version: 66.13
glider: 196
mission: 14
dive: 147
start: 8 23 117 21 1 41
data:
$ID,196
$MISSION,14
$DIVE,147
$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,23
$R_STBD_OVSHOOT,34
$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,413.0
$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
$GPS1,230817,204151,7328.9424,-15033.0381,35,1.0,36,20.6,0.5,242.2,7,8.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.8
$GPS2,230817,210107,7328.8267,-15033.6426,5,0.8,16,20.6,0.0,211.0,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.2,136789,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,194,2227,489,489,0.0,0.0,0,128,0.00,0.00,-80.82,0.000,16386,0.000,0.000,193,2227,1984,1915,2054,0,0,0,0,0,0,14.32,28.83,14.33
$GC,131,-0.57,-145.9,194,2227,1917,2056,3.2,-3.5,8,195,12.50,2.75,-41.40,0.000,18724,0.451,2.142,2375,3592,3963,3947,3979,1,0,0,0,0,0,13.45,12.54,14.09
$GC,385,-0.63,-145.9,2375,3598,3954,3982,57.5,-16.6,58,390,0.00,2.40,0.00,0.000,1158,0.000,0.060,2376,2201,3967,3954,3981,0,0,0,0,0,0,14.21,14.09,14.24
$GC,695,-0.68,-145.9,2375,2200,3955,3982,104.7,-12.7,88,700,0.00,2.47,0.00,0.000,388,0.000,0.087,2366,3604,3967,3954,3981,0,0,0,0,0,0,14.55,14.19,14.57
$GC,770,-0.82,-145.9,2366,3606,3955,3982,113.2,-10.4,103,777,0.17,2.38,0.00,0.000,5254,0.109,0.057,2296,2198,3968,3955,3981,0,0,0,0,0,0,14.28,14.23,14.37
$GC,1087,-0.78,-145.9,2295,2197,3955,3982,167.2,-16.8,116,1092,0.12,2.45,0.00,0.000,2436,0.282,0.086,2319,3597,3968,3955,3981,0,0,0,0,0,0,14.04,14.23,14.19
$GC,1189,-0.89,-145.9,2319,3599,3955,3982,180.0,-11.5,136,1193,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2187,3967,3954,3981,0,0,0,0,0,0,14.29,14.17,14.33
$GC,1509,-0.93,-145.9,2319,2186,3956,3981,221.3,-12.4,150,1514,0.12,2.47,0.00,0.000,4484,0.138,0.086,2252,3600,3967,3954,3980,0,0,0,0,0,0,14.33,14.21,14.36
$GC,1584,-0.90,-145.9,2252,3602,3955,3981,233.4,-16.2,165,1589,0.15,2.35,0.00,0.000,3206,0.262,0.057,2282,2201,3968,3955,3981,0,0,0,0,0,0,14.02,14.29,14.30
$GC,1899,-0.90,-145.9,2282,2201,3955,3982,276.6,-13.0,178,1904,0.00,2.45,0.00,0.000,260,0.000,0.090,2280,3601,3967,3954,3980,0,0,0,0,0,0,14.65,14.24,14.66
$GC,1974,-0.98,-145.9,2280,3603,3955,3981,285.5,-11.7,193,1980,0.00,2.38,0.00,0.000,1158,0.000,0.059,2280,2195,3967,3955,3979,0,0,0,0,0,0,14.42,14.29,14.45
$GC,2290,-1.00,-145.9,2280,2194,3955,3980,323.0,-11.5,206,2295,0.00,2.45,0.00,0.000,388,0.000,0.088,2270,3598,3966,3954,3979,0,0,0,0,0,0,14.66,14.25,14.67
$GC,2375,-1.09,-145.9,2270,3600,3954,3979,332.1,-10.3,223,2382,0.12,2.35,0.00,0.000,5254,0.135,0.057,2222,2199,3966,3954,3978,0,0,0,0,0,0,14.27,14.26,14.39
$GC,2680,-1.01,-145.9,2223,2199,3954,3978,379.0,-15.7,234,2685,0.12,2.45,0.00,0.000,2436,0.301,0.085,2238,3598,3965,3954,3977,0,0,0,0,0,0,13.99,14.25,14.17
$GC,2805,-1.03,-145.9,2242,3600,3954,3978,395.7,-12.1,259,2811,0.00,2.38,0.00,0.000,1158,0.000,0.057,2242,2195,3965,3953,3977,0,0,0,0,0,0,14.42,14.28,14.45
$GC,3131,-1.01,-145.9,2242,2194,3953,3977,439.8,-13.5,274,3136,0.00,2.45,0.00,0.000,388,0.000,0.088,2236,3598,3964,3953,3976,0,0,0,0,0,0,14.66,14.16,14.68
$GC,3258,-1.03,-145.9,2236,3599,3953,3976,456.1,-12.6,299,3264,0.00,2.35,0.00,0.000,1158,0.000,0.056,2236,2198,3964,3953,3976,0,0,0,0,0,0,14.32,14.19,14.35
$STATE,3432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3432,begin apogee
$GC,3438,-0.13,0.0,2237,2056,3954,3976,480.2,-13.6,309,3654,1.15,0.05,212.32,1.440,10246,0.249,0.224,2528,2091,3364,3389,3339,0,0,0,0,0,0,13.95,13.43,12.71
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3662,0.57,145.9,2528,2091,3383,3333,490.9,0.0,316,3874,0.75,2.62,202.40,1.388,10756,0.066,0.077,2790,723,2765,2810,2720,0,0,0,0,0,0,13.59,13.17,12.41
$GC,4099,0.20,145.9,2790,724,2796,2718,462.9,15.6,398,4105,0.65,2.47,0.00,0.000,5254,0.316,0.075,2652,2105,2756,2796,2716,0,0,0,0,0,0,13.49,13.76,13.81
$GC,4410,0.06,156.5,2652,2108,2793,2712,432.1,9.5,410,4425,0.17,2.42,10.80,1.632,12964,0.287,0.082,2616,726,2723,2766,2681,0,0,0,0,0,0,13.83,13.82,13.17
$GC,4550,0.09,205.8,2616,727,2763,2681,420.9,7.7,438,4631,0.00,2.40,73.15,1.410,9254,0.000,0.079,2616,2105,2522,2583,2461,0,0,0,0,0,0,14.26,14.16,13.05
$GC,4951,0.11,223.0,2616,2099,2579,2451,384.7,9.2,468,4975,0.00,0.00,22.65,1.495,8230,0.000,0.000,2619,2098,2457,2519,2395,0,0,0,0,0,0,14.47,14.05,13.21
$GC,5252,0.12,237.6,2616,2099,2509,2385,356.7,9.3,478,5274,0.00,0.00,21.33,1.501,8230,0.000,0.000,2616,2098,2395,2454,2337,0,0,0,0,0,0,14.52,14.11,13.28
$GC,5552,0.15,259.2,2616,2099,2446,2328,329.3,9.0,488,5589,0.00,2.42,32.10,1.447,8868,0.000,0.085,2616,726,2309,2368,2251,0,0,0,0,0,0,14.54,13.88,13.27
$GC,5641,0.27,289.0,2616,727,2352,2252,321.5,8.6,505,5694,0.17,2.40,46.03,1.382,11430,0.106,0.077,2686,2097,2183,2235,2132,0,0,0,0,0,0,14.14,14.09,13.15
$GC,6004,0.21,289.0,2687,2097,2228,2121,272.7,13.3,528,6010,0.15,2.40,0.00,0.000,4740,0.245,0.081,2658,729,2174,2227,2121,0,0,0,0,0,0,13.97,14.06,14.14
$GC,6050,0.25,289.0,2658,729,2226,2122,267.8,10.1,537,6056,0.00,2.40,0.00,0.000,1158,0.000,0.078,2657,2106,2173,2225,2121,0,0,0,0,0,0,14.31,14.19,14.35
$GC,6366,0.26,304.6,2658,2108,2226,2119,237.0,9.3,550,6392,0.00,2.42,21.58,1.445,8740,0.000,0.083,2658,729,2119,2172,2067,0,0,0,0,0,0,14.60,13.98,13.35
$GC,6432,0.37,343.5,2659,728,2167,2067,231.5,8.2,563,6502,0.12,2.40,63.78,1.303,11430,0.135,0.078,2708,2114,1962,2009,1916,0,0,0,0,0,0,14.23,14.19,13.19
$GC,6818,0.34,343.5,2708,2110,2001,1903,187.0,11.2,590,6822,0.00,2.42,0.00,0.000,644,0.000,0.085,2709,730,1950,1999,1902,0,0,0,0,0,0,14.49,14.14,14.50
$GC,6872,0.36,343.5,2709,729,1998,1898,181.1,10.4,601,6880,0.00,2.38,0.00,0.000,1158,0.000,0.076,2709,2093,1949,1997,1902,0,0,0,0,0,0,14.32,14.19,14.34
$GC,7178,0.36,343.5,2709,2096,1998,1900,149.1,10.2,612,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2095,1948,1997,1900,0,0,0,0,0,0,14.59,14.61,14.59
$GC,7478,0.37,351.6,2709,2094,1998,1899,120.1,9.6,622,7487,0.00,2.42,2.40,0.902,8740,0.000,0.086,2709,730,1932,1981,1884,0,0,0,0,0,0,14.63,14.27,12.91
$GC,7570,0.45,384.3,2709,731,1982,1888,112.2,8.5,640,7634,0.00,2.38,57.97,1.274,9382,0.000,0.078,2708,2114,1797,1830,1764,0,0,0,0,0,0,14.29,14.20,13.29
$GC,7939,0.54,432.6,2709,2107,1822,1753,81.3,7.8,682,7970,0.12,0.00,24.80,0.456,10406,0.132,0.000,2766,2108,1600,1632,1569,0,0,0,0,0,0,14.21,13.98,13.70
$GC,8269,0.58,500.0,2766,2109,1632,1563,51.9,6.9,715,8310,0.00,2.42,34.75,0.363,8740,0.000,0.084,2768,726,1322,1374,1271,0,0,0,0,0,0,14.54,14.07,13.81
$GC,8402,0.78,588.1,2768,726,1374,1270,43.3,5.9,740,8456,0.20,2.40,45.47,0.335,11430,0.108,0.080,2848,2096,964,1036,893,0,0,0,0,0,0,14.21,14.16,13.80
$GC,8761,0.88,661.5,2849,2095,1037,885,8.3,6.6,781,8802,0.00,0.00,38.03,0.235,8358,0.000,0.000,2848,2092,667,726,608,0,0,0,0,0,0,14.54,14.18,13.92
$STATE,8868,end climb,SURFACE_DEPTH_REACHED
$STATE,8868,begin surface coast
$FINISH,0.0,1.012688
$STATE,8899,end surface coast,CONTROL_FINISHED_OK
$STATE,8899,begin surface
$SM_CCo,8965,22.60,0.216,0,0,499,703.03
$SM_GC,0.85,8.07,0.17,22.60,0.079,0.109,0.216,199,2228,499,-7.38,-0.82,703.03,0,0,0,0,0,0,14.32,14.33,14.04
$RAFOS_CLK,395
$RAFOS_FIX,7327.592285,-15032.682617,230817,202011,4,255,0.19
$IRIDIUM_FIX,7328.37,-15030.30,230817,204902
$TT8_MAMPS,0.036701,0.826896
$HUMID,47.32
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,18
$CP_FREE,0.000000
$PM_FREEKB_00,53640576
$24V_AH,12.41,113.069
$10V_AH,12.30,0.000
$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,24.900,78.100,909.550,22.600,0.000,0.000,0.000,741.925,4.500,0.000,17.609,0.000,6469.372,938.501,2432.698,316.986,0.000,2420.346,0.000,1141.215,0.000,0.540,0.000
$DEVICE_MAMPS,450.585,2142.000,1631.745,216.495,0.000,0.000,0.000,191.250,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8924.000,8975.000,8923.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.630,20.000,9.933,0.000
$MEM,323392
$DATA_FILE_SIZE,26697,795
$CAP_FILE_SIZE,106779,0
$CFSIZE,2097872896,2042855424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,8279.35,0x2341ea,1,24
$SOUNDSPEED,1448.8
$CURRENT,0.081,269.16,1
$GPS,230817,233251,7329.971,-15036.690,37,0.7,38,20.5,0.0,0.0,11,7.0