version: 66.13
glider: 196
mission: 14
dive: 323
start: 9 13 117 7 10 35
data:
$ID,196
$MISSION,14
$DIVE,323
$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,27
$R_STBD_OVSHOOT,50
$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,48
$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,897.0
$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
$GPS1,130917,064734,7515.2974,-15109.5576,15,0.8,16,20.7,0.5,337.1,10,8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.9
$GPS2,130917,071002,7515.4258,-15109.5645,28,0.9,29,20.7,0.0,347.0,8,6.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,159.8,58292,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,156,2234,494,483,0.0,0.0,0,144,0.00,0.00,-90.95,0.000,16386,0.000,0.000,154,2234,2150,2076,2225,0,0,0,0,0,0,14.55,28.83,14.57
$GC,148,-0.57,-145.9,153,2235,2077,2234,4.2,-6.6,9,201,13.35,2.92,-34.10,0.000,18980,0.459,2.150,2387,795,3965,3952,3978,1,0,0,0,0,0,13.27,12.63,14.07
$GC,233,-0.63,-145.9,2387,795,3955,3978,29.2,-18.0,25,238,0.00,2.45,0.00,0.000,1158,0.000,0.083,2387,2171,3967,3956,3978,0,0,0,0,0,0,14.18,14.02,14.21
$GC,543,-0.75,-145.9,2386,2173,3959,3979,73.3,-11.3,57,548,0.15,2.55,0.00,0.000,4484,0.116,0.086,2319,3610,3968,3959,3978,0,0,0,0,0,0,14.07,14.06,14.09
$GC,639,-0.86,-145.9,2320,3610,3960,3978,85.3,-12.4,76,646,0.00,2.40,0.00,0.000,1158,0.000,0.058,2319,2202,3968,3958,3978,0,0,0,0,0,0,14.19,14.12,14.22
$GC,954,-0.94,-145.9,2319,2201,3960,3978,126.6,-12.0,94,955,0.15,0.00,0.00,0.000,4230,0.120,0.000,2257,2200,3969,3961,3978,0,0,0,0,0,0,14.30,14.40,14.37
$GC,1254,-0.94,-145.9,2257,2202,3959,3978,175.8,-15.9,104,1260,0.00,2.50,0.00,0.000,260,0.000,0.087,2249,3616,3968,3958,3978,0,0,0,0,0,0,14.64,14.04,14.66
$GC,1367,-1.04,-145.9,2249,3617,3959,3979,191.1,-12.7,126,1372,0.00,2.42,0.00,0.000,1158,0.000,0.058,2248,2189,3967,3958,3976,0,0,0,0,0,0,14.30,14.16,14.34
$GC,1677,-1.04,-145.9,2249,2189,3959,3978,238.2,-14.8,138,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2189,3968,3958,3978,0,0,0,0,0,0,14.63,14.66,14.68
$GC,1977,-1.08,-145.9,2255,2186,3961,3978,277.3,-12.5,148,1983,0.00,2.53,0.00,0.000,388,0.000,0.087,2240,3610,3968,3958,3978,0,0,0,0,0,0,14.67,14.02,14.69
$GC,2078,-1.19,-145.9,2240,3613,3960,3978,288.6,-10.8,168,2084,0.12,2.40,0.00,0.000,5254,0.138,0.057,2188,2199,3968,3959,3978,0,0,0,0,0,0,14.19,14.16,14.31
$GC,2399,-1.13,-145.9,2189,2198,3958,3978,340.8,-16.3,182,2404,0.00,2.53,0.00,0.000,388,0.000,0.087,2181,3613,3968,3958,3978,0,0,0,0,0,0,14.66,14.06,14.68
$GC,2484,-1.13,-145.9,2183,3615,3959,3979,354.0,-14.5,199,2491,0.15,2.40,0.00,0.000,3078,0.240,0.057,2213,2201,3967,3957,3977,0,0,0,0,0,0,13.78,14.05,14.06
$GC,2789,-1.13,-145.9,2213,2201,3959,3978,393.5,-12.7,210,2794,0.00,2.53,0.00,0.000,260,0.000,0.087,2209,3610,3968,3958,3978,0,0,0,0,0,0,14.67,14.05,14.70
$GC,2870,-1.22,-145.9,2210,3615,3958,3979,403.0,-11.2,226,2874,0.00,2.40,0.00,0.000,1158,0.000,0.057,2209,2199,3968,3958,3978,0,0,0,0,0,0,14.30,14.16,14.34
$GC,3180,-1.22,-145.9,2210,2198,3958,3977,442.4,-12.7,238,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2198,3967,3957,3978,0,0,0,0,0,0,14.44,14.46,14.46
$GC,3480,-1.24,-145.9,2209,2199,3959,3979,479.9,-12.4,248,3485,0.00,2.55,0.00,0.000,388,0.000,0.088,2209,3610,3967,3957,3977,0,0,0,0,0,0,14.42,13.94,14.44
$STATE,3488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3488,begin apogee
$GC,3496,-0.13,0.0,2210,2099,3954,3977,481.2,-12.4,250,3723,1.27,0.00,223.07,1.428,10246,0.228,0.000,2527,2093,3366,3378,3355,0,0,0,0,0,0,13.73,13.43,12.59
$STATE,3727,end apogee,CONTROL_FINISHED_OK
$STATE,3727,begin climb
$GC,3729,0.57,145.9,2528,2094,3374,3350,493.7,0.0,257,3954,0.75,2.67,214.65,1.366,11012,0.060,0.083,2781,687,2764,2796,2733,0,0,0,0,0,0,13.57,13.03,12.17
$GC,4180,0.17,145.9,2782,687,2787,2730,484.8,12.6,331,4185,0.68,2.58,0.00,0.000,5254,0.326,0.075,2643,2107,2757,2786,2729,0,0,0,0,0,0,13.33,13.69,13.73
$GC,4500,0.00,186.3,2643,2108,2786,2725,457.7,8.1,345,4566,0.22,2.58,57.92,1.426,12964,0.268,0.085,2590,698,2601,2647,2556,0,0,0,0,0,0,13.73,13.90,13.06
$GC,4696,0.04,241.9,2589,698,2639,2551,443.4,7.4,384,4786,0.00,2.50,84.53,1.372,9254,0.000,0.079,2589,2101,2380,2430,2330,0,0,0,0,0,0,14.14,14.02,12.97
$GC,5102,0.09,274.3,2589,2102,2416,2310,409.3,8.5,415,5151,0.00,0.00,47.55,1.401,8870,0.000,0.000,2589,2101,2246,2296,2197,0,0,0,0,0,0,14.40,13.93,13.12
$GC,5464,0.16,303.1,2590,2101,2293,2179,378.3,8.7,432,5513,0.12,2.53,42.40,1.407,10916,0.130,0.086,2657,694,2127,2175,2080,0,0,0,0,0,0,14.16,13.94,13.12
$GC,5543,0.13,303.1,2659,694,2160,2078,368.0,13.3,448,5549,0.15,2.45,0.00,0.000,5254,0.237,0.078,2626,2103,2117,2158,2077,0,0,0,0,0,0,13.85,13.97,14.06
$GC,5854,0.13,303.1,2626,2104,2159,2072,334.3,10.6,460,5859,0.00,2.50,0.00,0.000,516,0.000,0.085,2628,691,2114,2158,2071,0,0,0,0,0,0,14.57,14.11,14.59
$GC,5889,0.16,303.1,2632,692,2157,2072,330.6,10.7,467,5894,0.00,2.45,0.00,0.000,1158,0.000,0.078,2632,2100,2114,2157,2071,0,0,0,0,0,0,14.33,14.20,14.38
$GC,6214,0.16,303.1,2633,2100,2158,2069,295.7,10.5,482,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2100,2113,2157,2069,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6514,0.17,311.2,2632,2100,2158,2068,266.0,9.6,492,6524,0.00,2.47,4.15,1.578,8740,0.000,0.086,2635,688,2096,2140,2052,0,0,0,0,0,0,14.64,14.25,13.20
$GC,6570,0.24,337.0,2635,689,2142,2055,261.0,8.8,503,6624,0.00,2.45,49.50,1.365,9382,0.000,0.078,2635,2099,1990,2030,1950,0,0,0,0,0,0,14.35,14.22,13.22
$GC,6937,0.31,369.2,2635,2101,2023,1935,229.7,8.5,526,6996,0.15,0.00,53.55,1.320,10406,0.111,0.000,2699,2100,1860,1884,1836,0,0,0,0,0,0,14.27,13.78,13.21
$GC,7295,0.27,369.2,2699,2100,1876,1822,187.3,11.5,538,7301,0.12,2.47,0.00,0.000,4740,0.240,0.083,2672,690,1847,1874,1821,0,0,0,0,0,0,14.03,14.16,14.14
$GC,7393,0.36,391.9,2673,690,1873,1822,178.5,9.0,557,7436,0.00,2.47,37.00,1.333,9382,0.000,0.078,2672,2103,1765,1786,1744,0,0,0,0,0,0,14.26,14.13,13.24
$GC,7748,0.43,419.2,2672,2104,1778,1734,146.7,8.7,578,7802,0.12,2.58,48.88,1.278,10916,0.132,0.086,2744,688,1652,1673,1631,0,0,0,0,0,0,14.29,14.08,13.24
$GC,7839,0.40,419.2,2745,691,1667,1628,135.2,13.2,596,7845,0.15,2.50,0.00,0.000,5254,0.239,0.079,2713,2106,1647,1665,1629,0,0,0,0,0,0,13.92,14.04,14.16
$GC,8170,0.40,419.2,2713,2108,1666,1620,99.8,10.0,612,8175,0.00,2.50,0.00,0.000,516,0.000,0.086,2712,692,1642,1665,1619,0,0,0,0,0,0,14.59,14.04,14.62
$GC,8231,0.48,442.2,2713,693,1664,1620,94.2,8.9,624,8248,0.00,2.47,13.23,0.468,9382,0.000,0.076,2713,2105,1562,1587,1538,0,0,0,0,0,0,14.31,14.18,13.56
$GC,8553,0.58,506.3,2713,2105,1590,1536,67.2,7.0,658,8595,0.17,0.00,40.20,0.398,10406,0.102,0.000,2781,2105,1300,1343,1257,0,0,0,0,0,0,14.26,14.09,13.67
$GC,8893,0.62,563.8,2787,2105,1348,1252,37.0,7.3,692,8936,0.00,2.53,35.50,0.306,8740,0.000,0.088,2789,688,1064,1124,1005,0,0,0,0,0,0,14.57,13.94,13.78
$GC,9013,0.83,626.6,2788,688,1125,1007,28.5,7.1,715,9062,0.17,2.50,39.70,0.276,11430,0.112,0.080,2862,2102,806,870,742,0,0,0,0,0,0,14.14,14.06,13.77
$STATE,9254,end climb,SURFACE_DEPTH_REACHED
$STATE,9254,begin surface coast
$FINISH,0.0,1.021583
$STATE,9265,end surface coast,CONTROL_FINISHED_OK
$STATE,9265,begin surface
$SM_CCo,9285,53.88,0.196,0,0,502,702.78
$SM_GC,1.27,8.07,0.17,53.88,0.062,0.092,0.196,195,2246,502,-7.37,-0.57,702.78,0,0,0,0,0,0,14.28,14.35,13.93
$RAFOS_CLK,288
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7514.70,-15113.94,130917,070456
$TT8_MAMPS,0.038948,0.931007
$HUMID,46.65
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15934455808.000000
$PM_FREEKB_00,47605504
$24V_AH,12.17,198.894
$10V_AH,12.07,0.000
$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,26.100,80.600,991.825,53.875,0.000,0.000,0.000,803.700,3.000,0.000,31.045,0.000,6925.769,997.721,2406.901,369.817,0.000,2560.557,0.000,1068.975,2218.000,0.539,0.000
$DEVICE_MAMPS,459.000,2150.415,1578.195,195.840,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9299.000,9257.000,9239.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.082,20.000,11.123,0.000
$MEM,323328
$DATA_FILE_SIZE,26727,745
$CAP_FILE_SIZE,109979,0
$CFSIZE,2097872896,1995276288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.060,100.80,1
$GPS,130917,094740,7514.051,-15109.848,33,0.8,41,20.7,0.4,324.0,9,9.7