version: 66.13
glider: 196
mission: 14
dive: 341
start: 9 15 117 9 37 35
data:
$ID,196
$MISSION,14
$DIVE,341
$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,38
$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,952.0
$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
$GPS1,150917,092602,7451.9111,-15058.1533,26,0.8,26,20.7,0.5,68.7,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.8
$GPS2,150917,093659,7451.9346,-15058.1719,7,0.8,9,20.7,0.0,0.0,9,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,117.8,15643,-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,-145.9,199,2188,516,482,0.0,0.0,0,144,0.00,0.00,-90.88,0.000,16386,0.000,0.000,198,2188,2127,2054,2201,0,0,0,0,0,0,14.48,28.83,14.50
$GC,148,-0.57,-145.9,199,2188,2055,2203,3.7,-4.5,9,205,12.90,2.83,-36.80,0.000,18724,0.452,2.152,2377,3580,3965,3951,3979,0,0,0,0,0,0,13.58,12.59,14.07
$GC,380,-0.72,-145.9,2378,3582,3956,3979,46.5,-12.8,55,385,0.00,2.35,0.00,0.000,1158,0.000,0.058,2377,2206,3967,3955,3979,0,0,0,0,0,0,14.14,14.03,14.19
$GC,691,-0.85,-145.9,2378,2205,3958,3979,84.8,-9.9,87,692,0.22,0.00,0.00,0.000,4262,0.100,0.000,2291,2205,3970,3957,3983,0,0,0,0,0,0,14.21,14.31,14.31
$GC,1001,-0.88,-145.9,2291,2206,3957,3980,129.9,-13.5,104,1007,0.00,2.45,0.00,0.000,388,0.000,0.086,2281,3581,3968,3957,3979,0,0,0,0,0,0,14.61,13.99,14.62
$GC,1139,-1.01,-145.9,2282,3581,3957,3980,146.8,-11.8,131,1144,0.00,2.35,0.00,0.000,1158,0.000,0.058,2282,2201,3968,3957,3979,0,0,0,0,0,0,14.27,14.09,14.32
$GC,1455,-1.06,-145.9,2282,2199,3958,3979,187.6,-12.5,144,1456,0.15,0.00,0.00,0.000,4230,0.125,0.000,2229,2199,3968,3957,3979,0,0,0,0,0,0,14.21,14.34,14.30
$GC,1755,-1.04,-145.9,2230,2200,3957,3980,236.9,-16.2,154,1759,0.00,2.47,0.00,0.000,388,0.000,0.087,2223,3594,3967,3956,3979,0,0,0,0,0,0,14.62,14.07,14.62
$GC,1815,-1.09,-145.9,2223,3595,3958,3978,246.0,-13.7,166,1820,0.00,2.38,0.00,0.000,1158,0.000,0.057,2223,2201,3967,3956,3979,0,0,0,0,0,0,14.23,14.12,14.26
$GC,2145,-1.09,-145.9,2223,2200,3957,3980,294.1,-14.1,182,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2199,3968,3957,3979,0,0,0,0,0,0,14.61,14.63,14.63
$GC,2445,-1.09,-145.9,2223,2200,3957,3980,332.8,-12.3,192,2451,0.00,2.47,0.00,0.000,260,0.000,0.090,2223,3587,3967,3956,3979,0,0,0,0,0,0,14.65,14.00,14.66
$GC,2569,-1.18,-145.9,2223,3588,3957,3980,346.8,-11.5,216,2574,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2191,3968,3957,3979,0,0,0,0,0,0,14.23,14.10,14.26
$GC,2900,-1.22,-145.9,2222,2190,3957,3979,385.8,-11.8,232,2905,0.00,2.50,0.00,0.000,388,0.000,0.088,2222,3588,3967,3956,3979,0,0,0,0,0,0,14.65,14.06,14.66
$GC,2981,-1.33,-145.9,2223,3588,3957,3979,394.7,-10.3,248,2987,0.22,2.38,0.00,0.000,5254,0.099,0.056,2144,2197,3967,3955,3979,0,0,0,0,0,0,14.20,14.08,14.29
$GC,3292,-1.19,-145.9,2144,2197,3956,3979,452.8,-19.1,260,3298,0.20,2.45,0.00,0.000,2436,0.321,0.081,2177,3582,3967,3955,3979,0,0,0,0,0,0,13.65,14.04,13.88
$GC,3405,-1.19,-145.9,2177,3584,3955,3980,469.5,-14.1,282,3410,0.00,2.35,0.00,0.000,1030,0.000,0.055,2177,2201,3967,3955,3979,0,0,0,0,0,0,14.17,14.04,14.21
$STATE,3473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3473,begin apogee
$GC,3479,-0.13,0.0,2178,2058,3955,3980,480.4,-15.2,286,3929,1.42,0.00,445.38,1.183,10246,0.245,0.000,2530,2055,3366,3378,3354,0,0,0,0,0,0,13.71,13.31,12.55
$STATE,3935,end apogee,CONTROL_FINISHED_OK
$STATE,3935,begin climb
$GC,3938,0.57,145.9,2530,2056,3374,3349,508.4,0.0,301,4171,0.75,2.60,222.77,1.284,11012,0.060,0.081,2781,730,2764,2797,2731,0,0,0,0,0,0,13.51,13.03,12.20
$GC,4396,0.18,145.9,2781,731,2783,2716,490.5,13.8,376,4402,0.65,2.40,0.00,0.000,5254,0.320,0.074,2646,2076,2747,2782,2713,0,0,0,0,0,0,13.41,13.81,13.81
$GC,4712,0.00,162.1,2647,2077,2783,2709,460.5,9.3,389,4733,0.22,2.45,16.25,1.466,12964,0.264,0.084,2590,721,2703,2743,2664,0,0,0,0,0,0,13.80,14.10,13.24
$GC,4958,0.05,231.5,2590,722,2734,2653,443.4,6.8,438,5107,0.00,2.42,139.52,1.222,9254,0.000,0.080,2590,2107,2417,2473,2362,0,0,0,0,0,0,14.27,14.11,13.00
$GC,5403,0.07,263.7,2591,2108,2457,2348,407.1,8.5,477,5465,0.00,2.53,56.50,1.257,8740,0.000,0.086,2590,727,2285,2334,2237,0,0,0,0,0,0,14.55,14.02,13.18
$GC,5530,0.19,286.0,2590,728,2325,2228,396.4,9.0,502,5567,0.17,2.42,31.88,1.335,11430,0.102,0.080,2666,2103,2201,2250,2152,0,0,0,0,0,0,14.16,14.04,13.12
$GC,5890,0.11,286.0,2666,2102,2227,2128,348.1,13.4,523,5895,0.17,2.40,0.00,0.000,4740,0.247,0.082,2630,730,2177,2226,2128,0,0,0,0,0,0,13.91,14.14,14.07
$GC,5925,0.13,286.0,2631,731,2225,2129,343.5,11.3,530,5931,0.00,2.40,0.00,0.000,1158,0.000,0.078,2631,2099,2176,2224,2128,0,0,0,0,0,0,14.23,14.09,14.28
$GC,6252,0.13,286.0,2630,2100,2225,2127,307.7,10.7,545,6257,0.00,2.40,0.00,0.000,516,0.000,0.085,2630,723,2175,2224,2127,0,0,0,0,0,0,14.61,14.12,14.63
$GC,6292,0.17,286.0,2631,720,2230,2127,303.5,10.3,553,6297,0.00,2.40,0.00,0.000,1158,0.000,0.077,2630,2101,2175,2223,2127,0,0,0,0,0,0,14.32,14.19,14.37
$GC,6612,0.18,302.8,2631,2102,2224,2127,272.1,9.2,567,6638,0.00,2.42,19.80,1.375,8740,0.000,0.084,2630,730,2126,2171,2081,0,0,0,0,0,0,14.65,14.14,13.28
$GC,6683,0.28,330.8,2631,725,2159,2075,265.8,8.7,581,6736,0.12,2.40,46.90,1.272,11430,0.124,0.077,2684,2105,2015,2056,1975,0,0,0,0,0,0,14.25,14.16,13.19
$GC,7035,0.22,330.8,2688,2105,2042,1952,223.7,11.9,601,7040,0.12,2.42,0.00,0.000,4740,0.241,0.083,2660,729,1996,2040,1952,0,0,0,0,0,0,13.89,14.07,14.00
$GC,7163,0.29,360.8,2660,730,2037,1948,212.1,8.6,626,7217,0.00,2.40,47.67,1.258,9382,0.000,0.079,2660,2099,1890,1923,1858,0,0,0,0,0,0,14.22,14.10,13.24
$GC,7518,0.35,391.1,2660,2099,1906,1840,180.4,8.6,647,7578,0.10,2.47,50.38,1.240,10916,0.145,0.086,2709,736,1761,1781,1742,0,0,0,0,0,0,14.28,14.01,13.24
$GC,7658,0.35,391.1,2710,736,1771,1735,164.4,11.2,675,7663,0.00,2.40,0.00,0.000,1030,0.000,0.076,2710,2099,1752,1770,1734,0,0,0,0,0,0,14.20,14.07,14.24
$GC,7968,0.35,391.1,2710,2100,1770,1730,128.8,11.0,687,7973,0.00,2.42,0.00,0.000,516,0.000,0.086,2710,730,1749,1769,1729,0,0,0,0,0,0,14.61,14.09,14.62
$GC,8014,0.39,391.1,2710,731,1769,1730,124.1,10.1,696,8019,0.00,2.40,0.00,0.000,1158,0.000,0.076,2709,2100,1748,1768,1729,0,0,0,0,0,0,14.26,14.12,14.33
$GC,8319,0.40,406.7,2710,2101,1768,1728,93.9,9.3,712,8330,0.00,0.00,6.15,0.396,8230,0.000,0.000,2710,2100,1704,1722,1686,0,0,0,0,0,0,14.62,13.76,13.43
$GC,8640,0.48,479.0,2710,2100,1744,1690,67.9,6.7,743,8682,0.00,0.00,40.42,0.398,8358,0.000,0.000,2709,2100,1412,1449,1375,0,0,0,0,0,0,14.40,13.98,13.58
$GC,8980,0.69,587.3,2710,2101,1457,1379,48.4,5.0,777,9045,0.30,2.47,58.75,0.338,10916,0.080,0.088,2822,727,970,1035,905,0,0,0,0,0,0,14.00,13.99,13.70
$GC,9061,0.69,593.7,2822,723,1037,910,41.2,9.7,788,9072,0.00,2.45,4.80,0.315,9254,0.000,0.076,2822,2105,945,1010,880,0,0,0,0,0,0,14.14,14.01,13.62
$GC,9371,0.78,661.5,2822,2106,1014,891,13.8,6.9,820,9411,0.00,0.00,38.45,0.244,8358,0.000,0.000,2822,2106,666,720,613,0,0,0,0,0,0,14.39,14.02,13.72
$STATE,9528,end climb,SURFACE_DEPTH_REACHED
$STATE,9528,begin surface coast
$FINISH,0.3,1.021098
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9572,24.58,0.210,0,0,498,703.52
$SM_GC,1.16,8.18,0.17,24.58,0.074,0.116,0.210,203,2224,498,-7.37,-0.57,703.52,0,0,0,0,0,0,14.13,14.13,13.81
$RAFOS_CLK,58
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7452.46,-15102.33,150917,064633
$TT8_MAMPS,0.084637,0.874832
$HUMID,44.84
$INTERNAL_PRESSURE,7.81082
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15926886400.000000
$PM_FREEKB_00,46850496
$24V_AH,12.20,207.941
$10V_AH,12.06,0.000
$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,25.925,78.475,1225.625,24.575,0.000,0.000,0.000,373.025,3.500,0.000,10.040,0.000,6591.703,1183.849,2140.739,352.380,0.000,2387.837,0.000,1200.066,2219.000,0.540,0.000
$DEVICE_MAMPS,452.115,2151.945,1465.740,210.375,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9580.000,9542.000,9523.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.481,20.000,12.345,0.000
$MEM,323612
$DATA_FILE_SIZE,30012,838
$CAP_FILE_SIZE,105773,0
$CFSIZE,2097872896,1990524928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.0
$CURRENT,0.049,254.62,1
$GPS,150917,121856,7450.752,-15056.974,39,0.7,39,20.7,0.0,0.0,12,7.4