version: 66.13
glider: 196
mission: 14
dive: 268
start: 9 7 117 0 45 45
data:
$ID,196
$MISSION,14
$DIVE,268
$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,62
$R_STBD_OVSHOOT,33
$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,747.0
$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
$GPS1,070917,003750,7516.6382,-15130.5166,17,0.8,38,20.5,0.5,34.3,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-76.1
$GPS2,070917,004511,7516.6738,-15130.5381,8,0.8,9,20.5,0.0,337.4,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.8,49782,-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,51,-0.57,-145.9,186,2220,498,488,0.0,0.0,0,143,0.00,0.00,-91.15,0.000,16386,0.000,0.000,188,2220,2169,2102,2236,0,0,0,0,0,0,14.42,28.83,14.45
$GC,146,-0.57,-145.9,189,2220,2107,2237,3.9,-5.3,9,200,12.93,2.83,-34.75,0.000,18724,0.459,2.140,2374,3595,3965,3949,3981,0,0,0,0,0,0,13.59,12.51,14.12
$GC,350,-0.71,-145.9,2375,3596,3954,3981,45.7,-13.1,49,355,0.00,2.33,0.00,0.000,1158,0.000,0.058,2374,2228,3967,3955,3980,0,0,0,0,0,0,14.33,14.20,14.38
$GC,660,-0.81,-145.9,2375,2227,3958,3980,87.1,-10.6,81,661,0.17,0.00,0.00,0.000,4230,0.115,0.000,2303,2227,3969,3957,3981,0,0,0,0,0,0,14.34,14.45,14.42
$GC,960,-0.84,-145.9,2304,2228,3957,3981,130.8,-13.8,97,965,0.00,2.40,0.00,0.000,388,0.000,0.090,2293,3599,3968,3956,3980,0,0,0,0,0,0,14.71,14.15,14.72
$GC,1055,-0.96,-145.9,2294,3600,3957,3980,142.6,-11.7,116,1061,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2192,3968,3956,3980,0,0,0,0,0,0,14.40,14.27,14.44
$GC,1382,-1.01,-145.9,2294,2192,3957,3981,184.4,-12.3,131,1387,0.12,2.50,0.00,0.000,4484,0.137,0.087,2236,3600,3968,3956,3981,0,0,0,0,0,0,14.39,14.14,14.41
$GC,1472,-1.05,-145.9,2235,3604,3957,3981,197.8,-14.4,149,1477,0.00,2.38,0.00,0.000,1158,0.000,0.056,2235,2196,3968,3956,3980,0,0,0,0,0,0,14.34,14.21,14.36
$GC,1802,-1.03,-145.9,2236,2195,3957,3981,251.6,-15.4,165,1807,0.00,2.47,0.00,0.000,388,0.000,0.090,2235,3600,3968,3956,3980,0,0,0,0,0,0,14.73,14.14,14.75
$GC,1929,-1.09,-145.9,2236,3600,3958,3981,268.0,-12.2,190,1934,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2200,3968,3957,3980,0,0,0,0,0,0,14.40,14.27,14.43
$GC,2254,-1.09,-145.9,2236,2200,3957,3981,309.9,-12.5,205,2259,0.00,2.50,0.00,0.000,260,0.000,0.090,2235,3607,3968,3956,3980,0,0,0,0,0,0,14.73,14.14,14.76
$GC,2344,-1.19,-145.9,2236,3607,3957,3980,320.1,-10.6,223,2349,0.12,2.40,0.00,0.000,5254,0.137,0.056,2184,2198,3968,3956,3980,0,0,0,0,0,0,14.23,14.21,14.35
$GC,2675,-1.12,-145.9,2185,2196,3957,3979,373.1,-16.2,239,2680,0.12,2.47,0.00,0.000,2436,0.299,0.084,2202,3598,3966,3954,3979,0,0,0,0,0,0,13.90,14.17,14.07
$GC,2802,-1.15,-145.9,2203,3600,3957,3980,390.3,-12.9,264,2807,0.00,2.35,0.00,0.000,1158,0.000,0.057,2202,2200,3967,3956,3979,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3127,-1.13,-145.9,2203,2199,3961,3978,435.8,-13.8,279,3132,0.00,2.45,0.00,0.000,388,0.000,0.087,2196,3598,3967,3956,3978,0,0,0,0,0,0,14.73,14.17,14.75
$GC,3192,-1.16,-145.9,2197,3601,3957,3979,444.7,-13.1,292,3198,0.00,2.38,0.00,0.000,1158,0.000,0.057,2197,2195,3966,3955,3978,0,0,0,0,0,0,14.38,14.26,14.42
$STATE,3456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3456,begin apogee
$GC,3462,-0.13,0.0,2198,2062,3957,3978,482.1,-14.0,305,3685,1.33,0.00,219.18,1.440,10246,0.239,0.000,2532,2060,3367,3394,3340,0,0,0,0,0,0,13.87,13.52,12.67
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3688,begin climb
$GC,3690,0.57,145.9,2533,2061,3389,3333,493.8,0.0,312,3909,0.73,2.58,211.20,1.382,10756,0.063,0.080,2781,731,2766,2818,2715,0,0,0,0,0,0,13.66,12.88,12.28
$GC,4134,0.19,145.9,2782,731,2800,2712,475.7,14.0,405,4140,0.62,2.42,0.00,0.000,5254,0.321,0.076,2650,2091,2754,2799,2710,0,0,0,0,0,0,13.43,13.80,13.82
$GC,4450,0.02,165.4,2650,2093,2799,2707,445.9,9.1,418,4482,0.22,2.40,24.80,1.506,12964,0.267,0.080,2602,724,2684,2733,2636,0,0,0,0,0,0,13.85,13.83,13.16
$GC,4549,0.06,226.7,2602,724,2731,2635,438.7,7.2,437,4647,0.00,2.42,90.80,1.390,9254,0.000,0.079,2602,2103,2436,2502,2371,0,0,0,0,0,0,14.25,14.12,12.97
$GC,4962,0.07,242.5,2603,2103,2493,2360,401.7,9.3,470,4985,0.00,0.00,21.17,1.506,8230,0.000,0.000,2603,2103,2378,2441,2315,0,0,0,0,0,0,14.53,14.07,13.19
$GC,5262,0.09,259.8,2602,2103,2427,2306,373.9,9.2,480,5294,0.00,2.40,24.23,1.486,8740,0.000,0.086,2602,731,2300,2357,2244,0,0,0,0,0,0,14.58,14.16,13.25
$GC,5345,0.19,286.1,2603,732,2354,2245,366.3,8.8,496,5391,0.12,2.40,40.38,1.424,11430,0.129,0.079,2660,2108,2201,2261,2141,0,0,0,0,0,0,14.10,14.16,13.15
$GC,5716,0.13,286.1,2661,2109,2244,2130,317.7,13.1,520,5721,0.12,2.40,0.00,0.000,4740,0.251,0.081,2638,730,2186,2244,2129,0,0,0,0,0,0,14.04,14.21,14.17
$GC,5767,0.17,286.1,2638,730,2244,2129,311.9,10.8,530,5771,0.00,2.40,0.00,0.000,1158,0.000,0.077,2637,2100,2185,2242,2129,0,0,0,0,0,0,14.33,14.19,14.37
$GC,6076,0.17,286.1,2638,2101,2244,2128,278.6,10.5,542,6081,0.00,2.40,0.00,0.000,516,0.000,0.085,2637,730,2182,2242,2123,0,0,0,0,0,0,14.66,14.24,14.68
$GC,6112,0.21,287.6,2638,730,2242,2128,275.2,9.9,549,6118,0.00,2.40,0.00,0.000,1190,0.000,0.078,2638,2107,2184,2241,2127,0,0,0,0,0,0,14.38,14.22,14.42
$GC,6438,0.23,314.8,2638,2107,2241,2128,245.0,8.7,564,6488,0.00,2.42,45.28,1.375,8740,0.000,0.083,2637,724,2077,2131,2023,0,0,0,0,0,0,14.68,13.90,13.27
$GC,6528,0.35,355.0,2638,725,2123,2025,237.4,8.1,577,6599,0.17,2.42,64.50,1.294,11430,0.105,0.078,2703,2106,1917,1960,1875,0,0,0,0,0,0,14.21,14.14,13.10
$GC,6920,0.30,355.0,2704,2107,1946,1868,189.8,11.9,605,6925,0.00,2.42,0.00,0.000,644,0.000,0.083,2706,730,1906,1945,1867,0,0,0,0,0,0,14.57,14.18,14.59
$GC,6975,0.30,355.0,2708,731,1943,1868,183.2,11.5,616,6981,0.00,2.40,0.00,0.000,1030,0.000,0.076,2708,2102,1904,1942,1867,0,0,0,0,0,0,14.23,14.09,14.28
$GC,7281,0.26,355.0,2708,2102,1941,1865,148.9,11.0,627,7286,0.15,2.40,0.00,0.000,4740,0.227,0.082,2672,730,1902,1940,1865,0,0,0,0,0,0,14.04,14.11,14.18
$GC,7361,0.38,405.5,2670,731,1938,1866,142.3,7.7,643,7457,0.00,2.38,87.47,1.242,9382,0.000,0.079,2672,2099,1709,1738,1681,0,0,0,0,0,0,14.38,14.23,13.19
$GC,7762,0.51,459.9,2670,2096,1737,1667,111.0,7.5,673,7856,0.22,0.00,92.00,1.188,10406,0.095,0.000,2763,2099,1490,1531,1450,0,0,0,0,0,0,14.15,13.89,13.17
$GC,8152,0.39,492.9,2764,2100,1527,1429,64.0,8.5,706,8175,0.20,2.47,16.95,0.393,12964,0.259,0.082,2716,728,1354,1405,1304,0,0,0,0,0,0,13.79,14.12,13.69
$GC,8400,0.62,602.9,2717,729,1407,1304,49.0,4.9,755,8470,0.20,2.40,60.95,0.346,11430,0.096,0.079,2793,2100,903,976,831,0,0,0,0,0,0,14.16,14.05,13.71
$GC,8766,0.73,681.4,2793,2101,977,828,21.8,6.4,798,8814,0.00,2.55,43.58,0.269,8612,0.000,0.080,2793,3514,585,632,539,0,0,0,0,0,0,14.57,13.96,13.86
$GC,8861,0.89,740.0,2793,3515,634,541,15.3,7.3,816,8883,0.22,2.35,14.70,0.242,11430,0.091,0.061,2883,2134,498,522,475,0,0,0,0,0,0,14.24,14.09,13.85
$STATE,9006,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,0.2,1.011762
$STATE,9027,end surface coast,CONTROL_FINISHED_OK
$STATE,9027,begin surface
$SM_CCo,9048,0.00,0.000,0,0,500,702.78
$SM_GC,0.95,8.25,0.12,0.00,0.076,0.142,0.000,201,2226,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.32,14.28,14.61
$RAFOS_CLK,411
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7517.69,-15136.22,060917,215702
$TT8_MAMPS,0.040446,0.895055
$HUMID,47.32
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15957917696.000000
$PM_FREEKB_00,50049536
$24V_AH,12.28,171.041
$10V_AH,12.17,0.000
$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,26.050,82.900,1057.175,0.000,0.000,0.000,0.000,185.550,5.250,0.000,10.578,0.000,6369.353,915.366,1987.210,231.732,0.000,1996.750,0.000,1193.620,0.000,0.539,0.000
$DEVICE_MAMPS,459.000,2140.470,1506.285,0.000,0.000,0.000,0.000,141.525,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5330.000,9034.000,9001.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.843,20.000,9.850,0.000
$MEM,323720
$DATA_FILE_SIZE,30056,835
$CAP_FILE_SIZE,100911,0
$CFSIZE,2097872896,2008776704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.2
$CURRENT,0.046,297.30,1
$GPS,070917,031814,7517.768,-15128.250,36,0.7,54,20.6,0.9,283.4,12,9.9