version: 66.13
glider: 196
mission: 14
dive: 335
start: 9 14 117 16 50 57
data:
$ID,196
$MISSION,14
$DIVE,335
$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,33
$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,933.0
$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
$GPS1,140917,163551,7500.3267,-15104.0410,16,0.7,21,20.7,0.0,240.0,12,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.1
$GPS2,140917,165027,7500.2842,-15104.1113,7,0.8,22,20.7,0.0,202.9,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.1,30745,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,199,2218,502,473,0.0,0.0,0,145,0.00,0.00,-91.68,0.000,16386,0.000,0.000,197,2216,2102,2024,2181,0,0,0,0,0,0,14.34,28.83,14.36
$GC,149,-0.57,-145.9,199,2217,2028,2185,3.4,-4.1,9,206,12.77,2.75,-37.78,0.000,18724,0.450,2.149,2375,3595,3964,3951,3978,0,0,0,0,0,0,13.54,12.57,14.00
$GC,281,-0.74,-145.9,2376,3597,3956,3978,33.8,-12.8,35,286,0.00,2.40,0.00,0.000,1158,0.000,0.058,2375,2201,3966,3955,3978,0,0,0,0,0,0,14.14,13.97,14.18
$GC,594,-0.85,-145.9,2375,2202,3958,3979,76.0,-11.0,67,599,0.20,2.47,0.00,0.000,4740,0.105,0.081,2293,792,3971,3964,3978,0,0,0,0,0,0,14.10,14.05,14.17
$GC,624,-0.85,-145.9,2294,792,3959,3978,80.6,-16.1,73,629,0.00,2.47,0.00,0.000,1030,0.000,0.086,2293,2188,3967,3957,3978,0,0,0,0,0,0,14.16,14.07,14.21
$GC,934,-0.89,-145.9,2293,2189,3958,3979,125.7,-13.7,93,939,0.00,2.53,0.00,0.000,388,0.000,0.090,2292,3613,3967,3957,3978,0,0,0,0,0,0,14.63,14.04,14.65
$GC,1000,-1.04,-145.9,2293,3614,3959,3978,133.5,-10.8,106,1005,0.15,2.40,0.00,0.000,5254,0.115,0.057,2236,2199,3967,3957,3978,0,0,0,0,0,0,14.14,14.16,14.28
$GC,1326,-1.00,-145.9,2236,2198,3954,3978,189.7,-17.1,121,1330,0.00,2.50,0.00,0.000,388,0.000,0.085,2227,3610,3965,3953,3978,0,0,0,0,0,0,14.59,14.08,14.62
$GC,1448,-1.03,-145.9,2228,3612,3958,3978,208.6,-15.0,145,1453,0.00,2.40,0.00,0.000,1158,0.000,0.057,2227,2199,3967,3957,3977,0,0,0,0,0,0,14.26,14.12,14.33
$GC,1778,-1.01,-145.9,2228,2199,3958,3979,264.1,-16.1,161,1783,0.00,2.50,0.00,0.000,388,0.000,0.086,2222,3610,3968,3958,3978,0,0,0,0,0,0,14.58,14.04,14.58
$GC,2008,-1.09,-145.9,2222,3610,3958,3979,295.3,-12.4,207,2013,0.00,2.42,0.00,0.000,1158,0.000,0.057,2222,2199,3968,3958,3978,0,0,0,0,0,0,14.20,14.07,14.24
$GC,2318,-1.09,-145.9,2222,2198,3959,3978,335.9,-12.5,219,2323,0.00,2.53,0.00,0.000,260,0.000,0.089,2222,3620,3968,3958,3978,0,0,0,0,0,0,14.64,14.07,14.65
$GC,2414,-1.19,-145.9,2223,3621,3958,3978,346.9,-11.0,238,2418,0.00,2.45,0.00,0.000,1158,0.000,0.057,2222,2192,3967,3957,3978,0,0,0,0,0,0,14.25,14.11,14.26
$GC,2739,-1.22,-145.9,2223,2191,3958,3978,385.1,-11.5,253,2744,0.00,2.53,0.00,0.000,388,0.000,0.089,2221,3610,3967,3956,3978,0,0,0,0,0,0,14.65,14.07,14.66
$GC,2809,-1.33,-145.9,2222,3612,3956,3979,392.9,-10.4,267,2815,0.22,2.40,0.00,0.000,5254,0.097,0.057,2144,2198,3967,3956,3978,0,0,0,0,0,0,14.20,14.14,14.31
$GC,3130,-1.19,-145.9,2145,2199,3957,3979,452.8,-18.9,281,3135,0.20,2.50,0.00,0.000,2436,0.318,0.080,2177,3610,3966,3955,3978,0,0,0,0,0,0,13.62,13.98,13.85
$GC,3247,-1.19,-145.9,2177,3613,3956,3979,469.9,-13.6,304,3254,0.00,2.40,0.00,0.000,1030,0.000,0.055,2176,2201,3966,3955,3977,0,0,0,0,0,0,14.21,14.07,14.25
$STATE,3338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3338,begin apogee
$GC,3344,-0.13,0.0,2178,2055,3956,3978,483.9,-14.8,308,3626,1.42,0.10,277.75,1.331,10246,0.246,0.159,2529,2123,3364,3381,3347,0,0,0,0,0,0,13.71,13.44,12.62
$STATE,3632,end apogee,CONTROL_FINISHED_OK
$STATE,3632,begin climb
$GC,3635,0.57,145.9,2529,2124,3376,3339,499.3,0.0,317,3857,0.75,2.62,209.25,1.365,10500,0.060,0.074,2783,3505,2761,2796,2726,0,0,0,0,0,0,13.64,13.08,12.20
$GC,4082,0.08,145.9,2788,3504,2781,2721,479.0,15.8,390,4087,0.88,2.40,0.00,0.000,5254,0.347,0.057,2616,2128,2750,2780,2720,0,0,0,0,0,0,13.40,13.81,13.78
$GC,4408,-0.01,195.2,2617,2124,2781,2718,452.2,7.7,405,4489,0.15,2.50,71.85,1.387,12708,0.287,0.083,2582,3493,2560,2608,2513,0,0,0,0,0,0,13.84,13.92,13.07
$GC,4614,-0.03,220.1,2583,3494,2597,2507,435.5,8.9,446,4656,0.00,2.40,35.50,1.420,9382,0.000,0.060,2588,2101,2465,2513,2417,0,0,0,0,0,0,14.17,14.07,13.10
$GC,4984,-0.01,251.6,2589,2102,2504,2403,404.4,8.5,469,5043,0.00,2.53,50.95,1.377,8740,0.000,0.091,2585,692,2332,2376,2288,0,0,0,0,0,0,14.58,14.03,13.19
$GC,5096,0.11,287.6,2589,693,2369,2294,394.8,8.3,491,5159,0.00,2.45,57.35,1.347,9382,0.000,0.079,2592,2089,2192,2240,2145,0,0,0,0,0,0,14.23,14.10,13.09
$GC,5464,0.20,322.0,2590,2090,2225,2126,362.9,8.4,515,5526,0.17,0.00,53.42,1.344,10406,0.106,0.000,2667,2089,2045,2091,1999,0,0,0,0,0,0,14.31,13.98,13.16
$GC,5824,0.15,322.0,2668,2090,2084,1988,314.1,13.8,527,5829,0.12,2.47,0.00,0.000,4740,0.255,0.085,2645,685,2036,2083,1989,0,0,0,0,0,0,13.93,14.12,14.10
$GC,5855,0.17,322.0,2645,686,2082,1989,310.3,11.6,533,5860,0.00,2.47,0.00,0.000,1158,0.000,0.079,2644,2099,2034,2081,1988,0,0,0,0,0,0,14.28,14.15,14.33
$GC,6186,0.17,323.2,2644,2101,2081,1988,274.9,9.9,549,6190,0.00,2.50,0.00,0.000,548,0.000,0.087,2644,691,2034,2082,1987,0,0,0,0,0,0,14.65,14.17,14.67
$GC,6236,0.25,341.8,2645,691,2080,1987,270.2,9.1,559,6271,0.00,2.45,29.05,1.379,9382,0.000,0.078,2644,2107,1968,2014,1923,0,0,0,0,0,0,14.34,14.20,13.25
$GC,6579,0.30,375.2,2644,2100,2004,1905,240.6,8.5,577,6640,0.10,0.00,59.65,1.291,10662,0.143,0.000,2692,2101,1835,1864,1807,0,0,0,0,0,0,14.32,13.98,13.19
$GC,6938,0.30,375.2,2692,2101,1846,1792,200.1,11.1,599,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2101,1818,1846,1791,0,0,0,0,0,0,14.53,14.55,14.54
$GC,7236,0.30,375.2,2693,2101,1845,1790,168.3,10.5,609,7241,0.00,2.50,0.00,0.000,516,0.000,0.090,2693,691,1816,1843,1790,0,0,0,0,0,0,14.62,14.14,14.62
$GC,7292,0.36,383.4,2693,692,1841,1791,162.9,9.6,620,7299,0.00,2.47,1.90,0.258,9382,0.000,0.078,2693,2096,1804,1831,1777,0,0,0,0,0,0,13.41,13.33,13.72
$GC,7597,0.36,386.8,2693,2097,1843,1782,132.0,9.8,631,7612,0.00,2.53,7.62,1.564,8740,0.000,0.088,2693,691,1790,1817,1764,0,0,0,0,0,0,14.65,14.14,13.26
$GC,7657,0.44,398.4,2700,687,1820,1764,126.2,9.5,643,7689,0.00,2.45,23.20,1.380,9382,0.000,0.078,2693,2103,1733,1756,1710,0,0,0,0,0,0,14.35,14.21,13.23
$GC,7989,0.49,423.2,2693,2103,1752,1700,95.5,8.9,661,8011,0.12,2.50,13.12,0.465,10916,0.129,0.088,2762,692,1639,1664,1615,0,0,0,0,0,0,14.24,14.07,13.55
$GC,8068,0.43,423.2,2767,693,1671,1616,85.5,13.4,676,8076,0.20,2.47,0.00,0.000,5254,0.239,0.079,2725,2099,1644,1671,1617,0,0,0,0,0,0,13.45,14.02,14.02
$GC,8372,0.50,483.8,2725,2100,1671,1618,58.2,7.2,707,8414,0.00,2.50,35.90,0.369,8868,0.000,0.085,2725,687,1392,1434,1351,0,0,0,0,0,0,14.59,13.95,13.71
$GC,8630,0.73,607.5,2727,687,1432,1353,43.1,4.3,758,8710,0.28,2.50,72.05,0.320,11430,0.082,0.077,2826,2103,886,956,817,0,0,0,0,0,0,14.00,13.97,13.73
$GC,9005,0.79,651.4,2826,2104,957,819,8.4,8.0,803,9038,0.00,2.53,26.27,0.223,8868,0.000,0.087,2834,685,705,768,643,0,0,0,0,0,0,14.55,13.90,13.74
$GC,9064,0.89,665.2,2834,686,769,644,3.3,9.4,814,9081,0.00,2.47,8.75,0.215,9382,0.000,0.073,2837,2101,650,708,593,0,0,0,0,0,0,14.24,14.11,13.81
$STATE,9086,end climb,SURFACE_DEPTH_REACHED
$STATE,9086,begin surface coast
$FINISH,-0.0,1.021357
$STATE,9106,end surface coast,CONTROL_FINISHED_OK
$STATE,9106,begin surface
$SM_CCo,9128,23.65,0.207,0,0,500,702.78
$SM_GC,1.08,8.18,0.17,23.65,0.077,0.121,0.207,196,2213,500,-7.39,-0.68,702.78,0,0,0,0,0,0,14.28,14.26,13.91
$RAFOS_CLK,406
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7501.48,-15112.08,140917,164028
$TT8_MAMPS,0.040446,0.894306
$HUMID,47.28
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15929442304.000000
$PM_FREEKB_00,47103104
$24V_AH,12.20,204.913
$10V_AH,12.08,0.000
$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,25.925,89.825,1033.600,23.650,0.000,0.000,0.000,521.175,3.750,0.000,23.372,0.000,6410.764,1024.656,2239.633,362.877,0.000,2369.473,0.000,1174.018,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2148.885,1564.425,206.550,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9139.000,9096.000,9079.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.415,20.000,12.448,0.000
$MEM,323476
$DATA_FILE_SIZE,30029,820
$CAP_FILE_SIZE,109405,0
$CFSIZE,2097872896,1992196096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.107,122.21,1
$GPS,140917,192431,7458.774,-15103.125,13,0.7,16,20.7,0.0,29.5,10,8.8