version: 66.13
glider: 196
mission: 14
dive: 315
start: 9 12 117 8 54 55
data:
$ID,196
$MISSION,14
$DIVE,315
$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,36
$R_STBD_OVSHOOT,49
$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,874.0
$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
$GPS1,120917,084356,7525.4038,-15111.8174,39,0.7,39,20.7,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.6
$GPS2,120917,085419,7525.4385,-15111.7930,9,0.8,9,20.7,0.0,0.0,10,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.8,76619,-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,-145.9,204,2193,493,491,0.0,0.0,0,145,0.00,0.00,-91.43,0.000,16386,0.000,0.000,202,2193,2123,2051,2195,0,0,0,0,0,0,14.38,28.83,14.37
$GC,148,-0.57,-145.9,203,2194,2054,2197,3.3,-3.6,9,205,12.90,2.75,-39.10,0.000,18980,0.456,2.144,2386,806,3964,3950,3978,0,0,0,0,0,0,13.61,12.90,14.10
$GC,232,-0.55,-145.9,2386,807,3953,3979,25.5,-22.8,25,237,0.00,2.42,0.00,0.000,1158,0.000,0.086,2386,2169,3965,3954,3977,0,0,0,0,0,0,14.25,14.10,14.29
$GC,543,-0.67,-145.9,2386,2172,3957,3979,70.4,-10.8,57,547,0.00,2.58,0.00,0.000,388,0.000,0.089,2378,3614,3967,3956,3978,0,0,0,0,0,0,14.58,14.00,14.59
$GC,618,-0.91,-145.9,2378,3614,3958,3978,77.6,-8.8,72,625,0.30,2.40,0.00,0.000,5286,0.088,0.051,2265,2201,3966,3957,3976,0,0,0,0,0,0,13.96,13.39,14.28
$GC,925,-0.88,-145.9,2265,2201,3958,3978,132.7,-17.0,91,930,0.12,2.50,0.00,0.000,2436,0.282,0.083,2284,3616,3967,3957,3978,0,0,0,0,0,0,13.91,14.12,14.07
$GC,980,-1.01,-145.9,2285,3616,3958,3978,140.5,-11.5,102,986,0.00,2.42,0.00,0.000,1158,0.000,0.058,2289,2197,3967,3956,3978,0,0,0,0,0,0,14.14,14.00,14.17
$GC,1285,-1.07,-145.9,2284,2198,3957,3979,179.6,-12.7,113,1286,0.15,0.00,0.00,0.000,4230,0.122,0.000,2231,2197,3967,3957,3978,0,0,0,0,0,0,14.31,14.40,14.39
$GC,1585,-1.04,-145.9,2230,2198,3957,3979,228.9,-16.0,123,1590,0.00,2.50,0.00,0.000,388,0.000,0.087,2223,3614,3967,3957,3978,0,0,0,0,0,0,14.65,14.13,14.65
$GC,1702,-1.09,-145.9,2223,3615,3957,3979,245.7,-13.4,146,1708,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2199,3967,3956,3978,0,0,0,0,0,0,14.26,14.12,14.29
$GC,2005,-1.09,-145.9,2223,2199,3957,3979,289.0,-13.7,157,2010,0.00,2.53,0.00,0.000,260,0.000,0.089,2222,3620,3968,3957,3979,0,0,0,0,0,0,14.68,14.12,14.66
$GC,2090,-1.17,-145.9,2223,3620,3958,3978,299.7,-11.8,174,2096,0.00,2.45,0.00,0.000,1158,0.000,0.058,2222,2193,3967,3957,3978,0,0,0,0,0,0,14.13,13.98,14.17
$GC,2395,-1.20,-145.9,2223,2194,3957,3978,337.7,-12.3,185,2400,0.00,2.53,0.00,0.000,388,0.000,0.089,2222,3616,3967,3956,3978,0,0,0,0,0,0,14.66,14.12,14.67
$GC,2445,-1.29,-145.9,2223,3617,3956,3979,343.6,-11.2,195,2451,0.20,2.42,0.00,0.000,5254,0.108,0.057,2148,2195,3967,3956,3978,0,0,0,0,0,0,14.18,14.11,14.27
$GC,2756,-1.16,-145.9,2152,2191,3955,3979,401.2,-18.8,207,2761,0.20,2.53,0.00,0.000,2436,0.327,0.083,2185,3620,3966,3955,3978,0,0,0,0,0,0,13.64,14.02,13.87
$GC,2873,-1.16,-145.9,2185,3622,3955,3979,418.3,-13.7,230,2879,0.00,2.42,0.00,0.000,1030,0.000,0.057,2184,2196,3966,3955,3978,0,0,0,0,0,0,14.26,14.13,14.30
$GC,3177,-1.12,-145.9,2185,2195,3955,3978,463.2,-14.6,241,3182,0.12,2.50,0.00,0.000,2436,0.317,0.083,2203,3615,3969,3954,3985,0,0,0,0,0,0,13.81,14.09,13.97
$GC,3247,-1.19,-145.9,2203,3615,3955,3979,472.0,-11.6,255,3252,0.00,2.40,0.00,0.000,1158,0.000,0.056,2203,2196,3966,3954,3978,0,0,0,0,0,0,14.32,14.19,14.35
$STATE,3324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3324,begin apogee
$GC,3331,-0.13,0.0,2203,2066,3955,3979,482.0,-12.7,261,3553,1.27,0.08,218.52,1.425,10246,0.233,0.181,2526,2114,3366,3384,3349,0,0,0,0,0,0,13.81,13.51,12.68
$STATE,3556,end apogee,CONTROL_FINISHED_OK
$STATE,3556,begin climb
$GC,3561,0.57,145.9,2529,2114,3377,3339,493.7,0.0,268,3778,0.75,2.62,206.88,1.372,10756,0.060,0.074,2794,724,2764,2802,2727,0,0,0,0,0,0,13.71,12.93,12.28
$GC,4004,0.16,145.9,2794,724,2788,2728,474.4,14.7,350,4009,0.75,2.45,0.00,0.000,5254,0.323,0.073,2637,2101,2757,2787,2727,0,0,0,0,0,0,13.43,13.69,13.83
$GC,4314,0.00,167.9,2638,2101,2788,2722,445.3,9.0,362,4350,0.20,2.47,28.27,1.498,12964,0.269,0.085,2590,726,2676,2715,2638,0,0,0,0,0,0,13.84,14.09,13.16
$GC,4455,0.04,225.9,2590,727,2713,2636,434.8,7.3,390,4550,0.00,2.42,86.18,1.381,9254,0.000,0.078,2590,2105,2440,2495,2385,0,0,0,0,0,0,14.28,14.14,13.01
$GC,4855,0.06,252.4,2590,2106,2491,2374,400.3,8.8,420,4895,0.00,0.00,38.35,1.429,8230,0.000,0.000,2590,2108,2337,2389,2286,0,0,0,0,0,0,14.57,14.02,13.17
$GC,5186,0.12,281.9,2590,2105,2378,2273,371.6,8.6,431,5236,0.00,2.45,45.40,1.397,8868,0.000,0.085,2589,720,2209,2259,2160,0,0,0,0,0,0,14.59,13.80,13.17
$GC,5268,0.26,314.8,2590,721,2252,2159,364.7,8.5,447,5322,0.22,2.42,48.70,1.371,11430,0.091,0.078,2679,2101,2082,2127,2037,0,0,0,0,0,0,14.18,14.08,13.07
$GC,5638,0.18,314.8,2679,2102,2118,2020,311.1,14.4,471,5643,0.12,2.42,0.00,0.000,4740,0.263,0.083,2655,728,2068,2117,2019,0,0,0,0,0,0,13.92,14.09,14.00
$GC,5703,0.18,314.8,2656,728,2115,2019,303.1,11.2,484,5708,0.00,2.40,0.00,0.000,1030,0.000,0.078,2655,2100,2065,2112,2019,0,0,0,0,0,0,14.33,14.18,14.36
$GC,6028,0.18,314.8,2656,2102,2115,2018,265.2,11.4,499,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2102,2065,2113,2018,0,0,0,0,0,0,14.64,14.67,14.67
$GC,6328,0.18,314.8,2656,2102,2114,2019,233.7,10.1,509,6334,0.00,2.42,0.00,0.000,516,0.000,0.085,2655,729,2065,2113,2018,0,0,0,0,0,0,14.65,14.16,14.67
$GC,6364,0.23,331.0,2655,730,2113,2019,230.4,9.3,516,6391,0.00,2.40,21.40,1.445,9382,0.000,0.078,2655,2110,2015,2061,1970,0,0,0,0,0,0,14.35,14.21,13.25
$GC,6689,0.24,349.1,2656,2113,2056,1962,200.0,9.2,531,6725,0.00,2.45,29.92,1.388,8740,0.000,0.085,2655,728,1938,1982,1894,0,0,0,0,0,0,14.62,14.16,13.28
$GC,6751,0.33,374.2,2655,729,1978,1896,194.6,8.8,538,6800,0.00,2.35,41.45,1.314,9382,0.000,0.076,2655,2102,1837,1866,1808,0,0,0,0,0,0,14.23,14.09,13.19
$GC,7112,0.42,409.1,2656,2102,1860,1801,163.4,8.4,560,7176,0.15,2.45,58.88,1.268,10916,0.115,0.085,2730,730,1695,1717,1673,0,0,0,0,0,0,14.28,13.79,13.21
$GC,7232,0.42,409.1,2730,730,1712,1671,148.8,12.4,584,7237,0.00,2.42,0.00,0.000,1030,0.000,0.077,2728,2101,1690,1710,1670,0,0,0,0,0,0,14.21,14.08,14.25
$GC,7562,0.39,409.1,2730,2103,1710,1664,108.3,11.9,600,7563,0.00,0.00,0.00,0.000,134,0.000,0.000,2729,2102,1686,1709,1663,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7864,0.40,424.1,2730,2103,1711,1660,77.3,9.3,624,7876,0.00,2.53,7.35,0.429,8740,0.000,0.084,2730,723,1634,1662,1607,0,0,0,0,0,0,14.57,14.12,13.58
$GC,8026,0.49,470.8,2730,723,1664,1607,63.8,7.8,656,8059,0.00,2.42,25.23,0.394,9382,0.000,0.078,2730,2105,1444,1477,1411,0,0,0,0,0,0,14.13,14.00,13.67
$GC,8356,0.67,590.6,2730,2105,1479,1403,44.3,4.5,692,8425,0.17,2.47,62.85,0.331,10660,0.104,0.079,2804,3513,952,1019,886,0,0,0,0,0,0,14.27,13.96,13.72
$GC,8491,0.71,590.6,2804,3514,1020,886,31.6,10.4,718,8496,0.00,2.38,0.00,0.000,1158,0.000,0.067,2807,2138,952,1019,885,0,0,0,0,0,0,14.12,13.97,14.15
$GC,8801,0.82,647.8,2808,2138,1020,878,8.7,7.4,750,8838,0.12,2.62,30.00,0.230,10916,0.128,0.092,2877,690,721,782,660,0,0,0,0,0,0,14.16,14.07,13.81
$STATE,8861,end climb,SURFACE_DEPTH_REACHED
$STATE,8861,begin surface coast
$FINISH,0.6,1.021536
$STATE,8873,end surface coast,CONTROL_FINISHED_OK
$STATE,8873,begin surface
$SM_CCo,8941,30.25,0.211,0,0,500,702.78
$SM_GC,1.34,8.30,2.65,30.25,0.082,0.067,0.211,200,2206,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.21,13.92
$RAFOS_CLK,402
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7528.37,-15123.37,120917,060401
$TT8_MAMPS,0.039697,0.904792
$HUMID,47.04
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,9
$CP_FREE,0.000000
$PM_FREEKB_00,47992576
$24V_AH,12.28,194.899
$10V_AH,12.26,0.000
$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,26.075,89.300,949.375,30.250,0.000,0.000,0.000,351.000,2.250,0.000,11.252,0.000,6323.137,976.165,1982.927,328.915,0.000,2064.327,0.000,1095.808,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2144.295,1497.870,211.140,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8904.000,8920.000,8891.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.685,20.000,9.880,0.000
$MEM,323448
$DATA_FILE_SIZE,26674,764
$CAP_FILE_SIZE,102798,0
$CFSIZE,2097872896,1997537280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.7
$CURRENT,0.058,97.35,1
$GPS,120917,112530,7524.098,-15111.640,16,0.7,19,20.7,0.2,0.0,12,8.9