145.9,2172,3589,3956,3979,343.1,-15.9,209,2524,0.17,2.35,0.00,0.000,3206,0.266,0.056,2207,2202,3966,3955,3978,0,0,0,0,0,0,13.85,14.16,14.12
$GC,2844,-1.15,-145.9,2208,2201,3956,3977,386.5,-13.1,224,2850,0.00,2.47,0.00,0.000,260,0.000,0.087,2201,3594,3966,3955,3978,0,0,0,0,0,0,14.57,14.03,14.59
$GC,2930,-1.20,-145.9,2202,3594,3956,3978,397.4,-12.3,241,2936,0.00,2.40,0.00,0.000,1158,0.000,0.056,2201,2190,3966,3955,3978,0,0,0,0,0,0,14.19,14.05,14.22
$GC,3235,-1.20,-145.9,2202,2189,3956,3978,437.5,-13.0,252,3240,0.00,2.50,0.00,0.000,260,0.000,0.087,2194,3595,3966,3955,3977,0,0,0,0,0,0,14.66,14.10,14.68
$GC,3315,-1.25,-145.9,2197,3596,3956,3978,447.7,-12.1,268,3321,0.00,2.38,0.00,0.000,1158,0.000,0.056,2196,2194,3965,3954,3977,0,0,0,0,0,0,14.30,14.17,14.33
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3570,-0.13,0.0,2195,2062,3952,3978,480.6,-13.2,278,3795,1.33,0.00,221.15,1.411,10246,0.234,0.000,2532,2062,3365,3381,3350,0,0,0,0,0,0,13.80,13.54,12.66
$STATE,3798,end apogee,CONTROL_FINISHED_OK
$STATE,3798,begin climb
$GC,3801,0.57,145.9,2533,2062,3374,3344,491.9,0.0,285,4027,0.73,1.95,211.35,1.361,10756,0.060,0.080,2781,733,2761,2794,2728,0,0,0,0,0,0,13.69,13.14,12.28
$GC,4114,0.18,145.9,2781,734,2790,2727,495.1,13.2,304,4121,0.68,2.47,0.00,0.000,5254,0.323,0.074,2646,2080,2756,2789,2723,0,0,0,0,0,0,13.11,13.45,13.46
$GC,4448,0.01,169.7,2646,2081,2789,2718,464.4,8.9,320,4481,0.25,0.00,30.83,1.483,12454,0.262,0.000,2589,2080,2671,2711,2632,0,0,0,0,0,0,13.76,13.98,13.11
$GC,4778,0.01,230.1,2589,2080,2710,2619,440.5,7.2,331,4877,0.00,2.50,90.88,1.383,8868,0.000,0.085,2589,727,2422,2475,2369,0,0,0,0,0,0,14.45,13.81,13.01
$GC,4909,0.10,273.2,2589,727,2472,2367,430.5,8.0,347,4978,0.00,2.45,64.65,1.370,9382,0.000,0.079,2589,2099,2253,2307,2199,0,0,0,0,0,0,14.00,13.88,12.88
$GC,5288,0.18,301.1,2589,2100,2294,2179,397.9,8.7,373,5334,0.15,2.47,39.60,1.414,10916,0.116,0.086,2659,724,2133,2181,2085,0,0,0,0,0,0,14.15,13.72,13.11
$GC,5355,0.13,301.1,2659,724,2177,2080,389.4,13.2,381,5360,0.15,2.45,0.00,0.000,5254,0.244,0.079,2628,2100,2128,2173,2084,0,0,0,0,0,0,13.80,13.95,14.03
$GC,5680,0.13,301.1,2628,2102,2174,2076,351.6,11.4,396,5686,0.00,2.45,0.00,0.000,516,0.000,0.085,2630,723,2128,2181,2075,0,0,0,0,0,0,14.39,14.05,14.42
$GC,5721,0.17,301.1,2631,724,2173,2075,347.1,11.1,404,5727,0.00,2.42,0.00,0.000,1158,0.000,0.078,2631,2100,2123,2172,2075,0,0,0,0,0,0,14.22,14.09,14.26
$GC,6042,0.17,301.1,2631,2100,2173,2074,311.3,11.0,418,6047,0.00,2.42,0.00,0.000,516,0.000,0.084,2633,730,2123,2172,2074,0,0,0,0,0,0,14.47,14.09,14.49
$GC,6072,0.20,301.1,2633,730,2172,2074,308.1,10.9,424,6078,0.00,2.40,0.00,0.000,1158,0.000,0.077,2633,2101,2122,2171,2074,0,0,0,0,0,0,14.24,14.12,14.28
$GC,6403,0.20,301.1,2633,2103,2172,2074,273.7,10.0,440,6409,0.00,2.45,0.00,0.000,516,0.000,0.084,2633,717,2122,2171,2074,0,0,0,0,0,0,14.47,14.08,14.49
$GC,6449,0.27,311.8,2633,717,2171,2073,269.3,9.5,449,6466,0.12,2.45,12.35,1.556,11430,0.126,0.076,2688,2107,2095,2141,2049,0,0,0,0,0,0,14.16,14.09,13.20
$GC,6764,0.19,311.8,2688,2108,2135,2046,229.5,11.9,462,6766,0.20,0.00,0.00,0.000,4230,0.236,0.000,2644,2108,2088,2134,2042,0,0,0,0,0,0,13.78,14.06,14.00
$GC,7064,0.22,354.3,2643,2109,2134,2041,204.6,8.0,472,7140,0.00,0.00,74.15,1.297,8230,0.000,0.000,2644,2108,1920,1959,1882,0,0,0,0,0,0,14.45,13.90,13.14
$GC,7426,0.32,406.7,2644,2108,1946,1871,176.7,7.6,484,7525,0.12,2.53,90.90,1.230,10916,0.124,0.087,2700,734,1702,1726,1678,0,0,0,0,0,0,14.20,13.89,13.13
$GC,7612,0.39,406.7,2700,734,1718,1674,156.9,10.3,521,7617,0.00,2.40,0.00,0.000,1158,0.000,0.076,2699,2100,1696,1717,1675,0,0,0,0,0,0,14.18,14.05,14.23
$GC,7937,0.41,406.7,2700,2102,1717,1668,122.5,10.3,536,7943,0.00,2.40,0.00,0.000,644,0.000,0.086,2700,731,1691,1715,1667,0,0,0,0,0,0,14.61,14.12,14.62
$GC,7983,0.50,422.2,2699,731,1715,1668,118.1,9.3,545,8009,0.12,2.40,18.00,1.360,11430,0.132,0.076,2758,2105,1640,1667,1614,0,0,0,0,0,0,14.14,14.09,13.30
$GC,8310,0.44,422.2,2758,2105,1664,1603,77.0,11.4,574,8315,0.12,2.45,0.00,0.000,4740,0.246,0.082,2733,723,1633,1665,1602,0,0,0,0,0,0,13.86,14.05,13.97
$GC,8330,0.44,422.2,2733,724,1664,1602,74.9,10.3,578,8335,0.00,2.42,0.00,0.000,1030,0.000,0.078,2733,2101,1632,1663,1602,0,0,0,0,0,0,14.28,14.15,14.34
$GC,8640,0.51,533.4,2734,2104,1664,1601,52.9,4.9,610,8702,0.00,0.00,60.40,0.357,8230,0.000,0.000,2733,2102,1189,1250,1129,0,0,0,0,0,0,14.61,14.07,13.69
$GC,9000,0.74,646.9,2734,2103,1250,1122,33.6,4.8,646,9069,0.25,2.53,63.53,0.294,10916,0.093,0.088,2836,734,725,788,662,0,0,0,0,0,0,14.10,13.83,13.70
$GC,9091,0.82,674.2,2833,735,788,663,25.1,8.7,663,9113,0.00,2.40,16.10,0.274,9382,0.000,0.076,2836,2101,615,666,565,0,0,0,0,0,0,14.14,14.00,13.66
$STATE,9336,end climb,SURFACE_DEPTH_REACHED
$STATE,9336,begin surface coast
$FINISH,0.1,1.021485
$STATE,9356,end surface coast,CONTROL_FINISHED_OK
$STATE,9356,begin surface
$SM_CCo,9377,17.05,0.213,0,0,497,702.78
$SM_GC,0.81,8.05,0.17,17.05,0.067,0.128,0.213,200,2212,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.30,14.28,13.94
$RAFOS_CLK,216
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7537.22,-15114.39,110917,075116
$TT8_MAMPS,0.03745,0.877079
$HUMID,46.37
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,6
$CP_FREE,15941173248.000000
$PM_FREEKB_00,48292288
$24V_AH,12.28,190.916
$10V_AH,12.14,0.000
$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,25.825,82.975,993.875,17.050,0.000,0.000,0.000,373.125,1.500,0.000,14.474,0.000,6765.672,928.175,2048.391,310.679,0.000,2113.369,0.000,997.711,2201.000,0.539,0.000
$DEVICE_MAMPS,452.880,2139.705,1556.010,212.670,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9387.000,9350.000,9329.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.466,20.000,13.758,0.000
$MEM,323412
$DATA_FILE_SIZE,23449,692
$CAP_FILE_SIZE,100594,0
$CFSIZE,2097872896,1999667200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.4
$CURRENT,0.041,81.38,1
$GPS,110917,131831,7534.129,-15110.818,15,0.7,25,20.7,0.3,327.5,11,6.9