version: 66.13
glider: 196
mission: 14
dive: 331
start: 9 14 117 5 40 36
data:
$ID,196
$MISSION,14
$DIVE,331
$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,28
$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,919.0
$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
$GPS1,140917,052822,7505.5083,-15107.0312,16,0.8,20,20.7,0.3,17.1,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.8
$GPS2,140917,054001,7505.5171,-15107.0381,7,0.8,27,20.7,0.0,357.4,10,7.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.9,40328,-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,-145.9,191,2224,515,492,0.0,0.0,0,145,0.00,0.00,-91.47,0.000,16386,0.000,0.000,189,2224,2131,2058,2205,0,0,0,0,0,0,14.50,28.83,14.52
$GC,148,-0.57,-145.9,190,2224,2060,2204,3.9,-5.2,9,201,12.95,2.78,-35.92,0.000,18724,0.452,2.151,2376,3586,3964,3950,3978,0,0,0,0,0,0,13.57,12.59,14.02
$GC,312,-0.71,-145.9,2376,3586,3961,3978,39.0,-14.2,41,317,0.00,2.38,0.00,0.000,1158,0.000,0.060,2376,2204,3966,3955,3978,0,0,0,0,0,0,14.26,14.13,14.33
$GC,622,-0.82,-145.9,2376,2205,3957,3979,81.7,-10.7,73,627,0.17,2.53,0.00,0.000,4740,0.114,0.080,2301,784,3967,3956,3978,0,0,0,0,0,0,14.11,14.09,14.14
$GC,643,-0.88,-145.9,2302,784,3957,3978,84.4,-13.2,77,647,0.00,2.47,0.00,0.000,1158,0.000,0.085,2300,2178,3967,3957,3978,0,0,0,0,0,0,14.19,14.04,14.23
$GC,963,-0.92,-145.9,2301,2179,3957,3979,130.3,-13.2,96,969,0.00,2.55,0.00,0.000,388,0.000,0.090,2294,3613,3967,3956,3978,0,0,0,0,0,0,14.59,14.08,14.62
$GC,1096,-1.06,-145.9,2294,3615,3957,3979,145.1,-10.6,122,1101,0.17,2.42,0.00,0.000,5254,0.106,0.057,2229,2199,3966,3956,3977,0,0,0,0,0,0,14.21,14.02,14.31
$GC,1417,-1.01,-145.9,2229,2199,3957,3978,203.6,-18.2,136,1422,0.00,2.50,0.00,0.000,388,0.000,0.086,2223,3613,3967,3956,3978,0,0,0,0,0,0,14.64,14.09,14.66
$GC,1493,-1.05,-145.9,2223,3613,3958,3978,215.7,-14.9,151,1498,0.00,2.42,0.00,0.000,1158,0.000,0.057,2223,2201,3967,3956,3978,0,0,0,0,0,0,14.05,13.66,14.14
$GC,1808,-1.03,-145.9,2224,2199,3958,3979,266.5,-15.5,164,1814,0.00,2.53,0.00,0.000,388,0.000,0.090,2222,3613,3967,3956,3978,0,0,0,0,0,0,14.65,14.04,14.66
$GC,1964,-1.10,-145.9,2222,3614,3957,3979,286.8,-12.4,195,1969,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2201,3966,3956,3977,0,0,0,0,0,0,14.31,14.15,14.29
$GC,2290,-1.12,-145.9,2223,2199,3964,3978,328.4,-12.3,210,2295,0.00,2.53,0.00,0.000,388,0.000,0.089,2222,3613,3967,3956,3978,0,0,0,0,0,0,14.66,14.08,14.69
$GC,2365,-1.22,-145.9,2222,3614,3957,3979,337.1,-10.8,225,2370,0.12,2.42,0.00,0.000,5254,0.134,0.058,2173,2192,3967,3956,3978,0,0,0,0,0,0,14.19,14.15,14.30
$GC,2681,-1.15,-145.9,2173,2191,3957,3978,388.8,-16.5,238,2686,0.12,2.53,0.00,0.000,2436,0.329,0.083,2190,3615,3967,3956,3978,0,0,0,0,0,0,13.78,14.06,13.93
$GC,2817,-1.18,-145.9,2191,3617,3956,3979,407.3,-13.0,265,2821,0.00,2.40,0.00,0.000,1158,0.000,0.055,2190,2199,3966,3956,3977,0,0,0,0,0,0,14.27,14.14,14.31
$GC,3132,-1.16,-145.9,2190,2199,3956,3977,451.3,-13.9,278,3137,0.00,2.50,0.00,0.000,388,0.000,0.086,2184,3611,3966,3955,3977,0,0,0,0,0,0,14.66,14.07,14.66
$GC,3212,-1.19,-145.9,2184,3614,3958,3978,462.3,-13.2,294,3217,0.00,2.40,0.00,0.000,1158,0.000,0.056,2184,2196,3966,3954,3978,0,0,0,0,0,0,14.28,14.16,14.32
$STATE,3339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3339,begin apogee
$GC,3346,-0.13,0.0,2184,2061,3956,3978,480.9,-14.5,300,3619,1.38,0.08,268.70,1.349,10246,0.240,0.177,2527,2113,3364,3376,3353,0,0,0,0,0,0,13.64,13.41,12.62
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3627,0.57,145.9,2528,2113,3371,3346,496.3,0.0,309,3891,0.75,2.67,215.82,1.355,10756,0.062,0.080,2782,733,2753,2785,2721,0,0,0,0,0,0,13.64,12.82,12.19
$GC,4121,0.17,145.9,2782,733,2783,2718,476.7,13.4,356,4128,0.70,2.42,0.00,0.000,5254,0.321,0.074,2634,2099,2748,2781,2716,0,0,0,0,0,0,13.47,13.86,13.87
$GC,4426,0.02,178.6,2635,2099,2783,2713,450.0,8.5,367,4481,0.15,2.50,47.35,1.405,12964,0.275,0.084,2599,726,2628,2672,2585,0,0,0,0,0,0,13.80,14.01,13.13
$GC,4596,0.06,224.5,2600,725,2668,2575,436.6,7.9,401,4672,0.00,2.42,69.45,1.366,9254,0.000,0.078,2600,2107,2448,2500,2396,0,0,0,0,0,0,14.20,14.08,13.04
$GC,4997,0.07,243.2,2600,2106,2484,2374,400.2,9.1,431,5022,0.00,0.00,23.62,1.474,8230,0.000,0.000,2600,2102,2373,2425,2322,0,0,0,0,0,0,14.57,14.06,13.19
$GC,5297,0.08,262.8,2600,2106,2406,2307,372.9,9.1,441,5329,0.00,2.50,26.67,1.454,8740,0.000,0.086,2600,734,2288,2335,2242,0,0,0,0,0,0,14.57,14.10,13.21
$GC,5360,0.17,285.6,2600,733,2328,2235,367.3,8.9,453,5401,0.12,2.38,35.05,1.382,11430,0.125,0.078,2658,2096,2197,2243,2152,0,0,0,0,0,0,14.19,14.14,13.14
$GC,5721,0.10,285.6,2659,2097,2229,2131,320.8,12.7,475,5726,0.15,2.40,0.00,0.000,4740,0.246,0.080,2629,723,2179,2227,2132,0,0,0,0,0,0,13.94,14.17,14.09
$GC,5762,0.14,285.6,2629,723,2227,2132,316.3,10.4,483,5767,0.00,2.40,0.00,0.000,1158,0.000,0.076,2629,2099,2179,2226,2132,0,0,0,0,0,0,14.11,13.99,14.14
$GC,6082,0.14,293.0,2629,2100,2227,2130,284.5,9.7,497,6087,0.00,2.40,0.00,0.000,548,0.000,0.083,2630,728,2177,2225,2130,0,0,0,0,0,0,14.65,14.14,14.67
$GC,6117,0.19,312.2,2631,728,2225,2130,281.3,9.1,504,6163,0.00,2.40,40.45,1.339,9382,0.000,0.077,2630,2109,2090,2133,2047,0,0,0,0,0,0,14.35,14.21,13.22
$GC,6476,0.24,340.6,2631,2108,2121,2030,249.5,8.7,525,6524,0.00,0.00,46.58,1.312,8358,0.000,0.000,2629,2109,1975,2017,1933,0,0,0,0,0,0,14.60,14.04,13.22
$GC,6804,0.34,386.6,2630,2110,2003,1915,223.1,7.9,536,6888,0.17,0.00,81.47,1.242,10406,0.100,0.000,2701,2109,1787,1811,1764,0,0,0,0,0,0,14.22,13.92,13.15
$GC,7164,0.32,386.6,2701,2109,1796,1744,180.9,11.4,548,7170,0.00,2.45,0.00,0.000,644,0.000,0.088,2703,731,1769,1794,1745,0,0,0,0,0,0,14.52,14.12,14.54
$GC,7250,0.34,386.6,2703,732,1792,1745,171.4,10.4,565,7256,0.00,2.42,0.00,0.000,1158,0.000,0.076,2703,2109,1767,1790,1745,0,0,0,0,0,0,14.26,14.10,14.30
$GC,7555,0.34,386.6,2702,2110,1791,1744,137.9,10.7,576,7561,0.00,2.45,0.00,0.000,516,0.000,0.088,2703,726,1766,1790,1743,0,0,0,0,0,0,14.58,14.14,14.60
$GC,7606,0.39,391.9,2703,727,1789,1744,132.9,9.8,586,7611,0.00,2.42,0.00,0.000,1190,0.000,0.078,2703,2102,1766,1788,1745,0,0,0,0,0,0,14.28,14.14,14.31
$GC,7916,0.40,409.4,2703,2104,1788,1747,102.4,9.2,598,7954,0.00,2.50,33.33,1.286,8740,0.000,0.086,2703,728,1693,1714,1673,0,0,0,0,0,0,14.62,14.04,13.24
$GC,7979,0.47,421.6,2703,729,1705,1667,96.8,9.4,610,7991,0.00,2.42,6.30,0.405,9382,0.000,0.076,2704,2106,1644,1668,1620,0,0,0,0,0,0,14.27,14.12,13.60
$GC,8289,0.57,483.6,2702,2108,1682,1627,72.2,7.1,642,8333,0.17,2.50,37.38,0.409,10916,0.104,0.086,2789,735,1391,1429,1354,0,0,0,0,0,0,14.15,13.93,13.64
$GC,8560,0.61,538.2,2786,735,1433,1357,47.2,7.5,693,8597,0.00,2.42,32.25,0.335,9254,0.000,0.076,2786,2101,1169,1225,1113,0,0,0,0,0,0,14.14,14.01,13.62
$GC,8893,0.76,632.3,2786,2101,1228,1121,23.3,5.7,730,8957,0.12,2.50,55.25,0.263,10916,0.131,0.087,2850,734,789,849,729,0,0,0,0,0,0,14.12,13.93,13.73
$GC,9023,0.82,656.2,2851,736,849,724,13.0,8.9,755,9044,0.00,2.42,15.15,0.239,9382,0.000,0.074,2846,2101,686,745,628,0,0,0,0,0,0,13.97,13.85,13.64
$STATE,9136,end climb,SURFACE_DEPTH_REACHED
$STATE,9136,begin surface coast
$FINISH,0.2,1.011279
$STATE,9159,end surface coast,CONTROL_FINISHED_OK
$STATE,9159,begin surface
$SM_CCo,9180,30.33,0.207,0,0,500,702.78
$SM_GC,1.34,8.18,0.17,30.33,0.067,0.115,0.207,203,2216,500,-7.37,-0.74,702.78,0,0,0,0,0,0,14.14,14.14,13.83
$RAFOS_CLK,46
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7506.68,-15111.35,140917,024836
$TT8_MAMPS,0.085386,0.905541
$HUMID,44.68
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15931146240.000000
$PM_FREEKB_00,47290432
$24V_AH,12.19,202.932
$10V_AH,12.07,0.000
$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,25.450,89.175,1034.825,30.325,0.000,0.000,0.000,401.725,2.250,0.000,28.632,0.000,6383.458,942.249,2259.905,337.777,0.000,2266.412,0.000,1110.854,2215.000,0.539,0.000
$DEVICE_MAMPS,452.115,2151.180,1474.155,206.550,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9192.000,9144.000,9131.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.674,20.000,11.727,0.000
$MEM,323580
$DATA_FILE_SIZE,26720,771
$CAP_FILE_SIZE,105847,0
$CFSIZE,2097872896,1993277440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.081,85.77,1
$GPS,140917,081525,7504.278,-15106.479,17,0.7,33,20.7,0.0,338.2,11,9.7