version: 66.13
glider: 196
mission: 14
dive: 157
start: 8 25 117 1 7 2
data:
$ID,196
$MISSION,14
$DIVE,157
$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,22
$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,441.0
$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
$GPS1,250817,004212,7339.6313,-15106.3965,14,0.9,17,20.3,0.5,200.2,10,8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.3
$GPS2,250817,010625,7339.6694,-15106.8936,5,0.7,14,20.3,0.0,300.9,12,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.9,111047,-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,-145.9,168,2216,510,489,0.0,0.0,0,130,0.00,0.00,-81.47,0.000,16386,0.000,0.000,163,2217,1978,1906,2051,0,0,0,0,0,0,14.34,28.83,14.36
$GC,133,-0.57,-145.9,164,2217,1908,2055,3.0,-3.6,8,197,12.75,2.80,-41.85,0.000,18724,0.455,2.148,2375,3596,3964,3948,3980,0,0,0,0,0,0,13.69,12.57,14.14
$GC,377,-0.63,-145.9,2375,3597,3953,3981,54.8,-16.6,56,382,0.00,2.40,0.00,0.000,1158,0.000,0.060,2375,2195,3966,3953,3980,0,0,0,0,0,0,14.26,14.14,14.28
$GC,697,-0.68,-145.9,2375,2194,3955,3981,104.4,-12.3,87,702,0.00,2.47,0.00,0.000,388,0.000,0.086,2365,3601,3967,3954,3980,0,0,0,0,0,0,14.54,14.12,14.57
$GC,742,-0.83,-145.9,2365,3599,3950,3981,109.7,-11.0,96,747,0.17,2.38,0.00,0.000,5254,0.114,0.057,2292,2196,3966,3953,3980,0,0,0,0,0,0,14.23,14.24,14.33
$GC,1057,-0.78,-145.9,2293,2195,3955,3980,166.3,-17.6,109,1062,0.12,2.47,0.00,0.000,2436,0.285,0.085,2314,3607,3967,3954,3980,0,0,0,0,0,0,13.93,14.17,14.07
$GC,1154,-0.89,-145.9,2315,3607,3955,3980,178.6,-11.7,128,1159,0.00,2.38,0.00,0.000,1158,0.000,0.057,2314,2196,3967,3954,3980,0,0,0,0,0,0,14.40,14.28,14.43
$GC,1479,-0.93,-145.9,2314,2196,3954,3981,220.1,-12.3,143,1484,0.00,2.45,0.00,0.000,388,0.000,0.086,2307,3599,3967,3954,3980,0,0,0,0,0,0,14.62,14.17,14.64
$GC,1549,-1.05,-145.9,2308,3601,3954,3981,228.0,-10.4,157,1555,0.20,2.38,0.00,0.000,5254,0.105,0.057,2232,2189,3967,3954,3980,0,0,0,0,0,0,14.23,14.19,14.32
$GC,1870,-0.95,-145.9,2233,2189,3955,3980,284.6,-17.0,171,1875,0.12,2.47,0.00,0.000,2436,0.300,0.084,2252,3604,3967,3954,3980,0,0,0,0,0,0,14.00,14.20,14.17
$GC,1995,-0.97,-145.9,2252,3607,3954,3981,302.0,-13.0,196,2000,0.00,2.35,0.00,0.000,1158,0.000,0.057,2251,2203,3967,3954,3980,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2321,-0.95,-145.9,2252,2202,3954,3979,346.0,-13.3,211,2325,0.00,2.45,0.00,0.000,388,0.000,0.086,2242,3601,3966,3954,3979,0,0,0,0,0,0,14.67,14.21,14.71
$GC,2401,-0.98,-145.9,2242,3604,3954,3980,356.6,-13.0,227,2405,0.00,2.35,0.00,0.000,1158,0.000,0.057,2241,2201,3966,3953,3979,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2711,-0.95,-145.9,2242,2200,3955,3978,399.4,-13.7,239,2716,0.12,2.45,0.00,0.000,2436,0.282,0.084,2262,3599,3965,3953,3978,0,0,0,0,0,0,14.00,14.21,14.16
$GC,2786,-1.04,-145.9,2263,3600,3954,3977,408.2,-10.9,254,2792,0.00,2.38,0.00,0.000,1158,0.000,0.057,2262,2192,3965,3953,3978,0,0,0,0,0,0,13.90,13.89,14.11
$GC,3102,-1.06,-145.9,2262,2191,3954,3977,444.5,-11.4,267,3107,0.00,2.50,0.00,0.000,388,0.000,0.088,2254,3606,3964,3952,3977,0,0,0,0,0,0,14.66,14.21,14.69
$GC,3173,-1.14,-145.9,2254,3607,3954,3978,452.4,-10.8,281,3178,0.12,2.38,0.00,0.000,5254,0.142,0.056,2204,2187,3965,3953,3977,0,0,0,0,0,0,14.31,14.30,14.42
$STATE,3371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3371,begin apogee
$GC,3376,-0.13,0.0,2205,2061,3953,3977,483.6,-16.1,291,3675,1.30,0.05,293.52,1.306,10246,0.266,0.217,2528,2089,3360,3380,3340,0,0,0,0,0,0,13.95,13.29,12.63
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3682,0.57,145.9,2529,2089,3379,3333,498.8,0.0,301,3905,0.75,2.12,207.12,1.353,10756,0.065,0.080,2783,725,2756,2796,2717,0,0,0,0,0,0,13.47,12.97,12.39
$GC,4130,0.21,145.9,2783,726,2788,2714,468.7,15.6,348,4137,0.62,2.50,0.00,0.000,5254,0.323,0.076,2652,2110,2749,2787,2711,0,0,0,0,0,0,13.43,13.73,13.78
$GC,4435,0.06,154.4,2652,2111,2787,2707,438.2,9.6,359,4441,0.17,2.53,1.33,0.239,12708,0.279,0.083,2610,3509,2733,2774,2693,0,0,0,0,0,0,13.83,14.05,13.88
$GC,4616,-0.01,185.4,2610,3510,2782,2704,422.2,8.6,395,4679,0.15,2.33,55.10,1.385,13478,0.285,0.059,2586,2129,2603,2652,2555,0,0,0,0,0,0,13.92,14.18,13.14
$GC,4976,0.07,251.1,2586,2129,2648,2536,397.4,7.0,417,5087,0.00,2.67,100.75,1.336,8868,0.000,0.087,2588,690,2332,2382,2282,0,0,0,0,0,0,14.50,13.79,13.07
$GC,5137,0.25,306.1,2589,690,2377,2276,385.7,7.5,449,5233,0.22,2.53,86.55,1.296,11430,0.096,0.081,2676,2098,2110,2160,2060,0,0,0,0,0,0,13.95,13.86,12.86
$GC,5548,0.21,306.1,2677,2098,2147,2041,330.8,13.5,481,5553,0.00,2.50,0.00,0.000,644,0.000,0.087,2680,694,2093,2146,2041,0,0,0,0,0,0,14.38,13.99,14.40
$GC,5613,0.21,306.1,2681,694,2144,2041,322.1,12.9,494,5619,0.00,2.47,0.00,0.000,1030,0.000,0.080,2680,2101,2091,2142,2040,0,0,0,0,0,0,14.25,14.12,14.28
$GC,5939,0.18,306.1,2681,2102,2144,2039,278.4,13.0,509,5944,0.15,2.47,0.00,0.000,4740,0.260,0.085,2647,694,2090,2143,2038,0,0,0,0,0,0,14.02,14.21,14.18
$GC,5995,0.27,306.1,2647,695,2142,2039,272.5,10.2,520,6001,0.00,2.45,0.00,0.000,1158,0.000,0.079,2647,2105,2089,2141,2038,0,0,0,0,0,0,14.34,14.23,14.39
$GC,6300,0.33,329.3,2647,2106,2141,2037,243.1,8.9,531,6332,0.12,0.00,30.38,1.372,10406,0.133,0.000,2699,2106,2025,2075,1976,0,0,0,0,0,0,14.24,14.11,13.34
$GC,6630,0.30,329.3,2700,2111,2058,1960,205.5,11.0,542,6636,0.00,2.47,0.00,0.000,644,0.000,0.086,2699,694,2008,2057,1960,0,0,0,0,0,0,14.56,14.19,14.58
$GC,6741,0.30,333.5,2699,694,2056,1961,194.2,9.8,564,6746,0.00,2.45,0.00,0.000,1062,0.000,0.080,2699,2109,2007,2055,1960,0,0,0,0,0,0,14.40,14.25,14.41
$GC,7051,0.30,333.5,2700,2110,2056,1959,162.5,10.2,576,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2110,2007,2055,1959,0,0,0,0,0,0,14.62,14.63,14.64
$GC,7351,0.31,350.7,2699,2111,2055,1959,133.8,9.2,586,7391,0.00,2.50,33.92,1.333,8740,0.000,0.086,2700,688,1930,1974,1887,0,0,0,0,0,0,14.63,14.17,13.37
$GC,7468,0.42,385.9,2697,688,1962,1887,123.8,8.4,609,7538,0.00,2.47,61.22,1.243,9382,0.000,0.080,2699,2101,1787,1816,1758,0,0,0,0,0,0,14.19,14.07,13.23
$GC,7843,0.52,435.1,2700,2101,1805,1744,92.6,7.7,642,7876,0.12,2.55,24.25,0.475,10916,0.137,0.087,2768,695,1592,1621,1563,0,0,0,0,0,0,14.21,13.97,13.66
$GC,7911,0.52,435.1,2769,696,1628,1563,85.1,11.8,655,7917,0.00,2.47,0.00,0.000,1030,0.000,0.079,2767,2106,1596,1629,1563,0,0,0,0,0,0,14.21,14.09,14.23
$GC,8216,0.57,503.4,2768,2108,1629,1563,56.5,6.8,686,8259,0.00,2.50,36.50,0.371,8740,0.000,0.085,2768,691,1309,1361,1258,0,0,0,0,0,0,14.52,13.98,13.74
$GC,8299,0.74,574.4,2768,692,1363,1262,51.3,6.7,702,8342,0.15,2.47,37.47,0.356,11430,0.126,0.079,2830,2102,1021,1092,951,0,0,0,0,0,0,14.20,14.15,13.71
$GC,8639,0.83,617.0,2830,2103,1092,957,17.1,8.0,740,8671,0.00,2.53,22.98,0.265,8868,0.000,0.084,2837,695,847,917,778,0,0,0,0,0,0,14.52,14.02,13.91
$GC,8743,1.06,733.1,2835,693,917,784,11.8,4.6,760,8796,0.25,2.47,46.78,0.239,11430,0.096,0.083,2932,2099,499,523,475,0,0,0,0,0,0,14.24,14.07,13.94
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.1,1.011244
$STATE,8841,end surface coast,CONTROL_FINISHED_OK
$STATE,8841,begin surface
$SM_CCo,8861,0.05,1.639,0,0,502,702.78
$SM_GC,1.60,8.23,0.17,0.05,0.068,0.125,1.639,202,2212,502,-7.38,-0.62,702.78,0,0,0,0,0,0,14.26,14.24,13.73
$RAFOS_CLK,383
$RAFOS_FIX,7338.549805,-15105.124023,250817,000007,4,255,0.12
$IRIDIUM_FIX,7339.62,-15109.34,250817,005826
$TT8_MAMPS,0.040446,0.928011
$HUMID,46.41
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,21
$CP_FREE,15992881152.000000
$PM_FREEKB_00,53340928
$24V_AH,12.39,117.860
$10V_AH,12.24,0.000
$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,25.875,88.900,1037.875,0.050,0.000,0.000,0.000,931.100,5.250,0.000,15.781,0.000,6395.945,914.287,2687.200,336.163,0.000,2736.451,0.000,1110.428,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,2148.120,1385.415,1638.630,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8869.000,8858.000,8814.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.323,20.000,9.893,0.000
$MEM,323548
$DATA_FILE_SIZE,26711,775
$CAP_FILE_SIZE,111342,0
$CFSIZE,2097872896,2039709696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.040,267.49,1
$GPS,250817,033604,7340.729,-15109.744,33,1.7,35,20.3,0.4,119.3,4,8.8