version: 66.13
glider: 196
mission: 14
dive: 316
start: 9 12 117 11 37 22
data:
$ID,196
$MISSION,14
$DIVE,316
$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,23
$R_STBD_OVSHOOT,27
$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,876.0
$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
$GPS1,120917,112530,7524.0977,-15111.6396,16,0.7,19,20.7,0.2,0.0,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.5
$GPS2,120917,113648,7524.1304,-15111.5488,15,0.7,15,20.7,0.0,0.0,12,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,159.8,74223,-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,64,end surface,CONTROL_FINISHED_OK
$STATE,64,begin dive
$GC,67,-0.57,-145.9,196,2208,495,493,0.0,0.0,0,170,0.00,0.00,-101.57,0.000,16386,0.000,0.000,195,2208,2364,2311,2417,0,0,0,0,0,0,14.53,28.83,14.58
$GC,173,-0.57,-145.9,196,2208,2315,2417,4.8,-7.5,10,219,13.10,0.00,-28.50,0.000,18982,0.461,0.000,2384,2208,3964,3948,3980,0,0,0,0,0,0,13.58,12.55,14.12
$GC,518,-0.68,-145.9,2384,2207,3957,3981,70.6,-11.3,47,523,0.00,2.47,0.00,0.000,388,0.000,0.087,2378,3606,3968,3955,3981,0,0,0,0,0,0,14.66,14.07,14.63
$GC,559,-0.90,-145.9,2376,3608,3959,3982,74.6,-9.1,55,564,0.28,2.40,0.00,0.000,5286,0.100,0.056,2276,2189,3968,3956,3981,0,0,0,0,0,0,14.24,14.16,14.34
$GC,881,-0.90,-145.9,2275,2189,3955,3982,130.1,-16.1,76,886,0.00,2.50,0.00,0.000,260,0.000,0.086,2267,3604,3968,3955,3981,0,0,0,0,0,0,14.67,14.14,14.72
$GC,956,-0.99,-145.9,2267,3606,3954,3981,141.6,-13.6,91,961,0.00,2.40,0.00,0.000,1158,0.000,0.058,2266,2199,3968,3955,3981,0,0,0,0,0,0,14.34,14.21,14.38
$GC,1272,-1.02,-145.9,2267,2198,3957,3981,186.4,-13.8,104,1272,0.00,0.00,0.00,0.000,134,0.000,0.000,2267,2198,3968,3956,3981,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1572,-1.06,-145.9,2267,2199,3956,3982,225.6,-12.6,114,1577,0.00,2.53,0.00,0.000,388,0.000,0.087,2261,3611,3967,3954,3981,0,0,0,0,0,0,14.51,14.00,14.50
$GC,1667,-1.19,-145.9,2264,3613,3956,3980,236.2,-10.5,133,1673,0.20,2.45,0.00,0.000,5254,0.109,0.057,2194,2189,3968,3955,3981,0,0,0,0,0,0,14.09,14.05,14.21
$GC,1993,-1.10,-145.9,2188,2188,3956,3980,295.5,-17.5,148,1999,0.15,2.53,0.00,0.000,2436,0.285,0.082,2211,3603,3970,3960,3981,0,0,0,0,0,0,13.73,13.98,13.90
$GC,2124,-1.15,-145.9,2212,3605,3956,3981,313.2,-12.2,174,2129,0.00,2.42,0.00,0.000,1158,0.000,0.057,2210,2189,3968,3955,3981,0,0,0,0,0,0,14.18,14.05,14.21
$GC,2444,-1.15,-145.9,2213,2185,3957,3981,355.7,-13.1,188,2449,0.00,2.55,0.00,0.000,260,0.000,0.088,2209,3614,3968,3956,3981,0,0,0,0,0,0,14.49,13.97,14.50
$GC,2539,-1.23,-145.9,2209,3613,3956,3982,367.3,-11.4,207,2544,0.00,2.42,0.00,0.000,1158,0.000,0.057,2209,2199,3968,3955,3981,0,0,0,0,0,0,13.97,13.85,14.00
$GC,2864,-1.23,-145.9,2209,2199,3956,3982,407.8,-12.3,222,2869,0.00,2.53,0.00,0.000,260,0.000,0.088,2209,3608,3970,3955,3986,0,0,0,0,0,0,14.48,13.95,14.48
$GC,2934,-1.31,-145.9,2210,3609,3956,3981,416.0,-11.0,236,2939,0.17,2.42,0.00,0.000,5254,0.109,0.057,2146,2192,3968,3955,3981,0,0,0,0,0,0,14.09,14.03,14.19
$GC,3255,-1.18,-145.9,2147,2191,3956,3981,473.9,-18.5,250,3260,0.22,2.53,0.00,0.000,2436,0.322,0.080,2184,3610,3968,3955,3981,0,0,0,0,0,0,13.54,13.93,13.76
$STATE,3293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3293,begin apogee
$GC,3301,-0.13,0.0,2185,2103,3955,3981,480.3,-14.5,258,3522,1.40,0.00,217.85,1.428,10246,0.242,0.000,2529,2102,3365,3378,3353,0,0,0,0,0,0,13.62,13.48,12.63
$STATE,3524,end apogee,CONTROL_FINISHED_OK
$STATE,3524,begin climb
$GC,3527,0.57,145.9,2530,2102,3373,3348,492.0,0.0,265,3889,0.75,2.72,209.38,1.380,10756,0.061,0.079,2786,694,2758,2790,2727,0,0,0,0,0,0,13.59,12.82,12.21
$GC,3901,0.57,145.9,2791,693,2789,2726,483.5,2.7,267,3906,0.00,2.53,0.00,0.000,1030,0.000,0.074,2786,2097,2757,2789,2725,0,0,0,0,0,0,13.66,13.52,13.69
$GC,4223,0.14,145.9,2787,2099,2789,2722,435.2,14.6,281,4228,0.68,2.47,0.00,0.000,4484,0.315,0.075,2635,3513,2754,2788,2721,0,0,0,0,0,0,13.66,14.06,13.91
$GC,4279,-0.07,145.9,2636,3513,2786,2720,428.7,10.8,292,4285,0.35,2.42,0.00,0.000,5254,0.278,0.058,2567,2091,2752,2786,2719,0,0,0,0,0,0,13.81,14.14,14.15
$GC,4584,-0.00,244.0,2565,2092,2788,2721,411.1,5.5,303,4735,0.00,0.00,148.07,1.343,8230,0.000,0.000,2565,2091,2367,2418,2317,0,0,0,0,0,0,14.64,13.76,12.95
$GC,5034,0.13,308.1,2565,2092,2405,2303,380.8,7.0,318,5139,0.20,2.58,96.20,1.328,10916,0.098,0.089,2653,695,2102,2145,2060,0,0,0,0,0,0,14.12,13.86,13.05
$GC,5164,0.13,308.1,2653,691,2141,2060,365.1,12.9,339,5169,0.00,2.50,0.00,0.000,1030,0.000,0.078,2653,2099,2099,2139,2059,0,0,0,0,0,0,14.07,13.95,14.10
$GC,5485,0.10,308.1,2653,2102,2139,2048,323.9,12.7,353,5490,0.15,2.47,0.00,0.000,4740,0.228,0.085,2616,694,2090,2134,2047,0,0,0,0,0,0,13.91,14.12,14.03
$GC,5535,0.22,319.7,2616,693,2136,2047,318.7,9.5,363,5556,0.12,2.45,12.85,1.507,11430,0.126,0.077,2674,2103,2058,2100,2017,0,0,0,0,0,0,14.26,14.20,13.23
$GC,5879,0.16,319.7,2674,2103,2099,2009,272.3,13.3,381,5884,0.15,2.50,0.00,0.000,4740,0.256,0.083,2644,682,2053,2097,2009,0,0,0,0,0,0,13.99,14.20,14.14
$GC,5944,0.23,324.8,2644,683,2095,2010,265.0,9.8,394,5955,0.00,2.47,3.38,1.434,9382,0.000,0.077,2650,2105,2042,2086,1999,0,0,0,0,0,0,14.36,14.22,12.86
$GC,6270,0.24,343.2,2645,2105,2090,1998,233.1,9.2,409,6306,0.00,0.00,34.92,1.386,8230,0.000,0.000,2643,2104,1966,2009,1923,0,0,0,0,0,0,14.64,14.11,13.26
$GC,6600,0.31,369.1,2644,2106,2002,1913,203.7,8.8,420,6650,0.12,2.53,43.03,1.331,10916,0.125,0.087,2708,688,1854,1884,1825,0,0,0,0,0,0,14.31,14.07,13.23
$GC,6697,0.31,369.1,2709,689,1878,1827,192.4,11.8,439,6702,0.00,2.47,0.00,0.000,1030,0.000,0.077,2709,2099,1851,1877,1825,0,0,0,0,0,0,14.12,14.00,14.15
$GC,7022,0.27,369.1,2709,2101,1876,1822,153.3,11.7,454,7028,0.12,2.50,0.00,0.000,4740,0.231,0.083,2685,686,1848,1875,1821,0,0,0,0,0,0,14.02,14.10,14.16
$GC,7110,0.36,395.6,2685,686,1873,1822,145.3,8.8,471,7159,0.00,2.47,42.65,1.314,9382,0.000,0.079,2685,2100,1752,1774,1731,0,0,0,0,0,0,14.26,14.12,13.27
$GC,7476,0.43,420.5,2684,2101,1769,1720,111.5,8.8,494,7520,0.10,2.50,38.30,1.287,10916,0.154,0.086,2737,688,1646,1670,1623,0,0,0,0,0,0,14.28,13.81,13.23
$GC,7555,0.43,420.5,2738,695,1668,1624,102.3,11.1,510,7561,0.00,2.47,0.00,0.000,1030,0.000,0.078,2738,2100,1642,1663,1622,0,0,0,0,0,0,14.21,14.11,14.26
$GC,7866,0.44,438.9,2738,2100,1665,1614,69.5,9.1,540,7883,0.00,2.55,9.12,0.411,8740,0.000,0.086,2739,690,1575,1603,1547,0,0,0,0,0,0,14.58,14.09,13.66
$GC,7909,0.51,464.8,2739,690,1604,1550,65.8,8.8,548,7931,0.00,2.50,14.57,0.400,9382,0.000,0.080,2739,2110,1467,1496,1439,0,0,0,0,0,0,14.31,14.16,13.64
$GC,8229,0.65,572.5,2740,2111,1500,1433,44.4,5.0,582,8292,0.15,0.00,56.67,0.331,10918,0.109,0.000,2801,2110,1029,1091,967,0,0,0,0,0,0,14.16,14.09,13.72
$GC,8589,0.77,646.5,2802,2111,1092,958,16.4,6.6,621,8636,0.00,2.58,39.22,0.257,8868,0.000,0.088,2807,694,726,785,668,0,0,0,0,0,0,14.57,14.06,13.82
$GC,8719,0.98,709.5,2807,696,785,664,7.2,7.1,646,8762,0.30,2.50,37.83,0.211,11426,0.083,0.079,2916,2106,518,540,497,0,0,0,0,0,0,14.16,14.07,14.25
$STATE,8762,end climb,SURFACE_DEPTH_REACHED
$STATE,8762,begin surface coast
$FINISH,0.5,1.021500
$STATE,8765,end surface coast,CONTROL_FINISHED_OK
$STATE,8765,begin surface
$SM_CCo,8833,6.82,0.194,0,0,500,702.78
$SM_GC,1.71,8.38,0.17,6.82,0.076,0.092,0.194,199,2239,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.28,14.33,13.93
$RAFOS_CLK,341
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7525.54,-15119.96,120917,084827
$TT8_MAMPS,0.038948,1.63507
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.00
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,47960512
$24V_AH,12.21,195.388
$10V_AH,12.04,0.000
$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,27.100,85.175,1004.050,6.825,0.000,0.000,0.000,396.975,3.000,0.000,16.824,0.000,6083.730,926.159,2205.738,313.170,0.000,2256.232,0.000,942.467,2219.000,0.539,0.000
$DEVICE_MAMPS,461.295,91.800,1507.050,193.545,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8801.000,5339.000,8770.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.633,20.000,9.955,0.000
$MEM,323456
$DATA_FILE_SIZE,23397,655
$CAP_FILE_SIZE,97286,0
$CFSIZE,2097872896,1997307904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1447.0
$CURRENT,0.047,95.39,1
$GPS,120917,140602,7522.875,-15111.647,35,0.7,35,20.7,0.0,0.0,10,8.3