version: 66.13
glider: 196
mission: 14
dive: 237
start: 9 3 117 12 17 7
data:
$ID,196
$MISSION,14
$DIVE,237
$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,27
$R_STBD_OVSHOOT,40
$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,670.0
$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
$GPS1,030917,120625,7446.4888,-15238.5479,34,0.7,39,19.9,0.2,256.3,12,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.4
$GPS2,030917,121639,7446.4854,-15238.7344,6,0.7,10,19.9,0.0,0.0,12,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.9,112316,-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,-145.9,203,2222,490,493,0.0,0.0,0,152,0.00,0.00,-101.50,0.000,16386,0.000,0.000,202,2221,2374,2322,2426,0,0,0,0,0,0,14.35,28.83,14.39
$GC,155,-0.57,-145.9,203,2221,2325,2426,4.8,-7.5,10,202,12.82,2.72,-29.00,0.000,18724,0.456,2.137,2377,3589,3962,3942,3983,0,0,0,0,0,0,13.59,12.81,14.07
$GC,427,-0.73,-145.9,2377,3590,3951,3984,54.3,-11.5,64,432,0.00,2.38,0.00,0.000,1158,0.000,0.056,2377,2198,3966,3950,3983,0,0,0,0,0,0,14.23,14.12,14.26
$GC,739,-0.85,-145.9,2377,2199,3952,3984,89.4,-9.7,96,744,0.20,2.47,0.00,0.000,4516,0.109,0.084,2286,3600,3966,3950,3983,0,0,0,0,0,0,14.18,14.09,14.21
$GC,764,-0.88,-145.9,2286,3600,3952,3983,92.9,-14.1,101,771,0.00,2.40,0.00,0.000,1158,0.000,0.058,2285,2193,3966,3950,3983,0,0,0,0,0,0,14.27,14.14,14.29
$GC,1079,-0.88,-145.9,2285,2194,3951,3984,143.6,-15.3,115,1084,0.00,2.47,0.00,0.000,260,0.000,0.086,2280,3594,3966,3950,3983,0,0,0,0,0,0,14.53,14.09,14.54
$GC,1204,-0.97,-145.9,2286,3596,3951,3985,160.1,-12.7,140,1209,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2199,3966,3950,3983,0,0,0,0,0,0,14.21,14.10,14.27
$GC,1531,-0.99,-145.9,2280,2197,3951,3984,204.7,-13.4,155,1536,0.00,2.42,0.00,0.000,388,0.000,0.086,2272,3592,3966,3950,3983,0,0,0,0,0,0,14.48,14.01,14.50
$GC,1587,-1.09,-145.9,2273,3592,3952,3983,211.9,-11.9,166,1593,0.15,2.38,0.00,0.000,5254,0.121,0.057,2219,2199,3967,3951,3983,0,0,0,0,0,0,14.11,14.07,14.20
$GC,1891,-1.02,-145.9,2219,2199,3951,3984,264.6,-16.9,177,1897,0.12,2.45,0.00,0.000,2436,0.295,0.083,2238,3600,3967,3951,3983,0,0,0,0,0,0,13.95,14.19,14.12
$GC,1994,-1.06,-145.9,2238,3601,3951,3984,278.3,-12.8,197,2000,0.00,2.35,0.00,0.000,1158,0.000,0.056,2238,2198,3966,3950,3983,0,0,0,0,0,0,14.38,14.26,14.44
$GC,2315,-1.06,-145.9,2238,2197,3952,3983,321.0,-12.9,211,2320,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3594,3966,3950,3983,0,0,0,0,0,0,14.71,14.14,14.73
$GC,2390,-1.13,-145.9,2236,3595,3951,3984,330.1,-11.5,226,2395,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2196,3966,3950,3982,0,0,0,0,0,0,14.31,14.22,14.38
$GC,2705,-1.16,-145.9,2236,2196,3951,3984,368.0,-11.8,239,2706,0.00,0.00,0.00,0.000,134,0.000,0.000,2236,2195,3966,3950,3983,0,0,0,0,0,0,14.72,14.74,14.72
$GC,3005,-1.19,-145.9,2237,2195,3952,3982,402.7,-11.5,249,3011,0.12,2.45,0.00,0.000,4484,0.149,0.084,2172,3594,3966,3950,3982,0,0,0,0,0,0,14.35,14.20,14.38
$GC,3133,-1.12,-145.9,2173,3595,3949,3983,422.9,-16.4,274,3138,0.20,2.35,0.00,0.000,3206,0.272,0.057,2213,2201,3965,3949,3982,0,0,0,0,0,0,13.92,14.28,14.23
$GC,3458,-1.12,-145.9,2213,2200,3950,3983,466.3,-12.8,289,3464,0.00,2.45,0.00,0.000,260,0.000,0.086,2209,3593,3965,3949,3982,0,0,0,0,0,0,14.73,14.12,14.76
$GC,3519,-1.16,-145.9,2210,3594,3950,3982,474.1,-12.4,301,3525,0.00,2.35,0.00,0.000,1158,0.000,0.055,2209,2195,3965,3949,3982,0,0,0,0,0,0,14.40,14.28,14.44
$STATE,3578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3578,begin apogee
$GC,3583,-0.13,0.0,2210,2065,3950,3982,482.1,-13.2,308,3811,1.25,0.00,224.80,1.391,10246,0.239,0.000,2528,2063,3367,3385,3349,0,0,0,0,0,0,13.91,13.52,12.69
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3815,begin climb
$GC,3818,0.57,145.9,2528,2064,3377,3339,493.2,0.0,315,4033,0.75,2.72,210.50,1.374,11012,0.062,0.073,2782,3485,2765,2807,2724,0,0,0,0,0,0,13.64,12.96,12.31
$GC,4065,0.10,145.9,2781,3488,2787,2718,497.2,15.3,345,4071,0.88,2.45,0.00,0.000,5254,0.343,0.054,2620,2133,2752,2786,2718,0,0,0,0,0,0,13.04,13.31,13.35
$GC,4392,0.02,180.8,2620,2133,2787,2713,468.4,8.4,360,4447,0.12,2.62,48.35,1.439,12964,0.286,0.084,2598,701,2621,2670,2573,0,0,0,0,0,0,13.76,13.83,12.98
$GC,4518,0.08,228.3,2604,698,2662,2567,458.8,7.8,385,4593,0.00,2.45,69.28,1.395,9382,0.000,0.079,2600,2083,2433,2491,2376,0,0,0,0,0,0,14.07,13.96,12.92
$GC,4903,0.12,257.6,2600,2083,2477,2358,425.7,8.6,412,4949,0.00,0.00,43.92,1.427,8358,0.000,0.000,2600,2083,2313,2366,2260,0,0,0,0,0,0,14.49,13.96,13.15
$GC,5233,0.19,281.3,2599,2083,2353,2243,396.5,8.9,423,5268,0.12,0.00,32.78,1.461,10406,0.128,0.000,2661,2084,2215,2267,2163,0,0,0,0,0,0,14.30,14.06,13.22
$GC,5563,0.13,281.3,2661,2084,2258,2152,353.9,13.0,434,5568,0.12,2.42,0.00,0.000,4740,0.263,0.083,2638,694,2204,2257,2152,0,0,0,0,0,0,14.07,14.17,14.20
$GC,5665,0.18,281.3,2638,694,2256,2153,342.9,10.5,454,5670,0.00,2.45,0.00,0.000,1158,0.000,0.078,2638,2102,2204,2255,2154,0,0,0,0,0,0,14.38,14.24,14.42
$GC,5985,0.18,281.3,2638,2103,2256,2151,307.9,10.8,468,5990,0.00,2.45,0.00,0.000,516,0.000,0.085,2644,694,2203,2255,2151,0,0,0,0,0,0,14.65,14.25,14.67
$GC,6035,0.23,281.3,2644,695,2255,2152,302.6,10.1,478,6040,0.00,2.45,0.00,0.000,1158,0.000,0.079,2644,2108,2202,2254,2151,0,0,0,0,0,0,14.40,14.27,14.49
$GC,6346,0.23,287.3,2644,2111,2254,2152,271.1,9.7,490,6346,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2109,2202,2253,2151,0,0,0,0,0,0,14.67,14.67,14.69
$GC,6646,0.26,323.5,2644,2111,2253,2151,245.1,8.3,500,6717,0.00,2.58,66.12,1.333,8740,0.000,0.085,2644,695,2043,2088,1998,0,0,0,0,0,0,14.68,13.96,13.23
$GC,6764,0.41,368.6,2644,696,2079,1998,235.5,7.9,523,6843,0.22,2.47,72.95,1.273,11430,0.093,0.080,2729,2101,1863,1894,1832,0,0,0,0,0,0,13.77,13.77,13.06
$GC,7158,0.34,368.6,2729,2101,1883,1819,181.9,13.3,552,7163,0.12,2.47,0.00,0.000,4740,0.239,0.083,2699,694,1850,1882,1818,0,0,0,0,0,0,14.02,14.11,14.14
$GC,7193,0.38,368.6,2697,695,1880,1819,177.8,11.0,559,7198,0.00,2.47,0.00,0.000,1158,0.000,0.077,2699,2107,1848,1879,1818,0,0,0,0,0,0,14.20,14.07,14.26
$GC,7518,0.38,369.9,2699,2109,1879,1817,144.1,9.9,574,7519,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,2109,1847,1878,1816,0,0,0,0,0,0,14.63,14.64,14.64
$GC,7818,0.39,385.8,2699,2109,1879,1815,115.8,9.3,584,7843,0.00,2.47,18.88,1.388,8740,0.000,0.086,2700,695,1790,1818,1763,0,0,0,0,0,0,14.69,14.15,13.26
$GC,7935,0.49,418.0,2699,695,1811,1763,105.7,8.5,607,7994,0.12,2.47,53.47,1.249,11430,0.132,0.079,2758,2109,1660,1686,1634,0,0,0,0,0,0,14.22,14.17,13.26
$GC,8300,0.47,418.0,2758,2109,1682,1617,63.1,10.3,650,8305,0.00,2.50,0.00,0.000,644,0.000,0.085,2765,695,1651,1681,1621,0,0,0,0,0,0,14.52,14.12,14.54
$GC,8390,0.49,448.4,2765,696,1678,1618,54.8,8.6,668,8411,0.00,2.47,15.12,0.367,9254,0.000,0.080,2771,2103,1536,1568,1505,0,0,0,0,0,0,14.27,14.14,13.75
$GC,8710,0.57,536.7,2765,2104,1569,1504,32.2,5.9,702,8761,0.00,2.55,46.42,0.299,8612,0.000,0.083,2765,3514,1176,1236,1117,0,0,0,0,0,0,14.59,14.10,13.81
$GC,8814,0.74,610.9,2766,3515,1237,1117,25.6,6.6,719,8862,0.15,2.42,39.28,0.278,11430,0.113,0.064,2826,2102,871,940,802,0,0,0,0,0,0,14.17,14.05,13.76
$STATE,9114,end climb,SURFACE_DEPTH_REACHED
$STATE,9114,begin surface coast
$FINISH,0.2,1.021315
$STATE,9135,end surface coast,CONTROL_FINISHED_OK
$STATE,9135,begin surface
$SM_CCo,9200,49.33,0.211,0,0,500,702.78
$SM_GC,1.46,8.10,0.17,49.33,0.080,0.110,0.211,202,2232,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.33,14.33,13.98
$RAFOS_CLK,419
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7445.17,-15249.53,030917,092937
$TT8_MAMPS,0.038948,0.85386
$HUMID,47.16
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,0.000000
$PM_FREEKB_00,50941632
$24V_AH,12.31,156.462
$10V_AH,12.19,0.000
$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,25.600,84.075,941.875,49.325,0.000,0.000,0.000,381.625,4.250,0.000,12.024,0.000,6589.104,876.567,2130.491,275.777,0.000,2104.051,0.000,1082.026,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2136.645,1461.150,211.140,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5308.000,9185.000,9154.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.486,20.000,9.894,0.000
$MEM,323484
$DATA_FILE_SIZE,26723,756
$CAP_FILE_SIZE,101917,0
$CFSIZE,2097872896,2016182272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.1
$CURRENT,0.089,261.83,1
$GPS,030917,145233,7447.206,-15236.469,31,0.9,32,19.9,0.0,0.0,10,9.5