version: 66.13
glider: 196
mission: 14
dive: 43
start: 8 11 117 16 50 19
data:
$ID,196
$MISSION,14
$DIVE,43
$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,28
$R_STBD_OVSHOOT,39
$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
$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,48
$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,133.0
$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
$GPS1,110817,155230,7144.6328,-14728.5381,24,0.6,33,21.4,0.0,126.3,12,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.7
$GPS2,110817,164951,7144.2319,-14728.2979,7,0.8,21,21.4,0.3,185.1,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,331.5,179740,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,161,2219,508,486,0.0,0.0,0,129,0.00,0.00,-81.43,0.000,16386,0.000,0.000,158,2219,2242,2175,2310,0,0,0,0,0,0,14.32,28.83,14.34
$GC,132,-0.57,-145.9,159,2220,2178,2311,3.5,-4.5,8,180,12.75,2.75,-30.45,0.000,18980,0.452,2.122,2385,790,3962,3952,3972,0,0,0,0,0,0,13.71,13.02,14.07
$GC,260,-0.52,-145.9,2385,791,3957,3974,39.4,-19.8,33,267,0.15,2.45,0.00,0.000,3206,0.312,0.082,2403,2181,3965,3957,3973,0,0,0,0,0,0,13.78,13.99,14.04
$GC,565,-0.55,-145.9,2404,2183,3962,3973,85.6,-12.8,64,570,0.00,2.53,0.00,0.000,388,0.000,0.086,2401,3610,3967,3961,3973,0,0,0,0,0,0,14.39,14.01,14.40
$GC,675,-0.69,-145.9,2401,3611,3962,3973,97.6,-9.8,86,681,0.15,2.38,0.00,0.000,5286,0.111,0.050,2341,2199,3966,3961,3972,0,0,0,0,0,0,14.12,14.08,14.18
$GC,1006,-0.66,-145.9,2341,2198,3962,3972,148.5,-15.0,100,1011,0.00,2.47,0.00,0.000,388,0.000,0.083,2332,3613,3966,3961,3972,0,0,0,0,0,0,14.47,14.12,14.48
$GC,1106,-0.72,-145.9,2333,3613,3962,3971,162.1,-12.7,120,1111,0.00,2.38,0.00,0.000,1158,0.000,0.053,2333,2199,3966,3961,3972,0,0,0,0,0,0,14.23,14.15,14.28
$GC,1426,-0.72,-145.9,2333,2198,3962,3970,204.0,-12.3,134,1431,0.00,2.50,0.00,0.000,260,0.000,0.086,2335,3620,3965,3961,3970,0,0,0,0,0,0,14.50,14.14,14.52
$GC,1471,-0.81,-145.9,2333,3620,3962,3970,208.9,-10.4,143,1477,0.00,2.40,0.00,0.000,1158,0.000,0.054,2332,2198,3965,3961,3969,0,0,0,0,0,0,14.26,14.12,14.32
$GC,1787,-0.85,-145.9,2333,2197,3962,3965,242.5,-10.2,156,1792,0.00,2.50,0.00,0.000,388,0.000,0.087,2339,3610,3963,3961,3965,0,0,0,0,0,0,14.50,14.14,14.52
$GC,1852,-0.97,-145.9,2332,3612,3960,3966,248.8,-9.2,169,1857,0.20,2.40,0.00,0.000,5286,0.103,0.056,2255,2187,3962,3960,3965,0,0,0,0,0,0,14.22,14.17,14.28
$GC,2178,-0.85,-145.9,2255,2187,3959,3962,301.1,-16.6,184,2183,0.17,2.50,0.00,0.000,2436,0.308,0.080,2284,3616,3960,3959,3961,0,0,0,0,0,0,13.76,14.07,13.95
$GC,2338,-0.85,-145.9,2284,3616,3957,3961,322.4,-12.8,216,2343,0.00,2.40,0.00,0.000,1030,0.000,0.056,2284,2195,3958,3956,3961,0,0,0,0,0,0,14.33,14.22,14.35
$GC,2658,-0.82,-145.9,2284,2194,3956,3959,365.3,-13.3,230,2663,0.12,2.47,0.00,0.000,2436,0.300,0.082,2305,3611,3956,3955,3957,0,0,0,0,0,0,13.88,14.14,14.04
$GC,2755,-0.90,-145.9,2306,3613,3955,3961,375.8,-10.1,249,2760,0.00,2.38,0.00,0.000,1158,0.000,0.054,2305,2200,3956,3954,3959,0,0,0,0,0,0,14.31,14.23,14.33
$GC,3081,-0.92,-145.9,2306,2201,3955,3959,411.7,-11.0,264,3085,0.00,2.47,0.00,0.000,388,0.000,0.086,2297,3613,3955,3954,3957,0,0,0,0,0,0,14.53,14.17,14.55
$GC,3150,-0.99,-145.9,2298,3614,3954,3959,419.5,-10.7,278,3156,0.12,2.38,0.00,0.000,5254,0.134,0.055,2250,2199,3955,3954,3957,0,0,0,0,0,0,14.23,14.22,14.33
$GC,3471,-0.88,-145.9,2249,2198,3953,3955,470.2,-16.2,292,3476,0.17,2.47,0.00,0.000,2436,0.318,0.081,2279,3611,3954,3953,3955,0,0,0,0,0,0,13.82,14.12,14.03
$STATE,3544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3544,begin apogee
$GC,3552,-0.13,0.0,2280,2100,3953,3955,480.4,-12.3,307,4003,1.00,0.00,446.88,1.171,10246,0.243,0.000,2532,2099,3365,3397,3334,0,0,0,0,0,0,13.93,13.38,12.84
$STATE,4008,end apogee,CONTROL_FINISHED_OK
$STATE,4008,begin climb
$GC,4011,0.57,145.9,2533,2100,3395,3330,504.9,0.0,322,4220,0.73,2.67,188.68,1.371,10500,0.067,0.075,2776,3510,2754,2802,2707,0,0,0,0,0,0,13.45,13.16,12.69
$GC,4447,0.17,145.9,2776,3511,2788,2707,464.4,17.9,368,4452,0.70,2.47,0.00,0.000,5254,0.344,0.057,2643,2095,2747,2788,2706,0,0,0,0,0,0,13.52,13.82,13.83
$GC,4757,0.10,173.9,2643,2092,2789,2705,435.6,8.7,380,4798,0.00,2.55,34.12,1.424,8612,0.000,0.081,2643,3517,2651,2699,2603,0,0,0,0,0,0,14.28,13.90,13.25
$GC,5023,0.02,173.9,2643,3517,2688,2596,407.9,10.8,433,5030,0.25,2.45,0.00,0.000,5254,0.253,0.060,2593,2090,2640,2686,2595,0,0,0,0,0,0,13.86,14.07,14.13
$GC,5328,0.12,250.1,2593,2089,2691,2592,387.6,6.5,444,5450,0.00,2.55,114.82,1.320,8868,0.000,0.086,2600,687,2339,2393,2285,0,0,0,0,0,0,14.44,13.72,13.17
$GC,5475,0.31,309.6,2601,689,2387,2282,377.7,7.3,458,5573,0.25,2.55,90.85,1.278,11430,0.087,0.079,2692,2101,2100,2156,2045,0,0,0,0,0,0,13.83,13.77,13.05
$GC,5870,0.28,309.6,2693,2102,2138,2026,324.1,13.7,487,5876,0.00,2.53,0.00,0.000,644,0.000,0.086,2699,689,2080,2137,2024,0,0,0,0,0,0,14.22,13.95,14.25
$GC,5916,0.28,309.6,2699,690,2135,2025,317.9,13.3,496,5921,0.00,2.50,0.00,0.000,1030,0.000,0.077,2699,2101,2079,2134,2025,0,0,0,0,0,0,14.10,14.00,14.13
$GC,6231,0.24,309.6,2701,2102,2133,2023,274.0,13.8,509,6233,0.17,0.00,0.00,0.000,4230,0.233,0.000,2659,2102,2077,2133,2022,0,0,0,0,0,0,13.98,14.26,14.19
$GC,6531,0.28,309.6,2660,2102,2132,2019,242.9,10.1,519,6537,0.00,2.50,0.00,0.000,644,0.000,0.089,2659,685,2075,2132,2019,0,0,0,0,0,0,14.47,14.16,14.50
$GC,6602,0.40,325.2,2660,683,2131,2020,236.2,9.3,533,6624,0.15,2.47,15.73,1.448,11430,0.122,0.079,2719,2098,2037,2089,1985,0,0,0,0,0,0,14.23,14.19,13.50
$GC,6924,0.35,325.2,2720,2101,2080,1976,190.6,14.1,547,6925,0.00,0.00,0.00,0.000,134,0.000,0.000,2719,2101,2028,2079,1977,0,0,0,0,0,0,14.44,14.47,14.46
$GC,7222,0.31,325.2,2719,2102,2078,1978,154.6,11.3,557,7227,0.12,2.47,0.00,0.000,4740,0.239,0.081,2697,685,2026,2077,1975,0,0,0,0,0,0,14.05,14.16,14.17
$GC,7329,0.41,355.2,2697,686,2074,1976,145.3,8.6,578,7384,0.00,2.47,47.70,1.291,9382,0.000,0.080,2697,2108,1914,1957,1871,0,0,0,0,0,0,14.32,14.20,13.41
$GC,7704,0.49,382.8,2697,2109,1945,1866,111.9,8.7,603,7750,0.12,2.53,39.83,1.271,10916,0.133,0.084,2768,691,1800,1832,1769,0,0,0,0,0,0,14.16,13.86,13.38
$GC,7792,0.49,382.8,2768,699,1822,1770,101.1,13.1,620,7798,0.15,2.50,0.00,0.000,5126,0.249,0.079,2737,2098,1795,1822,1768,0,0,0,0,0,0,13.85,13.97,14.04
$GC,8096,0.52,393.2,2738,2099,1823,1761,69.5,9.5,649,8107,0.00,2.50,4.20,0.400,8868,0.000,0.085,2742,690,1761,1793,1730,0,0,0,0,0,0,14.34,13.97,13.73
$GC,8137,0.59,407.3,2742,691,1794,1733,65.8,9.4,657,8153,0.00,2.50,8.02,0.403,9382,0.000,0.078,2742,2109,1704,1734,1674,0,0,0,0,0,0,14.18,14.07,13.70
$GC,8459,0.73,489.3,2743,2110,1737,1673,39.6,6.2,691,8501,0.20,0.00,41.08,0.334,10662,0.106,0.000,2818,2106,1370,1420,1321,0,0,0,0,0,0,14.07,14.13,13.84
$GC,8799,0.89,664.0,2820,2110,1419,1309,12.6,1.9,726,8893,0.15,2.53,85.18,0.248,10660,0.116,0.083,2880,3507,654,720,589,0,0,0,0,0,0,14.06,13.97,13.83
$STATE,8951,end climb,SURFACE_DEPTH_REACHED
$STATE,8951,begin surface coast
$FINISH,0.9,1.019967
$STATE,8961,end surface coast,CONTROL_FINISHED_OK
$STATE,8961,begin surface
$SM_CCo,8983,19.27,0.220,0,0,500,702.78
$SM_GC,1.00,8.20,2.30,19.27,0.073,0.062,0.220,205,2203,500,-7.37,0.85,702.78,0,0,0,0,0,0,14.14,14.09,13.92
$RAFOS_CLK,330
$RAFOS_FIX,7143.094727,-14732.961914,110817,080823,2,255,0.45
$IRIDIUM_FIX,7146.45,-14734.89,110817,161625
$TT8_MAMPS,0.038199,0.889812
$HUMID,48.50
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.20
$XPDR_PINGS,105
$CP_FREE,16012148736.000000
$PM_FREEKB_00,59791296
$24V_AH,12.69,63.345
$10V_AH,12.63,0.000
$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,26.050,89.500,1117.075,19.275,0.000,0.000,0.000,2809.900,26.250,0.000,22.810,0.000,6442.009,1044.611,4427.267,537.763,0.000,4695.614,0.000,1086.116,0.000,0.543,0.000
$DEVICE_MAMPS,452.115,2122.110,1448.145,219.555,0.000,0.000,0.000,195.840,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8987.000,8977.000,8936.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.278,20.000,16.573,0.000
$MEM,323700
$DATA_FILE_SIZE,26741,755
$CAP_FILE_SIZE,122556,0
$CFSIZE,2097872896,2074935296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.8
$CURRENT,0.085,201.35,1
$GPS,110817,192135,7144.981,-14728.616,26,1.1,28,21.4,0.5,132.0,7,8.8