version: 66.13
glider: 196
mission: 14
dive: 298
start: 9 10 117 9 56 44
data:
$ID,196
$MISSION,14
$DIVE,298
$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,62
$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,828.0
$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
$GPS1,100917,094633,7542.0366,-15110.3232,91,0.7,92,20.8,0.0,113.2,12,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.5
$GPS2,100917,095613,7542.0308,-15110.2773,6,0.8,10,20.8,0.0,0.0,10,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,141.7,106803,-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,-145.9,184,2244,505,493,0.0,0.0,0,144,0.00,0.00,-91.93,0.000,16386,0.000,0.000,181,2244,2141,2070,2213,0,0,0,0,0,0,14.49,28.83,14.52
$GC,147,-0.57,-145.9,182,2245,2075,2213,3.7,-4.8,9,205,13.23,2.88,-36.60,0.000,19236,0.461,2.139,2386,832,3965,3951,3979,1,0,0,0,0,0,13.34,12.57,14.04
$GC,370,-0.71,-145.9,2386,833,3956,3979,46.6,-12.8,53,375,0.12,2.40,0.00,0.000,5254,0.122,0.087,2341,2169,3966,3954,3979,0,0,0,0,0,0,13.90,13.83,14.01
$GC,681,-0.78,-145.9,2341,2169,3956,3979,94.4,-12.8,85,685,0.00,2.58,0.00,0.000,388,0.000,0.090,2333,3618,3964,3951,3978,0,0,0,0,0,0,14.56,14.10,14.58
$GC,813,-0.97,-145.9,2334,3619,3956,3979,108.2,-9.4,111,818,0.20,2.35,0.00,0.000,5286,0.101,0.055,2253,2234,3967,3955,3979,0,0,0,0,0,0,14.26,14.19,14.34
$GC,1133,-0.94,-145.9,2253,2234,3956,3980,165.1,-17.2,125,1134,0.00,0.00,0.00,0.000,134,0.000,0.000,2253,2234,3967,3956,3978,0,0,0,0,0,0,14.45,14.47,14.46
$GC,1433,-0.94,-145.9,2253,2234,3956,3980,211.3,-14.7,135,1438,0.00,2.47,0.00,0.000,260,0.000,0.087,2247,3620,3966,3955,3978,0,0,0,0,0,0,14.44,13.97,14.45
$GC,1528,-1.04,-145.9,2247,3620,3957,3979,223.8,-12.1,154,1533,0.00,2.45,0.00,0.000,1158,0.000,0.057,2247,2198,3967,3955,3979,0,0,0,0,0,0,14.17,14.05,14.21
$GC,1854,-1.07,-145.9,2246,2197,3956,3980,267.8,-12.7,169,1859,0.00,2.53,0.00,0.000,388,0.000,0.088,2236,3610,3967,3955,3979,0,0,0,0,0,0,14.42,13.93,14.43
$GC,1959,-1.16,-145.9,2237,3611,3956,3980,279.9,-11.0,190,1964,0.00,2.40,0.00,0.000,1158,0.000,0.055,2237,2199,3967,3955,3979,0,0,0,0,0,0,14.16,14.00,14.19
$GC,2274,-1.20,-145.9,2237,2198,3955,3980,317.8,-11.8,203,2279,0.12,2.53,0.00,0.000,4484,0.147,0.084,2179,3613,3967,3955,3979,0,0,0,0,0,0,14.08,13.93,14.13
$GC,2310,-1.15,-145.9,2179,3614,3956,3980,323.0,-15.8,210,2315,0.12,2.42,0.00,0.000,3206,0.264,0.057,2201,2195,3967,3955,3979,0,0,0,0,0,0,13.82,14.07,14.09
$GC,2635,-1.13,-145.9,2201,2195,3956,3979,369.6,-14.1,225,2640,0.00,2.55,0.00,0.000,388,0.000,0.087,2194,3618,3967,3955,3979,0,0,0,0,0,0,14.42,13.93,14.44
$GC,2725,-1.16,-145.9,2194,3619,3954,3979,381.8,-12.9,243,2730,0.00,2.45,0.00,0.000,1158,0.000,0.057,2194,2199,3968,3955,3981,0,0,0,0,0,0,14.09,13.97,14.12
$GC,3055,-1.13,-145.9,2194,2199,3955,3980,429.3,-14.4,259,3060,0.00,2.55,0.00,0.000,388,0.000,0.086,2184,3619,3967,3955,3979,0,0,0,0,0,0,14.41,13.88,14.42
$GC,3160,-1.13,-145.9,2185,3620,3955,3978,444.2,-13.7,280,3166,0.12,2.45,0.00,0.000,3078,0.243,0.057,2209,2198,3966,3954,3979,0,0,0,0,0,0,13.76,13.98,14.00
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3450,-0.13,0.0,2210,2058,3956,3979,480.1,-12.3,292,3686,1.27,0.10,228.60,1.395,10246,0.228,0.157,2535,2120,3357,3372,3343,0,0,0,0,0,0,13.73,13.39,12.60
$STATE,3690,end apogee,CONTROL_FINISHED_OK
$STATE,3690,begin climb
$GC,3693,0.57,145.9,2534,2120,3369,3338,493.5,0.0,300,4252,0.73,2.72,214.05,1.340,10756,0.060,0.080,2781,723,2749,2782,2717,0,0,0,0,0,0,13.61,12.83,12.24
$GC,4342,0.17,145.9,2782,723,2782,2717,451.8,13.3,319,4347,0.65,2.40,0.00,0.000,5254,0.326,0.075,2644,2093,2748,2781,2715,0,0,0,0,0,0,13.60,13.97,14.00
$GC,4668,0.01,175.5,2645,2096,2782,2713,422.7,8.6,334,4710,0.22,0.00,40.70,1.400,12454,0.262,0.000,2600,2095,2650,2692,2608,0,0,0,0,0,0,13.81,13.99,13.16
$GC,4998,0.01,229.1,2593,2095,2682,2585,397.8,7.5,345,5089,0.00,2.53,85.75,1.321,8868,0.000,0.083,2599,726,2425,2477,2374,0,0,0,0,0,0,14.42,13.84,13.07
$GC,5122,0.08,265.4,2599,727,2465,2367,388.1,8.3,369,5181,0.00,2.45,54.03,1.313,9382,0.000,0.077,2599,2101,2282,2332,2232,0,0,0,0,0,0,13.99,13.88,12.97
$GC,5482,0.12,284.5,2606,2102,2318,2207,355.5,9.1,391,5510,0.00,0.00,24.48,1.385,8358,0.000,0.000,2599,2103,2201,2253,2149,0,0,0,0,0,0,14.36,14.00,13.17
$GC,5810,0.19,308.1,2600,2102,2241,2134,325.8,8.9,402,5851,0.12,2.45,34.22,1.342,10916,0.124,0.086,2668,724,2105,2150,2060,0,0,0,0,0,0,14.22,13.97,13.21
$GC,5903,0.16,308.1,2668,725,2138,2055,314.1,13.0,420,5908,0.15,2.42,0.00,0.000,5254,0.246,0.078,2636,2102,2094,2136,2053,0,0,0,0,0,0,13.95,14.12,14.22
$GC,6233,0.16,308.1,2635,2104,2137,2046,278.6,10.4,436,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2103,2088,2136,2041,0,0,0,0,0,0,14.60,14.61,14.60
$GC,6534,0.17,316.8,2636,2103,2137,2044,248.9,9.6,446,6543,0.00,2.45,2.38,0.623,8740,0.000,0.084,2642,724,2073,2118,2028,0,0,0,0,0,0,14.58,14.20,12.83
$GC,6594,0.25,342.0,2642,726,2125,2032,243.4,8.8,458,6656,0.00,2.42,54.83,1.310,9382,0.000,0.078,2642,2108,1966,2010,1922,0,0,0,0,0,0,14.26,14.13,13.21
$GC,6955,0.31,372.1,2642,2109,1999,1909,211.6,8.6,480,7008,0.12,0.00,50.72,1.274,10406,0.124,0.000,2696,2108,1848,1878,1818,0,0,0,0,0,0,14.12,14.00,13.23
$GC,7284,0.29,372.1,2696,2109,1858,1804,174.4,10.9,491,7288,0.00,2.45,0.00,0.000,644,0.000,0.086,2698,727,1830,1858,1802,0,0,0,0,0,0,14.62,14.08,14.60
$GC,7385,0.31,372.1,2699,726,1856,1805,164.0,10.4,508,7391,0.00,2.40,0.00,0.000,1158,0.000,0.078,2699,2104,1829,1856,1803,0,0,0,0,0,0,14.23,14.11,14.27
$GC,7688,0.31,372.1,2699,2097,1855,1800,132.1,10.2,519,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2101,1827,1854,1800,0,0,0,0,0,0,14.50,14.52,14.51
$GC,7989,0.33,391.3,2699,2101,1855,1800,104.0,9.1,529,8020,0.00,2.42,25.92,1.315,8740,0.000,0.084,2699,724,1765,1788,1742,0,0,0,0,0,0,14.49,13.84,13.25
$GC,8093,0.44,431.6,2699,726,1777,1737,95.5,8.1,549,8119,0.00,2.40,22.75,0.471,9382,0.000,0.077,2699,2099,1604,1629,1580,0,0,0,0,0,0,14.15,14.03,13.60
$GC,8425,0.56,497.2,2698,2100,1641,1581,69.7,7.0,585,8466,0.20,0.00,39.25,0.399,10406,0.098,0.000,2782,2098,1335,1379,1291,0,0,0,0,0,0,14.14,14.02,13.62
$GC,8765,0.61,564.3,2782,2100,1382,1296,39.6,6.9,619,8806,0.00,0.00,39.85,0.311,8230,0.000,0.000,2782,2099,1063,1125,1001,0,0,0,0,0,0,14.42,14.05,13.70
$GC,9105,0.78,669.0,2781,2100,1126,1009,17.7,5.2,653,9174,0.12,2.47,62.45,0.245,10916,0.137,0.088,2843,718,633,685,582,0,0,0,0,0,0,14.09,13.88,13.75
$GC,9191,0.81,669.0,2844,719,686,583,9.7,11.3,669,9197,0.00,2.45,0.00,0.000,1158,0.000,0.073,2843,2105,631,680,582,0,0,0,0,0,0,14.12,14.00,14.15
$STATE,9259,end climb,SURFACE_DEPTH_REACHED
$STATE,9259,begin surface coast
$FINISH,1.0,1.021562
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9336,21.25,0.206,0,0,496,702.78
$SM_GC,0.98,8.23,0.17,21.25,0.076,0.112,0.206,200,2234,496,-7.38,-0.54,702.78,0,0,0,0,0,0,14.19,14.19,13.88
$RAFOS_CLK,99
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7540.58,-15117.82,100917,071247
$TT8_MAMPS,0.085386,0.917525
$HUMID,43.81
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,0.000000
$PM_FREEKB_00,48668992
$24V_AH,12.24,186.424
$10V_AH,12.09,0.000
$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,25.750,69.900,979.975,21.250,0.000,0.000,0.000,328.875,2.250,0.000,12.383,0.000,6435.429,891.339,2320.601,302.903,0.000,2350.951,0.000,973.852,2215.000,0.539,0.000
$DEVICE_MAMPS,460.530,2138.940,1399.950,205.785,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9296.000,9300.000,9289.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.523,20.000,42.499,0.000
$MEM,323652
$DATA_FILE_SIZE,23405,678
$CAP_FILE_SIZE,96577,0
$CFSIZE,2097872896,2002124800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.017,29.90,1
$GPS,100917,123403,7540.858,-15109.633,19,0.7,37,20.8,0.2,78.5,11,7.1