version: 66.13
glider: 196
mission: 14
dive: 342
start: 9 15 117 12 31 28
data:
$ID,196
$MISSION,14
$DIVE,342
$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,62
$R_STBD_OVSHOOT,41
$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,955.0
$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
$GPS1,150917,121856,7450.7520,-15056.9736,39,0.7,39,20.7,0.0,0.0,12,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.4
$GPS2,150917,123054,7450.7471,-15056.9355,9,0.7,9,20.7,0.0,0.0,11,8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,112.5,13497,-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,-145.9,202,2226,508,489,0.0,0.0,0,144,0.00,0.00,-91.38,0.000,16386,0.000,0.000,201,2227,2155,2084,2227,0,0,0,0,0,0,14.35,28.83,14.37
$GC,148,-0.57,-145.9,202,2228,2087,2229,4.1,-5.6,9,200,12.88,2.78,-34.75,0.000,18724,0.451,2.144,2377,3589,3964,3949,3979,0,0,0,0,0,0,13.49,12.57,13.95
$GC,346,-0.70,-145.9,2377,3589,3955,3981,44.5,-13.4,48,353,0.00,2.35,0.00,0.000,1158,0.000,0.057,2377,2230,3967,3954,3980,0,0,0,0,0,0,14.07,13.95,14.10
$GC,651,-0.83,-145.9,2376,2229,3957,3980,83.7,-10.7,79,652,0.20,0.00,0.00,0.000,4230,0.103,0.000,2302,2228,3966,3952,3980,0,0,0,0,0,0,14.02,14.12,14.09
$GC,951,-0.88,-145.9,2304,2228,3956,3984,125.2,-13.0,97,956,0.00,2.42,0.00,0.000,388,0.000,0.086,2294,3590,3967,3956,3979,0,0,0,0,0,0,14.58,14.06,14.59
$GC,1056,-1.02,-145.9,2294,3590,3956,3981,137.6,-11.0,118,1061,0.15,2.38,0.00,0.000,5254,0.115,0.054,2239,2196,3967,3955,3980,0,0,0,0,0,0,14.13,14.15,14.21
$GC,1372,-1.00,-145.9,2241,2195,3957,3980,191.1,-16.6,131,1377,0.00,2.47,0.00,0.000,388,0.000,0.086,2236,3590,3969,3960,3979,0,0,0,0,0,0,14.64,14.04,14.66
$GC,1407,-1.02,-145.9,2236,3590,3957,3980,196.8,-15.9,138,1412,0.00,2.35,0.00,0.000,1158,0.000,0.056,2236,2202,3968,3956,3980,0,0,0,0,0,0,14.27,14.12,14.31
$GC,1732,-1.02,-145.9,2236,2202,3956,3981,247.2,-14.8,153,1737,0.00,2.47,0.00,0.000,260,0.000,0.087,2235,3588,3968,3956,3980,0,0,0,0,0,0,14.65,14.07,14.66
$GC,1782,-1.10,-145.9,2236,3590,3957,3980,254.1,-12.7,163,1787,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2193,3967,3956,3979,0,0,0,0,0,0,14.28,14.15,14.33
$GC,2093,-1.12,-145.9,2236,2190,3957,3980,294.9,-12.6,175,2098,0.00,2.50,0.00,0.000,388,0.000,0.088,2236,3598,3967,3956,3979,0,0,0,0,0,0,14.61,14.07,14.63
$GC,2148,-1.23,-145.9,2236,3600,3957,3980,301.6,-11.1,186,2154,0.17,2.40,0.00,0.000,5254,0.112,0.056,2174,2196,3968,3956,3980,0,0,0,0,0,0,14.14,13.93,14.24
$GC,2454,-1.14,-145.9,2168,2194,3956,3980,355.1,-17.6,197,2459,0.15,2.50,0.00,0.000,2436,0.287,0.082,2194,3597,3967,3955,3980,0,0,0,0,0,0,13.71,13.99,13.88
$GC,2499,-1.16,-145.9,2194,3600,3956,3980,362.2,-14.1,206,2504,0.00,2.38,0.00,0.000,1158,0.000,0.055,2194,2200,3967,3955,3979,0,0,0,0,0,0,14.22,14.07,14.28
$GC,2814,-1.16,-145.9,2195,2200,3956,3980,407.4,-14.1,219,2819,0.00,2.50,0.00,0.000,260,0.000,0.086,2185,3594,3966,3953,3979,0,0,0,0,0,0,14.64,13.97,14.66
$GC,2894,-1.16,-145.9,2185,3596,3955,3980,418.6,-13.5,235,2899,0.00,2.35,0.00,0.000,1030,0.000,0.056,2185,2200,3966,3954,3979,0,0,0,0,0,0,14.33,14.17,14.34
$GC,3205,-1.13,-145.9,2186,2199,3956,3979,463.7,-14.5,247,3210,0.12,2.47,0.00,0.000,2436,0.298,0.085,2208,3588,3966,3954,3979,0,0,0,0,0,0,13.82,14.00,13.97
$GC,3275,-1.22,-145.9,2209,3588,3955,3978,472.2,-11.0,261,3280,0.00,2.35,0.00,0.000,1158,0.000,0.055,2208,2201,3966,3954,3979,0,0,0,0,0,0,14.30,14.17,14.33
$STATE,3353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3353,begin apogee
$GC,3359,-0.13,0.0,2209,2057,3953,3980,481.7,-12.1,267,3595,1.25,0.00,227.48,1.407,10246,0.224,0.000,2530,2055,3357,3378,3336,0,0,0,0,0,0,13.79,13.50,12.66
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,0.57,145.9,2531,2056,3374,3331,495.1,0.0,275,3828,0.73,2.12,211.85,1.357,10756,0.062,0.082,2781,732,2758,2796,2721,0,0,0,0,0,0,13.72,13.12,12.26
$GC,4053,0.17,145.9,2781,732,2789,2716,476.9,14.3,322,4060,0.68,2.40,0.00,0.000,5254,0.322,0.073,2639,2080,2750,2788,2713,0,0,0,0,0,0,13.42,13.85,13.84
$GC,4359,0.01,172.4,2641,2085,2788,2710,449.1,8.8,333,4400,0.20,2.47,35.55,1.445,12964,0.264,0.082,2600,721,2661,2710,2613,0,0,0,0,0,0,13.61,14.04,13.14
$GC,4626,0.03,224.8,2600,722,2699,2602,429.0,7.6,386,4716,0.00,2.42,83.05,1.351,9382,0.000,0.078,2600,2107,2448,2506,2391,0,0,0,0,0,0,14.25,14.13,13.07
$GC,5021,0.04,238.9,2601,2107,2492,2369,393.2,9.3,415,5039,0.00,0.00,17.05,1.524,8230,0.000,0.000,2600,2107,2391,2449,2334,0,0,0,0,0,0,14.57,14.07,13.19
$GC,5321,0.05,257.7,2601,2107,2434,2320,365.5,9.1,425,5353,0.00,2.50,27.27,1.459,8740,0.000,0.084,2602,729,2310,2362,2259,0,0,0,0,0,0,14.60,14.05,13.19
$GC,5436,0.13,279.1,2602,729,2351,2259,355.7,9.0,447,5475,0.00,2.40,31.80,1.426,9382,0.000,0.077,2602,2099,2222,2275,2170,0,0,0,0,0,0,14.26,14.12,13.16
$GC,5776,0.19,301.8,2601,2103,2264,2159,325.2,9.0,465,5815,0.12,2.50,33.53,1.400,10916,0.127,0.086,2672,723,2129,2179,2080,0,0,0,0,0,0,14.28,14.12,13.23
$GC,5868,0.15,301.8,2672,724,2167,2076,313.3,13.4,483,5873,0.17,2.42,0.00,0.000,5254,0.244,0.077,2633,2103,2121,2166,2076,0,0,0,0,0,0,13.95,14.12,14.21
$GC,6198,0.15,305.6,2632,2105,2166,2070,278.7,9.8,499,6203,0.00,2.42,0.00,0.000,548,0.000,0.085,2633,721,2117,2166,2069,0,0,0,0,0,0,14.61,14.16,14.62
$GC,6254,0.23,330.2,2634,722,2165,2070,273.5,8.9,510,6304,0.00,2.42,44.80,1.346,9382,0.000,0.076,2633,2105,2022,2064,1980,0,0,0,0,0,0,14.28,14.15,13.23
$GC,6621,0.30,362.5,2633,2107,2054,1956,240.1,8.5,533,6682,0.12,2.47,55.05,1.290,10916,0.123,0.086,2697,723,1885,1917,1853,0,0,0,0,0,0,14.30,14.04,13.20
$GC,6787,0.30,362.5,2699,726,1901,1849,220.3,11.7,566,6792,0.00,2.42,0.00,0.000,1030,0.000,0.077,2698,2102,1874,1900,1848,0,0,0,0,0,0,14.09,13.98,14.14
$GC,7103,0.26,362.5,2698,2104,1900,1842,182.9,11.4,579,7108,0.12,2.45,0.00,0.000,4740,0.226,0.083,2672,720,1870,1899,1841,0,0,0,0,0,0,14.06,14.12,14.18
$GC,7143,0.34,386.7,2672,720,1897,1842,179.0,8.9,587,7188,0.00,2.40,39.15,1.300,9382,0.000,0.077,2672,2100,1790,1817,1764,0,0,0,0,0,0,14.33,14.19,13.24
$GC,7495,0.40,409.0,2673,2100,1800,1749,147.6,9.0,607,7538,0.12,2.45,36.72,1.309,10916,0.129,0.087,2739,721,1690,1714,1667,0,0,0,0,0,0,14.26,14.09,13.23
$GC,7576,0.37,409.0,2739,721,1706,1669,137.8,12.7,623,7581,0.15,2.42,0.00,0.000,5254,0.236,0.077,2706,2099,1687,1706,1668,0,0,0,0,0,0,13.95,14.12,14.20
$GC,7886,0.37,409.7,2706,2101,1706,1662,105.3,10.0,635,7891,0.00,2.42,0.00,0.000,548,0.000,0.086,2707,723,1683,1706,1661,0,0,0,0,0,0,14.59,14.00,14.61
$GC,7912,0.41,416.2,2703,723,1700,1662,103.0,9.7,640,7920,0.00,2.42,2.15,0.470,9382,0.000,0.076,2707,2105,1668,1692,1644,0,0,0,0,0,0,14.14,14.00,12.69
$GC,8217,0.48,459.3,2707,2105,1704,1650,77.2,8.0,669,8247,0.00,0.00,25.27,0.425,8870,0.000,0.000,2703,2105,1490,1521,1459,0,0,0,0,0,0,14.57,13.97,13.65
$GC,8547,0.67,576.8,2708,2104,1527,1463,56.4,4.6,704,8617,0.28,0.00,63.05,0.363,10406,0.084,0.000,2806,2104,1010,1079,942,0,0,0,0,0,0,14.29,14.12,13.72
$GC,8917,0.76,648.3,2807,2106,1080,949,22.1,6.7,741,8964,0.00,2.53,39.15,0.273,8868,0.000,0.087,2807,725,718,782,655,0,0,0,0,0,0,14.52,13.95,13.78
$GC,9047,0.95,711.5,2808,726,784,659,13.9,7.1,766,9085,0.25,2.45,30.65,0.246,11430,0.084,0.076,2900,2109,497,520,474,0,0,0,0,0,0,13.99,13.93,13.79
$STATE,9138,end climb,SURFACE_DEPTH_REACHED
$STATE,9138,begin surface coast
$FINISH,0.3,1.021295
$STATE,9150,end surface coast,CONTROL_FINISHED_OK
$STATE,9150,begin surface
$SM_CCo,9232,0.00,0.000,0,0,498,703.28
$SM_GC,1.17,8.35,0.15,0.00,0.077,0.121,0.000,205,2230,498,-7.37,-0.85,703.28,0,0,0,0,0,0,14.26,14.26,14.33
$RAFOS_CLK,414
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7452.46,-15102.33,150917,093046
$TT8_MAMPS,0.039697,0.898051
$HUMID,47.08
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15926460416.000000
$PM_FREEKB_00,46807232
$24V_AH,12.26,208.414
$10V_AH,12.13,0.000
$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,26.225,87.925,1003.575,0.000,0.000,0.000,0.000,431.650,5.250,0.000,9.979,0.000,6504.491,878.215,2226.346,349.929,0.000,2208.082,0.000,1117.725,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2143.530,1523.880,0.000,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9186.000,9147.000,9127.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.538,20.000,12.455,0.000
$MEM,323532
$DATA_FILE_SIZE,26687,780
$CAP_FILE_SIZE,107571,0
$CFSIZE,2097872896,1990230016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.2
$CURRENT,0.057,315.29,1
$GPS,150917,150629,7449.772,-15054.863,13,0.8,26,20.7,0.3,226.4,11,9.9