version: 66.13
glider: 196
mission: 14
dive: 333
start: 9 14 117 11 17 37
data:
$ID,196
$MISSION,14
$DIVE,333
$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,36
$R_STBD_OVSHOOT,22
$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,927.0
$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
$GPS1,140917,110601,7503.0278,-15105.7334,29,0.8,34,20.7,0.6,22.8,11,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.9
$GPS2,140917,111708,7503.0337,-15105.5215,9,0.8,10,20.7,0.0,0.0,12,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.8,35744,-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,-145.9,191,2216,501,478,0.0,0.0,0,144,0.00,0.00,-91.68,0.000,16386,0.000,0.000,189,2216,2101,2022,2181,0,0,0,0,0,0,14.49,28.83,14.51
$GC,148,-0.57,-145.9,191,2217,2025,2183,3.4,-4.3,9,205,12.88,2.78,-38.10,0.000,18724,0.450,2.150,2377,3608,3964,3952,3977,0,0,0,0,0,0,13.50,12.58,13.97
$GC,340,-0.72,-145.9,2377,3610,3957,3978,41.7,-13.4,47,345,0.00,2.40,0.00,0.000,1158,0.000,0.059,2377,2214,3967,3957,3977,0,0,0,0,0,0,14.05,13.93,14.11
$GC,651,-0.84,-145.9,2377,2213,3959,3978,81.6,-10.1,79,656,0.20,2.53,0.00,0.000,4740,0.108,0.081,2294,780,3968,3959,3977,0,0,0,0,0,0,14.17,14.11,14.21
$GC,701,-0.93,-145.9,2295,781,3959,3977,88.7,-13.5,89,706,0.00,2.55,0.00,0.000,1158,0.000,0.087,2294,2203,3967,3957,3977,0,0,0,0,0,0,14.21,14.06,14.27
$GC,1022,-0.98,-145.9,2294,2203,3964,3977,134.5,-13.4,106,1026,0.00,2.53,0.00,0.000,388,0.000,0.090,2293,3619,3968,3959,3977,0,0,0,0,0,0,14.63,14.03,14.63
$GC,1102,-1.12,-145.9,2293,3620,3960,3977,143.9,-11.2,122,1107,0.22,2.42,0.00,0.000,5254,0.101,0.056,2213,2187,3968,3959,3977,0,0,0,0,0,0,14.20,14.12,14.31
$GC,1412,-1.03,-145.9,2213,2186,3959,3978,205.6,-19.6,134,1418,0.12,2.55,0.00,0.000,2436,0.304,0.084,2232,3617,3968,3959,3977,0,0,0,0,0,0,13.74,13.69,13.76
$GC,1573,-1.08,-145.9,2232,3620,3959,3978,229.8,-13.8,166,1578,0.00,2.42,0.00,0.000,1158,0.000,0.056,2232,2199,3968,3959,3977,0,0,0,0,0,0,14.27,14.14,14.31
$GC,1893,-1.08,-145.9,2232,2199,3959,3978,277.8,-14.2,180,1899,0.00,2.50,0.00,0.000,260,0.000,0.086,2223,3616,3968,3959,3977,0,0,0,0,0,0,14.64,14.09,14.66
$GC,2036,-1.15,-145.9,2223,3617,3960,3976,295.9,-12.4,208,2042,0.00,2.42,0.00,0.000,1158,0.000,0.056,2223,2190,3968,3959,3978,0,0,0,0,0,0,14.23,14.12,14.26
$GC,2347,-1.17,-145.9,2223,2190,3958,3978,337.0,-12.7,220,2353,0.00,2.58,0.00,0.000,388,0.000,0.089,2222,3622,3968,3959,3977,0,0,0,0,0,0,14.62,14.03,14.64
$GC,2471,-1.26,-145.9,2222,3623,3959,3978,350.9,-11.1,244,2477,0.15,2.45,0.00,0.000,5254,0.117,0.057,2163,2192,3967,3959,3976,0,0,0,0,0,0,14.19,14.08,14.28
$GC,2817,-1.16,-145.9,2163,2192,3959,3978,410.9,-17.3,260,2822,0.17,2.58,0.00,0.000,2436,0.310,0.083,2189,3620,3967,3958,3977,0,0,0,0,0,0,13.54,13.76,13.73
$GC,2920,-1.19,-145.9,2189,3620,3958,3980,425.3,-13.2,280,2925,0.00,2.45,0.00,0.000,1158,0.000,0.057,2189,2199,3967,3958,3977,0,0,0,0,0,0,14.02,13.90,14.11
$GC,3241,-1.17,-145.9,2189,2199,3958,3978,470.7,-14.0,294,3245,0.00,2.58,0.00,0.000,388,0.000,0.086,2184,3624,3967,3957,3977,0,0,0,0,0,0,14.38,13.89,14.40
$STATE,3308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3308,begin apogee
$GC,3316,-0.13,0.0,2184,2100,3957,3977,480.4,-13.3,308,3543,1.38,0.00,222.48,1.414,10246,0.236,0.000,2528,2099,3365,3377,3353,0,0,0,0,0,0,13.65,13.42,12.59
$STATE,3547,end apogee,CONTROL_FINISHED_OK
$STATE,3547,begin climb
$GC,3549,0.57,145.9,2529,2099,3371,3344,492.7,0.0,315,3775,0.75,2.75,211.45,1.370,10756,0.060,0.083,2781,694,2761,2791,2731,0,0,0,0,0,0,13.57,13.00,12.18
$GC,4000,0.17,145.9,2782,696,2781,2723,476.8,13.7,399,4005,0.68,2.55,0.00,0.000,5254,0.324,0.075,2643,2111,2752,2784,2721,0,0,0,0,0,0,13.34,13.71,13.73
$GC,4333,0.01,168.4,2643,2113,2785,2717,446.2,9.0,415,4368,0.20,2.53,29.77,1.467,12964,0.267,0.083,2601,685,2673,2712,2635,0,0,0,0,0,0,13.74,13.76,13.14
$GC,4483,0.02,220.6,2598,685,2709,2627,434.5,7.6,445,4574,0.00,2.53,82.75,1.357,9382,0.000,0.079,2601,2109,2460,2512,2409,0,0,0,0,0,0,14.16,14.04,13.00
$GC,4873,0.01,234.4,2602,2110,2506,2392,398.9,9.4,473,4894,0.00,2.55,15.62,1.565,8868,0.000,0.086,2602,684,2404,2456,2353,0,0,0,0,0,0,14.37,14.04,13.16
$GC,4942,0.08,256.7,2602,685,2450,2346,392.8,9.0,486,4982,0.00,2.45,34.15,1.436,9382,0.000,0.078,2602,2100,2317,2368,2267,0,0,0,0,0,0,14.15,14.03,13.10
$GC,5298,0.09,276.7,2602,2102,2350,2251,360.0,9.1,507,5330,0.00,2.58,28.12,1.438,8740,0.000,0.086,2605,691,2233,2281,2185,0,0,0,0,0,0,14.55,14.09,13.23
$GC,5383,0.20,312.4,2603,691,2271,2180,352.8,8.3,523,5446,0.12,2.47,57.15,1.342,11430,0.129,0.078,2662,2105,2091,2133,2050,0,0,0,0,0,0,14.16,14.09,13.13
$GC,5751,0.15,312.4,2663,2105,2120,2030,305.9,12.7,547,5753,0.15,0.00,0.00,0.000,4230,0.245,0.000,2630,2105,2074,2119,2030,0,0,0,0,0,0,13.98,14.26,14.21
$GC,6051,0.18,329.1,2631,2105,2120,2027,276.5,9.2,557,6075,0.00,0.00,22.12,1.430,8358,0.000,0.000,2632,2105,2024,2067,1982,0,0,0,0,0,0,14.64,14.12,13.28
$GC,6351,0.26,366.0,2630,2106,2056,1968,250.8,8.3,567,6422,0.10,2.53,64.78,1.298,10916,0.144,0.086,2682,686,1868,1897,1839,0,0,0,0,0,0,14.33,13.75,13.16
$GC,6463,0.29,366.0,2682,687,1885,1836,238.3,11.1,589,6468,0.00,2.50,0.00,0.000,1158,0.000,0.078,2683,2099,1859,1883,1836,0,0,0,0,0,0,14.17,14.04,14.21
$GC,6773,0.29,366.0,2682,2100,1883,1831,204.5,10.5,601,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2105,1856,1882,1830,0,0,0,0,0,0,14.59,14.62,14.62
$GC,7073,0.29,372.5,2683,2098,1882,1827,175.1,9.7,611,7078,0.00,2.45,0.00,0.000,292,0.000,0.083,2683,3507,1854,1881,1827,0,0,0,0,0,0,14.66,14.17,14.65
$GC,7113,0.29,372.5,2683,3509,1879,1829,170.7,11.1,619,7118,0.00,2.42,0.00,0.000,1030,0.000,0.065,2685,2098,1852,1878,1827,0,0,0,0,0,0,14.30,14.16,14.33
$GC,7433,0.30,382.4,2685,2098,1879,1826,139.7,9.5,633,7464,0.00,2.55,21.83,1.385,8740,0.000,0.090,2685,693,1801,1819,1783,0,0,0,0,0,0,14.65,14.16,13.29
$GC,7565,0.39,409.7,2685,694,1814,1779,127.7,8.7,659,7618,0.00,2.45,48.70,1.281,9382,0.000,0.077,2684,2099,1696,1715,1677,0,0,0,0,0,0,14.23,14.15,13.18
$GC,7917,0.49,452.3,2686,2099,1706,1654,97.4,8.0,681,7949,0.15,2.53,23.92,0.484,10916,0.117,0.089,2769,687,1521,1547,1496,0,0,0,0,0,0,14.15,14.07,13.56
$GC,8139,0.49,452.3,2765,685,1552,1497,71.2,11.1,725,8144,0.00,2.50,0.00,0.000,1030,0.000,0.079,2764,2099,1523,1550,1497,0,0,0,0,0,0,14.11,13.98,14.14
$GC,8450,0.55,560.7,2765,2100,1551,1495,45.1,5.0,757,8518,0.00,2.53,63.45,0.331,8868,0.000,0.086,2765,685,1076,1137,1015,0,0,0,0,0,0,14.57,13.93,13.70
$GC,8679,0.73,627.3,2765,685,1140,1019,30.2,6.9,802,8727,0.15,2.50,39.72,0.285,11430,0.114,0.078,2825,2105,805,869,741,0,0,0,0,0,0,13.99,14.00,13.64
$GC,9024,0.80,667.3,2826,2105,870,744,2.3,8.2,841,9029,0.00,0.00,4.05,0.223,8866,0.000,0.000,2825,2105,781,844,718,0,0,0,0,0,0,14.56,28.83,14.57
$STATE,9030,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,-0.0,1.013043
$STATE,9053,end surface coast,CONTROL_FINISHED_OK
$STATE,9053,begin surface
$SM_CCo,9074,42.80,0.207,0,0,500,703.03
$SM_GC,0.98,8.07,0.17,42.80,0.073,0.114,0.207,196,2222,500,-7.39,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,13.91
$RAFOS_CLK,298
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7505.68,-15104.03,140917,082725
$TT8_MAMPS,0.039697,0.977445
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15930294272.000000
$PM_FREEKB_00,47185472
$24V_AH,12.18,203.924
$10V_AH,12.25,0.000
$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,25.500,85.950,970.075,42.800,0.000,0.000,0.000,383.400,4.000,0.000,10.992,0.000,6339.070,987.521,2118.015,347.440,0.000,2164.869,0.000,1209.424,2219.000,0.540,0.000
$DEVICE_MAMPS,449.820,2150.415,1565.190,206.550,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9088.000,9057.000,9028.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.699,20.000,12.593,0.000
$MEM,323608
$DATA_FILE_SIZE,30076,845
$CAP_FILE_SIZE,106931,0
$CFSIZE,2097872896,1992753152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.113,98.94,1
$GPS,140917,135040,7501.698,-15104.673,16,0.7,19,20.7,0.0,0.0,11,9.7