version: 66.13
glider: 196
mission: 14
dive: 343
start: 9 15 117 15 18 23
data:
$ID,196
$MISSION,14
$DIVE,343
$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,61
$R_STBD_OVSHOOT,52
$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,958.0
$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
$GPS1,150917,150629,7449.7720,-15054.8633,13,0.8,26,20.7,0.3,226.4,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.6
$GPS2,150917,151747,7449.7437,-15054.9375,6,0.8,11,20.7,0.0,0.0,11,8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.6,11430,-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,-145.9,202,2232,513,476,0.0,0.0,0,144,0.00,0.00,-91.38,0.000,16386,0.000,0.000,202,2232,2144,2073,2216,0,0,0,0,0,0,14.47,28.83,14.49
$GC,148,-0.57,-145.9,202,2233,2076,2217,4.0,-5.3,9,201,12.85,2.72,-35.00,0.000,18724,0.451,2.152,2377,3576,3964,3949,3979,0,0,0,0,0,0,13.56,12.58,14.02
$GC,392,-0.72,-145.9,2379,3580,3956,3981,50.9,-13.1,57,397,0.00,2.33,0.00,0.000,1158,0.000,0.057,2377,2227,3966,3953,3979,0,0,0,0,0,0,14.24,14.12,14.28
$GC,702,-0.86,-145.9,2377,2226,3956,3980,88.2,-9.9,89,707,0.20,2.42,0.00,0.000,4516,0.103,0.085,2292,3586,3967,3955,3979,0,0,0,0,0,0,14.08,14.02,14.12
$GC,743,-0.92,-145.9,2293,3586,3956,3979,93.6,-14.7,97,748,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2202,3967,3955,3979,0,0,0,0,0,0,13.39,13.36,13.55
$GC,1063,-0.96,-145.9,2293,2201,3957,3979,139.1,-13.4,112,1069,0.00,2.42,0.00,0.000,388,0.000,0.086,2284,3579,3967,3955,3979,0,0,0,0,0,0,14.63,14.02,14.67
$GC,1110,-1.09,-145.9,2285,3581,3956,3979,144.8,-11.6,121,1115,0.17,2.35,0.00,0.000,5254,0.106,0.057,2218,2198,3967,3954,3980,0,0,0,0,0,0,14.25,14.16,14.32
$GC,1426,-1.02,-145.9,2219,2196,3955,3980,205.4,-19.0,134,1431,0.12,2.45,0.00,0.000,2436,0.296,0.082,2236,3579,3967,3955,3979,0,0,0,0,0,0,13.83,14.05,13.98
$GC,1486,-1.08,-145.9,2236,3581,3955,3981,214.9,-14.0,146,1494,0.00,2.33,0.00,0.000,1158,0.000,0.056,2236,2198,3967,3955,3979,0,0,0,0,0,0,14.28,14.15,14.31
$GC,1820,-1.08,-145.9,2237,2198,3954,3980,263.8,-14.0,162,1825,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3579,3967,3955,3980,0,0,0,0,0,0,14.69,14.01,14.66
$GC,1855,-1.13,-145.9,2235,3580,3956,3981,268.5,-13.0,169,1860,0.00,2.35,0.00,0.000,1158,0.000,0.056,2235,2200,3967,3955,3979,0,0,0,0,0,0,14.14,14.02,14.17
$GC,2180,-1.17,-145.9,2236,2199,3956,3979,309.6,-12.4,184,2186,0.10,2.45,0.00,0.000,4484,0.173,0.084,2190,3579,3967,3955,3979,0,0,0,0,0,0,14.28,14.00,14.34
$GC,2221,-1.17,-145.9,2190,3579,3956,3980,315.7,-15.6,192,2227,0.00,2.35,0.00,0.000,1030,0.000,0.058,2190,2199,3967,3955,3979,0,0,0,0,0,0,14.26,14.12,14.29
$GC,2545,-1.13,-145.9,2190,2198,3955,3979,364.6,-15.0,206,2549,0.00,2.50,0.00,0.000,388,0.000,0.086,2184,3582,3967,3955,3979,0,0,0,0,0,0,14.40,13.80,14.42
$GC,2615,-1.13,-145.9,2187,3584,3955,3980,375.1,-14.0,220,2621,0.15,2.40,0.00,0.000,3078,0.243,0.057,2213,2194,3966,3954,3979,0,0,0,0,0,0,13.71,13.99,13.97
$GC,2936,-1.15,-145.9,2214,2193,3955,3980,414.2,-11.9,234,2941,0.00,2.50,0.00,0.000,388,0.000,0.086,2212,3581,3966,3954,3978,0,0,0,0,0,0,14.38,13.88,14.40
$GC,3001,-1.24,-145.9,2211,3581,3955,3979,421.9,-11.5,247,3006,0.00,2.40,0.00,0.000,1158,0.000,0.055,2210,2196,3966,3954,3979,0,0,0,0,0,0,14.08,13.96,14.11
$GC,3327,-1.26,-145.9,2209,2196,3955,3980,460.7,-12.1,262,3332,0.12,2.53,0.00,0.000,4484,0.143,0.083,2154,3587,3966,3954,3979,0,0,0,0,0,0,13.92,13.89,13.95
$GC,3403,-1.21,-145.9,2154,3587,3954,3979,472.5,-16.1,277,3408,0.17,2.38,0.00,0.000,3206,0.260,0.054,2188,2200,3965,3952,3979,0,0,0,0,0,0,13.63,13.99,13.94
$STATE,3475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3475,begin apogee
$GC,3482,-0.13,0.0,2188,2062,3954,3980,483.4,-14.4,282,3719,1.38,0.00,231.32,1.398,10246,0.236,0.000,2531,2060,3362,3378,3346,0,0,0,0,0,0,13.62,13.42,12.57
$STATE,3722,end apogee,CONTROL_FINISHED_OK
$STATE,3723,begin climb
$GC,3725,0.57,145.9,2531,2061,3372,3339,496.4,0.0,290,3989,0.75,2.60,214.35,1.336,10756,0.059,0.076,2792,721,2753,2788,2718,0,0,0,0,0,0,13.57,12.78,12.19
$GC,4039,0.15,145.9,2792,722,2788,2717,497.9,13.7,301,4046,0.77,2.53,0.00,0.000,5254,0.324,0.073,2638,2070,2751,2787,2715,0,0,0,0,0,0,13.00,13.32,13.34
$GC,4344,-0.00,172.1,2639,2071,2786,2708,470.1,8.8,312,4380,0.20,0.00,34.03,1.427,12966,0.270,0.000,2590,2072,2664,2709,2620,0,0,0,0,0,0,13.64,13.88,13.05
$GC,4676,-0.01,223.3,2591,2072,2697,2596,444.9,7.6,328,4757,0.00,0.00,78.32,1.348,8870,0.000,0.000,2589,2072,2454,2509,2399,0,0,0,0,0,0,14.40,13.83,13.03
$GC,5034,0.01,251.9,2590,2072,2492,2376,414.4,8.7,350,5079,0.00,0.00,40.62,1.385,8742,0.000,0.000,2589,2071,2333,2384,2283,0,0,0,0,0,0,14.39,13.73,13.12
$GC,5395,0.07,280.9,2591,2071,2369,2265,382.9,8.7,372,5441,0.00,2.47,41.22,1.365,8868,0.000,0.088,2590,717,2217,2266,2169,0,0,0,0,0,0,14.59,14.05,13.19
$GC,5493,0.21,319.7,2591,718,2251,2161,374.7,8.2,391,5562,0.20,2.42,61.70,1.307,11430,0.096,0.078,2673,2105,2059,2102,2016,0,0,0,0,0,0,14.20,14.11,13.11
$GC,5878,0.14,319.7,2673,2105,2088,1993,320.0,14.2,418,5883,0.15,2.42,0.00,0.000,4740,0.257,0.083,2645,721,2040,2087,1993,0,0,0,0,0,0,13.93,14.16,14.10
$GC,5923,0.18,319.7,2646,722,2084,1992,314.4,11.7,427,5928,0.00,2.42,0.00,0.000,1158,0.000,0.079,2645,2107,2038,2083,1993,0,0,0,0,0,0,14.32,14.18,14.36
$GC,6238,0.18,319.7,2645,2109,2083,1991,278.1,11.3,440,6244,0.00,2.45,0.00,0.000,516,0.000,0.086,2646,716,2037,2083,1991,0,0,0,0,0,0,14.64,14.18,14.65
$GC,6294,0.23,319.7,2647,716,2083,1991,272.2,10.0,451,6300,0.00,2.40,0.00,0.000,1158,0.000,0.076,2646,2096,2034,2081,1987,0,0,0,0,0,0,14.30,14.16,14.38
$GC,6599,0.24,332.6,2646,2102,2082,1990,242.0,9.4,462,6609,0.00,2.42,4.20,1.353,8740,0.000,0.086,2646,723,2012,2058,1967,0,0,0,0,0,0,14.64,13.63,13.21
$GC,6692,0.32,362.9,2646,724,2066,1977,234.0,8.6,480,6765,0.12,2.40,66.45,1.260,11430,0.126,0.077,2698,2104,1885,1917,1853,0,0,0,0,0,0,14.23,14.17,13.19
$GC,7081,0.28,362.9,2698,2105,1897,1836,188.0,11.5,508,7086,0.00,2.45,0.00,0.000,644,0.000,0.085,2699,719,1866,1896,1837,0,0,0,0,0,0,14.58,14.09,14.59
$GC,7131,0.28,362.9,2699,720,1895,1837,182.2,11.1,518,7136,0.00,2.42,0.00,0.000,1030,0.000,0.076,2698,2108,1864,1892,1837,0,0,0,0,0,0,14.28,14.16,14.35
$GC,7442,0.26,362.9,2699,2109,1896,1833,148.5,10.5,530,7447,0.12,2.45,0.00,0.000,4740,0.224,0.083,2672,721,1863,1893,1834,0,0,0,0,0,0,14.00,14.07,14.12
$GC,7487,0.37,407.2,2673,721,1893,1834,144.5,8.0,539,7572,0.00,2.42,77.82,1.206,9382,0.000,0.078,2672,2105,1703,1725,1682,0,0,0,0,0,0,14.23,14.10,13.20
$GC,7893,0.48,450.1,2673,2106,1714,1660,110.8,8.0,570,7977,0.17,2.53,75.97,1.171,10916,0.106,0.088,2754,721,1521,1550,1493,0,0,0,0,0,0,14.04,13.97,13.19
$GC,8033,0.48,450.1,2754,720,1540,1486,93.9,11.7,598,8038,0.00,2.45,0.00,0.000,1030,0.000,0.076,2754,2097,1511,1538,1484,0,0,0,0,0,0,14.14,14.00,14.12
$GC,8343,0.50,484.3,2755,2098,1540,1476,61.4,8.4,630,8364,0.00,0.00,17.20,0.370,8230,0.000,0.000,2754,2101,1389,1430,1348,0,0,0,0,0,0,14.54,14.06,13.65
$GC,8663,0.62,594.4,2755,2097,1435,1357,41.5,4.9,662,8735,0.00,0.00,64.38,0.319,8358,0.000,0.000,2754,2097,942,1009,875,0,0,0,0,0,0,14.54,13.88,13.68
$GC,9033,0.92,727.8,2754,2098,1010,885,21.4,3.8,699,9109,0.35,2.47,65.95,0.252,10916,0.077,0.089,2889,721,496,512,481,0,0,0,0,0,0,14.09,13.92,13.72
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,0.5,1.021299
$STATE,9211,end surface coast,CONTROL_FINISHED_OK
$STATE,9211,begin surface
$SM_CCo,9295,0.00,0.000,0,0,493,704.50
$SM_GC,1.13,8.32,2.62,0.00,0.076,0.070,0.000,200,2201,493,-7.39,-0.74,704.50,0,0,0,0,0,0,14.26,14.16,14.34
$RAFOS_CLK,304
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7450.64,-15106.31,150917,122352
$TT8_MAMPS,0.039697,0.963963
$HUMID,46.81
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15926034432.000000
$PM_FREEKB_00,46763904
$24V_AH,12.19,208.933
$10V_AH,12.02,0.000
$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,26.450,88.250,1073.550,0.000,0.000,0.000,0.000,389.925,3.250,0.000,13.065,0.000,6537.971,932.255,2164.681,349.822,0.000,2243.971,0.000,1053.076,2207.000,0.539,0.000
$DEVICE_MAMPS,451.350,2151.945,1427.490,0.000,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9247.000,9198.000,9187.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.549,20.000,12.821,0.000
$MEM,323720
$DATA_FILE_SIZE,26767,734
$CAP_FILE_SIZE,105550,0
$CFSIZE,2097872896,1989935104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1486.54,0x2341e8,0,24
$SOUNDSPEED,1447.0
$CURRENT,0.043,347.11,1
$GPS,150917,175432,7448.721,-15053.044,31,0.8,31,20.7,0.0,0.0,10,7.0