version: 66.13
glider: 196
mission: 14
dive: 233
start: 9 3 117 1 22 12
data:
$ID,196
$MISSION,14
$DIVE,233
$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,32
$R_STBD_OVSHOOT,21
$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,656.0
$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
$GPS1,030917,010333,7443.6611,-15246.4375,32,0.8,33,19.8,0.0,0.0,10,7.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.4
$GPS2,030917,012141,7443.6577,-15246.7422,9,0.6,9,19.8,0.0,312.4,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.2,118527,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,205,2183,488,496,0.0,0.0,0,151,0.00,0.00,-100.75,0.000,16386,0.000,0.000,204,2183,2354,2297,2412,0,0,0,0,0,0,14.52,28.83,14.54
$GC,154,-0.57,-145.9,205,2183,2301,2411,4.6,-7.0,10,202,12.65,2.85,-29.77,0.000,18724,0.454,2.143,2377,3613,3963,3946,3981,0,0,0,0,0,0,13.65,12.85,14.14
$GC,302,-0.71,-145.9,2377,3615,3953,3982,37.6,-13.4,39,308,0.00,2.38,0.00,0.000,1158,0.000,0.060,2377,2208,3966,3952,3981,0,0,0,0,0,0,14.34,14.21,14.38
$GC,609,-0.82,-145.9,2377,2206,3955,3981,77.8,-10.8,70,610,0.20,0.00,0.00,0.000,4230,0.109,0.000,2297,2206,3967,3954,3981,0,0,0,0,0,0,14.35,14.46,14.44
$GC,927,-0.82,-145.9,2298,2206,3954,3982,128.3,-15.0,90,932,0.00,2.47,0.00,0.000,260,0.000,0.089,2293,3614,3967,3954,3981,0,0,0,0,0,0,14.73,14.16,14.76
$GC,1017,-0.92,-145.9,2293,3616,3954,3981,140.1,-12.4,108,1022,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2191,3967,3954,3981,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1347,-0.96,-145.9,2293,2189,3955,3981,183.9,-12.8,124,1352,0.00,2.50,0.00,0.000,388,0.000,0.086,2283,3616,3967,3954,3981,0,0,0,0,0,0,14.76,14.19,14.81
$GC,1392,-1.07,-145.9,2283,3616,3955,3981,189.5,-11.9,133,1398,0.15,2.40,0.00,0.000,5254,0.116,0.059,2226,2193,3967,3953,3981,0,0,0,0,0,0,14.29,14.23,14.38
$GC,1708,-1.00,-145.9,2227,2193,3955,3981,246.4,-17.7,146,1713,0.12,2.47,0.00,0.000,2436,0.294,0.084,2245,3610,3967,3954,3981,0,0,0,0,0,0,13.77,14.05,13.83
$GC,1854,-1.05,-145.9,2245,3612,3955,3981,266.0,-12.5,175,1860,0.00,2.38,0.00,0.000,1158,0.000,0.057,2245,2198,3967,3954,3981,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2159,-1.05,-145.9,2245,2198,3954,3982,305.3,-12.3,186,2163,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3610,3967,3954,3981,0,0,0,0,0,0,14.75,14.24,14.77
$GC,2209,-1.12,-145.9,2236,3612,3954,3982,311.4,-11.8,196,2213,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2190,3967,3954,3981,0,0,0,0,0,0,14.37,14.26,14.43
$GC,2519,-1.12,-145.9,2237,2190,3954,3981,348.6,-11.7,208,2523,0.00,2.50,0.00,0.000,260,0.000,0.090,2236,3616,3967,3953,3981,0,0,0,0,0,0,14.75,14.23,14.76
$GC,2604,-1.21,-145.9,2236,3618,3954,3982,357.9,-10.4,225,2611,0.15,2.40,0.00,0.000,5254,0.126,0.057,2176,2192,3967,3953,3981,0,0,0,0,0,0,14.34,14.31,14.43
$GC,2909,-1.10,-145.9,2176,2192,3954,3979,409.4,-17.3,236,2914,0.20,2.47,0.00,0.000,2436,0.297,0.083,2210,3610,3966,3952,3980,0,0,0,0,0,0,13.90,14.23,14.10
$GC,3016,-1.13,-145.9,2211,3614,3953,3980,423.6,-12.3,257,3021,0.00,2.38,0.00,0.000,1158,0.000,0.056,2211,2193,3965,3952,3979,0,0,0,0,0,0,14.43,14.31,14.46
$GC,3331,-1.13,-145.9,2211,2193,3953,3981,465.5,-13.2,270,3336,0.00,2.47,0.00,0.000,260,0.000,0.087,2204,3610,3966,3953,3980,0,0,0,0,0,0,14.76,14.23,14.78
$GC,3431,-1.13,-145.9,2204,3612,3952,3981,478.6,-12.7,290,3436,0.00,2.38,0.00,0.000,1030,0.000,0.055,2204,2197,3965,3951,3980,0,0,0,0,0,0,14.43,14.31,14.50
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3450,-0.13,0.0,2204,2067,3953,3979,480.6,-13.0,293,3673,1.30,0.05,218.93,1.414,10246,0.250,0.222,2530,2104,3364,3384,3344,0,0,0,0,0,0,13.93,13.49,12.71
$STATE,3676,end apogee,CONTROL_FINISHED_OK
$STATE,3676,begin climb
$GC,3679,0.57,145.9,2531,2104,3380,3338,491.3,0.0,300,4073,0.73,0.00,208.25,1.368,10502,0.063,0.000,2778,2104,2754,2796,2712,0,0,0,0,0,0,13.66,13.12,12.33
$GC,4393,0.17,145.9,2777,2106,2795,2713,423.6,15.4,316,4398,0.60,2.40,0.00,0.000,4740,0.319,0.079,2652,727,2753,2794,2712,0,0,0,0,0,0,13.71,14.09,13.95
$GC,4568,0.05,160.4,2653,728,2795,2713,406.4,9.3,351,4589,0.22,2.40,16.50,1.556,13478,0.269,0.080,2605,2106,2713,2757,2669,0,0,0,0,0,0,13.90,14.19,13.19
$GC,4906,0.04,214.4,2604,2104,2747,2659,380.5,7.5,368,4996,0.00,2.47,81.57,1.375,8868,0.000,0.085,2604,721,2488,2542,2434,0,0,0,0,0,0,14.59,13.91,13.12
$GC,5037,0.13,256.2,2604,720,2540,2429,370.1,8.1,394,5106,0.00,2.45,63.00,1.356,9382,0.000,0.079,2603,2101,2318,2373,2263,0,0,0,0,0,0,14.12,14.00,12.97
$GC,5417,0.20,291.0,2604,2102,2364,2250,337.8,8.4,420,5470,0.12,0.00,51.92,1.364,10406,0.129,0.000,2662,2101,2179,2231,2128,0,0,0,0,0,0,14.26,13.97,13.17
$GC,5747,0.16,291.0,2662,2101,2220,2112,296.5,12.6,431,5751,0.00,2.42,0.00,0.000,644,0.000,0.086,2664,728,2166,2219,2113,0,0,0,0,0,0,14.56,14.19,14.59
$GC,5851,0.16,291.0,2664,729,2217,2113,284.5,10.6,452,5857,0.12,2.40,0.00,0.000,5126,0.243,0.078,2638,2099,2164,2216,2113,0,0,0,0,0,0,14.03,14.19,14.29
$GC,6167,0.21,316.5,2637,2101,2223,2112,255.3,8.8,465,6208,0.00,0.00,39.15,1.374,8358,0.000,0.000,2637,2100,2074,2124,2024,0,0,0,0,0,0,14.67,14.10,13.30
$GC,6497,0.30,360.7,2638,2100,2114,2011,228.7,8.0,476,6572,0.12,0.00,70.82,1.285,10918,0.125,0.000,2692,2100,1894,1932,1857,0,0,0,0,0,0,14.28,13.73,13.19
$GC,6887,0.30,360.7,2692,2100,1920,1849,186.2,10.8,494,6892,0.00,2.40,0.00,0.000,516,0.000,0.086,2699,729,1883,1919,1847,0,0,0,0,0,0,14.56,14.18,14.57
$GC,6978,0.35,363.3,2699,730,1917,1848,176.8,9.9,512,6982,0.00,2.38,0.00,0.000,1190,0.000,0.076,2699,2099,1881,1916,1847,0,0,0,0,0,0,14.34,14.21,14.38
$GC,7307,0.35,363.3,2699,2101,1916,1845,142.8,10.1,528,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,1880,1915,1845,0,0,0,0,0,0,14.62,14.64,14.65
$GC,7608,0.36,377.1,2699,2101,1915,1845,113.7,9.4,538,7633,0.00,2.40,20.60,1.392,8740,0.000,0.083,2699,728,1823,1853,1793,0,0,0,0,0,0,14.64,13.95,13.35
$GC,7720,0.47,414.5,2699,729,1844,1794,104.1,8.3,560,7790,0.10,2.40,62.83,1.228,11430,0.152,0.079,2748,2108,1673,1700,1646,0,0,0,0,0,0,14.09,14.14,13.24
$GC,8088,0.47,414.5,2748,2110,1697,1631,63.0,10.2,604,8093,0.00,2.45,0.00,0.000,516,0.000,0.085,2754,722,1662,1694,1630,0,0,0,0,0,0,14.50,14.15,14.52
$GC,8153,0.52,436.8,2755,722,1692,1632,56.7,9.0,617,8170,0.00,2.42,10.98,0.370,9382,0.000,0.080,2755,2102,1581,1615,1547,0,0,0,0,0,0,14.24,14.12,13.74
$GC,8468,0.63,551.5,2754,2103,1616,1552,36.2,4.7,650,8533,0.00,2.50,59.67,0.308,8868,0.000,0.085,2754,722,1116,1181,1051,0,0,0,0,0,0,14.57,14.06,13.81
$GC,8613,0.88,634.0,2755,723,1182,1049,27.8,6.2,678,8666,0.32,2.42,43.88,0.287,11430,0.083,0.078,2877,2109,774,841,708,0,0,0,0,0,0,14.21,14.11,13.82
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$FINISH,0.2,1.021442
$STATE,8841,end surface coast,CONTROL_FINISHED_OK
$STATE,8841,begin surface
$SM_CCo,8861,38.78,0.210,0,0,500,702.78
$SM_GC,1.08,8.27,0.15,38.78,0.083,0.120,0.210,203,2232,500,-7.37,-0.85,702.78,0,0,0,0,0,0,14.31,14.32,13.98
$RAFOS_CLK,403
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7446.07,-15238.51,030917,011319
$TT8_MAMPS,0.039697,0.904792
$HUMID,46.92
$INTERNAL_PRESSURE,7.72292
$TCM_TEMP,13.10
$XPDR_PINGS,19
$CP_FREE,15972859904.000000
$PM_FREEKB_00,51059648
$24V_AH,12.33,154.606
$10V_AH,12.20,0.000
$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,25.400,73.600,948.100,38.775,0.000,0.000,0.000,706.200,4.750,0.000,10.907,0.000,6295.697,891.182,2507.188,306.809,0.000,2581.913,0.000,1011.198,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2142.765,1556.010,210.375,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5209.000,8832.000,8815.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.637,20.000,9.860,0.000
$MEM,323404
$DATA_FILE_SIZE,23398,706
$CAP_FILE_SIZE,99832,0
$CFSIZE,2097872896,2017132544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.0
$CURRENT,0.072,263.47,1
$GPS,030917,035146,7444.381,-15244.208,18,0.8,28,19.8,0.0,259.8,11,9.8