version: 66.13
glider: 196
mission: 14
dive: 328
start: 9 13 117 21 16 43
data:
$ID,196
$MISSION,14
$DIVE,328
$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,30
$R_STBD_OVSHOOT,65
$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,912.0
$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
$GPS1,130917,210139,7509.2954,-15108.6211,34,0.7,38,20.7,0.7,157.1,11,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.4
$GPS2,130917,211607,7509.3745,-15108.5859,6,0.8,8,20.7,0.0,124.3,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.7,47362,-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,170,end surface,CONTROL_FINISHED_OK
$STATE,170,begin dive
$GC,173,-0.57,-145.9,161,2195,507,491,0.0,0.0,0,266,0.00,0.00,-91.82,0.000,16386,0.000,0.000,159,2195,2121,2046,2196,0,0,0,0,0,0,14.54,28.83,14.57
$GC,270,-0.57,-145.9,159,2195,2048,2199,3.4,-4.8,9,327,13.12,2.75,-37.65,0.000,18980,0.452,2.154,2386,800,3964,3951,3977,0,0,0,0,0,0,13.47,12.58,13.95
$GC,354,-0.60,-145.9,2386,801,3954,3981,26.6,-21.0,25,359,0.00,2.40,0.00,0.000,1158,0.000,0.087,2385,2155,3965,3954,3977,0,0,0,0,0,0,14.21,14.14,14.22
$GC,664,-0.71,-145.9,2384,2157,3956,3978,70.9,-11.9,57,670,0.12,2.58,0.00,0.000,4484,0.132,0.087,2332,3613,3965,3954,3977,0,0,0,0,0,0,14.29,13.95,14.32
$GC,782,-0.82,-145.9,2333,3615,3956,3978,85.7,-13.0,80,789,0.00,2.40,0.00,0.000,1158,0.000,0.058,2333,2205,3966,3955,3977,0,0,0,0,0,0,14.33,14.19,14.36
$GC,1105,-0.92,-145.9,2333,2204,3956,3978,124.0,-10.9,99,1106,0.17,0.00,0.00,0.000,4230,0.109,0.000,2260,2203,3966,3955,3977,0,0,0,0,0,0,14.35,14.45,14.44
$GC,1405,-0.92,-145.9,2261,2204,3956,3977,171.2,-15.4,109,1410,0.00,2.47,0.00,0.000,260,0.000,0.087,2250,3614,3967,3955,3979,0,0,0,0,0,0,14.72,14.15,14.72
$GC,1505,-1.02,-145.9,2250,3615,3957,3978,185.0,-12.8,129,1510,0.00,2.40,0.00,0.000,1158,0.000,0.057,2250,2199,3966,3956,3976,0,0,0,0,0,0,14.19,14.07,14.23
$GC,1826,-1.04,-145.9,2250,2199,3955,3978,230.9,-14.1,143,1830,0.00,2.50,0.00,0.000,388,0.000,0.088,2243,3615,3966,3956,3977,0,0,0,0,0,0,14.73,14.08,14.74
$GC,1926,-1.12,-145.9,2244,3615,3956,3978,243.7,-12.5,163,1931,0.00,2.42,0.00,0.000,1158,0.000,0.058,2243,2197,3966,3956,3977,0,0,0,0,0,0,14.22,14.03,14.28
$GC,2246,-1.16,-145.9,2243,2197,3956,3978,284.5,-12.2,177,2251,0.12,2.50,0.00,0.000,4484,0.147,0.085,2178,3615,3966,3956,3977,0,0,0,0,0,0,14.31,14.14,14.35
$GC,2307,-1.13,-145.9,2179,3614,3957,3977,294.1,-16.1,189,2312,0.15,2.40,0.00,0.000,3206,0.256,0.058,2215,2199,3966,3956,3977,0,0,0,0,0,0,13.89,14.21,14.18
$GC,2637,-1.13,-145.9,2210,2198,3957,3978,340.4,-13.6,205,2642,0.00,2.50,0.00,0.000,260,0.000,0.089,2206,3614,3966,3955,3977,0,0,0,0,0,0,14.74,14.12,14.73
$GC,2759,-1.20,-145.9,2206,3615,3956,3977,355.7,-11.9,229,2764,0.00,2.40,0.00,0.000,1158,0.000,0.056,2206,2194,3966,3955,3977,0,0,0,0,0,0,14.33,14.19,14.37
$GC,3089,-1.20,-145.9,2206,2194,3955,3978,399.6,-13.2,245,3094,0.00,2.50,0.00,0.000,260,0.000,0.087,2197,3614,3966,3955,3977,0,0,0,0,0,0,14.73,14.12,14.75
$GC,3170,-1.26,-145.9,2198,3614,3955,3977,410.0,-12.3,261,3174,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2193,3966,3955,3977,0,0,0,0,0,0,14.34,14.21,14.38
$GC,3480,-1.26,-145.9,2197,2192,3955,3978,451.8,-13.5,273,3485,0.00,2.50,0.00,0.000,260,0.000,0.086,2188,3616,3965,3954,3977,0,0,0,0,0,0,14.75,14.09,14.76
$GC,3555,-1.30,-145.9,2188,3615,3954,3978,462.1,-13.0,288,3561,0.00,2.38,0.00,0.000,1158,0.000,0.054,2188,2199,3965,3954,3977,0,0,0,0,0,0,14.34,14.21,14.38
$STATE,3689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3689,begin apogee
$GC,3695,-0.13,0.0,2189,2063,3956,3977,481.3,-14.2,295,3955,1.35,0.08,255.38,1.357,10246,0.238,0.178,2528,2113,3364,3381,3348,0,0,0,0,0,0,13.78,13.53,12.71
$STATE,3957,end apogee,CONTROL_FINISHED_OK
$STATE,3957,begin climb
$GC,3959,0.57,145.9,2529,2112,3377,3339,495.2,0.0,303,4189,0.75,2.67,220.57,1.340,10756,0.060,0.077,2794,730,2762,2797,2728,0,0,0,0,0,0,13.72,13.13,12.25
$GC,4360,0.15,145.9,2794,731,2785,2721,491.1,13.3,345,4365,0.77,2.47,0.00,0.000,5254,0.328,0.073,2634,2094,2750,2783,2717,0,0,0,0,0,0,13.31,13.71,13.72
$GC,4693,0.01,185.5,2635,2094,2785,2712,463.0,8.2,361,4752,0.20,0.00,58.05,1.383,12454,0.269,0.000,2590,2095,2612,2658,2567,0,0,0,0,0,0,13.84,13.93,13.09
$GC,5051,0.01,232.1,2590,2096,2644,2529,435.2,7.8,373,5126,0.00,0.00,71.60,1.350,8870,0.000,0.000,2589,2095,2419,2471,2367,0,0,0,0,0,0,14.58,13.93,13.11
$GC,5441,0.03,262.9,2590,2095,2454,2342,402.3,8.6,391,5492,0.00,2.42,44.97,1.365,8740,0.000,0.085,2589,727,2287,2337,2238,0,0,0,0,0,0,14.59,13.81,13.19
$GC,5545,0.16,303.5,2590,727,2328,2230,393.6,8.1,411,5614,0.15,2.40,64.57,1.304,11430,0.116,0.079,2656,2098,2129,2176,2082,0,0,0,0,0,0,14.14,14.07,13.07
$GC,5925,0.10,303.5,2657,2098,2156,2054,343.9,13.2,437,5930,0.15,2.40,0.00,0.000,4740,0.244,0.081,2626,729,2104,2155,2053,0,0,0,0,0,0,13.93,14.12,14.09
$GC,5980,0.17,303.5,2628,730,2153,2054,337.8,10.5,448,5987,0.00,2.40,0.00,0.000,1158,0.000,0.076,2626,2105,2103,2152,2054,0,0,0,0,0,0,14.25,14.12,14.29
$GC,6285,0.17,303.5,2627,2106,2153,2051,305.9,10.3,459,6290,0.00,2.42,0.00,0.000,516,0.000,0.086,2627,726,2101,2151,2051,0,0,0,0,0,0,14.64,14.18,14.66
$GC,6316,0.21,306.6,2627,726,2152,2052,302.8,9.9,465,6320,0.00,2.40,0.00,0.000,1190,0.000,0.076,2626,2107,2100,2150,2051,0,0,0,0,0,0,14.34,14.21,14.39
$GC,6646,0.23,317.0,2627,2109,2152,2050,270.2,9.5,481,6656,0.00,2.47,6.15,1.459,8868,0.000,0.085,2627,727,2074,2123,2025,0,0,0,0,0,0,14.66,14.23,13.22
$GC,6701,0.35,355.6,2627,728,2124,2028,265.4,8.2,492,6788,0.20,2.38,78.05,1.266,11430,0.091,0.078,2701,2098,1913,1949,1878,0,0,0,0,0,0,13.78,14.20,13.15
$GC,7098,0.29,355.6,2701,2101,1929,1862,214.5,12.5,521,7103,0.00,2.40,0.00,0.000,644,0.000,0.085,2706,733,1895,1928,1862,0,0,0,0,0,0,14.58,14.14,14.59
$GC,7168,0.26,355.6,2707,730,1922,1862,206.1,11.9,535,7174,0.17,2.40,0.00,0.000,5254,0.213,0.076,2665,2102,1892,1923,1862,0,0,0,0,0,0,14.00,14.18,14.26
$GC,7489,0.30,380.2,2666,2103,1925,1860,176.4,8.9,549,7529,0.00,0.00,38.20,1.269,8358,0.000,0.000,2666,2103,1816,1842,1790,0,0,0,0,0,0,14.62,14.09,13.29
$GC,7819,0.38,413.8,2666,2102,1823,1771,148.0,8.4,560,7886,0.12,2.50,58.70,1.211,10916,0.125,0.087,2726,718,1672,1695,1650,0,0,0,0,0,0,14.26,13.95,13.24
$GC,7951,0.38,413.8,2727,718,1683,1640,132.9,11.5,586,7956,0.00,2.42,0.00,0.000,1030,0.000,0.076,2726,2099,1660,1680,1641,0,0,0,0,0,0,14.16,14.04,14.21
$GC,8272,0.35,413.8,2723,2100,1682,1633,97.1,10.7,600,8278,0.00,2.47,0.00,0.000,644,0.000,0.086,2726,730,1657,1682,1632,0,0,0,0,0,0,14.59,14.08,14.60
$GC,8329,0.40,428.9,2727,732,1681,1633,91.5,9.3,611,8340,0.00,2.40,7.03,0.387,9382,0.000,0.077,2726,2101,1614,1640,1588,0,0,0,0,0,0,14.28,14.14,13.56
$GC,8646,0.47,488.0,2727,2103,1657,1598,65.5,7.3,644,8688,0.00,2.55,38.03,0.387,8612,0.000,0.082,2726,3511,1372,1415,1330,0,0,0,0,0,0,14.59,14.01,13.69
$GC,8789,0.58,544.6,2727,3511,1416,1342,55.6,7.4,672,8831,0.12,2.35,35.83,0.359,11430,0.118,0.065,2780,2139,1141,1200,1083,0,0,0,0,0,0,14.21,14.15,13.62
$GC,9129,0.67,605.9,2779,2140,1204,1096,28.2,7.2,710,9176,0.00,2.62,38.65,0.277,8868,0.000,0.090,2781,694,892,958,826,0,0,0,0,0,0,14.57,14.09,13.77
$GC,9238,0.92,711.6,2781,694,961,834,21.8,5.1,731,9308,0.30,2.47,63.67,0.250,11430,0.083,0.076,2891,2108,498,518,479,0,0,0,0,0,0,14.19,14.11,13.78
$STATE,9401,end climb,SURFACE_DEPTH_REACHED
$STATE,9401,begin surface coast
$FINISH,0.2,1.021392
$STATE,9412,end surface coast,CONTROL_FINISHED_OK
$STATE,9412,begin surface
$SM_CCo,9493,0.00,0.000,0,0,495,704.26
$SM_GC,1.16,8.27,0.15,0.00,0.070,0.106,0.000,203,2229,495,-7.38,-0.96,704.26,0,0,0,0,0,0,14.28,14.30,14.33
$RAFOS_CLK,432
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7502.22,-15558.87,130917,210633
$TT8_MAMPS,0.038948,0.883071
$HUMID,47.32
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15932456960.000000
$PM_FREEKB_00,47401152
$24V_AH,12.25,201.414
$10V_AH,12.17,0.000
$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,26.275,89.000,1079.450,0.000,0.000,0.000,0.000,529.050,3.750,0.000,10.089,0.000,6699.561,969.906,2360.298,344.502,0.000,2356.346,0.000,1082.351,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2154.240,1458.855,0.000,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9448.000,5626.000,9265.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.620,20.000,9.940,0.000
$MEM,323216
$DATA_FILE_SIZE,26694,755
$CAP_FILE_SIZE,104591,0
$CFSIZE,2097872896,1994063872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.048,75.88,1
$GPS,130917,235554,7508.049,-15108.438,13,0.7,15,20.7,0.3,14.1,12,9.0