version: 66.13
glider: 196
mission: 14
dive: 314
start: 9 12 117 6 10 58
data:
$ID,196
$MISSION,14
$DIVE,314
$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,25
$R_STBD_OVSHOOT,48
$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,872.0
$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
$GPS1,120917,055932,7526.7456,-15111.3623,34,0.8,34,20.7,0.0,0.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.8
$GPS2,120917,061022,7526.7383,-15111.3096,8,0.8,12,20.7,0.0,0.0,10,8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,163.1,78935,-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,-145.9,202,2230,494,495,0.0,0.0,0,145,0.00,0.00,-91.93,0.000,16386,0.000,0.000,201,2230,2126,2054,2199,0,0,0,0,0,0,14.51,28.83,14.54
$GC,148,-0.57,-145.9,202,2230,2056,2200,3.2,-3.3,9,205,12.95,2.88,-38.70,0.000,18980,0.455,2.144,2385,790,3964,3952,3977,0,0,0,0,0,0,13.55,12.89,14.01
$GC,257,-0.77,-145.9,2385,791,3954,3979,29.3,-11.7,30,263,0.17,2.47,0.00,0.000,5254,0.105,0.086,2321,2177,3966,3954,3978,0,0,0,0,0,0,14.14,14.06,14.24
$GC,560,-0.80,-145.9,2322,2177,3956,3978,87.0,-14.7,61,565,0.00,2.55,0.00,0.000,388,0.000,0.089,2319,3611,3965,3954,3977,0,0,0,0,0,0,14.58,14.06,14.59
$GC,715,-0.96,-145.9,2320,3611,3956,3977,105.7,-10.7,92,721,0.15,2.42,0.00,0.000,5254,0.115,0.057,2256,2195,3966,3955,3978,0,0,0,0,0,0,14.16,14.02,14.26
$GC,1042,-0.94,-145.9,2257,2195,3956,3978,160.0,-16.4,107,1046,0.00,2.53,0.00,0.000,388,0.000,0.086,2249,3619,3966,3955,3978,0,0,0,0,0,0,14.64,14.13,14.66
$GC,1107,-1.01,-145.9,2249,3621,3956,3979,170.0,-13.9,120,1113,0.00,2.42,0.00,0.000,1158,0.000,0.057,2250,2196,3966,3955,3977,0,0,0,0,0,0,14.26,14.13,14.27
$GC,1433,-1.01,-145.9,2250,2195,3956,3978,219.0,-14.6,135,1437,0.00,2.53,0.00,0.000,260,0.000,0.087,2243,3621,3966,3955,3978,0,0,0,0,0,0,14.64,14.08,14.66
$GC,1498,-1.09,-145.9,2244,3620,3956,3978,227.8,-12.5,148,1504,0.00,2.45,0.00,0.000,1158,0.000,0.058,2244,2190,3966,3955,3978,0,0,0,0,0,0,14.26,14.13,14.31
$GC,1824,-1.12,-145.9,2244,2190,3956,3978,270.9,-12.5,163,1829,0.00,2.50,0.00,0.000,388,0.000,0.086,2237,3611,3966,3955,3978,0,0,0,0,0,0,14.66,14.04,14.68
$GC,1889,-1.22,-145.9,2237,3613,3956,3977,278.4,-10.8,176,1895,0.17,2.42,0.00,0.000,5254,0.110,0.057,2170,2194,3966,3955,3977,0,0,0,0,0,0,14.24,14.19,14.34
$GC,2216,-1.11,-145.9,2170,2194,3955,3978,337.6,-18.2,191,2221,0.20,2.53,0.00,0.000,2436,0.299,0.083,2204,3611,3966,3955,3978,0,0,0,0,0,0,13.77,14.06,13.97
$GC,2338,-1.17,-145.9,2205,3614,3956,3978,354.0,-13.0,215,2343,0.00,2.40,0.00,0.000,1158,0.000,0.056,2204,2200,3966,3955,3978,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2668,-1.17,-145.9,2205,2198,3956,3977,398.4,-13.2,231,2673,0.00,2.53,0.00,0.000,260,0.000,0.087,2196,3614,3966,3954,3978,0,0,0,0,0,0,14.62,14.07,14.63
$GC,2753,-1.22,-145.9,2197,3617,3954,3978,409.4,-12.5,248,2760,0.00,2.45,0.00,0.000,1158,0.000,0.057,2196,2189,3965,3954,3977,0,0,0,0,0,0,14.22,14.09,14.26
$GC,3058,-1.22,-145.9,2197,2190,3955,3979,450.8,-13.5,259,3063,0.00,2.53,0.00,0.000,260,0.000,0.086,2187,3613,3965,3953,3978,0,0,0,0,0,0,14.62,14.08,14.64
$GC,3128,-1.24,-145.9,2188,3615,3954,3978,460.4,-13.1,273,3133,0.00,2.40,0.00,0.000,1158,0.000,0.056,2187,2200,3965,3953,3977,0,0,0,0,0,0,14.29,14.16,14.33
$STATE,3296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3296,begin apogee
$GC,3302,-0.13,0.0,2188,2056,3954,3978,484.2,-14.0,282,3523,1.38,0.10,216.95,1.429,10246,0.240,0.157,2532,2122,3366,3381,3351,0,0,0,0,0,0,13.72,13.52,12.66
$STATE,3527,end apogee,CONTROL_FINISHED_OK
$STATE,3527,begin climb
$GC,3531,0.57,145.9,2533,2122,3377,3342,495.7,0.0,289,3754,0.73,2.62,207.95,1.375,11012,0.060,0.073,2780,3493,2761,2795,2727,0,0,0,0,0,0,13.70,13.13,12.26
$GC,3759,0.12,183.5,2781,3493,2792,2728,507.3,8.3,328,3820,0.85,2.47,53.85,1.431,13478,0.353,0.054,2629,2132,2615,2670,2560,0,0,0,0,0,0,12.92,13.24,12.23
$GC,4135,0.01,183.5,2629,2132,2662,2541,468.3,10.6,353,4140,0.15,2.55,0.00,0.000,4740,0.282,0.082,2602,694,2601,2661,2541,0,0,0,0,0,0,13.71,13.95,13.88
$GC,4181,0.03,211.3,2603,694,2663,2541,464.2,8.7,362,4228,0.00,2.45,37.67,1.457,9254,0.000,0.078,2602,2086,2498,2558,2438,0,0,0,0,0,0,14.16,14.05,13.03
$GC,4528,0.02,227.7,2601,2087,2554,2432,432.5,9.2,381,4551,0.00,0.00,21.67,1.519,8358,0.000,0.000,2602,2085,2438,2497,2379,0,0,0,0,0,0,14.56,14.07,13.18
$GC,4826,0.03,242.5,2603,2086,2490,2370,404.5,9.3,391,4857,0.00,2.53,21.75,1.532,8740,0.000,0.086,2602,693,2371,2422,2320,0,0,0,0,0,0,14.61,14.15,13.21
$GC,4897,0.10,264.0,2602,695,2421,2321,398.0,9.0,405,4937,0.00,2.47,32.12,1.460,9382,0.000,0.078,2602,2104,2284,2334,2235,0,0,0,0,0,0,14.30,14.17,13.14
$GC,5249,0.13,280.8,2603,2104,2332,2227,365.3,9.2,425,5278,0.00,0.00,24.38,1.486,8358,0.000,0.000,2603,2103,2216,2266,2167,0,0,0,0,0,0,14.59,13.85,13.23
$GC,5577,0.19,302.0,2603,2104,2262,2161,335.4,9.0,436,5615,0.12,2.55,31.85,1.437,10916,0.129,0.088,2672,697,2130,2177,2083,0,0,0,0,0,0,14.28,14.07,13.21
$GC,5635,0.12,302.0,2672,696,2172,2084,328.0,13.7,447,5642,0.20,2.45,0.00,0.000,5254,0.233,0.078,2625,2100,2127,2171,2083,0,0,0,0,0,0,13.95,14.09,14.19
$GC,5940,0.12,303.9,2625,2101,2172,2076,296.3,9.9,458,5941,0.00,0.00,0.00,0.000,38,0.000,0.000,2625,2099,2123,2171,2076,0,0,0,0,0,0,14.61,14.64,14.64
$GC,6240,0.15,314.5,2626,2101,2171,2075,267.4,9.5,468,6265,0.00,2.50,17.48,1.508,8868,0.000,0.086,2633,698,2078,2124,2033,0,0,0,0,0,0,14.66,14.21,13.27
$GC,6332,0.26,336.8,2633,699,2120,2034,259.0,9.0,486,6376,0.00,2.45,35.42,1.393,9382,0.000,0.079,2633,2100,1988,2032,1945,0,0,0,0,0,0,14.34,14.21,13.22
$GC,6691,0.34,375.3,2633,2100,2032,1934,227.5,8.2,508,6758,0.17,0.00,64.50,1.295,10406,0.099,0.000,2704,2100,1833,1861,1806,0,0,0,0,0,0,14.21,13.93,13.16
$GC,7051,0.30,375.3,2705,2106,1850,1797,183.6,11.9,520,7056,0.00,2.50,0.00,0.000,644,0.000,0.088,2706,692,1823,1850,1796,0,0,0,0,0,0,14.47,14.00,14.45
$GC,7163,0.32,375.3,2706,693,1848,1797,171.0,11.0,542,7169,0.00,2.42,0.00,0.000,1158,0.000,0.076,2706,2103,1821,1846,1796,0,0,0,0,0,0,14.21,14.11,14.24
$GC,7474,0.30,375.3,2707,2110,1844,1795,136.2,10.8,554,7480,0.00,2.53,0.00,0.000,644,0.000,0.086,2709,694,1819,1845,1794,0,0,0,0,0,0,14.45,14.05,14.47
$GC,7500,0.30,375.3,2707,694,1845,1794,133.4,10.4,559,7506,0.12,2.50,0.00,0.000,5126,0.210,0.079,2679,2105,1819,1844,1794,0,0,0,0,0,0,13.95,14.00,14.11
$GC,7805,0.38,410.9,2680,2105,1845,1792,107.1,8.4,570,7866,0.00,0.00,55.53,1.264,8358,0.000,0.000,2678,2106,1686,1706,1666,0,0,0,0,0,0,14.45,13.76,13.21
$GC,8165,0.52,489.9,2680,2105,1708,1653,81.0,6.4,598,8212,0.20,2.53,40.85,0.442,10916,0.099,0.088,2767,695,1367,1409,1326,0,0,0,0,0,0,14.14,13.89,13.59
$GC,8275,0.56,489.9,2768,698,1408,1326,69.0,11.3,619,8281,0.00,2.50,0.00,0.000,1158,0.000,0.077,2768,2106,1362,1402,1323,0,0,0,0,0,0,14.16,14.02,14.19
$GC,8578,0.61,561.2,2768,2108,1408,1317,42.5,6.7,650,8620,0.00,2.60,37.42,0.327,8740,0.000,0.088,2768,692,1076,1139,1014,0,0,0,0,0,0,14.43,13.97,13.71
$GC,8745,0.80,635.7,2768,689,1139,1012,31.2,6.6,683,8790,0.22,2.50,39.70,0.290,11430,0.095,0.078,2859,2103,772,834,711,0,0,0,0,0,0,14.04,13.95,13.66
$STATE,9025,end climb,SURFACE_DEPTH_REACHED
$STATE,9025,begin surface coast
$FINISH,0.3,1.021565
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9033,begin surface
$SM_CCo,9055,36.88,0.208,0,0,498,702.78
$SM_GC,1.08,8.27,0.17,36.88,0.080,0.106,0.208,203,2238,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.16,14.17,13.84
$RAFOS_CLK,124
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7526.37,-15108.35,120917,031605
$TT8_MAMPS,0.084637,0.879326
$HUMID,44.25
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.00
$XPDR_PINGS,14
$CP_FREE,15938158592.000000
$PM_FREEKB_00,48018048
$24V_AH,12.23,194.445
$10V_AH,11.69,0.000
$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,26.075,85.575,939.100,36.875,0.000,0.000,0.000,377.825,3.500,0.000,13.395,0.000,6508.979,1017.947,1914.068,318.134,0.000,2088.255,0.000,1028.799,2194.000,1.119,0.000
$DEVICE_MAMPS,455.175,2144.295,1532.295,208.080,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9065.000,9036.000,9008.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.227,20.000,10.648,0.000
$MEM,323328
$DATA_FILE_SIZE,23450,716
$CAP_FILE_SIZE,101922,0
$CFSIZE,2097872896,1997799424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.5
$CURRENT,0.045,104.33,1
$GPS,120917,084356,7525.404,-15111.817,39,0.7,39,20.7,0.0,0.0,9,9.9