version: 66.13
glider: 196
mission: 14
dive: 339
start: 9 15 117 4 7 45
data:
$ID,196
$MISSION,14
$DIVE,339
$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,26
$R_STBD_OVSHOOT,43
$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,945.0
$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
$GPS1,150917,035156,7454.1157,-15100.9482,34,0.7,34,20.7,0.0,0.0,11,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.6
$GPS2,150917,040711,7454.0693,-15101.0703,5,0.8,9,20.7,0.0,0.0,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,113.5,19743,-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,-145.9,197,2232,496,492,0.0,0.0,0,141,0.00,0.00,-88.32,0.000,16386,0.000,0.000,197,2233,2039,1961,2118,0,0,0,0,0,0,14.50,28.83,14.51
$GC,144,-0.57,-145.9,196,2233,1962,2120,3.6,-4.2,9,207,12.88,2.70,-41.62,0.000,18724,0.450,2.150,2377,3586,3965,3951,3979,0,0,0,0,0,0,13.45,12.58,13.90
$GC,367,-0.71,-145.9,2377,3587,3958,3979,43.9,-13.5,53,372,0.00,2.40,0.00,0.000,1158,0.000,0.057,2377,2195,3967,3956,3979,0,0,0,0,0,0,14.16,14.04,14.21
$GC,679,-0.84,-145.9,2377,2192,3961,3979,81.8,-9.6,85,684,0.20,2.50,0.00,0.000,4516,0.106,0.084,2293,3588,3969,3959,3979,0,0,0,0,0,0,14.08,13.89,14.12
$GC,782,-0.92,-145.9,2293,3590,3960,3979,94.8,-12.8,105,787,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2200,3969,3959,3979,0,0,0,0,0,0,14.15,14.04,14.20
$GC,1092,-0.96,-145.9,2293,2199,3960,3979,137.3,-12.7,119,1097,0.00,2.50,0.00,0.000,388,0.000,0.086,2285,3592,3968,3959,3978,0,0,0,0,0,0,14.45,13.88,14.45
$GC,1197,-1.09,-145.9,2284,3592,3960,3979,149.5,-11.1,140,1203,0.17,2.40,0.00,0.000,5254,0.106,0.056,2222,2198,3969,3959,3979,0,0,0,0,0,0,14.02,13.95,14.11
$GC,1514,-1.03,-145.9,2223,2198,3960,3979,209.3,-19.0,153,1515,0.00,0.00,0.00,0.000,134,0.000,0.000,2223,2198,3969,3959,3979,0,0,0,0,0,0,14.40,14.41,14.43
$GC,1814,-0.99,-145.9,2223,2197,3960,3979,261.1,-16.5,163,1815,0.17,0.00,0.00,0.000,2182,0.275,0.000,2257,2196,3969,3959,3979,0,0,0,0,0,0,13.66,14.02,13.94
$GC,2114,-1.06,-145.9,2258,2197,3960,3979,294.9,-10.6,173,2119,0.00,2.50,0.00,0.000,388,0.000,0.089,2250,3592,3969,3959,3979,0,0,0,0,0,0,14.58,14.02,14.60
$GC,2169,-1.19,-145.9,2250,3593,3959,3980,300.4,-9.8,184,2176,0.17,2.38,0.00,0.000,5286,0.113,0.056,2182,2197,3968,3959,3977,0,0,0,0,0,0,13.98,14.08,14.07
$GC,2474,-1.12,-145.9,2182,2198,3959,3978,349.9,-16.2,195,2479,0.12,2.50,0.00,0.000,2436,0.294,0.084,2202,3600,3968,3959,3978,0,0,0,0,0,0,13.83,14.01,13.96
$GC,2545,-1.18,-145.9,2202,3601,3959,3979,359.9,-12.8,209,2549,0.00,2.38,0.00,0.000,1158,0.000,0.057,2201,2202,3969,3959,3979,0,0,0,0,0,0,14.28,14.14,14.32
$GC,2865,-1.18,-145.9,2202,2202,3959,3980,402.5,-13.3,223,2869,0.00,2.47,0.00,0.000,260,0.000,0.086,2197,3588,3968,3958,3979,0,0,0,0,0,0,14.66,13.30,14.68
$GC,2930,-1.23,-145.9,2197,3588,3959,3979,410.9,-12.3,236,2936,0.00,2.35,0.00,0.000,1158,0.000,0.057,2196,2198,3968,3958,3979,0,0,0,0,0,0,14.28,14.15,14.32
$GC,3256,-1.23,-145.9,2197,2198,3958,3980,454.6,-13.4,251,3261,0.00,2.50,0.00,0.000,260,0.000,0.086,2190,3595,3968,3958,3979,0,0,0,0,0,0,14.62,14.03,14.63
$GC,3336,-1.26,-145.9,2190,3596,3958,3979,465.1,-12.3,267,3341,0.00,2.38,0.00,0.000,1158,0.000,0.056,2190,2198,3968,3957,3979,0,0,0,0,0,0,14.23,14.11,14.27
$STATE,3464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3464,begin apogee
$GC,3470,-0.13,0.0,2191,2054,3958,3979,483.0,-13.9,273,3694,1.35,0.00,219.38,1.434,10246,0.235,0.000,2529,2052,3362,3374,3351,0,0,0,0,0,0,13.73,13.52,12.66
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3700,0.57,145.9,2530,2054,3371,3347,494.8,0.0,280,4095,0.75,2.08,210.48,1.379,11012,0.060,0.073,2784,3498,2754,2780,2728,0,0,0,0,0,0,13.69,13.12,12.24
$GC,4100,0.57,145.9,2785,3498,2778,2728,480.5,3.8,283,4105,0.00,2.40,0.00,0.000,1030,0.000,0.057,2793,2131,2753,2780,2727,0,0,0,0,0,0,13.82,13.72,13.89
$GC,4416,0.12,145.9,2793,2129,2781,2728,433.8,14.6,296,4421,0.73,2.53,0.00,0.000,4740,0.312,0.080,2638,687,2752,2779,2726,0,0,0,0,0,0,13.66,14.04,13.90
$GC,4632,0.01,187.1,2638,687,2781,2727,415.9,8.1,339,4698,0.22,2.45,59.22,1.410,13478,0.269,0.078,2590,2081,2599,2642,2556,0,0,0,0,0,0,13.78,14.07,13.12
$GC,5018,0.02,235.2,2591,2082,2640,2539,386.7,7.8,366,5092,0.00,0.00,72.15,1.378,8358,0.000,0.000,2590,2082,2406,2456,2356,0,0,0,0,0,0,14.57,13.93,13.11
$GC,5378,0.08,280.4,2591,2082,2446,2342,357.2,7.9,378,5450,0.00,0.00,70.07,1.352,8358,0.000,0.000,2590,2081,2220,2267,2174,0,0,0,0,0,0,14.57,13.94,13.12
$GC,5739,0.17,320.3,2592,2082,2259,2157,327.7,8.2,390,5804,0.15,2.50,60.45,1.346,10916,0.116,0.088,2655,684,2056,2098,2015,0,0,0,0,0,0,14.29,13.74,13.15
$GC,5834,0.17,320.3,2665,685,2089,2015,316.0,12.7,399,5839,0.00,2.50,0.00,0.000,1030,0.000,0.078,2659,2099,2051,2088,2014,0,0,0,0,0,0,14.14,14.03,14.15
$GC,6160,0.14,320.3,2660,2100,2090,2004,276.3,11.7,414,6165,0.12,2.50,0.00,0.000,4740,0.254,0.085,2630,690,2046,2088,2004,0,0,0,0,0,0,13.95,14.10,14.07
$GC,6257,0.25,353.5,2631,689,2087,2004,267.6,8.5,433,6316,0.00,2.47,51.83,1.336,9382,0.000,0.078,2630,2106,1923,1955,1892,0,0,0,0,0,0,14.31,14.19,13.21
$GC,6641,0.35,395.2,2631,2105,1946,1876,235.8,8.1,460,6717,0.17,2.58,66.93,1.294,10916,0.104,0.090,2706,694,1752,1772,1732,0,0,0,0,0,0,14.27,13.95,13.17
$GC,6842,0.35,395.2,2707,694,1765,1730,211.5,11.5,500,6847,0.00,2.47,0.00,0.000,1030,0.000,0.076,2706,2103,1747,1764,1730,0,0,0,0,0,0,14.23,14.12,14.28
$GC,7152,0.33,395.2,2706,2104,1764,1724,174.6,11.7,512,7157,0.00,2.50,0.00,0.000,644,0.000,0.088,2709,690,1743,1763,1724,0,0,0,0,0,0,14.59,14.15,14.61
$GC,7313,0.36,395.2,2710,690,1761,1725,157.1,10.5,544,7318,0.00,2.42,0.00,0.000,1158,0.000,0.076,2709,2099,1741,1759,1724,0,0,0,0,0,0,14.30,14.16,14.34
$GC,7633,0.36,395.2,2710,2100,1761,1721,121.9,10.5,558,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2100,1740,1760,1721,0,0,0,0,0,0,14.61,14.62,14.63
$GC,7933,0.38,417.5,2710,2101,1761,1721,92.3,9.0,572,7949,0.00,2.47,11.45,0.475,8484,0.000,0.082,2715,3510,1660,1681,1640,0,0,0,0,0,0,14.59,13.90,13.54
$GC,8020,0.40,417.5,2710,3510,1681,1641,83.2,10.6,589,8027,0.00,2.42,0.00,0.000,1158,0.000,0.064,2709,2103,1660,1681,1640,0,0,0,0,0,0,14.09,13.97,14.14
$GC,8325,0.51,500.0,2710,2103,1681,1640,59.9,6.2,620,8377,0.12,2.53,44.03,0.376,10660,0.126,0.080,2772,3536,1322,1360,1284,0,0,0,0,0,0,14.26,13.94,13.70
$GC,8392,0.48,505.0,2780,3533,1367,1283,54.0,9.8,630,8403,0.20,2.47,2.92,0.368,13478,0.249,0.066,2737,2100,1302,1344,1261,0,0,0,0,0,0,13.86,14.12,13.57
$GC,8709,0.66,605.5,2738,2101,1355,1256,35.4,5.4,663,8768,0.15,2.58,53.50,0.301,10916,0.112,0.093,2802,691,893,957,830,0,0,0,0,0,0,14.21,14.00,13.70
$GC,8844,0.79,640.9,2803,692,959,828,24.3,8.4,689,8871,0.10,2.47,19.62,0.278,11430,0.151,0.078,2850,2100,752,815,689,0,0,0,0,0,0,14.07,14.04,13.72
$STATE,9084,end climb,SURFACE_DEPTH_REACHED
$STATE,9084,begin surface coast
$FINISH,0.3,1.013386
$STATE,9104,end surface coast,CONTROL_FINISHED_OK
$STATE,9104,begin surface
$SM_CCo,9125,34.85,0.209,0,0,501,702.78
$SM_GC,1.28,8.20,0.17,34.85,0.078,0.121,0.209,205,2214,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.26,14.26,13.92
$RAFOS_CLK,419
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7453.46,-15109.54,150917,035641
$TT8_MAMPS,0.03745,1.29277
$HUMID,47.48
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15927738368.000000
$PM_FREEKB_00,46934528
$24V_AH,12.24,206.889
$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,26.000,79.050,942.025,34.850,0.000,0.000,0.000,568.275,2.250,0.000,11.999,0.000,6436.340,832.639,2474.274,346.668,0.000,2452.391,0.000,1030.326,1634.000,0.539,0.000
$DEVICE_MAMPS,449.820,2150.415,1434.375,208.845,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9140.000,9100.000,9079.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.843,20.000,12.180,0.000
$MEM,323532
$DATA_FILE_SIZE,23364,718
$CAP_FILE_SIZE,102630,0
$CFSIZE,2097872896,1991049216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.089,250.48,1
$GPS,150917,064151,7452.855,-15100.076,34,0.8,35,20.7,0.0,0.0,10,7.7