version: 66.13
glider: 196
mission: 14
dive: 326
start: 9 13 117 15 39 25
data:
$ID,196
$MISSION,14
$DIVE,326
$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,36
$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,906.0
$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
$GPS1,130917,152732,7511.7471,-15109.6318,24,0.7,24,20.7,0.0,0.0,12,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.1
$GPS2,130917,153854,7511.7915,-15109.7021,6,0.7,9,20.7,0.6,336.2,12,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,154.4,51809,-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,-145.9,169,2215,516,488,0.0,0.0,0,144,0.00,0.00,-91.72,0.000,16386,0.000,0.000,166,2214,2183,2117,2249,0,0,0,0,0,0,14.50,28.83,14.53
$GC,148,-0.57,-145.9,167,2214,2121,2249,4.5,-7.1,9,200,13.10,0.00,-33.83,0.000,18982,0.455,0.000,2388,2213,3962,3948,3977,0,0,0,0,0,0,13.54,13.14,14.04
$GC,495,-0.68,-145.9,2384,2215,3953,3978,70.4,-12.3,49,500,0.00,2.45,0.00,0.000,388,0.000,0.086,2377,3595,3965,3953,3977,0,0,0,0,0,0,14.56,14.07,14.58
$GC,530,-0.86,-145.9,2378,3596,3954,3977,74.2,-10.4,56,538,0.25,2.40,0.00,0.000,5254,0.099,0.056,2285,2195,3965,3953,3977,0,0,0,0,0,0,14.12,14.03,14.22
$GC,838,-0.86,-145.9,2286,2195,3954,3977,124.9,-15.8,77,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2194,3965,3953,3977,0,0,0,0,0,0,14.61,14.62,14.62
$GC,1136,-0.91,-145.9,2286,2194,3960,3978,167.0,-13.6,87,1140,0.00,2.50,0.00,0.000,388,0.000,0.084,2280,3597,3965,3953,3977,0,0,0,0,0,0,14.64,14.00,14.66
$GC,1201,-1.06,-145.9,2280,3598,3954,3977,174.7,-11.0,97,1206,0.15,2.40,0.00,0.000,5254,0.119,0.056,2224,2193,3965,3953,3977,0,0,0,0,0,0,14.11,14.02,14.20
$GC,1511,-1.02,-145.9,2225,2191,3954,3977,229.3,-17.1,109,1516,0.12,2.53,0.00,0.000,2436,0.286,0.082,2243,3594,3965,3953,3977,0,0,0,0,0,0,13.73,13.90,13.81
$GC,1562,-1.11,-145.9,2243,3596,3954,3978,236.7,-12.9,119,1566,0.00,2.40,0.00,0.000,1158,0.000,0.057,2243,2199,3965,3953,3977,0,0,0,0,0,0,14.14,14.02,14.18
$GC,1872,-1.14,-145.9,2242,2199,3957,3978,278.0,-12.8,131,1876,0.00,2.53,0.00,0.000,388,0.000,0.085,2236,3597,3965,3953,3977,0,0,0,0,0,0,14.44,13.90,14.46
$GC,1902,-1.21,-145.9,2237,3599,3954,3978,281.7,-12.2,137,1907,0.15,2.42,0.00,0.000,5254,0.119,0.056,2180,2202,3965,3953,3977,0,0,0,0,0,0,13.60,13.62,13.96
$GC,2233,-1.13,-145.9,2181,2201,3954,3978,338.4,-16.9,153,2238,0.12,2.53,0.00,0.000,2436,0.294,0.083,2198,3600,3965,3953,3977,0,0,0,0,0,0,13.53,13.83,13.71
$GC,2368,-1.17,-145.9,2199,3600,3954,3977,357.0,-12.8,180,2374,0.00,2.38,0.00,0.000,1158,0.000,0.056,2198,2198,3965,3953,3977,0,0,0,0,0,0,14.12,14.02,14.16
$GC,2684,-1.17,-145.9,2199,2196,3954,3977,401.0,-13.8,193,2689,0.00,2.53,0.00,0.000,260,0.000,0.086,2189,3599,3965,3953,3977,0,0,0,0,0,0,14.43,13.94,14.45
$GC,2749,-1.21,-145.9,2189,3601,3954,3976,409.9,-13.2,206,2754,0.00,2.40,0.00,0.000,1158,0.000,0.056,2189,2198,3964,3952,3976,0,0,0,0,0,0,14.14,14.00,14.17
$GC,3074,-1.19,-145.9,2190,2197,3954,3976,456.3,-14.2,221,3079,0.00,2.53,0.00,0.000,388,0.000,0.086,2181,3601,3965,3953,3977,0,0,0,0,0,0,14.42,13.94,14.46
$GC,3154,-1.22,-145.9,2184,3603,3953,3977,467.3,-13.1,237,3159,0.00,2.42,0.00,0.000,1158,0.000,0.056,2184,2189,3964,3952,3977,0,0,0,0,0,0,14.12,14.00,14.16
$STATE,3252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3252,begin apogee
$GC,3258,-0.13,0.0,2186,2060,3954,3977,481.7,-14.5,242,3559,1.40,0.00,296.73,1.299,10246,0.242,0.000,2530,2059,3365,3381,3350,0,0,0,0,0,0,13.66,13.34,12.53
$STATE,3565,end apogee,CONTROL_FINISHED_OK
$STATE,3565,begin climb
$GC,3568,0.57,145.9,2531,2059,3376,3341,499.7,0.0,252,3798,0.75,2.55,217.48,1.331,10756,0.059,0.076,2792,730,2759,2792,2727,0,0,0,0,0,0,13.48,12.76,12.15
$GC,4023,0.15,145.9,2792,730,2784,2717,489.1,12.9,299,4030,0.75,2.45,0.00,0.000,5254,0.330,0.073,2638,2100,2749,2783,2715,0,0,0,0,0,0,13.38,13.78,13.79
$GC,4329,0.00,187.3,2638,2101,2783,2711,463.4,8.1,310,4396,0.20,2.45,61.70,1.350,12964,0.270,0.082,2590,726,2596,2647,2546,0,0,0,0,0,0,13.78,13.72,13.09
$GC,4561,0.04,243.5,2590,730,2636,2531,446.4,7.4,356,4657,0.00,2.40,89.95,1.296,9254,0.000,0.079,2590,2097,2371,2426,2317,0,0,0,0,0,0,14.29,14.13,13.05
$GC,4962,0.06,272.3,2590,2098,2404,2296,412.4,8.7,386,5007,0.00,0.00,42.62,1.345,8230,0.000,0.000,2589,2097,2254,2306,2202,0,0,0,0,0,0,14.56,13.99,13.16
$GC,5292,0.13,304.9,2590,2098,2289,2180,384.0,8.5,397,5348,0.00,2.50,50.70,1.308,8868,0.000,0.086,2589,730,2118,2167,2069,0,0,0,0,0,0,14.59,14.04,13.21
$GC,5390,0.29,345.5,2590,727,2151,2062,376.0,8.1,416,5463,0.25,2.40,65.15,1.272,11430,0.086,0.078,2686,2096,1952,1996,1909,0,0,0,0,0,0,14.18,14.09,13.09
$GC,5774,0.21,345.5,2683,2100,1980,1890,317.5,15.4,443,5779,0.12,2.42,0.00,0.000,4740,0.242,0.084,2659,723,1933,1979,1888,0,0,0,0,0,0,14.00,14.14,14.16
$GC,5834,0.21,345.5,2660,724,1975,1890,309.6,12.2,455,5839,0.00,2.40,0.00,0.000,1030,0.000,0.078,2660,2103,1931,1975,1888,0,0,0,0,0,0,14.33,14.19,14.37
$GC,6164,0.21,345.5,2660,2101,1975,1887,268.7,12.0,471,6169,0.00,2.42,0.00,0.000,516,0.000,0.086,2659,728,1930,1974,1887,0,0,0,0,0,0,14.65,14.19,14.66
$GC,6214,0.24,345.5,2660,728,1974,1887,263.0,11.2,481,6220,0.00,2.40,0.00,0.000,1158,0.000,0.077,2660,2102,1929,1972,1886,0,0,0,0,0,0,14.35,14.21,14.40
$GC,6525,0.24,345.5,2660,2104,1973,1886,230.0,10.1,493,6531,0.00,2.42,0.00,0.000,516,0.000,0.086,2660,729,1929,1972,1886,0,0,0,0,0,0,14.64,14.17,14.64
$GC,6586,0.32,368.9,2660,730,1971,1887,224.4,8.9,505,6626,0.00,2.40,33.08,1.300,9382,0.000,0.076,2660,2105,1857,1891,1824,0,0,0,0,0,0,14.33,14.19,13.23
$GC,6949,0.37,385.6,2660,2106,1873,1813,190.8,9.2,527,6978,0.12,2.50,23.85,1.293,10916,0.130,0.086,2726,724,1785,1807,1764,0,0,0,0,0,0,14.31,14.13,13.28
$GC,7036,0.33,385.6,2727,724,1798,1757,180.0,12.7,544,7042,0.17,2.42,0.00,0.000,5254,0.245,0.076,2689,2108,1776,1795,1757,0,0,0,0,0,0,13.93,14.14,14.19
$GC,7339,0.33,390.9,2686,2113,1798,1751,149.3,9.8,555,7339,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2108,1773,1796,1751,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7639,0.35,409.8,2689,2108,1797,1748,121.2,9.1,565,7689,0.00,2.45,43.65,1.235,8740,0.000,0.086,2689,733,1690,1711,1669,0,0,0,0,0,0,14.65,14.04,13.28
$GC,7769,0.46,439.6,2690,733,1703,1663,110.1,8.6,591,7830,0.12,2.40,54.15,1.180,11430,0.132,0.076,2748,2101,1570,1597,1544,0,0,0,0,0,0,14.19,14.14,13.18
$GC,8131,0.43,440.9,2749,2102,1586,1517,69.0,9.9,633,8136,0.00,2.42,0.00,0.000,676,0.000,0.085,2750,733,1550,1585,1516,0,0,0,0,0,0,14.54,14.12,14.57
$GC,8212,0.51,506.4,2751,733,1583,1516,62.6,7.0,649,8255,0.00,2.40,38.10,0.376,9382,0.000,0.077,2750,2103,1299,1348,1251,0,0,0,0,0,0,14.23,14.09,13.71
$GC,8552,0.63,593.2,2751,2103,1353,1263,40.6,6.0,687,8613,0.00,0.00,57.53,0.314,8358,0.000,0.000,2751,2103,942,1010,875,0,0,0,0,0,0,14.57,13.97,13.64
$GC,8912,0.89,707.0,2751,2104,1012,870,21.6,4.7,723,8986,0.35,2.53,68.05,0.256,10916,0.078,0.093,2887,730,497,518,476,0,0,0,0,0,0,14.02,14.07,13.76
$STATE,9074,end climb,SURFACE_DEPTH_REACHED
$STATE,9074,begin surface coast
$FINISH,0.3,1.021531
$STATE,9084,end surface coast,CONTROL_FINISHED_OK
$STATE,9084,begin surface
$SM_CCo,9168,0.00,0.000,0,0,494,703.52
$SM_GC,1.05,8.23,2.58,0.00,0.067,0.064,0.000,199,2202,494,-7.38,-0.85,703.52,0,0,0,0,0,0,14.23,14.16,14.33
$RAFOS_CLK,359
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7515.52,-15102.47,130917,124549
$TT8_MAMPS,0.039697,0.945238
$HUMID,46.88
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15933177856.000000
$PM_FREEKB_00,47478720
$24V_AH,12.15,200.434
$10V_AH,12.01,0.000
$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,26.375,83.475,1142.725,0.000,0.000,0.000,0.000,407.500,1.750,0.000,11.003,0.000,6381.131,982.261,2170.189,324.948,0.000,2282.841,0.000,1085.950,2217.000,0.539,0.000
$DEVICE_MAMPS,455.175,107.865,1350.225,0.000,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9117.000,9076.000,9060.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.304,20.000,11.126,0.000
$MEM,323444
$DATA_FILE_SIZE,26738,757
$CAP_FILE_SIZE,102282,0
$CFSIZE,2097872896,1994588160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3783.35,0x2341ea,1,24
$SOUNDSPEED,1448.6
$CURRENT,0.039,75.12,1
$GPS,130917,181406,7510.533,-15109.308,61,0.8,71,20.7,0.6,4.1,9,9.1