version: 66.13
glider: 196
mission: 14
dive: 242
start: 9 4 117 2 17 37
data:
$ID,196
$MISSION,14
$DIVE,242
$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,25
$R_STBD_OVSHOOT,20
$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,681.0
$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
$GPS1,040917,020627,7449.7217,-15228.8945,36,0.8,37,20.0,0.0,0.0,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.2
$GPS2,040917,021702,7449.7012,-15228.9717,11,0.7,11,20.0,0.0,0.0,12,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.8,105177,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,198,2203,489,494,0.0,0.0,0,153,0.00,0.00,-101.03,0.000,16386,0.000,0.000,203,2203,2367,2316,2418,0,0,0,0,0,0,14.50,28.83,14.52
$GC,156,-0.57,-145.9,197,2204,2319,2420,4.7,-7.2,10,204,12.88,2.83,-28.88,0.000,18724,0.455,2.140,2377,3616,3965,3949,3982,0,0,0,0,0,0,13.61,12.82,14.11
$GC,369,-0.71,-145.9,2375,3616,3950,3983,47.7,-13.1,52,374,0.00,2.42,0.00,0.000,1158,0.000,0.060,2376,2198,3965,3949,3982,0,0,0,0,0,0,14.26,14.12,14.28
$GC,679,-0.83,-145.9,2377,2196,3952,3982,84.7,-10.4,84,680,0.20,0.00,0.00,0.000,4230,0.109,0.000,2297,2196,3966,3950,3982,0,0,0,0,0,0,14.28,14.40,14.37
$GC,989,-0.83,-145.9,2298,2197,3952,3982,132.1,-14.6,101,994,0.00,2.50,0.00,0.000,260,0.000,0.089,2292,3619,3966,3950,3982,0,0,0,0,0,0,14.62,14.17,14.64
$GC,1090,-0.93,-145.9,2293,3620,3952,3982,144.9,-11.9,121,1095,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2195,3966,3950,3982,0,0,0,0,0,0,14.37,14.24,14.40
$GC,1411,-0.97,-145.9,2292,2197,3952,3982,187.0,-12.8,135,1415,0.00,2.50,0.00,0.000,388,0.000,0.087,2284,3619,3966,3951,3982,0,0,0,0,0,0,14.65,14.18,14.66
$GC,1446,-1.08,-145.9,2284,3621,3951,3983,191.3,-11.9,142,1451,0.17,2.40,0.00,0.000,5254,0.109,0.057,2219,2201,3965,3949,3982,0,0,0,0,0,0,14.23,14.14,14.35
$GC,1771,-1.00,-145.9,2219,2200,3951,3982,249.8,-17.4,157,1777,0.12,2.47,0.00,0.000,2436,0.303,0.083,2238,3610,3966,3950,3982,0,0,0,0,0,0,13.94,14.19,14.10
$GC,1894,-1.03,-145.9,2238,3611,3951,3983,266.5,-12.6,181,1899,0.00,2.40,0.00,0.000,1158,0.000,0.057,2238,2196,3965,3949,3981,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2225,-1.03,-145.9,2238,2196,3951,3983,310.8,-13.1,197,2230,0.00,2.50,0.00,0.000,260,0.000,0.090,2236,3610,3966,3950,3982,0,0,0,0,0,0,14.68,14.12,14.70
$GC,2295,-1.11,-145.9,2236,3612,3951,3983,319.7,-12.0,211,2300,0.00,2.40,0.00,0.000,1158,0.000,0.056,2236,2189,3966,3950,3982,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2616,-1.11,-145.9,2236,2188,3951,3982,359.6,-12.1,225,2621,0.00,2.53,0.00,0.000,260,0.000,0.090,2236,3614,3965,3950,3981,0,0,0,0,0,0,14.69,14.12,14.71
$GC,2656,-1.19,-145.9,2236,3615,3951,3982,364.5,-11.7,233,2663,0.12,2.38,0.00,0.000,5254,0.145,0.056,2182,2201,3965,3950,3981,0,0,0,0,0,0,14.26,14.26,14.38
$GC,2978,-1.10,-145.9,2185,2200,3947,3981,414.8,-15.8,247,2983,0.15,2.50,0.00,0.000,2436,0.291,0.083,2209,3614,3965,3949,3981,0,0,0,0,0,0,13.85,14.15,14.02
$GC,3063,-1.14,-145.9,2209,3615,3950,3981,426.0,-12.1,264,3069,0.00,2.40,0.00,0.000,1158,0.000,0.056,2209,2193,3964,3949,3980,0,0,0,0,0,0,14.29,14.14,14.33
$GC,3369,-1.14,-145.9,2209,2191,3950,3980,465.9,-13.1,275,3373,0.00,2.53,0.00,0.000,260,0.000,0.089,2205,3616,3964,3948,3980,0,0,0,0,0,0,14.67,14.17,14.69
$GC,3433,-1.17,-145.9,2207,3616,3949,3981,474.3,-12.3,288,3438,0.00,2.40,0.00,0.000,1158,0.000,0.056,2206,2194,3964,3948,3980,0,0,0,0,0,0,14.37,14.23,14.40
$STATE,3486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3486,begin apogee
$GC,3492,-0.13,0.0,2207,2065,3949,3980,481.4,-13.0,294,3718,1.30,0.08,222.27,1.458,10246,0.239,0.179,2532,2119,3364,3382,3347,0,0,0,0,0,0,13.77,13.43,12.62
$STATE,3722,end apogee,CONTROL_FINISHED_OK
$STATE,3722,begin climb
$GC,3726,0.57,145.9,2533,2114,3375,3337,492.5,0.0,301,4122,0.73,2.65,207.82,1.398,11012,0.063,0.075,2777,3491,2750,2783,2717,0,0,0,0,0,0,13.59,13.11,12.28
$GC,4127,0.57,145.9,2778,3491,2785,2717,468.8,6.1,304,4132,0.00,2.40,0.00,0.000,1030,0.000,0.057,2786,2129,2750,2783,2717,0,0,0,0,0,0,13.79,13.69,13.82
$GC,4442,0.16,145.9,2786,2129,2785,2716,417.7,16.1,317,4448,0.65,2.53,0.00,0.000,4740,0.308,0.077,2646,684,2750,2784,2716,0,0,0,0,0,0,13.72,14.07,13.96
$GC,4673,0.05,165.3,2650,684,2785,2716,395.5,9.1,363,4703,0.20,2.47,22.95,1.493,13478,0.265,0.080,2605,2094,2688,2726,2650,0,0,0,0,0,0,13.93,14.16,13.23
$GC,5015,0.05,208.1,2605,2094,2721,2639,367.7,8.0,381,5084,0.00,2.50,63.47,1.393,8868,0.000,0.081,2604,685,2512,2565,2460,0,0,0,0,0,0,14.59,13.78,13.16
$GC,5145,0.13,244.0,2604,686,2561,2455,356.9,8.3,407,5206,0.00,2.50,53.30,1.379,9382,0.000,0.078,2604,2099,2367,2420,2314,0,0,0,0,0,0,14.19,14.04,13.04
$GC,5526,0.19,275.4,2601,2099,2412,2304,323.5,8.5,433,5578,0.12,2.58,47.00,1.375,10916,0.127,0.085,2672,687,2237,2287,2188,0,0,0,0,0,0,14.26,14.02,13.19
$GC,5630,0.17,275.4,2672,688,2280,2187,310.9,12.6,453,5635,0.15,2.50,0.00,0.000,5254,0.243,0.079,2640,2101,2232,2279,2186,0,0,0,0,0,0,13.90,14.05,14.14
$GC,5950,0.17,276.5,2640,2103,2280,2177,277.4,10.0,467,5955,0.00,2.47,0.00,0.000,548,0.000,0.084,2645,690,2228,2279,2177,0,0,0,0,0,0,14.58,14.18,14.59
$GC,5985,0.22,285.9,2644,690,2280,2178,274.0,9.6,474,6005,0.00,2.45,11.88,1.532,9382,0.000,0.079,2644,2101,2196,2245,2147,0,0,0,0,0,0,14.35,14.22,13.27
$GC,6312,0.24,308.7,2645,2101,2249,2140,244.3,9.0,489,6351,0.00,0.00,37.58,1.385,8230,0.000,0.000,2644,2101,2105,2154,2057,0,0,0,0,0,0,14.47,14.03,13.24
$GC,6640,0.30,344.6,2645,2103,2146,2046,216.3,8.3,500,6701,0.00,0.00,57.97,1.330,8870,0.000,0.000,2644,2101,1958,2003,1913,0,0,0,0,0,0,14.43,13.93,13.16
$GC,7002,0.43,398.0,2644,2102,1997,1900,187.6,7.5,522,7101,0.20,2.60,89.07,1.269,10916,0.100,0.086,2733,698,1737,1765,1710,0,0,0,0,0,0,14.16,13.75,13.09
$GC,7183,0.43,398.0,2733,699,1756,1709,165.2,12.3,558,7188,0.00,2.50,0.00,0.000,1030,0.000,0.079,2733,2098,1733,1758,1709,0,0,0,0,0,0,13.95,13.83,13.98
$GC,7514,0.40,398.0,2730,2100,1756,1705,124.0,12.1,574,7519,0.00,2.50,0.00,0.000,644,0.000,0.086,2732,685,1727,1755,1700,0,0,0,0,0,0,14.46,14.02,14.45
$GC,7559,0.42,398.0,2734,687,1753,1702,118.8,11.2,583,7564,0.00,2.50,0.00,0.000,1158,0.000,0.077,2733,2107,1728,1751,1706,0,0,0,0,0,0,14.23,14.11,14.28
$GC,7864,0.42,398.0,2733,2109,1752,1701,85.3,10.4,603,7869,0.00,2.53,0.00,0.000,516,0.000,0.084,2733,690,1729,1758,1700,0,0,0,0,0,0,14.45,14.00,14.47
$GC,7920,0.47,406.8,2732,690,1752,1700,79.9,9.6,614,7927,0.00,2.50,3.20,0.411,9382,0.000,0.077,2733,2108,1704,1730,1679,0,0,0,0,0,0,14.23,14.09,13.52
$GC,8225,0.55,483.9,2733,2112,1733,1682,54.5,6.4,645,8267,0.00,0.00,41.15,0.365,8358,0.000,0.000,2733,2110,1390,1434,1347,0,0,0,0,0,0,14.43,14.00,13.64
$GC,8565,0.74,590.6,2733,2112,1435,1342,34.9,5.1,679,8630,0.25,2.58,55.15,0.301,10916,0.092,0.088,2836,697,956,1023,890,0,0,0,0,0,0,13.97,13.94,13.71
$GC,8677,0.80,590.6,2833,698,1023,888,23.4,10.7,700,8684,0.00,2.47,0.00,0.000,1158,0.000,0.077,2836,2103,954,1021,888,0,0,0,0,0,0,14.03,13.92,14.06
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$FINISH,0.1,1.019642
$STATE,8950,end surface coast,CONTROL_FINISHED_OK
$STATE,8950,begin surface
$SM_CCo,8970,61.12,0.210,0,0,501,702.78
$SM_GC,1.15,8.12,0.17,61.12,0.078,0.121,0.210,197,2216,501,-7.38,-0.79,702.78,0,0,0,0,0,0,14.33,14.31,13.99
$RAFOS_CLK,142
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7449.36,-15223.67,030917,233348
$TT8_MAMPS,0.038948,0.956473
$HUMID,44.09
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15968960512.000000
$PM_FREEKB_00,50798912
$24V_AH,12.28,158.877
$10V_AH,12.16,0.000
$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,25.375,85.175,912.825,61.125,0.000,0.000,0.000,373.600,4.000,0.000,13.641,0.000,6239.221,877.806,2268.749,296.144,0.000,2265.345,0.000,1044.112,2206.000,0.540,0.000
$DEVICE_MAMPS,455.175,2139.705,1531.530,210.375,0.000,0.000,0.000,187.425,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8981.000,8942.000,8921.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.785,20.000,9.895,0.000
$MEM,323564
$DATA_FILE_SIZE,26725,728
$CAP_FILE_SIZE,102590,0
$CFSIZE,2097872896,2014838784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.5
$CURRENT,0.089,244.96,1
$GPS,040917,044914,7450.294,-15226.823,18,0.7,21,20.0,0.3,331.7,12,8.9