version: 66.13
glider: 196
mission: 14
dive: 325
start: 9 13 117 12 53 9
data:
$ID,196
$MISSION,14
$DIVE,325
$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,64
$R_STBD_OVSHOOT,55
$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,903.0
$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
$GPS1,130917,123451,7512.8652,-15109.9268,49,0.7,50,20.7,0.0,96.1,12,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.4
$GPS2,130917,125235,7512.9785,-15109.9688,9,0.8,10,20.7,0.5,211.5,10,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.0,53960,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,158,2232,525,483,0.0,0.0,0,143,0.00,0.00,-90.95,0.000,16386,0.000,0.000,155,2235,2147,2073,2221,0,0,0,0,0,0,14.35,28.83,14.38
$GC,147,-0.57,-145.9,155,2236,2072,2222,3.9,-5.7,9,200,13.25,2.85,-34.90,0.000,18980,0.457,2.140,2384,831,3964,3951,3977,1,0,0,0,0,0,13.30,12.56,14.08
$GC,305,-0.72,-145.9,2385,832,3955,3979,39.0,-13.0,40,311,0.00,2.38,0.00,0.000,1158,0.000,0.085,2379,2165,3965,3954,3977,0,0,0,0,0,0,14.06,13.93,14.09
$GC,610,-0.84,-145.9,2379,2163,3957,3978,80.5,-10.8,71,615,0.20,2.58,0.00,0.000,4484,0.099,0.086,2284,3609,3966,3956,3977,0,0,0,0,0,0,14.21,14.05,14.25
$GC,765,-0.91,-145.9,2284,3611,3956,3979,103.7,-14.1,102,770,0.00,2.35,0.00,0.000,1158,0.000,0.058,2284,2233,3966,3956,3977,0,0,0,0,0,0,14.28,14.15,14.32
$GC,1091,-0.94,-145.9,2289,2230,3963,3978,152.5,-14.2,117,1091,0.00,0.00,0.00,0.000,134,0.000,0.000,2284,2233,3966,3956,3977,0,0,0,0,0,0,14.65,14.66,14.66
$GC,1391,-1.01,-145.9,2284,2234,3956,3979,190.9,-12.2,127,1395,0.00,2.45,0.00,0.000,388,0.000,0.087,2279,3612,3966,3956,3977,0,0,0,0,0,0,14.66,14.10,14.68
$GC,1436,-1.15,-145.9,2280,3614,3957,3978,196.1,-10.8,136,1441,0.22,2.40,0.00,0.000,5254,0.096,0.057,2191,2201,3967,3956,3978,0,0,0,0,0,0,14.18,14.18,14.29
$GC,1751,-1.05,-145.9,2192,2200,3956,3977,260.7,-20.2,149,1757,0.17,2.50,0.00,0.000,2436,0.291,0.082,2222,3615,3966,3956,3976,0,0,0,0,0,0,13.68,13.76,13.53
$GC,1833,-1.11,-145.9,2222,3610,3957,3978,272.8,-13.2,165,1838,0.00,2.40,0.00,0.000,1158,0.000,0.058,2223,2198,3966,3956,3977,0,0,0,0,0,0,14.29,14.16,14.36
$GC,2143,-1.11,-145.9,2221,2197,3957,3978,315.9,-13.5,177,2149,0.00,2.53,0.00,0.000,260,0.000,0.086,2213,3616,3966,3956,3977,0,0,0,0,0,0,14.63,14.09,14.65
$GC,2200,-1.18,-145.9,2214,3617,3957,3978,323.3,-12.5,188,2206,0.00,2.42,0.00,0.000,1158,0.000,0.056,2213,2193,3966,3956,3977,0,0,0,0,0,0,14.14,14.02,14.18
$GC,2505,-1.18,-145.9,2213,2193,3957,3978,363.6,-13.0,199,2509,0.00,2.53,0.00,0.000,260,0.000,0.088,2209,3614,3966,3956,3977,0,0,0,0,0,0,14.60,14.06,14.62
$GC,2555,-1.26,-145.9,2209,3615,3956,3977,369.9,-11.9,209,2561,0.00,2.40,0.00,0.000,1158,0.000,0.057,2210,2200,3966,3955,3977,0,0,0,0,0,0,14.23,14.09,14.26
$GC,2866,-1.26,-145.9,2209,2200,3956,3978,410.3,-13.0,221,2871,0.00,2.53,0.00,0.000,260,0.000,0.088,2209,3614,3966,3956,3977,0,0,0,0,0,0,14.61,13.95,14.63
$GC,2917,-1.34,-145.9,2209,3615,3956,3978,416.5,-11.4,231,2922,0.20,2.42,0.00,0.000,5254,0.102,0.057,2140,2195,3966,3955,3977,0,0,0,0,0,0,13.92,14.03,13.90
$GC,3227,-1.19,-145.9,2140,2192,3956,3977,477.2,-19.9,243,3232,0.22,2.50,0.00,0.000,2436,0.321,0.081,2178,3608,3966,3955,3977,0,0,0,0,0,0,13.62,14.00,13.85
$STATE,3240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3240,begin apogee
$GC,3248,-0.13,0.0,2178,2097,3956,3977,480.3,-19.9,246,3552,1.45,0.00,299.33,1.299,10246,0.250,0.000,2529,2097,3366,3376,3357,0,0,0,0,0,0,13.76,13.44,12.59
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3558,0.57,145.9,2530,2097,3371,3349,498.8,0.0,256,3782,0.75,2.75,215.55,1.326,10500,0.060,0.071,2781,3522,2763,2793,2733,0,0,0,0,0,0,13.62,13.10,12.23
$GC,3930,0.07,145.9,2782,3523,2767,2716,495.6,14.3,286,3936,0.90,2.53,0.00,0.000,5254,0.349,0.056,2612,2093,2740,2766,2715,0,0,0,0,0,0,13.25,13.63,13.64
$GC,4235,-0.02,204.5,2613,2094,2767,2716,472.1,7.3,297,4328,0.15,0.00,91.20,1.308,12454,0.289,0.000,2583,2094,2533,2581,2485,0,0,0,0,0,0,13.81,13.81,13.02
$GC,4625,0.02,257.3,2583,2094,2566,2453,443.0,7.6,310,4719,0.00,0.00,93.38,1.264,8230,0.000,0.000,2585,2093,2318,2364,2272,0,0,0,0,0,0,14.57,13.88,13.09
$GC,5015,0.09,291.3,2583,2093,2347,2249,411.0,8.4,323,5076,0.00,0.00,53.80,1.313,8870,0.000,0.000,2582,2094,2169,2213,2126,0,0,0,0,0,0,14.57,13.99,13.17
$GC,5375,0.19,334.8,2583,2093,2203,2108,381.6,8.0,340,5450,0.17,2.53,70.18,1.284,10916,0.109,0.089,2668,688,1997,2038,1956,0,0,0,0,0,0,14.28,13.75,13.21
$GC,5530,0.19,334.8,2668,689,2018,1949,361.0,13.0,371,5535,0.00,2.50,0.00,0.000,1030,0.000,0.079,2668,2109,1982,2018,1946,0,0,0,0,0,0,14.22,14.09,14.26
$GC,5856,0.15,334.8,2668,2110,2019,1939,315.4,13.6,386,5861,0.15,2.47,0.00,0.000,4740,0.269,0.085,2639,697,1978,2018,1938,0,0,0,0,0,0,13.85,14.12,14.02
$GC,5911,0.20,334.8,2640,697,2018,1938,309.1,10.5,397,5918,0.00,2.45,0.00,0.000,1158,0.000,0.078,2639,2105,1977,2017,1938,0,0,0,0,0,0,14.30,14.16,14.35
$GC,6216,0.20,334.8,2639,2105,2018,1935,276.3,10.5,408,6221,0.00,2.47,0.00,0.000,516,0.000,0.087,2640,697,1976,2017,1935,0,0,0,0,0,0,14.65,14.19,14.67
$GC,6256,0.28,339.2,2641,697,2017,1936,272.3,9.8,416,6261,0.00,2.42,0.00,0.000,1190,0.000,0.077,2640,2099,1975,2017,1934,0,0,0,0,0,0,14.35,14.21,14.41
$GC,6577,0.31,355.8,2641,2100,2018,1934,241.5,9.2,430,6608,0.12,0.00,28.92,1.319,10406,0.126,0.000,2698,2100,1916,1951,1882,0,0,0,0,0,0,14.36,14.05,13.24
$GC,6907,0.26,355.8,2698,2100,1930,1866,201.7,11.6,441,6912,0.12,2.47,0.00,0.000,4740,0.243,0.084,2672,694,1894,1924,1865,0,0,0,0,0,0,13.99,14.18,14.12
$GC,7015,0.33,378.9,2674,694,1927,1866,191.7,8.9,462,7059,0.00,2.45,37.50,1.277,9382,0.000,0.079,2672,2101,1817,1841,1794,0,0,0,0,0,0,14.34,14.20,13.22
$GC,7360,0.37,397.2,2673,2101,1826,1777,159.3,9.2,481,7390,0.00,0.00,26.35,1.284,8358,0.000,0.000,2672,2100,1744,1765,1723,0,0,0,0,0,0,14.60,14.07,13.24
$GC,7688,0.44,418.7,2672,2102,1751,1707,130.5,9.0,492,7729,0.12,2.53,34.22,1.254,10916,0.133,0.087,2742,698,1652,1673,1631,0,0,0,0,0,0,14.30,14.09,13.27
$GC,7804,0.44,418.7,2742,699,1670,1624,116.3,11.3,515,7810,0.00,2.47,0.00,0.000,1030,0.000,0.077,2742,2101,1642,1662,1623,0,0,0,0,0,0,14.23,14.10,14.27
$GC,8112,0.40,418.7,2743,2101,1664,1616,81.5,10.3,536,8113,0.12,0.00,0.00,0.000,4230,0.236,0.000,2717,2102,1639,1663,1616,0,0,0,0,0,0,14.05,14.32,14.26
$GC,8410,0.52,519.3,2716,2103,1663,1615,60.9,5.4,566,8474,0.00,2.55,58.95,0.373,8612,0.000,0.083,2716,3508,1247,1300,1195,0,0,0,0,0,0,14.59,14.12,13.73
$GC,8549,0.71,596.2,2716,3510,1301,1205,52.2,6.4,593,8603,0.28,2.42,48.40,0.346,11430,0.083,0.064,2815,2104,932,1001,864,0,0,0,0,0,0,14.19,14.12,13.68
$GC,8909,0.80,657.2,2814,2105,1003,878,19.2,7.2,634,8952,0.00,2.60,39.00,0.252,8868,0.000,0.091,2815,687,681,743,620,0,0,0,0,0,0,14.56,13.91,13.77
$GC,9083,0.87,657.2,2816,687,750,628,7.9,11.5,668,9088,0.15,2.47,0.00,0.000,3206,0.113,0.073,2878,2105,689,751,627,0,0,0,0,0,0,13.93,13.98,14.06
$STATE,9130,end climb,SURFACE_DEPTH_REACHED
$STATE,9131,begin surface coast
$FINISH,0.1,1.011885
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9162,31.00,0.197,0,0,500,703.03
$SM_GC,1.28,8.25,0.15,31.00,0.074,0.095,0.197,197,2213,500,-7.38,-0.85,703.03,0,0,0,0,0,0,14.29,14.35,13.93
$RAFOS_CLK,411
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7511.33,-15110.62,130917,124342
$TT8_MAMPS,0.038948,1.02089
$HUMID,47.44
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,19
$CP_FREE,15933603840.000000
$PM_FREEKB_00,47525504
$24V_AH,12.23,199.907
$10V_AH,12.10,0.000
$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,27.025,80.100,1096.775,31.000,0.000,0.000,0.000,603.875,4.750,0.000,11.973,0.000,6694.750,1037.788,2217.534,322.006,0.000,2430.066,0.000,969.391,0.000,0.539,0.000
$DEVICE_MAMPS,457.470,2139.705,1325.745,196.605,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9164.000,9126.000,9105.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.377,20.000,11.086,0.000
$MEM,323340
$DATA_FILE_SIZE,23397,675
$CAP_FILE_SIZE,99146,0
$CFSIZE,2097872896,1994850304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.1
$CURRENT,0.050,68.47,1
$GPS,130917,152732,7511.747,-15109.632,24,0.7,24,20.7,0.0,0.0,12,8.0