version: 66.13
glider: 196
mission: 14
dive: 329
start: 9 14 117 0 8 30
data:
$ID,196
$MISSION,14
$DIVE,329
$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,26
$R_STBD_OVSHOOT,56
$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,914.0
$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
$GPS1,130917,235554,7508.0488,-15108.4385,13,0.7,15,20.7,0.3,14.1,12,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.6
$GPS2,140917,000755,7508.0718,-15108.3018,6,0.8,24,20.7,0.3,53.2,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,152.4,45016,-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,-145.9,178,2232,501,474,0.0,0.0,0,141,0.00,0.00,-87.80,0.000,16386,0.000,0.000,178,2232,2028,1953,2104,0,0,0,0,0,0,14.52,28.83,14.53
$GC,144,-0.57,-145.9,177,2232,1956,2103,3.8,-5.7,9,200,13.18,0.00,-40.58,0.000,18982,0.455,0.000,2384,2231,3963,3949,3977,1,0,0,0,0,0,13.28,12.55,13.98
$GC,506,-0.68,-145.9,2386,2233,3957,3977,68.4,-12.4,51,506,0.00,0.00,0.00,0.000,134,0.000,0.000,2386,2232,3966,3957,3976,0,0,0,0,0,0,14.40,14.40,14.40
$GC,808,-0.86,-145.9,2386,2233,3958,3977,97.4,-8.3,81,812,0.25,2.42,0.00,0.000,4516,0.089,0.085,2280,3573,3967,3958,3976,0,0,0,0,0,0,13.78,13.85,13.84
$GC,883,-0.94,-145.9,2279,3575,3959,3977,107.7,-13.5,96,889,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2195,3968,3961,3976,0,0,0,0,0,0,13.99,13.84,14.04
$GC,1199,-0.98,-145.9,2280,2194,3959,3977,153.0,-13.6,109,1204,0.00,2.50,0.00,0.000,388,0.000,0.085,2270,3577,3967,3958,3976,0,0,0,0,0,0,14.42,13.95,14.43
$GC,1245,-1.09,-145.9,2270,3579,3964,3977,159.1,-12.4,118,1250,0.15,2.40,0.00,0.000,5254,0.114,0.058,2214,2195,3966,3957,3976,0,0,0,0,0,0,14.06,14.01,14.15
$GC,1561,-1.02,-145.9,2215,2195,3958,3978,218.6,-18.9,131,1566,0.12,2.47,0.00,0.000,2436,0.303,0.083,2235,3575,3967,3957,3977,0,0,0,0,0,0,13.64,13.92,13.80
$GC,1706,-1.08,-145.9,2236,3575,3959,3976,238.7,-12.8,160,1713,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2194,3967,3958,3976,0,0,0,0,0,0,13.91,13.79,13.95
$GC,2011,-1.11,-145.9,2236,2192,3962,3977,281.3,-13.3,171,2016,0.00,2.45,0.00,0.000,388,0.000,0.086,2230,3580,3967,3958,3976,0,0,0,0,0,0,14.40,13.92,14.41
$GC,2087,-1.20,-145.9,2230,3582,3958,3977,290.4,-11.6,186,2092,0.12,2.35,0.00,0.000,5254,0.132,0.056,2175,2196,3966,3957,3976,0,0,0,0,0,0,14.16,14.12,14.27
$GC,2402,-1.12,-145.9,2176,2197,3958,3977,345.3,-17.5,199,2408,0.17,2.45,0.00,0.000,2436,0.284,0.083,2206,3582,3967,3957,3977,0,0,0,0,0,0,13.78,14.08,13.97
$GC,2528,-1.19,-145.9,2206,3583,3957,3977,361.8,-12.0,224,2534,0.00,2.35,0.00,0.000,1158,0.000,0.056,2206,2198,3966,3957,3976,0,0,0,0,0,0,14.23,14.07,14.24
$GC,2854,-1.19,-145.9,2206,2197,3957,3978,404.0,-12.8,239,2859,0.00,2.45,0.00,0.000,260,0.000,0.086,2197,3581,3966,3957,3976,0,0,0,0,0,0,14.68,14.08,14.66
$GC,2934,-1.24,-145.9,2198,3581,3956,3976,414.1,-12.2,255,2939,0.00,2.35,0.00,0.000,1158,0.000,0.056,2198,2193,3966,3956,3976,0,0,0,0,0,0,14.21,14.12,14.25
$GC,3244,-1.24,-145.9,2198,2193,3957,3977,455.0,-13.2,267,3249,0.00,2.45,0.00,0.000,260,0.000,0.086,2190,3575,3966,3956,3976,0,0,0,0,0,0,14.66,14.09,14.70
$GC,3335,-1.28,-145.9,2190,3576,3956,3977,466.9,-12.6,285,3339,0.00,2.35,0.00,0.000,1158,0.000,0.055,2189,2195,3966,3956,3976,0,0,0,0,0,0,14.28,14.15,14.32
$STATE,3452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3452,begin apogee
$GC,3458,-0.13,0.0,2190,2051,3957,3977,483.4,-13.8,294,3684,1.35,0.00,222.27,1.426,10246,0.234,0.000,2527,2050,3365,3378,3353,0,0,0,0,0,0,13.78,13.52,12.66
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3688,begin climb
$GC,3690,0.57,145.9,2531,2050,3371,3346,495.6,0.0,301,3915,0.73,2.70,212.93,1.376,11012,0.060,0.070,2778,3480,2763,2794,2732,0,0,0,0,0,0,13.70,12.85,12.24
$GC,3940,0.06,145.9,2778,3480,2782,2729,508.6,10.1,344,3946,0.90,2.45,0.00,0.000,5254,0.348,0.056,2612,2131,2754,2781,2728,0,0,0,0,0,0,12.96,13.28,13.31
$GC,4266,-0.03,200.9,2613,2131,2782,2722,483.8,7.5,359,4357,0.17,0.00,83.32,1.387,12454,0.279,0.000,2576,2130,2535,2590,2480,0,0,0,0,0,0,13.76,13.78,12.95
$GC,4656,0.01,254.2,2577,2131,2585,2471,455.0,7.5,372,4747,0.00,2.60,83.38,1.365,8740,0.000,0.090,2573,690,2323,2370,2277,0,0,0,0,0,0,14.56,13.91,13.07
$GC,4792,0.16,303.8,2576,690,2363,2273,444.5,7.7,399,4879,0.17,2.45,79.78,1.329,11430,0.109,0.080,2650,2073,2125,2171,2079,0,0,0,0,0,0,14.05,14.00,12.97
$GC,5199,0.10,303.8,2650,2073,2155,2062,392.0,13.0,430,5205,0.12,2.42,0.00,0.000,4740,0.236,0.085,2619,694,2106,2154,2059,0,0,0,0,0,0,14.02,14.14,14.13
$GC,5240,0.17,303.8,2619,695,2152,2061,387.3,10.5,438,5246,0.00,2.45,0.00,0.000,1158,0.000,0.077,2619,2101,2106,2151,2061,0,0,0,0,0,0,14.30,14.16,14.38
$GC,5562,0.17,303.8,2619,2103,2153,2059,353.2,10.5,452,5567,0.00,2.47,0.00,0.000,516,0.000,0.088,2619,699,2105,2151,2059,0,0,0,0,0,0,14.64,14.17,14.65
$GC,5607,0.24,303.8,2620,698,2151,2058,348.6,10.3,461,5612,0.12,2.45,0.00,0.000,3206,0.125,0.077,2676,2106,2103,2149,2058,0,0,0,0,0,0,14.27,14.20,14.38
$GC,5922,0.15,303.8,2677,2108,2150,2058,303.8,14.2,474,5928,0.17,2.47,0.00,0.000,4740,0.259,0.081,2644,691,2104,2149,2059,0,0,0,0,0,0,13.90,14.18,14.06
$GC,5979,0.18,303.8,2644,692,2149,2059,297.1,10.7,485,5985,0.00,2.47,0.00,0.000,1158,0.000,0.078,2640,2110,2103,2148,2059,0,0,0,0,0,0,14.28,14.14,14.33
$GC,6284,0.18,303.8,2644,2106,2149,2058,264.3,10.4,496,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2106,2103,2148,2058,0,0,0,0,0,0,14.66,14.68,14.67
$GC,6584,0.20,332.9,2645,2106,2149,2057,236.5,8.7,506,6638,0.00,2.55,46.75,1.333,8740,0.000,0.086,2644,698,2000,2040,1960,0,0,0,0,0,0,14.64,14.07,13.22
$GC,6666,0.30,371.8,2644,699,2032,1958,229.7,8.2,522,6740,0.10,2.45,69.18,1.251,11430,0.145,0.078,2690,2095,1849,1876,1823,0,0,0,0,0,0,13.99,13.97,13.09
$GC,7065,0.28,371.8,2690,2094,1858,1805,185.3,10.7,552,7070,0.00,2.50,0.00,0.000,644,0.000,0.086,2689,694,1830,1856,1804,0,0,0,0,0,0,14.57,14.06,14.59
$GC,7136,0.33,379.2,2690,694,1854,1805,178.3,9.7,566,7142,0.00,2.45,1.77,0.245,9382,0.000,0.076,2689,2099,1816,1840,1792,0,0,0,0,0,0,14.22,14.06,13.81
$GC,7457,0.33,379.2,2690,2100,1855,1796,145.8,10.0,580,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1823,1854,1793,0,0,0,0,0,0,14.64,14.64,14.65
$GC,7757,0.34,393.9,2690,2101,1855,1796,117.3,9.3,590,7793,0.00,2.47,30.88,1.315,8740,0.000,0.086,2689,697,1756,1779,1734,0,0,0,0,0,0,14.65,13.85,13.23
$GC,7870,0.46,440.5,2690,698,1768,1730,107.9,7.8,612,7965,0.12,2.45,86.80,1.191,11430,0.131,0.077,2747,2098,1567,1593,1542,0,0,0,0,0,0,14.03,14.01,13.14
$GC,8270,0.45,458.6,2745,2098,1586,1518,65.7,9.2,662,8282,0.00,0.00,9.05,0.366,8358,0.000,0.000,2747,2098,1494,1530,1458,0,0,0,0,0,0,14.52,14.07,13.63
$GC,8580,0.57,571.7,2748,2098,1535,1465,45.7,4.8,693,8655,0.00,2.58,69.07,0.332,8612,0.000,0.083,2747,3519,1032,1099,966,0,0,0,0,0,0,14.56,13.99,13.71
$GC,8697,0.72,618.5,2747,3520,1099,971,38.5,7.8,715,8734,0.17,2.45,29.33,0.311,11430,0.102,0.063,2819,2106,840,910,770,0,0,0,0,0,0,14.16,14.07,13.69
$GC,9039,0.83,678.0,2819,2106,911,778,9.6,7.3,753,9082,0.00,2.60,37.62,0.225,8868,0.000,0.090,2819,691,596,645,548,0,0,0,0,0,0,14.56,14.00,13.72
$STATE,9140,end climb,SURFACE_DEPTH_REACHED
$STATE,9140,begin surface coast
$FINISH,0.1,1.021359
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9228,15.93,0.208,0,0,498,702.78
$SM_GC,0.79,8.07,2.65,15.93,0.075,0.068,0.208,200,2206,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.30,14.23,13.93
$RAFOS_CLK,425
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7511.68,-15051.82,130917,211213
$TT8_MAMPS,0.038948,1.01789
$HUMID,47.63
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,0.000000
$PM_FREEKB_00,47367424
$24V_AH,12.24,201.923
$10V_AH,12.24,0.000
$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,26.225,84.075,1062.125,15.925,0.000,0.000,0.000,438.350,3.250,0.000,26.049,0.000,6509.801,978.669,2162.361,328.328,0.000,2245.028,0.000,1113.785,1589.000,0.539,0.000
$DEVICE_MAMPS,455.175,100.215,1425.960,208.080,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9195.000,9198.000,9179.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.826,20.000,9.979,0.000
$MEM,323340
$DATA_FILE_SIZE,26766,777
$CAP_FILE_SIZE,103335,0
$CFSIZE,2097872896,1993801728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.030,76.75,1
$GPS,140917,024357,7506.740,-15108.173,36,0.8,37,20.7,0.5,40.4,11,6.8