version: 66.13
glider: 196
mission: 14
dive: 309
start: 9 11 117 16 15 36
data:
$ID,196
$MISSION,14
$DIVE,309
$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,36
$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,859.0
$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
$GPS1,110917,160356,7532.9814,-15111.1973,20,0.7,24,20.7,0.6,182.6,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.8
$GPS2,110917,161501,7532.9761,-15111.1104,6,0.7,25,20.7,0.4,45.8,12,8.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.6,90285,-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,-145.9,196,2222,498,485,0.0,0.0,0,144,0.00,0.00,-91.50,0.000,16386,0.000,0.000,195,2222,2101,2024,2178,0,0,0,0,0,0,14.36,28.83,14.38
$GC,147,-0.57,-145.9,196,2223,2025,2181,3.1,-3.1,9,210,12.90,2.78,-40.10,0.000,18724,0.451,2.135,2376,3585,3966,3953,3979,0,0,0,0,0,0,13.54,12.59,13.97
$GC,335,-0.73,-145.9,2376,3582,3959,3976,38.6,-12.7,46,341,0.00,2.35,0.00,0.000,1158,0.000,0.057,2375,2230,3968,3958,3979,0,0,0,0,0,0,13.97,13.87,14.02
$GC,640,-0.85,-145.9,2376,2229,3960,3980,78.3,-10.0,77,645,0.20,2.55,0.00,0.000,4740,0.101,0.080,2293,790,3969,3960,3978,0,0,0,0,0,0,14.09,13.87,14.14
$GC,691,-0.91,-145.9,2294,791,3960,3980,85.4,-14.0,87,696,0.00,2.45,0.00,0.000,1158,0.000,0.085,2293,2182,3968,3959,3978,0,0,0,0,0,0,13.95,13.81,13.98
$GC,1001,-0.95,-145.9,2294,2185,3960,3980,131.9,-13.9,105,1006,0.00,2.58,0.00,0.000,388,0.000,0.089,2293,3620,3969,3959,3979,0,0,0,0,0,0,14.42,14.02,14.44
$GC,1133,-1.07,-145.9,2294,3621,3961,3979,146.8,-11.0,131,1138,0.20,2.45,0.00,0.000,5254,0.100,0.056,2220,2199,3968,3958,3979,0,0,0,0,0,0,14.13,14.07,14.19
$GC,1456,-1.00,-145.9,2221,2203,3961,3979,206.5,-18.5,145,1461,0.12,2.50,0.00,0.000,2436,0.297,0.083,2239,3619,3969,3959,3979,0,0,0,0,0,0,13.73,13.93,13.90
$GC,1586,-1.08,-145.9,2239,3621,3960,3980,225.1,-12.6,171,1591,0.00,2.42,0.00,0.000,1158,0.000,0.058,2238,2194,3969,3959,3979,0,0,0,0,0,0,14.15,14.00,14.21
$GC,1909,-1.10,-145.9,2239,2194,3961,3979,268.5,-12.7,185,1913,0.00,2.50,0.00,0.000,388,0.000,0.089,2236,3614,3969,3960,3979,0,0,0,0,0,0,14.59,14.09,14.60
$GC,1954,-1.18,-145.9,2236,3615,3960,3980,274.2,-11.6,194,1958,0.00,2.40,0.00,0.000,1158,0.000,0.056,2235,2197,3971,3963,3979,0,0,0,0,0,0,14.31,14.17,14.34
$GC,2269,-1.22,-145.9,2236,2196,3960,3979,312.2,-11.9,207,2274,0.12,2.50,0.00,0.000,4484,0.149,0.084,2169,3614,3969,3959,3979,0,0,0,0,0,0,14.25,14.11,14.28
$GC,2339,-1.17,-145.9,2170,3611,3966,3978,323.3,-16.4,221,2344,0.15,2.42,0.00,0.000,3206,0.272,0.057,2198,2197,3968,3958,3979,0,0,0,0,0,0,13.84,14.17,14.17
$GC,2660,-1.14,-145.9,2197,2196,3959,3979,369.6,-14.0,235,2664,0.00,2.50,0.00,0.000,388,0.000,0.086,2189,3614,3968,3958,3978,0,0,0,0,0,0,14.64,14.06,14.69
$GC,2755,-1.14,-145.9,2190,3616,3959,3978,382.6,-13.3,254,2759,0.00,2.42,0.00,0.000,1030,0.000,0.056,2190,2199,3968,3958,3979,0,0,0,0,0,0,14.19,14.12,14.21
$GC,3080,-1.10,-145.9,2190,2198,3959,3979,429.8,-14.5,269,3085,0.12,2.53,0.00,0.000,2436,0.314,0.083,2209,3619,3968,3957,3979,0,0,0,0,0,0,13.82,13.97,13.97
$GC,3197,-1.18,-145.9,2210,3620,3958,3979,443.4,-10.9,292,3204,0.00,2.42,0.00,0.000,1158,0.000,0.055,2209,2193,3967,3957,3978,0,0,0,0,0,0,14.23,14.12,14.28
$STATE,3498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3498,begin apogee
$GC,3504,-0.13,0.0,2210,2062,3958,3979,480.4,-12.2,303,3728,1.25,0.08,219.88,1.417,10246,0.226,0.177,2528,2113,3365,3381,3350,0,0,0,0,0,0,13.76,13.50,12.67
$STATE,3731,end apogee,CONTROL_FINISHED_OK
$STATE,3732,begin climb
$GC,3736,0.57,145.9,2529,2113,3379,3340,492.2,0.0,310,3955,0.75,2.62,207.20,1.369,10756,0.063,0.075,2792,721,2766,2803,2730,0,0,0,0,0,0,13.69,13.12,12.27
$GC,4075,0.16,145.9,2792,725,2793,2728,489.7,14.1,371,4080,0.75,2.50,0.00,0.000,5254,0.323,0.073,2638,2093,2758,2790,2727,0,0,0,0,0,0,13.21,13.58,13.60
$GC,4401,0.01,171.1,2639,2093,2791,2721,459.9,8.8,386,4437,0.22,0.00,33.47,1.469,12454,0.267,0.000,2590,2094,2667,2708,2627,0,0,0,0,0,0,13.82,13.99,13.11
$GC,4731,0.01,224.3,2588,2094,2701,2615,435.0,7.5,397,4816,0.00,2.45,79.20,1.393,8868,0.000,0.083,2589,724,2448,2503,2394,0,0,0,0,0,0,14.58,13.70,13.07
$GC,4848,0.09,260.7,2589,725,2497,2392,425.8,8.3,420,4913,0.00,2.45,54.75,1.390,9382,0.000,0.078,2589,2107,2296,2348,2244,0,0,0,0,0,0,14.06,13.97,12.95
$GC,5213,0.15,292.2,2589,2107,2341,2233,394.5,8.5,443,5261,0.12,0.00,46.30,1.399,10406,0.130,0.000,2649,2106,2173,2222,2125,0,0,0,0,0,0,14.12,13.99,13.15
$GC,5541,0.11,292.2,2650,2108,2210,2112,352.4,12.9,454,5546,0.12,2.42,0.00,0.000,4740,0.246,0.083,2625,730,2160,2210,2110,0,0,0,0,0,0,14.02,14.07,14.15
$GC,5612,0.18,295.6,2620,730,2210,2111,344.9,9.8,468,5617,0.00,2.40,0.00,0.000,1190,0.000,0.077,2619,2103,2159,2209,2110,0,0,0,0,0,0,14.35,14.21,14.38
$GC,5933,0.20,295.6,2620,2106,2210,2109,312.1,10.2,482,5933,0.00,0.00,0.00,0.000,134,0.000,0.000,2619,2105,2158,2208,2108,0,0,0,0,0,0,14.65,14.68,14.66
$GC,6233,0.23,300.5,2620,2105,2209,2107,282.2,9.8,492,6239,0.12,0.00,4.40,1.630,10406,0.125,0.000,2680,2105,2141,2190,2093,0,0,0,0,0,0,14.39,14.21,13.18
$GC,6533,0.15,300.5,2679,2105,2194,2094,244.2,12.4,502,6538,0.17,2.42,0.00,0.000,4740,0.238,0.080,2644,724,2143,2192,2094,0,0,0,0,0,0,14.00,14.21,14.15
$GC,6640,0.22,334.0,2644,725,2193,2095,234.6,8.5,523,6709,0.00,2.40,61.42,1.336,9382,0.000,0.079,2643,2103,1999,2044,1954,0,0,0,0,0,0,14.35,14.22,13.21
$GC,7016,0.28,367.0,2644,2104,2041,1944,202.0,8.5,548,7076,0.00,2.45,53.00,1.304,8868,0.000,0.084,2644,727,1865,1898,1833,0,0,0,0,0,0,14.61,13.81,13.21
$GC,7151,0.44,413.7,2644,728,1890,1834,190.8,7.8,575,7236,0.25,2.42,79.15,1.227,11430,0.089,0.080,2743,2105,1677,1701,1654,0,0,0,0,0,0,14.14,14.02,13.10
$GC,7557,0.37,413.7,2744,2106,1698,1636,132.5,14.1,606,7558,0.17,0.00,0.00,0.000,4230,0.227,0.000,2704,2105,1666,1697,1635,0,0,0,0,0,0,14.02,14.33,14.27
$GC,7857,0.40,417.3,2704,2106,1697,1632,101.5,9.8,616,7862,0.00,2.45,0.00,0.000,676,0.000,0.087,2706,721,1663,1696,1630,0,0,0,0,0,0,14.62,14.13,14.64
$GC,7938,0.50,450.9,2706,722,1692,1632,94.6,8.5,632,7961,0.08,2.40,18.55,0.489,11430,0.087,0.077,2770,2093,1526,1555,1498,0,0,0,0,0,0,14.08,14.05,13.58
$GC,8258,0.46,450.9,2771,2094,1556,1494,56.9,10.2,666,8259,0.17,0.00,0.00,0.000,4230,0.239,0.000,2733,2094,1524,1555,1494,0,0,0,0,0,0,13.81,14.01,14.01
$GC,8558,0.62,580.5,2732,2095,1555,1489,41.4,4.0,696,8632,0.12,2.42,67.62,0.322,10916,0.123,0.084,2794,733,994,1062,926,0,0,0,0,0,0,14.13,13.91,13.67
$GC,8743,0.76,627.6,2794,730,1063,925,27.9,7.8,732,8776,0.00,2.42,25.08,0.288,9382,0.000,0.078,2794,2105,805,873,737,0,0,0,0,0,0,14.26,14.12,13.71
$GC,9073,0.95,699.2,2794,2105,874,733,6.3,6.7,768,9110,0.25,0.00,35.03,0.220,10914,0.089,0.000,2893,2105,544,576,512,0,0,0,0,0,0,14.11,28.83,14.14
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9111,begin surface coast
$FINISH,0.0,1.020940
$STATE,9123,end surface coast,CONTROL_FINISHED_OK
$STATE,9123,begin surface
$SM_CCo,9146,6.80,0.211,0,0,499,703.52
$SM_GC,1.92,8.30,0.17,6.80,0.074,0.127,0.211,199,2218,499,-7.38,-0.71,703.52,0,0,0,0,0,0,14.30,14.25,13.92
$RAFOS_CLK,411
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7536.21,-15106.80,110917,132822
$TT8_MAMPS,0.040446,0.942242
$HUMID,46.96
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,15940321280.000000
$PM_FREEKB_00,48230144
$24V_AH,12.27,191.862
$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,26.700,74.425,985.050,6.800,0.000,0.000,0.000,376.950,2.750,0.000,28.975,0.000,6530.899,976.821,2005.953,318.799,0.000,2095.119,0.000,1113.575,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2135.115,1630.215,211.140,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9155.000,9125.000,9096.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.722,20.000,11.708,0.000
$MEM,323440
$DATA_FILE_SIZE,26679,777
$CAP_FILE_SIZE,103868,0
$CFSIZE,2097872896,1999110144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.065,71.11,1
$GPS,110917,184917,7531.729,-15111.326,20,0.7,22,20.7,0.0,0.0,11,8.6