version: 66.13
glider: 196
mission: 14
dive: 327
start: 9 13 117 18 27 46
data:
$ID,196
$MISSION,14
$DIVE,327
$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,65
$R_STBD_OVSHOOT,24
$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,909.0
$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
$GPS1,130917,181406,7510.5327,-15109.3076,61,0.8,71,20.7,0.6,4.1,9,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.2
$GPS2,130917,182712,7510.5928,-15109.4717,7,0.8,15,20.7,0.2,285.8,9,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,151.5,49646,-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,-145.9,138,2205,502,475,0.0,0.0,0,144,0.00,0.00,-91.62,0.000,16386,0.000,0.000,136,2205,2109,2034,2185,0,0,0,0,0,0,14.51,28.83,14.53
$GC,148,-0.57,-145.9,143,2205,2031,2184,3.6,-4.9,9,204,13.32,0.00,-37.08,0.000,18982,0.455,0.000,2384,2205,3963,3950,3976,0,0,0,0,0,0,13.56,13.14,14.05
$GC,503,-0.67,-145.9,2384,2205,3955,3976,68.3,-12.5,48,507,0.00,2.50,0.00,0.000,388,0.000,0.086,2378,3615,3965,3954,3976,0,0,0,0,0,0,14.57,14.05,14.58
$GC,548,-0.92,-145.9,2378,3616,3956,3976,73.0,-9.1,57,554,0.30,2.35,0.00,0.000,5286,0.087,0.052,2265,2226,3964,3954,3975,0,0,0,0,0,0,14.19,14.14,14.26
$GC,875,-0.90,-145.9,2273,2226,3955,3977,133.6,-17.2,78,880,0.00,2.45,0.00,0.000,388,0.000,0.086,2255,3607,3965,3954,3976,0,0,0,0,0,0,14.59,14.14,14.61
$GC,930,-0.95,-145.9,2256,3609,3955,3975,142.8,-14.6,89,936,0.00,2.40,0.00,0.000,1158,0.000,0.057,2255,2205,3965,3954,3976,0,0,0,0,0,0,14.10,13.95,14.11
$GC,1236,-0.95,-145.9,2255,2204,3956,3976,190.6,-15.1,100,1240,0.00,2.50,0.00,0.000,260,0.000,0.087,2248,3612,3965,3954,3976,0,0,0,0,0,0,14.63,14.09,14.64
$GC,1286,-1.05,-145.9,2249,3613,3956,3976,197.7,-12.9,110,1290,0.00,2.40,0.00,0.000,1158,0.000,0.058,2246,2201,3965,3954,3976,0,0,0,0,0,0,14.31,14.16,14.35
$GC,1596,-1.07,-145.9,2248,2199,3955,3976,241.4,-13.7,122,1601,0.00,2.53,0.00,0.000,388,0.000,0.088,2240,3614,3965,3954,3976,0,0,0,0,0,0,14.62,14.09,14.69
$GC,1686,-1.18,-145.9,2240,3617,3955,3977,253.0,-12.2,140,1692,0.12,2.40,0.00,0.000,5254,0.142,0.057,2189,2199,3965,3954,3976,0,0,0,0,0,0,14.19,14.16,14.31
$GC,2017,-1.11,-145.9,2190,2199,3955,3977,310.6,-17.1,156,2022,0.12,2.50,0.00,0.000,2436,0.291,0.084,2208,3611,3965,3954,3976,0,0,0,0,0,0,13.87,14.09,14.04
$GC,2110,-1.17,-145.9,2212,3612,3958,3977,323.1,-12.5,174,2114,0.00,2.40,0.00,0.000,1158,0.000,0.056,2208,2193,3965,3954,3976,0,0,0,0,0,0,14.31,14.17,14.34
$GC,2440,-1.17,-145.9,2209,2192,3955,3975,367.6,-13.3,190,2444,0.00,2.50,0.00,0.000,260,0.000,0.086,2198,3607,3965,3954,3976,0,0,0,0,0,0,14.64,14.09,14.65
$GC,2557,-1.23,-145.9,2199,3609,3954,3977,382.5,-12.3,213,2563,0.00,2.40,0.00,0.000,1158,0.000,0.056,2198,2193,3965,3954,3976,0,0,0,0,0,0,14.23,14.09,14.27
$GC,2860,-1.23,-145.9,2198,2196,3954,3977,424.3,-13.7,224,2864,0.00,2.50,0.00,0.000,260,0.000,0.086,2189,3607,3964,3954,3975,0,0,0,0,0,0,14.62,14.07,14.64
$GC,2940,-1.27,-145.9,2190,3609,3954,3976,435.2,-12.9,240,2945,0.00,2.38,0.00,0.000,1158,0.000,0.055,2189,2202,3965,3954,3976,0,0,0,0,0,0,14.26,14.10,14.27
$GC,3250,-1.27,-145.9,2189,2202,3954,3977,479.1,-14.2,252,3255,0.00,2.50,0.00,0.000,260,0.000,0.086,2184,3609,3964,3954,3975,0,0,0,0,0,0,14.60,14.05,14.62
$STATE,3258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3258,begin apogee
$GC,3266,-0.13,0.0,2185,2096,3955,3976,480.4,-14.2,254,3493,1.40,0.00,223.62,1.408,10246,0.248,0.000,2529,2095,3364,3372,3357,0,0,0,0,0,0,13.75,13.52,12.68
$STATE,3497,end apogee,CONTROL_FINISHED_OK
$STATE,3497,begin climb
$GC,3500,0.57,145.9,2530,2095,3367,3349,493.3,0.0,261,3725,0.73,2.70,216.07,1.353,10756,0.061,0.080,2781,697,2761,2787,2736,0,0,0,0,0,0,13.71,12.86,12.26
$GC,3911,0.17,145.9,2781,697,2784,2725,490.0,12.4,300,3916,0.68,2.53,0.00,0.000,5254,0.330,0.073,2643,2105,2753,2782,2724,0,0,0,0,0,0,13.34,13.75,13.75
$GC,4227,0.01,190.0,2644,2106,2784,2719,463.7,8.0,313,4302,0.20,2.58,67.40,1.375,12964,0.273,0.086,2594,696,2582,2626,2538,0,0,0,0,0,0,13.81,13.91,13.09
$GC,4343,0.04,230.3,2594,695,2624,2532,455.2,8.1,336,4409,0.00,2.47,62.20,1.347,9254,0.000,0.080,2594,2099,2427,2477,2377,0,0,0,0,0,0,14.12,14.01,12.97
$GC,4710,0.06,257.3,2594,2099,2461,2355,423.8,8.8,359,4753,0.00,0.00,41.03,1.393,8742,0.000,0.000,2594,2099,2313,2359,2267,0,0,0,0,0,0,14.54,14.00,13.14
$GC,5069,0.10,280.5,2592,2100,2345,2248,391.7,8.9,376,5109,0.00,2.50,33.25,1.411,8868,0.000,0.087,2594,694,2215,2260,2170,0,0,0,0,0,0,14.58,14.09,13.20
$GC,5144,0.22,311.7,2594,693,2254,2163,385.1,8.6,391,5201,0.17,2.47,49.28,1.341,11430,0.105,0.078,2668,2105,2092,2132,2052,0,0,0,0,0,0,14.16,14.09,13.13
$GC,5521,0.15,311.7,2668,2107,2118,2032,333.2,13.7,416,5526,0.12,2.50,0.00,0.000,4740,0.261,0.083,2642,691,2074,2116,2032,0,0,0,0,0,0,13.92,14.07,14.04
$GC,5562,0.15,311.7,2644,692,2113,2033,328.3,11.5,424,5567,0.00,2.47,0.00,0.000,1030,0.000,0.078,2644,2101,2075,2119,2032,0,0,0,0,0,0,14.21,14.09,14.26
$GC,5882,0.15,311.7,2645,2102,2114,2030,291.9,11.1,438,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2099,2073,2116,2030,0,0,0,0,0,0,14.46,14.48,14.47
$GC,6182,0.15,311.7,2644,2103,2113,2030,260.0,10.4,448,6187,0.00,2.50,0.00,0.000,516,0.000,0.086,2644,690,2071,2113,2029,0,0,0,0,0,0,14.44,14.03,14.46
$GC,6294,0.22,326.0,2644,691,2113,2028,249.7,9.3,470,6315,0.00,2.50,14.98,1.457,9382,0.000,0.077,2644,2103,2036,2075,1997,0,0,0,0,0,0,14.19,14.05,13.23
$GC,6637,0.27,357.8,2644,2104,2066,1984,219.6,8.5,488,6696,0.00,0.00,57.15,1.292,8358,0.000,0.000,2644,2101,1905,1939,1872,0,0,0,0,0,0,14.45,13.94,13.16
$GC,6995,0.36,406.6,2643,2103,1920,1857,190.3,7.7,500,7091,0.17,2.60,87.70,1.217,10916,0.100,0.089,2713,694,1706,1722,1691,0,0,0,0,0,0,14.19,13.84,13.12
$GC,7126,0.36,406.6,2714,694,1712,1680,175.2,11.9,521,7131,0.00,2.50,0.00,0.000,1030,0.000,0.078,2713,2098,1694,1711,1678,0,0,0,0,0,0,14.05,13.93,14.12
$GC,7446,0.36,406.6,2713,2099,1709,1667,137.5,11.6,535,7452,0.00,2.53,0.00,0.000,516,0.000,0.087,2713,691,1689,1710,1668,0,0,0,0,0,0,14.43,14.05,14.47
$GC,7507,0.41,406.6,2713,691,1707,1668,131.1,10.4,547,7513,0.00,2.50,0.00,0.000,1158,0.000,0.077,2713,2105,1688,1708,1668,0,0,0,0,0,0,14.20,14.07,14.24
$GC,7840,0.42,416.3,2713,2106,1709,1666,97.4,9.5,563,7847,0.00,2.60,3.42,0.313,8740,0.000,0.086,2713,688,1665,1689,1641,0,0,0,0,0,0,14.42,13.95,13.38
$GC,7890,0.49,439.0,2713,688,1699,1647,93.1,9.0,572,7913,0.00,2.50,15.52,0.464,9382,0.000,0.077,2714,2106,1577,1601,1553,0,0,0,0,0,0,14.02,13.92,13.49
$GC,8220,0.60,499.9,2713,2105,1614,1557,66.6,7.2,607,8261,0.20,0.00,39.45,0.390,10406,0.097,0.000,2793,2105,1326,1366,1287,0,0,0,0,0,0,14.27,14.09,13.66
$GC,8558,0.60,546.4,2793,2105,1372,1291,36.9,7.9,641,8595,0.00,2.53,29.90,0.303,8868,0.000,0.088,2794,687,1135,1190,1081,0,0,0,0,0,0,14.57,14.07,13.68
$GC,8701,0.74,613.9,2795,687,1193,1095,26.0,6.9,669,8748,0.00,2.47,43.20,0.269,9382,0.000,0.076,2794,2101,862,925,799,0,0,0,0,0,0,14.02,13.96,13.77
$GC,9054,0.89,681.4,2795,2101,927,803,5.3,6.9,709,9091,0.22,0.00,34.75,0.209,10658,0.091,0.000,2884,2100,642,690,595,0,0,0,0,0,0,14.27,28.83,14.29
$STATE,9091,end climb,SURFACE_DEPTH_REACHED
$STATE,9091,begin surface coast
$FINISH,-0.1,1.004551
$STATE,9104,end surface coast,CONTROL_FINISHED_OK
$STATE,9104,begin surface
$SM_CCo,9125,23.48,0.204,0,0,499,703.28
$SM_GC,1.14,8.27,0.17,23.48,0.073,0.100,0.204,198,2247,499,-7.37,-0.57,703.28,0,0,0,0,0,0,14.28,14.33,13.91
$RAFOS_CLK,172
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7512.88,-15118.00,130917,181841
$TT8_MAMPS,0.039697,0.96621
$HUMID,46.06
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15932751872.000000
$PM_FREEKB_00,47429632
$24V_AH,12.26,200.930
$10V_AH,12.13,0.000
$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,26.050,84.950,1018.925,23.475,0.000,0.000,0.000,440.925,2.250,0.000,16.454,0.000,6536.899,925.038,2150.183,336.298,0.000,2208.299,0.000,1030.323,2206.000,0.539,0.000
$DEVICE_MAMPS,455.175,100.215,1457.325,204.255,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9139.000,9100.000,9079.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.541,20.000,10.727,0.000
$MEM,323352
$DATA_FILE_SIZE,23388,717
$CAP_FILE_SIZE,102622,0
$CFSIZE,2097872896,1994326016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.051,83.11,1
$GPS,130917,210139,7509.295,-15108.621,34,0.7,38,20.7,0.7,157.1,11,8.4