version: 66.13
glider: 196
mission: 14
dive: 320
start: 9 12 117 22 35 51
data:
$ID,196
$MISSION,14
$DIVE,320
$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,63
$R_STBD_OVSHOOT,27
$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,888.0
$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
$GPS1,120917,222403,7518.9644,-15110.7891,66,0.8,66,20.7,0.5,311.9,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,120917,223515,7519.0195,-15110.8271,6,0.8,8,20.7,1.0,347.7,10,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,157.2,64905,-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,-145.9,178,2221,503,493,0.0,0.0,0,144,0.00,0.00,-91.53,0.000,16386,0.000,0.000,176,2221,2188,2124,2253,0,0,0,0,0,0,14.52,28.83,14.54
$GC,148,-0.57,-145.9,177,2221,2127,2252,4.5,-6.9,9,200,13.20,2.78,-32.92,0.000,18980,0.461,2.150,2386,826,3965,3950,3980,1,0,0,0,0,0,13.30,12.59,14.03
$GC,221,-0.53,-145.9,2386,827,3953,3980,28.4,-24.1,23,227,0.00,2.45,0.00,0.000,1158,0.000,0.085,2382,2200,3966,3952,3980,0,0,0,0,0,0,14.25,14.09,14.28
$GC,526,-0.63,-145.9,2382,2201,3955,3980,73.4,-11.6,54,531,0.00,2.53,0.00,0.000,388,0.000,0.089,2376,3621,3967,3954,3980,0,0,0,0,0,0,14.57,14.06,14.59
$GC,602,-0.87,-145.9,2377,3622,3956,3980,80.5,-8.8,69,608,0.25,2.35,0.00,0.000,5286,0.092,0.050,2276,2230,3969,3959,3980,0,0,0,0,0,0,14.20,14.14,14.28
$GC,928,-0.87,-145.9,2274,2231,3955,3981,136.4,-16.3,88,934,0.00,2.47,0.00,0.000,260,0.000,0.086,2266,3620,3966,3953,3980,0,0,0,0,0,0,14.59,14.11,14.62
$GC,984,-0.97,-145.9,2266,3622,3955,3981,144.9,-13.1,99,990,0.00,2.40,0.00,0.000,1158,0.000,0.058,2266,2207,3967,3954,3980,0,0,0,0,0,0,14.24,14.12,14.26
$GC,1289,-0.99,-145.9,2266,2206,3955,3981,190.0,-14.5,110,1290,0.00,0.00,0.00,0.000,134,0.000,0.000,2266,2205,3967,3955,3980,0,0,0,0,0,0,14.65,14.66,14.66
$GC,1589,-1.03,-145.9,2267,2205,3956,3980,229.9,-12.8,120,1595,0.00,2.50,0.00,0.000,388,0.000,0.086,2258,3617,3967,3954,3980,0,0,0,0,0,0,14.66,14.12,14.66
$GC,1655,-1.16,-145.9,2258,3620,3955,3981,237.8,-11.0,133,1661,0.17,2.40,0.00,0.000,5254,0.112,0.057,2188,2198,3967,3955,3980,0,0,0,0,0,0,14.17,14.14,14.27
$GC,1981,-1.07,-145.9,2189,2197,3956,3980,298.0,-17.8,148,1987,0.17,2.50,0.00,0.000,2436,0.285,0.085,2225,3613,3967,3954,3980,0,0,0,0,0,0,13.83,14.10,14.00
$GC,2137,-1.15,-145.9,2222,3614,3956,3980,317.1,-11.6,179,2142,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2198,3967,3954,3980,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2462,-1.18,-145.9,2222,2198,3955,3981,358.0,-12.4,194,2467,0.00,2.53,0.00,0.000,388,0.000,0.088,2214,3622,3967,3954,3980,0,0,0,0,0,0,14.64,14.09,14.66
$GC,2512,-1.26,-145.9,2218,3623,3951,3980,364.2,-11.8,204,2519,0.12,2.42,0.00,0.000,5254,0.129,0.058,2160,2197,3966,3954,3979,0,0,0,0,0,0,14.19,14.14,14.30
$GC,2824,-1.16,-145.9,2160,2196,3955,3980,420.0,-18.1,216,2830,0.17,2.50,0.00,0.000,2436,0.321,0.083,2188,3614,3967,3954,3980,0,0,0,0,0,0,13.71,14.08,13.95
$GC,2942,-1.19,-145.9,2188,3615,3954,3981,436.5,-13.1,239,2948,0.00,2.40,0.00,0.000,1158,0.000,0.057,2193,2200,3966,3952,3980,0,0,0,0,0,0,14.25,14.10,14.29
$STATE,3243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3243,begin apogee
$GC,3249,-0.13,0.0,2189,2054,3954,3980,480.1,-14.3,250,3548,1.35,0.10,293.98,1.302,10246,0.239,0.161,2527,2121,3365,3381,3350,0,0,0,0,0,0,13.73,13.45,12.64
$STATE,3551,end apogee,CONTROL_FINISHED_OK
$STATE,3553,begin climb
$GC,3556,0.57,145.9,2528,2121,3376,3341,497.9,0.0,260,3782,0.75,2.35,211.55,1.351,10756,0.060,0.080,2794,727,2760,2793,2728,0,0,0,0,0,0,13.62,13.10,12.24
$GC,4007,0.15,145.9,2793,727,2787,2719,483.8,13.3,307,4014,0.75,2.42,0.00,0.000,5254,0.323,0.074,2637,2089,2751,2786,2716,0,0,0,0,0,0,13.42,13.81,13.81
$GC,4312,-0.00,185.4,2637,2091,2787,2715,457.9,8.2,318,4375,0.20,2.50,57.60,1.389,12964,0.274,0.083,2589,724,2609,2656,2562,0,0,0,0,0,0,13.80,13.91,13.10
$GC,4535,0.04,241.2,2589,723,2647,2543,441.5,7.4,362,4630,0.00,2.40,88.35,1.331,9254,0.000,0.080,2589,2102,2378,2434,2323,0,0,0,0,0,0,14.17,14.09,13.02
$GC,4946,0.06,274.8,2589,2103,2418,2305,407.0,8.4,394,5000,0.00,0.00,50.92,1.359,8742,0.000,0.000,2589,2101,2241,2295,2188,0,0,0,0,0,0,14.56,13.76,13.16
$GC,5308,0.14,308.0,2589,2103,2283,2170,376.2,8.5,411,5367,0.12,2.50,50.28,1.356,10916,0.130,0.087,2665,734,2100,2147,2054,0,0,0,0,0,0,14.16,13.96,13.15
$GC,5409,0.14,308.0,2659,735,2136,2051,363.7,12.9,431,5414,0.15,2.42,0.00,0.000,5126,0.244,0.079,2627,2103,2092,2135,2049,0,0,0,0,0,0,13.83,13.99,14.07
$GC,5730,0.14,308.0,2627,2104,2136,2041,327.8,10.9,445,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2103,2087,2134,2040,0,0,0,0,0,0,14.46,14.47,14.46
$GC,6030,0.14,308.0,2628,2103,2138,2038,296.4,10.3,455,6035,0.00,2.45,0.00,0.000,516,0.000,0.086,2630,726,2086,2134,2038,0,0,0,0,0,0,14.48,14.04,14.50
$GC,6105,0.21,316.9,2630,727,2129,2035,288.9,9.6,470,6114,0.00,2.42,1.90,0.239,9382,0.000,0.077,2630,2105,2073,2119,2027,0,0,0,0,0,0,14.18,14.05,13.78
$GC,6420,0.22,331.1,2631,2105,2133,2035,258.5,9.3,483,6454,0.00,0.00,32.60,1.358,8230,0.000,0.000,2630,2105,2020,2070,1970,0,0,0,0,0,0,14.48,14.02,13.22
$GC,6750,0.29,371.0,2631,2106,2048,1953,230.9,8.2,494,6824,0.15,0.00,71.68,1.266,10406,0.112,0.000,2695,2105,1852,1882,1823,0,0,0,0,0,0,14.15,13.90,13.15
$GC,7110,0.27,371.0,2695,2106,1863,1806,189.4,11.3,506,7115,0.00,2.45,0.00,0.000,644,0.000,0.086,2698,724,1832,1861,1803,0,0,0,0,0,0,14.42,14.06,14.43
$GC,7185,0.27,371.0,2699,723,1860,1805,181.1,10.7,521,7191,0.12,2.42,0.00,0.000,5126,0.216,0.077,2671,2101,1830,1859,1801,0,0,0,0,0,0,13.96,14.08,14.18
$GC,7504,0.32,398.0,2672,2101,1859,1803,152.5,8.8,534,7552,0.00,2.45,41.42,1.295,8868,0.000,0.087,2672,732,1735,1760,1710,0,0,0,0,0,0,14.44,14.00,13.23
$GC,7593,0.44,426.4,2672,732,1751,1711,144.5,8.7,552,7648,0.17,2.38,48.80,1.230,11430,0.109,0.079,2746,2100,1623,1650,1596,0,0,0,0,0,0,14.07,14.00,13.14
$GC,7956,0.39,426.4,2747,2100,1643,1573,97.8,12.4,574,7961,0.17,2.42,0.00,0.000,4740,0.223,0.084,2713,732,1607,1641,1573,0,0,0,0,0,0,13.95,14.04,14.21
$GC,8022,0.49,448.9,2713,732,1638,1574,91.4,9.0,587,8040,0.00,2.42,11.00,0.437,9382,0.000,0.077,2713,2105,1535,1569,1501,0,0,0,0,0,0,14.14,14.02,13.54
$GC,8337,0.60,513.5,2713,2105,1577,1509,65.2,7.0,620,8384,0.20,2.47,39.45,0.387,10916,0.096,0.086,2794,727,1270,1320,1221,0,0,0,0,0,0,14.26,14.02,13.68
$GC,8404,0.56,513.5,2794,728,1324,1226,58.3,10.7,630,8410,0.15,2.42,0.00,0.000,5254,0.231,0.080,2763,2100,1273,1321,1225,0,0,0,0,0,0,13.90,14.12,14.13
$GC,8709,0.67,598.5,2763,2101,1322,1226,36.2,6.1,661,8762,0.12,0.00,51.12,0.301,10406,0.122,0.000,2813,2100,923,990,856,0,0,0,0,0,0,14.16,14.12,13.78
$GC,9059,0.78,663.2,2814,2101,991,861,7.7,7.0,696,9100,0.00,0.00,39.83,0.220,8358,0.000,0.000,2813,2101,659,715,604,0,0,0,0,0,0,14.54,14.00,13.74
$STATE,9156,end climb,SURFACE_DEPTH_REACHED
$STATE,9157,begin surface coast
$FINISH,0.0,1.021462
$STATE,9177,end surface coast,CONTROL_FINISHED_OK
$STATE,9177,begin surface
$SM_CCo,9199,25.67,0.199,0,0,502,703.28
$SM_GC,1.23,7.93,0.17,25.67,0.067,0.091,0.199,197,2221,502,-7.38,-0.57,703.28,0,0,0,0,0,0,14.31,14.35,13.95
$RAFOS_CLK,195
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7519.35,-15113.21,120917,194049
$TT8_MAMPS,0.039697,0.862099
$HUMID,46.14
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,8
$CP_FREE,15935733760.000000
$PM_FREEKB_00,47763392
$24V_AH,12.24,197.395
$10V_AH,12.11,0.000
$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,26.450,74.000,1090.475,25.675,0.000,0.000,0.000,399.650,2.000,0.000,9.946,0.000,6501.268,1003.784,2088.045,324.460,0.000,2233.053,0.000,1015.806,2146.000,0.539,0.000
$DEVICE_MAMPS,460.530,2149.650,1389.240,198.900,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9209.000,9172.000,9152.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.522,20.000,10.526,0.000
$MEM,323652
$DATA_FILE_SIZE,23401,708
$CAP_FILE_SIZE,101287,0
$CFSIZE,2097872896,1996193792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.037,97.61,1
$GPS,130917,011134,7517.709,-15110.881,68,0.8,70,20.7,1.0,71.5,10,8.4