version: 66.13
glider: 196
mission: 14
dive: 340
start: 9 15 117 6 52 57
data:
$ID,196
$MISSION,14
$DIVE,340
$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,24
$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,948.0
$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
$GPS1,150917,064151,7452.8555,-15100.0762,34,0.8,35,20.7,0.0,0.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.0
$GPS2,150917,065226,7452.8701,-15100.2305,7,0.9,10,20.7,0.0,0.0,8,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,106.4,17642,-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,-145.9,204,2216,493,493,0.0,0.0,0,144,0.00,0.00,-91.60,0.000,16386,0.000,0.000,202,2216,2142,2069,2216,0,0,0,0,0,0,14.48,28.83,14.51
$GC,148,-0.57,-145.9,204,2217,2073,2218,3.9,-5.1,9,201,12.82,2.80,-35.58,0.000,18724,0.451,2.153,2374,3594,3964,3949,3979,0,0,0,0,0,0,13.50,12.59,14.02
$GC,362,-0.73,-145.9,2375,3594,3955,3980,45.1,-12.7,51,367,0.10,2.40,0.00,0.000,5254,0.145,0.057,2334,2193,3966,3954,3979,0,0,0,0,0,0,14.13,14.12,14.25
$GC,672,-0.79,-145.9,2335,2194,3956,3981,92.4,-12.8,83,677,0.00,2.53,0.00,0.000,388,0.000,0.086,2333,3599,3967,3955,3979,0,0,0,0,0,0,14.57,13.97,14.59
$GC,743,-0.98,-145.9,2333,3600,3956,3979,100.2,-9.8,97,749,0.15,2.42,0.00,0.000,5286,0.070,0.055,2248,2202,3967,3955,3979,0,0,0,0,0,0,14.20,14.11,14.26
$GC,1064,-0.95,-145.9,2248,2202,3955,3980,157.2,-17.3,111,1069,0.00,2.50,0.00,0.000,388,0.000,0.086,2240,3603,3967,3955,3979,0,0,0,0,0,0,14.64,14.08,14.64
$GC,1229,-1.01,-145.9,2240,3602,3955,3980,181.8,-14.1,144,1235,0.00,2.40,0.00,0.000,1158,0.000,0.059,2240,2197,3967,3955,3979,0,0,0,0,0,0,14.28,14.14,14.33
$GC,1545,-1.01,-145.9,2240,2197,3956,3980,232.8,-15.8,157,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2196,3967,3955,3979,0,0,0,0,0,0,14.62,14.63,14.64
$GC,1845,-1.01,-145.9,2240,2196,3957,3979,274.9,-13.5,167,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2196,3967,3955,3979,0,0,0,0,0,0,14.66,14.67,14.66
$GC,2146,-1.05,-145.9,2240,2197,3956,3980,311.2,-11.5,177,2150,0.00,2.50,0.00,0.000,388,0.000,0.090,2236,3601,3967,3955,3979,0,0,0,0,0,0,14.65,14.06,14.66
$GC,2191,-1.16,-145.9,2237,3602,3957,3979,316.1,-10.3,186,2196,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2189,3967,3955,3979,0,0,0,0,0,0,14.31,14.14,14.32
$GC,2506,-1.22,-145.9,2236,2190,3956,3980,349.4,-10.3,199,2511,0.12,2.50,0.00,0.000,4484,0.147,0.085,2170,3599,3967,3955,3979,0,0,0,0,0,0,14.26,14.07,14.27
$GC,2609,-1.20,-145.9,2170,3600,3957,3980,363.9,-14.5,219,2614,0.00,2.40,0.00,0.000,1158,0.000,0.057,2170,2193,3966,3953,3979,0,0,0,0,0,0,14.28,14.15,14.31
$GC,2929,-1.13,-145.9,2170,2192,3955,3980,415.9,-16.2,233,2935,0.17,2.50,0.00,0.000,2436,0.308,0.083,2200,3603,3966,3954,3979,0,0,0,0,0,0,13.72,14.07,13.93
$GC,3080,-1.19,-145.9,2200,3605,3955,3980,434.8,-11.8,263,3085,0.00,2.40,0.00,0.000,1158,0.000,0.056,2199,2196,3968,3957,3979,0,0,0,0,0,0,14.26,14.14,14.30
$GC,3410,-1.19,-145.9,2199,2196,3953,3980,478.3,-13.2,279,3415,0.00,2.47,0.00,0.000,260,0.000,0.086,2191,3595,3966,3954,3979,0,0,0,0,0,0,14.64,14.06,14.65
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$GC,3431,-0.13,0.0,2192,2101,3954,3980,480.3,-13.1,282,3667,1.38,0.00,226.75,1.413,10246,0.238,0.000,2533,2099,3357,3375,3339,0,0,0,0,0,0,13.68,13.52,12.65
$STATE,3670,end apogee,CONTROL_FINISHED_OK
$STATE,3670,begin climb
$GC,3673,0.57,145.9,2534,2099,3374,3338,494.6,0.0,290,3937,0.73,2.72,209.82,1.369,10756,0.060,0.080,2781,693,2757,2791,2723,0,0,0,0,0,0,13.71,12.85,12.22
$GC,4132,0.17,145.9,2781,693,2788,2722,475.5,13.9,327,4138,0.65,2.50,0.00,0.000,5254,0.321,0.075,2646,2089,2753,2787,2720,0,0,0,0,0,0,13.39,13.78,13.78
$GC,4458,0.01,168.8,2646,2090,2788,2715,445.7,8.9,342,4490,0.22,0.00,30.02,1.489,12966,0.272,0.000,2591,2090,2677,2718,2636,0,0,0,0,0,0,13.64,13.97,13.12
$GC,4790,0.00,220.0,2592,2097,2709,2619,420.8,7.6,358,4879,0.00,2.58,78.90,1.380,8868,0.000,0.084,2597,693,2460,2515,2406,0,0,0,0,0,0,14.40,13.84,13.03
$GC,4914,0.06,250.8,2601,693,2510,2409,410.5,8.6,383,4971,0.00,2.53,46.35,1.397,9382,0.000,0.078,2604,2098,2335,2388,2283,0,0,0,0,0,0,13.87,13.39,12.95
$GC,5271,0.07,267.5,2600,2100,2378,2272,377.5,9.2,404,5299,0.00,0.00,21.65,1.491,8230,0.000,0.000,2600,2099,2268,2320,2216,0,0,0,0,0,0,14.39,14.00,13.16
$GC,5600,0.12,282.6,2597,2100,2313,2208,346.5,9.3,415,5624,0.00,2.50,18.80,1.503,8868,0.000,0.086,2602,691,2210,2260,2161,0,0,0,0,0,0,14.45,14.10,13.19
$GC,5675,0.22,304.4,2602,692,2255,2161,339.7,9.0,430,5715,0.15,2.47,34.05,1.421,11430,0.112,0.079,2670,2104,2121,2168,2075,0,0,0,0,0,0,14.16,14.09,13.14
$GC,6023,0.16,304.4,2670,2105,2158,2064,292.0,13.8,449,6024,0.15,0.00,0.00,0.000,4230,0.249,0.000,2638,2105,2112,2161,2064,0,0,0,0,0,0,13.29,13.45,13.43
$GC,6321,0.16,309.5,2640,2104,2162,2062,261.2,9.8,459,6326,0.00,2.53,0.00,0.000,548,0.000,0.086,2644,691,2111,2160,2062,0,0,0,0,0,0,14.47,14.04,14.49
$GC,6462,0.24,343.9,2644,692,2158,2062,248.9,8.4,487,6533,0.00,2.45,62.53,1.323,9382,0.000,0.078,2641,2101,1960,2004,1916,0,0,0,0,0,0,13.97,13.43,13.14
$GC,6832,0.31,379.2,2645,2100,2000,1904,216.8,8.4,511,6898,0.12,2.58,57.83,1.301,10916,0.125,0.088,2706,693,1813,1841,1786,0,0,0,0,0,0,14.28,13.95,13.16
$GC,6993,0.31,379.2,2707,694,1833,1789,197.9,11.6,543,6998,0.00,2.47,0.00,0.000,1030,0.000,0.077,2706,2107,1810,1831,1789,0,0,0,0,0,0,14.10,13.98,14.14
$GC,7314,0.28,379.2,2707,2107,1832,1782,159.6,11.7,557,7320,0.12,2.53,0.00,0.000,4740,0.233,0.086,2675,684,1806,1831,1781,0,0,0,0,0,0,14.02,13.92,14.15
$GC,7391,0.40,412.7,2675,687,1829,1782,152.7,8.5,572,7455,0.12,2.47,57.33,1.279,11430,0.132,0.077,2728,2101,1678,1699,1657,0,0,0,0,0,0,14.24,14.19,13.22
$GC,7766,0.38,412.7,2728,2102,1698,1645,106.8,11.7,597,7771,0.00,2.50,0.00,0.000,644,0.000,0.088,2729,687,1669,1696,1643,0,0,0,0,0,0,14.56,14.13,14.58
$GC,7786,0.38,412.7,2729,688,1696,1644,104.2,12.7,601,7792,0.00,2.50,0.00,0.000,1030,0.000,0.077,2729,2102,1669,1695,1643,0,0,0,0,0,0,14.30,14.16,14.35
$GC,8098,0.40,448.9,2730,2103,1696,1642,72.9,8.3,631,8124,0.00,2.53,18.95,0.416,8484,0.000,0.081,2729,3505,1535,1564,1506,0,0,0,0,0,0,14.56,14.10,13.63
$GC,8155,0.42,473.5,2729,3507,1561,1507,68.1,8.9,641,8176,0.00,2.42,14.60,0.401,9254,0.000,0.065,2734,2101,1435,1474,1397,0,0,0,0,0,0,14.23,14.12,13.64
$GC,8482,0.59,594.4,2733,2102,1466,1393,46.5,4.4,676,8557,0.12,2.53,66.60,0.334,10916,0.124,0.089,2794,691,939,1006,872,0,0,0,0,0,0,14.20,13.88,13.65
$GC,8617,0.71,618.5,2794,690,1007,869,35.3,8.9,702,8639,0.00,2.50,13.38,0.304,9382,0.000,0.077,2794,2107,842,911,773,0,0,0,0,0,0,14.17,14.04,13.68
$GC,8937,0.89,703.2,2794,2109,912,770,13.0,6.1,736,8999,0.22,0.00,55.03,0.230,10406,0.093,0.000,2883,2108,497,517,478,0,0,0,0,0,0,14.19,13.98,13.83
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9035,begin surface coast
$FINISH,0.1,1.021302
$STATE,9045,end surface coast,CONTROL_FINISHED_OK
$STATE,9045,begin surface
$SM_CCo,9114,0.38,0.379,0,0,501,702.78
$SM_GC,1.62,8.20,0.17,0.38,0.068,0.106,0.379,200,2236,501,-7.38,-0.48,702.78,0,0,0,0,0,0,14.28,14.31,13.99
$RAFOS_CLK,234
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7454.27,-15058.33,150917,040202
$TT8_MAMPS,0.038948,0.942991
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,0.000000
$PM_FREEKB_00,46891392
$24V_AH,12.22,207.389
$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,25.575,80.300,1012.575,0.375,0.000,0.000,0.000,351.525,2.250,0.000,10.913,0.000,6335.959,894.122,2186.185,342.506,0.000,2157.294,0.000,1071.282,2219.000,0.539,0.000
$DEVICE_MAMPS,451.350,2152.710,1503.225,378.675,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9080.000,9079.000,9068.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.469,20.000,12.363,0.000
$MEM,323564
$DATA_FILE_SIZE,26705,747
$CAP_FILE_SIZE,103799,0
$CFSIZE,2097872896,1990787072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.049,279.96,1
$GPS,150917,092602,7451.911,-15058.153,26,0.8,26,20.7,0.5,68.7,10,8.2