version: 66.13
glider: 196
mission: 14
dive: 332
start: 9 14 117 8 31 24
data:
$ID,196
$MISSION,14
$DIVE,332
$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,37
$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,923.0
$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
$GPS1,140917,081525,7504.2778,-15106.4785,17,0.7,33,20.7,0.0,338.2,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.4
$GPS2,140917,083055,7504.3125,-15106.4355,8,0.7,8,20.7,0.0,0.0,10,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.6,38124,-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,-145.9,189,2219,496,491,0.0,0.0,0,144,0.00,0.00,-91.22,0.000,16386,0.000,0.000,190,2218,2101,2024,2179,0,0,0,0,0,0,14.35,28.83,14.38
$GC,147,-0.57,-145.9,192,2220,2026,2181,3.7,-4.8,9,204,12.90,2.75,-37.22,0.000,18724,0.451,2.142,2376,3592,3963,3950,3976,1,0,0,0,0,0,13.32,12.57,13.97
$GC,376,-0.74,-145.9,2375,3594,3955,3975,45.9,-12.7,54,383,0.00,2.35,0.00,0.000,1158,0.000,0.057,2376,2236,3965,3954,3976,0,0,0,0,0,0,14.05,13.97,14.07
$GC,680,-0.87,-145.9,2376,2235,3957,3976,84.3,-10.0,85,685,0.20,2.53,0.00,0.000,4740,0.104,0.080,2293,794,3965,3955,3976,0,0,0,0,0,0,14.04,13.86,14.08
$GC,747,-0.95,-145.9,2293,794,3955,3977,93.2,-13.4,98,753,0.00,2.53,0.00,0.000,1158,0.000,0.087,2292,2189,3966,3960,3972,0,0,0,0,0,0,14.09,13.94,14.13
$GC,1072,-1.00,-145.9,2293,2192,3957,3978,138.4,-12.9,113,1077,0.12,2.53,0.00,0.000,4484,0.132,0.087,2236,3616,3966,3956,3976,0,0,0,0,0,0,14.23,14.09,14.27
$GC,1238,-1.05,-145.9,2244,3615,3955,3975,163.8,-14.8,146,1242,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2199,3965,3955,3976,0,0,0,0,0,0,14.30,14.16,14.34
$GC,1553,-1.03,-145.9,2236,2198,3957,3976,216.7,-16.5,159,1558,0.00,2.50,0.00,0.000,388,0.000,0.086,2227,3612,3965,3955,3976,0,0,0,0,0,0,14.58,14.06,14.60
$GC,1658,-1.07,-145.9,2228,3614,3956,3977,232.4,-14.1,180,1664,0.00,2.40,0.00,0.000,1158,0.000,0.057,2228,2202,3966,3956,3976,0,0,0,0,0,0,14.26,14.14,14.31
$GC,1975,-1.07,-145.9,2228,2200,3956,3977,280.6,-14.6,193,1979,0.00,2.50,0.00,0.000,260,0.000,0.088,2223,3614,3965,3955,3976,0,0,0,0,0,0,14.63,14.09,14.64
$GC,2102,-1.14,-145.9,2223,3616,3956,3977,296.6,-11.9,218,2106,0.00,2.42,0.00,0.000,1158,0.000,0.056,2223,2197,3966,3956,3976,0,0,0,0,0,0,14.21,14.09,14.26
$GC,2427,-1.16,-145.9,2223,2197,3956,3977,337.5,-12.3,233,2432,0.00,2.53,0.00,0.000,388,0.000,0.090,2222,3614,3965,3955,3976,0,0,0,0,0,0,14.62,14.04,14.64
$GC,2512,-1.26,-145.9,2223,3614,3957,3976,347.3,-10.7,250,2518,0.15,2.42,0.00,0.000,5254,0.119,0.057,2162,2193,3966,3956,3976,0,0,0,0,0,0,14.13,14.08,14.23
$GC,2817,-1.16,-145.9,2162,2192,3956,3976,400.3,-17.5,261,2822,0.17,2.53,0.00,0.000,2436,0.319,0.082,2184,3614,3965,3955,3976,0,0,0,0,0,0,13.66,14.02,13.88
$GC,2963,-1.20,-145.9,2189,3618,3955,3977,420.2,-12.6,290,2969,0.00,2.42,0.00,0.000,1158,0.000,0.056,2189,2195,3965,3957,3974,0,0,0,0,0,0,14.21,14.08,14.25
$GC,3268,-1.17,-145.9,2189,2195,3955,3976,462.7,-13.9,301,3273,0.00,2.53,0.00,0.000,388,0.000,0.086,2183,3620,3965,3954,3976,0,0,0,0,0,0,14.63,14.07,14.63
$GC,3363,-1.20,-145.9,2183,3621,3955,3977,475.7,-13.1,320,3369,0.00,2.42,0.00,0.000,1158,0.000,0.056,2183,2200,3964,3954,3974,0,0,0,0,0,0,14.17,14.03,14.24
$STATE,3416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3416,begin apogee
$GC,3423,-0.13,0.0,2184,2056,3955,3976,483.6,-14.3,326,3645,1.40,0.10,218.77,1.436,10246,0.239,0.159,2531,2120,3363,3375,3352,0,0,0,0,0,0,13.71,13.52,12.66
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3654,0.57,145.9,2532,2121,3372,3345,495.8,0.0,333,3918,0.73,2.67,211.20,1.381,10756,0.060,0.079,2781,737,2758,2787,2729,0,0,0,0,0,0,13.71,12.86,12.24
$GC,4148,0.17,145.9,2781,738,2786,2728,476.6,13.2,380,4154,0.68,2.40,0.00,0.000,5254,0.323,0.075,2639,2092,2755,2785,2725,0,0,0,0,0,0,13.48,13.90,13.88
$GC,4453,0.01,178.7,2640,2092,2786,2721,449.7,8.5,391,4507,0.20,2.50,45.65,1.457,12964,0.268,0.084,2591,726,2629,2672,2587,0,0,0,0,0,0,13.76,13.98,13.09
$GC,4555,0.04,232.1,2591,730,2672,2585,442.4,7.5,411,4640,0.00,2.42,78.50,1.393,9254,0.000,0.079,2591,2105,2418,2469,2367,0,0,0,0,0,0,14.18,14.06,12.97
$GC,4965,0.06,260.0,2591,2106,2460,2351,407.1,8.7,443,5008,0.00,0.00,41.05,1.434,8230,0.000,0.000,2591,2105,2304,2353,2256,0,0,0,0,0,0,14.54,13.99,13.14
$GC,5296,0.12,288.0,2592,2105,2341,2242,378.4,8.7,454,5342,0.00,2.53,41.45,1.418,8868,0.000,0.086,2591,727,2188,2234,2142,0,0,0,0,0,0,14.56,14.06,13.18
$GC,5379,0.26,322.4,2592,729,2233,2139,371.4,8.4,470,5437,0.22,2.40,52.72,1.369,11430,0.090,0.079,2679,2098,2049,2090,2009,0,0,0,0,0,0,14.13,14.04,13.07
$GC,5748,0.18,322.4,2679,2099,2081,1997,317.7,14.7,494,5754,0.15,2.42,0.00,0.000,4740,0.258,0.082,2651,724,2037,2080,1995,0,0,0,0,0,0,13.89,14.15,14.05
$GC,5794,0.18,322.4,2651,724,2079,1995,312.0,11.3,503,5799,0.00,2.40,0.00,0.000,1030,0.000,0.079,2651,2099,2035,2076,1995,0,0,0,0,0,0,14.31,14.18,14.36
$GC,6109,0.18,322.4,2651,2100,2078,1993,275.7,11.2,516,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2034,2077,1992,0,0,0,0,0,0,14.59,14.64,14.64
$GC,6409,0.18,330.5,2651,2100,2078,1991,245.7,9.6,526,6420,0.00,2.42,4.07,1.591,8740,0.000,0.086,2651,736,2019,2063,1975,0,0,0,0,0,0,14.66,14.23,13.24
$GC,6465,0.26,351.9,2651,737,2065,1978,240.5,9.0,537,6511,0.00,2.40,40.95,1.380,9382,0.000,0.078,2650,2106,1932,1970,1894,0,0,0,0,0,0,14.30,14.16,13.23
$GC,6833,0.32,383.2,2651,2106,1956,1884,207.9,8.6,560,6891,0.00,0.00,53.05,1.323,8358,0.000,0.000,2649,2105,1798,1821,1775,0,0,0,0,0,0,14.59,13.74,13.16
$GC,7191,0.42,422.1,2651,2107,1815,1767,178.0,8.2,572,7263,0.20,0.00,69.40,1.260,10406,0.099,0.000,2731,2106,1642,1665,1620,0,0,0,0,0,0,14.17,13.95,13.18
$GC,7551,0.38,422.1,2731,2107,1661,1604,131.4,13.0,584,7556,0.00,2.45,0.00,0.000,644,0.000,0.089,2733,721,1631,1660,1602,0,0,0,0,0,0,14.54,14.12,14.57
$GC,7661,0.38,422.1,2734,721,1657,1602,117.7,11.8,606,7667,0.00,2.40,0.00,0.000,1030,0.000,0.076,2733,2099,1629,1656,1602,0,0,0,0,0,0,14.24,14.14,14.25
$GC,7972,0.38,422.1,2734,2099,1657,1601,82.3,10.8,628,7977,0.00,2.42,0.00,0.000,516,0.000,0.086,2733,726,1628,1656,1600,0,0,0,0,0,0,14.58,14.14,14.59
$GC,8167,0.46,478.9,2734,727,1656,1601,65.6,7.4,667,8204,0.00,2.42,29.85,0.396,9382,0.000,0.077,2733,2110,1414,1448,1381,0,0,0,0,0,0,14.20,14.07,13.66
$GC,8502,0.62,584.2,2734,2105,1450,1377,44.4,5.1,704,8567,0.12,2.53,59.08,0.328,10916,0.125,0.087,2794,724,981,1043,919,0,0,0,0,0,0,14.19,14.02,13.69
$GC,8727,0.77,636.5,2794,724,1045,915,26.4,7.6,748,8765,0.00,2.40,29.75,0.278,9382,0.000,0.078,2794,2095,768,832,705,0,0,0,0,0,0,14.24,14.10,13.76
$GC,9070,0.96,720.6,2794,2095,832,704,5.6,6.1,786,9112,0.30,1.27,38.40,0.214,10659,0.081,0.061,2906,2842,498,518,478,0,0,0,0,0,0,14.28,14.10,13.81
$STATE,9113,end climb,SURFACE_DEPTH_REACHED
$STATE,9113,begin surface coast
$FINISH,0.0,1.021345
$STATE,9118,end surface coast,CONTROL_FINISHED_OK
$STATE,9118,begin surface
$SM_CCo,9200,0.00,0.000,0,0,497,703.52
$SM_GC,1.00,8.20,1.05,0.00,0.059,0.050,0.000,201,2218,497,-7.37,1.64,703.52,0,0,0,0,0,0,14.28,14.26,14.35
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7504.86,-15115.38,140917,082007
$TT8_MAMPS,0.038948,0.877828
$HUMID,47.20
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15930720256.000000
$PM_FREEKB_00,47237888
$24V_AH,12.24,203.423
$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,25.750,81.550,1013.900,0.000,0.000,0.000,0.000,588.450,3.000,0.000,9.965,0.000,6451.438,910.210,2421.237,353.176,0.000,2414.368,0.000,1133.087,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2142.000,1591.200,0.000,0.000,0.000,0.000,190.485,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9151.000,9102.000,9091.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.808,20.000,12.068,0.000
$MEM,323592
$DATA_FILE_SIZE,26659,791
$CAP_FILE_SIZE,107560,0
$CFSIZE,2097872896,1993015296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.099,100.35,1
$GPS,140917,110601,7503.028,-15105.733,29,0.8,34,20.7,0.6,22.8,11,6.5