version: 66.13
glider: 196
mission: 14
dive: 334
start: 9 14 117 14 2 56
data:
$ID,196
$MISSION,14
$DIVE,334
$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,25
$R_STBD_OVSHOOT,38
$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,929.0
$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
$GPS1,140917,135040,7501.6982,-15104.6729,16,0.7,19,20.7,0.0,0.0,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.4
$GPS2,140917,140221,7501.6606,-15104.5449,41,0.8,42,20.7,0.4,181.7,10,7.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,161.0,33195,-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,-145.9,192,2225,499,497,0.0,0.0,0,144,0.00,0.00,-91.35,0.000,16386,0.000,0.000,190,2225,2128,2051,2205,0,0,0,0,0,0,14.48,28.83,14.50
$GC,148,-0.57,-145.9,191,2225,2055,2205,3.8,-5.3,9,205,12.85,2.75,-36.42,0.000,18724,0.451,2.153,2376,3585,3966,3954,3979,0,0,0,0,0,0,13.58,12.60,14.02
$GC,371,-0.70,-145.9,2376,3586,3959,3981,47.0,-12.9,53,375,0.00,2.38,0.00,0.000,1158,0.000,0.057,2376,2196,3969,3959,3980,0,0,0,0,0,0,14.14,14.02,14.18
$GC,683,-0.83,-145.9,2376,2196,3961,3981,84.7,-9.7,85,688,0.17,2.50,0.00,0.000,4772,0.111,0.081,2301,784,3970,3960,3980,0,0,0,0,0,0,14.02,14.04,14.07
$GC,718,-0.89,-145.9,2301,785,3961,3981,89.4,-13.7,92,725,0.00,2.50,0.00,0.000,1158,0.000,0.087,2298,2190,3970,3960,3980,0,0,0,0,0,0,14.16,14.04,14.21
$GC,1034,-0.95,-145.9,2299,2191,3961,3980,132.2,-13.0,108,1039,0.00,2.53,0.00,0.000,388,0.000,0.090,2294,3617,3970,3960,3980,0,0,0,0,0,0,14.63,14.04,14.64
$GC,1095,-1.11,-145.9,2294,3619,3961,3980,139.2,-10.4,120,1101,0.22,2.40,0.00,0.000,5254,0.094,0.057,2210,2199,3970,3960,3980,0,0,0,0,0,0,14.26,14.18,14.34
$GC,1426,-1.02,-145.9,2210,2199,3961,3981,205.8,-19.9,136,1432,0.15,2.50,0.00,0.000,2436,0.293,0.083,2236,3612,3969,3959,3979,0,0,0,0,0,0,13.74,14.04,13.91
$GC,1618,-1.08,-145.9,2236,3609,3961,3981,234.4,-14.0,174,1623,0.00,2.42,0.00,0.000,1158,0.000,0.057,2236,2194,3971,3962,3980,0,0,0,0,0,0,14.30,14.15,14.33
$GC,1938,-1.08,-145.9,2236,2192,3961,3983,281.2,-13.6,188,1944,0.00,2.53,0.00,0.000,260,0.000,0.089,2236,3614,3970,3960,3980,0,0,0,0,0,0,14.64,14.07,14.65
$GC,2081,-1.19,-145.9,2235,3615,3961,3981,298.1,-11.1,216,2087,0.12,2.40,0.00,0.000,5254,0.136,0.056,2183,2199,3970,3960,3980,0,0,0,0,0,0,14.16,14.14,14.28
$GC,2393,-1.12,-145.9,2183,2199,3960,3981,350.9,-16.8,228,2399,0.12,2.55,0.00,0.000,2436,0.291,0.084,2203,3614,3968,3960,3977,0,0,0,0,0,0,13.80,14.02,13.95
$GC,2480,-1.18,-145.9,2203,3615,3960,3981,362.6,-12.4,245,2486,0.00,2.42,0.00,0.000,1158,0.000,0.057,2203,2189,3970,3960,3980,0,0,0,0,0,0,14.23,14.10,14.27
$GC,2784,-1.18,-145.9,2203,2188,3961,3980,403.4,-13.3,256,2790,0.00,2.55,0.00,0.000,260,0.000,0.086,2197,3615,3969,3959,3980,0,0,0,0,0,0,14.66,13.95,14.68
$GC,2913,-1.24,-145.9,2194,3622,3960,3980,419.6,-12.4,281,2917,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2199,3969,3959,3980,0,0,0,0,0,0,14.29,14.16,14.33
$GC,3238,-1.24,-145.9,2196,2199,3958,3980,463.7,-13.5,296,3243,0.00,2.53,0.00,0.000,260,0.000,0.086,2190,3620,3969,3959,3980,0,0,0,0,0,0,14.66,14.07,14.67
$GC,3334,-1.28,-145.9,2189,3622,3959,3981,476.4,-12.6,315,3338,0.00,2.42,0.00,0.000,1158,0.000,0.056,2190,2190,3969,3959,3980,0,0,0,0,0,0,14.21,14.09,14.26
$STATE,3386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3386,begin apogee
$GC,3393,-0.13,0.0,2190,2060,3958,3981,483.9,-13.9,321,3631,1.35,0.08,231.43,1.407,10246,0.235,0.181,2530,2113,3359,3374,3345,0,0,0,0,0,0,13.76,13.43,12.64
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3637,0.57,145.9,2531,2113,3372,3339,498.0,0.0,329,4196,0.75,0.00,211.18,1.369,10758,0.060,0.000,2785,2113,2751,2783,2719,0,0,0,0,0,0,13.70,13.17,12.23
$GC,4521,0.13,145.9,2785,2114,2784,2719,419.4,13.6,345,4526,0.70,2.42,0.00,0.000,4740,0.323,0.079,2638,726,2750,2782,2718,0,0,0,0,0,0,13.67,14.07,13.93
$GC,4567,0.02,174.1,2638,725,2784,2719,415.0,8.7,354,4613,0.22,2.38,39.72,1.414,13478,0.270,0.079,2590,2093,2653,2692,2615,0,0,0,0,0,0,13.83,14.17,13.16
$GC,4914,0.03,227.2,2591,2092,2687,2598,389.3,7.5,373,5004,0.00,2.50,84.45,1.343,8868,0.000,0.084,2590,733,2439,2491,2387,0,0,0,0,0,0,14.55,13.92,13.08
$GC,5054,0.13,268.2,2590,734,2476,2377,378.1,8.1,401,5125,0.00,2.42,64.28,1.328,9382,0.000,0.078,2590,2098,2268,2319,2218,0,0,0,0,0,0,14.17,14.02,13.00
$GC,5424,0.21,310.8,2590,2099,2307,2199,347.2,8.0,425,5495,0.17,0.00,68.55,1.304,10406,0.107,0.000,2668,2098,2095,2140,2051,0,0,0,0,0,0,14.28,13.94,13.13
$GC,5784,0.15,310.8,2669,2098,2126,2032,300.8,13.0,437,5789,0.12,2.42,0.00,0.000,4740,0.262,0.083,2644,724,2079,2128,2031,0,0,0,0,0,0,13.95,14.12,14.07
$GC,5820,0.18,310.8,2644,725,2123,2032,296.8,10.7,444,5826,0.00,2.40,0.00,0.000,1158,0.000,0.077,2644,2104,2076,2122,2031,0,0,0,0,0,0,14.31,14.18,14.39
$GC,6146,0.18,317.3,2643,2103,2124,2029,263.3,9.7,459,6147,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2104,2075,2121,2029,0,0,0,0,0,0,14.66,14.66,14.66
$GC,6446,0.21,355.9,2645,2105,2122,2026,237.9,8.2,469,6530,0.00,2.58,76.22,1.274,8484,0.000,0.083,2644,3517,1907,1941,1874,0,0,0,0,0,0,14.65,13.93,13.19
$GC,6566,0.26,359.5,2644,3516,1928,1874,227.4,9.8,483,6571,0.00,2.38,0.00,0.000,1190,0.000,0.065,2644,2139,1900,1927,1873,0,0,0,0,0,0,14.17,14.05,14.20
$GC,6897,0.36,406.2,2647,2137,1927,1864,200.3,7.8,499,6995,0.12,2.65,89.20,1.226,10916,0.120,0.091,2701,695,1705,1727,1684,0,0,0,0,0,0,14.30,13.69,13.12
$GC,7035,0.41,406.2,2700,698,1715,1679,185.7,10.4,524,7041,0.00,2.50,0.00,0.000,1158,0.000,0.077,2700,2099,1696,1715,1678,0,0,0,0,0,0,14.07,13.95,14.09
$GC,7361,0.41,406.2,2699,2100,1715,1669,150.1,11.0,539,7366,0.00,2.50,0.00,0.000,516,0.000,0.090,2698,693,1691,1715,1668,0,0,0,0,0,0,14.41,14.04,14.42
$GC,7401,0.47,406.2,2699,693,1714,1669,145.9,10.4,547,7406,0.00,2.50,0.00,0.000,1158,0.000,0.077,2700,2106,1690,1713,1668,0,0,0,0,0,0,14.16,14.03,14.21
$GC,7722,0.49,406.2,2700,2108,1714,1667,112.5,10.2,561,7727,0.12,2.50,0.00,0.000,2692,0.130,0.086,2768,693,1689,1713,1666,0,0,0,0,0,0,14.15,14.02,14.19
$GC,7824,0.43,406.2,2768,693,1711,1667,99.2,13.4,581,7829,0.20,2.53,0.00,0.000,5254,0.243,0.078,2724,2109,1688,1711,1666,0,0,0,0,0,0,13.83,14.05,14.12
$GC,8135,0.45,436.2,2724,2112,1711,1665,68.5,8.6,614,8157,0.00,2.60,14.40,0.390,8740,0.000,0.086,2727,691,1585,1611,1560,0,0,0,0,0,0,14.42,13.95,13.59
$GC,8382,0.59,534.3,2727,692,1620,1570,51.6,5.5,663,8441,0.15,2.50,54.10,0.349,11430,0.111,0.077,2787,2104,1191,1252,1131,0,0,0,0,0,0,13.97,14.00,13.65
$GC,8737,0.71,638.9,2785,2105,1244,1136,24.5,5.2,704,8800,0.00,2.60,58.00,0.269,8868,0.000,0.086,2792,689,758,823,693,0,0,0,0,0,0,14.34,13.93,13.66
$GC,8911,0.94,715.3,2792,689,825,696,14.4,6.5,738,8954,0.28,2.50,38.33,0.243,11430,0.083,0.076,2893,2098,501,524,479,0,0,0,0,0,0,14.04,13.90,13.77
$STATE,9018,end climb,SURFACE_DEPTH_REACHED
$STATE,9018,begin surface coast
$FINISH,0.1,1.021338
$STATE,9028,end surface coast,CONTROL_FINISHED_OK
$STATE,9028,begin surface
$SM_CCo,9110,0.00,0.000,0,0,495,704.01
$SM_GC,1.24,8.48,0.17,0.00,0.084,0.125,0.000,204,2214,495,-7.37,-0.74,704.01,0,0,0,0,0,0,14.14,14.09,14.22
$RAFOS_CLK,103
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7504.67,-15056.72,140917,111044
$TT8_MAMPS,0.085386,0.892059
$HUMID,43.26
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,15929868288.000000
$PM_FREEKB_00,47142336
$24V_AH,12.23,204.427
$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,26.325,85.050,1029.850,0.000,0.000,0.000,0.000,385.400,2.500,0.000,45.285,0.000,6079.663,899.975,2510.553,331.783,0.000,2502.288,0.000,1080.949,2215.000,0.540,0.000
$DEVICE_MAMPS,450.585,2152.710,1414.485,0.000,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9063.000,9015.000,9003.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.720,20.000,12.095,0.000
$MEM,323288
$DATA_FILE_SIZE,26692,754
$CAP_FILE_SIZE,101414,0
$CFSIZE,2097872896,1992458240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.4
$CURRENT,0.112,103.41,1
$GPS,140917,163551,7500.327,-15104.041,16,0.7,21,20.7,0.0,240.0,12,8.9