version: 66.13
glider: 196
mission: 14
dive: 143
start: 8 23 117 9 41 40
data:
$ID,196
$MISSION,14
$DIVE,143
$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,29
$R_STBD_OVSHOOT,32
$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,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,402.0
$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
$GPS1,230817,091540,7324.6836,-15020.7812,16,0.8,23,20.6,0.6,228.3,9,9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.3
$GPS2,230817,094105,7324.6665,-15021.6270,6,0.7,24,20.6,0.5,249.3,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.0,146425,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,194,2216,495,491,0.0,0.0,0,140,0.00,0.00,-91.88,0.000,16386,0.000,0.000,194,2214,2294,2233,2355,0,0,0,0,0,0,14.46,28.83,14.49
$GC,143,-0.57,-145.9,193,2214,2237,2356,5.0,-8.0,9,191,12.73,2.72,-28.60,0.000,18724,0.461,2.150,2373,3597,3966,3949,3983,0,0,0,0,0,0,13.69,12.62,14.16
$GC,416,-0.65,-145.9,2374,3598,3958,3983,65.8,-14.5,63,421,0.00,2.38,0.00,0.000,1158,0.000,0.057,2373,2201,3970,3957,3983,0,0,0,0,0,0,14.24,14.17,14.27
$GC,738,-0.70,-145.9,2373,2202,3959,3984,111.5,-12.7,90,743,0.00,2.47,0.00,0.000,388,0.000,0.086,2369,3607,3971,3959,3983,0,0,0,0,0,0,14.54,14.19,14.57
$GC,860,-0.87,-145.9,2366,3608,3959,3984,124.4,-9.8,114,865,0.20,2.38,0.00,0.000,5286,0.103,0.054,2283,2195,3971,3959,3983,0,0,0,0,0,0,14.31,14.26,14.40
$GC,1190,-0.81,-145.9,2285,2193,3960,3983,184.1,-17.8,130,1195,0.12,2.45,0.00,0.000,2436,0.281,0.084,2305,3601,3972,3959,3985,0,0,0,0,0,0,14.03,14.23,14.19
$GC,1312,-0.90,-145.9,2306,3601,3960,3983,200.2,-12.1,154,1317,0.00,2.35,0.00,0.000,1158,0.000,0.056,2305,2199,3971,3959,3983,0,0,0,0,0,0,14.34,14.23,14.39
$GC,1642,-0.90,-145.9,2305,2199,3959,3984,244.2,-12.7,170,1647,0.00,2.45,0.00,0.000,260,0.000,0.089,2305,3600,3970,3958,3983,0,0,0,0,0,0,14.63,14.16,14.66
$GC,1732,-1.01,-145.9,2305,3602,3959,3984,254.1,-10.4,188,1738,0.17,2.35,0.00,0.000,5254,0.115,0.056,2242,2200,3971,3959,3983,0,0,0,0,0,0,14.33,14.29,14.43
$GC,2064,-0.94,-145.9,2243,2199,3959,3983,306.9,-15.7,204,2070,0.12,2.45,0.00,0.000,2436,0.293,0.083,2261,3599,3970,3959,3982,0,0,0,0,0,0,13.97,14.21,14.14
$GC,2182,-0.98,-145.9,2261,3602,3958,3983,322.1,-12.4,227,2187,0.00,2.35,0.00,0.000,1158,0.000,0.057,2261,2199,3970,3958,3982,0,0,0,0,0,0,14.38,14.26,14.41
$GC,2485,-0.98,-145.9,2260,2199,3957,3982,362.5,-13.0,238,2489,0.00,2.45,0.00,0.000,260,0.000,0.088,2253,3600,3969,3957,3982,0,0,0,0,0,0,14.64,14.21,14.67
$GC,2570,-1.02,-145.9,2253,3601,3957,3981,373.1,-12.0,255,2576,0.00,2.38,0.00,0.000,1158,0.000,0.057,2253,2198,3968,3956,3981,0,0,0,0,0,0,14.37,14.25,14.40
$GC,2875,-1.02,-145.9,2254,2197,3956,3981,412.2,-12.8,266,2879,0.00,2.45,0.00,0.000,260,0.000,0.087,2245,3601,3967,3956,3979,0,0,0,0,0,0,14.64,14.21,14.66
$GC,2987,-1.06,-145.9,2245,3601,3956,3980,426.0,-12.2,288,2992,0.00,2.38,0.00,0.000,1158,0.000,0.057,2244,2193,3967,3955,3980,0,0,0,0,0,0,14.36,14.22,14.39
$GC,3297,-1.04,-145.9,2245,2192,3956,3979,467.3,-13.2,300,3303,0.00,2.45,0.00,0.000,388,0.000,0.086,2236,3600,3967,3955,3979,0,0,0,0,0,0,14.66,14.19,14.69
$GC,3388,-1.04,-145.9,2235,3601,3956,3979,479.2,-12.6,318,3393,0.00,2.38,0.00,0.000,1030,0.000,0.057,2236,2189,3967,3955,3979,0,0,0,0,0,0,14.38,14.26,14.40
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3395,begin apogee
$GC,3401,-0.13,0.0,2237,2074,3956,3979,480.4,-12.6,320,3618,1.17,0.00,212.68,1.441,10246,0.259,0.000,2530,2073,3364,3388,3340,0,0,0,0,0,0,13.97,13.49,12.72
$STATE,3621,end apogee,CONTROL_FINISHED_OK
$STATE,3621,begin climb
$GC,3624,0.57,145.9,2531,2074,3382,3334,491.4,0.0,327,4137,0.75,2.72,203.23,1.389,10500,0.065,0.073,2783,3498,2752,2789,2716,0,0,0,0,0,0,13.58,13.15,12.42
$GC,4166,0.13,145.9,2783,3499,2789,2717,441.7,17.0,334,4171,0.80,2.40,0.00,0.000,5254,0.353,0.057,2629,2112,2752,2789,2716,0,0,0,0,0,0,13.55,13.90,13.92
$GC,4492,0.06,180.5,2629,2112,2793,2716,412.8,8.4,349,4546,0.00,2.55,46.83,1.430,8868,0.000,0.082,2638,698,2625,2671,2579,0,0,0,0,0,0,14.49,13.95,13.15
$GC,4636,0.03,195.2,2639,698,2670,2576,399.7,9.3,378,4662,0.20,2.45,19.95,1.517,13478,0.249,0.078,2594,2095,2568,2624,2513,0,0,0,0,0,0,13.86,14.04,13.14
$GC,4974,0.09,253.4,2595,2095,2623,2501,374.4,7.3,395,5065,0.00,0.00,89.43,1.369,8358,0.000,0.000,2593,2095,2331,2386,2276,0,0,0,0,0,0,14.50,13.83,13.09
$GC,5363,0.21,306.8,2594,2096,2374,2261,345.0,7.5,408,5449,0.15,2.53,79.65,1.333,10916,0.120,0.086,2672,696,2111,2161,2061,0,0,0,0,0,0,14.22,13.66,13.11
$GC,5479,0.21,306.8,2672,696,2155,2056,331.1,12.6,431,5485,0.00,2.50,0.00,0.000,1030,0.000,0.076,2672,2098,2106,2154,2059,0,0,0,0,0,0,13.97,13.86,14.00
$GC,5784,0.19,306.8,2673,2099,2154,2048,293.2,12.3,442,5785,0.00,0.00,0.00,0.000,134,0.000,0.000,2672,2099,2100,2153,2048,0,0,0,0,0,0,14.47,14.50,14.50
$GC,6084,0.19,306.8,2672,2100,2153,2047,257.9,11.5,452,6090,0.00,2.45,0.00,0.000,516,0.000,0.088,2672,697,2099,2152,2046,0,0,0,0,0,0,14.59,14.25,14.60
$GC,6160,0.24,306.8,2673,697,2151,2046,249.8,10.2,467,6165,0.00,2.42,0.00,0.000,1158,0.000,0.077,2672,2102,2098,2150,2046,0,0,0,0,0,0,14.39,14.27,14.42
$GC,6475,0.24,312.4,2673,2102,2150,2045,217.3,9.7,480,6481,0.00,2.45,0.00,0.000,548,0.000,0.086,2672,695,2097,2150,2045,0,0,0,0,0,0,14.62,14.24,14.62
$GC,6496,0.25,329.5,2672,697,2150,2045,215.3,9.2,484,6537,0.00,2.45,33.60,1.382,9254,0.000,0.078,2672,2106,2016,2062,1970,0,0,0,0,0,0,14.34,14.26,13.35
$GC,6838,0.31,357.7,2673,2106,2062,1961,184.9,8.7,502,6892,0.00,2.53,46.55,1.330,8868,0.000,0.087,2672,690,1901,1941,1862,0,0,0,0,0,0,14.54,14.03,13.29
$GC,6944,0.45,400.2,2672,691,1933,1863,176.1,8.0,523,7021,0.17,2.47,71.10,1.256,11430,0.112,0.078,2746,2098,1733,1761,1706,0,0,0,0,0,0,14.06,14.00,13.12
$GC,7317,0.42,400.2,2745,2098,1753,1691,127.4,12.6,548,7318,0.00,0.00,0.00,0.000,134,0.000,0.000,2746,2098,1720,1752,1689,0,0,0,0,0,0,14.45,14.47,14.46
$GC,7617,0.42,400.2,2747,2098,1752,1687,91.8,11.1,562,7622,0.00,2.47,0.00,0.000,516,0.000,0.086,2752,690,1718,1750,1687,0,0,0,0,0,0,14.53,14.20,14.53
$GC,7734,0.45,406.5,2755,690,1748,1687,79.8,9.7,585,7740,0.00,2.47,1.27,0.372,9382,0.000,0.080,2753,2107,1708,1738,1678,0,0,0,0,0,0,14.22,14.09,13.71
$GC,8037,0.50,480.1,2755,2108,1744,1678,54.2,6.6,616,8084,0.00,2.53,39.10,0.368,8740,0.000,0.084,2755,700,1406,1450,1362,0,0,0,0,0,0,14.54,14.12,13.77
$GC,8146,0.66,553.6,2755,701,1450,1362,47.3,6.6,633,8189,0.12,2.47,37.80,0.345,11430,0.135,0.078,2805,2109,1107,1175,1040,0,0,0,0,0,0,14.20,14.14,13.74
$GC,8507,0.85,675.2,2805,2109,1176,1030,16.6,4.4,672,8575,0.15,2.50,62.72,0.261,10660,0.118,0.080,2869,3517,606,655,558,0,0,0,0,0,0,14.07,13.95,13.76
$GC,8645,0.92,699.6,2869,3517,658,562,6.8,8.9,698,8683,0.00,2.47,29.60,0.204,9382,0.000,0.067,2876,2096,508,537,480,0,0,0,0,0,0,14.14,14.03,13.88
$STATE,8708,end climb,SURFACE_DEPTH_REACHED
$STATE,8708,begin surface coast
$FINISH,0.1,1.017174
$STATE,8728,end surface coast,CONTROL_FINISHED_OK
$STATE,8728,begin surface
$SM_CCo,8750,1.55,0.249,0,0,498,702.78
$SM_GC,1.63,8.25,0.20,1.55,0.079,0.110,0.249,204,2216,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.14,14.14,13.91
$RAFOS_CLK,29
$RAFOS_FIX,7325.783691,-15019.523438,230817,080827,2,255,0.72
$IRIDIUM_FIX,7324.17,-15037.71,230817,093213
$TT8_MAMPS,0.08239,0.929509
$HUMID,45.51
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,5
$CP_FREE,15995174912.000000
$PM_FREEKB_00,53761664
$24V_AH,12.42,111.190
$10V_AH,12.27,0.000
$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,25.125,84.025,973.500,1.550,0.000,0.000,0.000,990.700,1.250,0.000,25.560,0.000,6131.913,867.040,2940.247,353.725,0.000,2980.526,0.000,1018.550,2218.000,0.540,0.000
$DEVICE_MAMPS,460.530,2149.650,1516.995,248.625,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8758.000,8742.000,8706.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.481,20.000,9.907,0.000
$MEM,323504
$DATA_FILE_SIZE,23431,710
$CAP_FILE_SIZE,108443,0
$CFSIZE,2097872896,2044133376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6948.62,0x2341e8,1,24
$SOUNDSPEED,1447.9
$CURRENT,0.063,266.26,1
$GPS,230817,120857,7325.796,-15024.092,39,0.8,40,20.6,0.5,263.0,11,7.7