version: 66.13
glider: 196
mission: 14
dive: 272
start: 9 7 117 11 51 8
data:
$ID,196
$MISSION,14
$DIVE,272
$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,39
$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,758.0
$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
$GPS1,070917,114447,7521.0527,-15123.5039,27,0.7,29,20.6,0.4,258.2,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.9
$GPS2,070917,115034,7521.0601,-15123.5801,5,0.8,15,20.6,0.0,245.4,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.6,41247,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,185,2180,504,491,0.0,0.0,0,144,0.00,0.00,-91.70,0.000,16386,0.000,0.000,183,2180,2185,2120,2251,0,0,0,0,0,0,14.60,28.83,14.63
$GC,147,-0.57,-145.9,183,2181,2125,2252,3.9,-5.2,9,200,12.88,2.88,-34.12,0.000,18724,0.456,2.147,2374,3616,3962,3945,3980,0,0,0,0,0,0,13.64,12.86,14.15
$GC,291,-0.71,-145.9,2374,3620,3951,3982,37.3,-13.5,37,295,0.00,2.38,0.00,0.000,1158,0.000,0.057,2374,2209,3965,3950,3981,0,0,0,0,0,0,14.34,14.23,14.39
$GC,612,-0.82,-145.9,2376,2209,3952,3982,83.2,-11.1,69,613,0.20,0.00,0.00,0.000,4230,0.111,0.000,2295,2207,3965,3951,3980,0,0,0,0,0,0,14.22,14.33,14.33
$GC,932,-0.84,-145.9,2297,2209,3952,3981,132.4,-14.2,87,937,0.00,2.47,0.00,0.000,388,0.000,0.087,2288,3610,3966,3951,3981,0,0,0,0,0,0,14.54,14.09,14.55
$GC,977,-0.95,-145.9,2288,3611,3952,3980,138.4,-12.3,96,983,0.00,2.42,0.00,0.000,1158,0.000,0.059,2288,2192,3965,3950,3980,0,0,0,0,0,0,14.25,14.12,14.27
$GC,1293,-1.00,-145.9,2287,2191,3953,3980,180.3,-12.9,109,1298,0.00,2.53,0.00,0.000,388,0.000,0.086,2279,3613,3965,3950,3981,0,0,0,0,0,0,14.53,14.07,14.54
$GC,1373,-1.14,-145.9,2281,3614,3953,3980,189.4,-10.7,125,1378,0.22,2.42,0.00,0.000,5254,0.099,0.057,2196,2191,3966,3952,3981,0,0,0,0,0,0,14.19,14.12,14.28
$GC,1684,-1.03,-145.9,2196,2191,3951,3982,252.0,-20.2,137,1689,0.20,2.53,0.00,0.000,2436,0.294,0.084,2232,3613,3966,3951,3981,0,0,0,0,0,0,13.68,13.99,13.88
$GC,1811,-1.09,-145.9,2232,3615,3952,3983,269.2,-12.1,162,1815,0.00,2.40,0.00,0.000,1158,0.000,0.056,2232,2201,3966,3951,3981,0,0,0,0,0,0,14.24,14.12,14.27
$GC,2135,-1.09,-145.9,2233,2199,3952,3980,312.8,-13.0,177,2140,0.00,2.53,0.00,0.000,260,0.000,0.087,2223,3622,3965,3951,3980,0,0,0,0,0,0,14.51,14.04,14.53
$GC,2226,-1.17,-145.9,2223,3623,3952,3981,323.8,-11.4,195,2230,0.00,2.45,0.00,0.000,1158,0.000,0.058,2223,2192,3965,3951,3980,0,0,0,0,0,0,14.23,14.09,14.26
$GC,2555,-1.17,-145.9,2223,2191,3952,3980,365.3,-12.5,211,2560,0.00,2.53,0.00,0.000,260,0.000,0.090,2222,3610,3965,3951,3980,0,0,0,0,0,0,14.50,14.03,14.53
$GC,2672,-1.25,-145.9,2222,3611,3952,3981,378.2,-10.8,234,2678,0.15,2.42,0.00,0.000,5254,0.121,0.057,2162,2193,3965,3951,3980,0,0,0,0,0,0,14.14,14.09,14.23
$GC,2978,-1.14,-145.9,2162,2192,3951,3980,431.5,-17.8,245,2983,0.20,2.50,0.00,0.000,2436,0.308,0.083,2195,3620,3965,3950,3980,0,0,0,0,0,0,13.62,13.97,13.83
$GC,3133,-1.17,-145.9,2196,3620,3952,3980,453.1,-12.7,276,3139,0.00,2.40,0.00,0.000,1158,0.000,0.056,2195,2190,3966,3950,3983,0,0,0,0,0,0,14.15,14.01,14.19
$STATE,3337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3337,begin apogee
$GC,3343,-0.13,0.0,2196,2060,3952,3980,482.4,-14.3,287,3570,1.33,0.08,223.38,1.412,10246,0.239,0.181,2529,2112,3365,3381,3350,0,0,0,0,0,0,13.83,13.49,12.64
$STATE,3574,end apogee,CONTROL_FINISHED_OK
$STATE,3574,begin climb
$GC,3576,0.57,145.9,2530,2113,3373,3340,494.4,0.0,294,3801,0.75,2.65,211.65,1.359,11012,0.061,0.073,2783,3498,2758,2792,2724,0,0,0,0,0,0,13.64,12.91,12.29
$GC,3861,0.08,145.9,2784,3498,2783,2720,500.3,14.4,308,3868,0.90,2.47,0.00,0.000,5254,0.347,0.056,2619,2127,2751,2782,2720,0,0,0,0,0,0,13.11,13.38,13.46
$GC,4183,-0.01,195.5,2619,2127,2783,2717,474.4,7.7,322,4263,0.15,2.55,73.18,1.378,12964,0.288,0.086,2589,695,2559,2613,2505,0,0,0,0,0,0,13.80,13.85,13.01
$GC,4349,0.07,247.4,2586,696,2604,2498,462.2,7.6,355,4439,0.00,2.47,80.55,1.336,9382,0.000,0.080,2589,2090,2349,2404,2294,0,0,0,0,0,0,14.12,13.99,12.93
$GC,4754,0.14,277.5,2589,2090,2393,2279,427.7,8.6,386,4802,0.12,0.00,45.00,1.378,10406,0.134,0.000,2648,2090,2231,2284,2179,0,0,0,0,0,0,14.15,14.00,13.19
$GC,5084,0.09,277.5,2649,2090,2268,2160,386.6,12.6,397,5089,0.12,2.45,0.00,0.000,4740,0.253,0.084,2619,691,2213,2266,2160,0,0,0,0,0,0,13.94,14.15,14.11
$GC,5171,0.16,282.5,2620,691,2267,2160,377.8,9.8,414,5178,0.00,2.45,0.00,0.000,1190,0.000,0.078,2619,2096,2213,2266,2160,0,0,0,0,0,0,14.18,14.05,14.21
$GC,5474,0.16,282.5,2619,2101,2267,2159,346.2,10.3,425,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2100,2210,2266,2154,0,0,0,0,0,0,14.65,14.67,14.66
$GC,5775,0.16,294.0,2620,2101,2266,2156,317.2,9.5,435,5800,0.00,2.45,19.55,1.463,8740,0.000,0.086,2619,697,2159,2206,2113,0,0,0,0,0,0,14.67,14.00,13.32
$GC,5877,0.26,314.3,2618,696,2202,2110,307.9,9.1,455,5916,0.15,2.45,32.67,1.379,11430,0.111,0.079,2689,2109,2083,2128,2038,0,0,0,0,0,0,14.31,14.22,13.24
$GC,6228,0.19,314.3,2684,2110,2115,2020,260.4,13.3,475,6233,0.15,2.47,0.00,0.000,4740,0.244,0.083,2654,691,2066,2114,2019,0,0,0,0,0,0,14.00,14.20,14.17
$GC,6303,0.23,314.3,2655,691,2113,2019,252.4,10.0,490,6308,0.00,2.45,0.00,0.000,1158,0.000,0.080,2655,2100,2065,2112,2019,0,0,0,0,0,0,14.35,14.22,14.40
$GC,6618,0.25,334.6,2655,2101,2113,2019,222.6,9.1,503,6655,0.00,2.50,29.95,1.373,8740,0.000,0.087,2655,695,1996,2041,1952,0,0,0,0,0,0,14.65,14.14,13.29
$GC,6722,0.35,365.7,2655,695,2031,1949,213.6,8.6,523,6781,0.12,2.47,53.38,1.280,11430,0.129,0.080,2706,2103,1875,1906,1844,0,0,0,0,0,0,14.20,14.14,13.19
$GC,7101,0.32,365.7,2706,2104,1889,1828,169.7,11.4,549,7106,0.00,2.47,0.00,0.000,644,0.000,0.086,2706,695,1858,1889,1827,0,0,0,0,0,0,14.57,14.13,14.59
$GC,7196,0.32,365.7,2706,694,1886,1826,159.7,10.1,568,7202,0.00,2.45,0.00,0.000,1030,0.000,0.077,2706,2104,1856,1885,1827,0,0,0,0,0,0,14.24,14.16,14.23
$GC,7522,0.29,365.7,2707,2106,1885,1825,126.0,10.2,583,7523,0.00,0.00,0.00,0.000,134,0.000,0.000,2706,2105,1854,1884,1824,0,0,0,0,0,0,14.64,14.66,14.66
$GC,7822,0.31,391.3,2707,2105,1885,1823,97.6,8.8,593,7844,0.00,2.50,12.75,0.465,8740,0.000,0.086,2706,691,1774,1804,1744,0,0,0,0,0,0,14.63,14.14,13.53
$GC,7949,0.42,439.6,2707,692,1804,1752,87.3,7.8,618,7988,0.00,2.47,29.90,0.452,9382,0.000,0.079,2706,2100,1571,1600,1543,0,0,0,0,0,0,14.29,14.15,13.64
$GC,8284,0.57,525.9,2706,2100,1607,1543,63.2,6.0,655,8341,0.15,2.47,50.20,0.381,10916,0.114,0.087,2781,695,1219,1279,1160,0,0,0,0,0,0,14.09,13.96,13.66
$GC,8383,0.63,540.7,2781,696,1280,1165,54.3,9.3,673,8400,0.00,2.47,9.60,0.349,9382,0.000,0.078,2781,2098,1159,1223,1096,0,0,0,0,0,0,14.23,14.09,13.67
$GC,8697,0.75,617.0,2781,2099,1225,1106,30.6,6.5,706,8749,0.12,0.00,45.22,0.284,10918,0.132,0.000,2843,2099,850,915,785,0,0,0,0,0,0,14.22,13.90,13.69
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9004,begin surface coast
$FINISH,0.2,1.011751
$STATE,9024,end surface coast,CONTROL_FINISHED_OK
$STATE,9024,begin surface
$SM_CCo,9045,52.83,0.205,0,0,499,702.78
$SM_GC,1.33,8.20,0.20,52.83,0.081,0.097,0.205,204,2245,499,-7.37,-0.37,702.78,0,0,0,0,0,0,14.33,14.35,13.95
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7518.52,-15124.73,070917,090241
$TT8_MAMPS,0.038948,0.862099
$HUMID,47.48
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,15956180992.000000
$PM_FREEKB_00,49932288
$24V_AH,12.29,172.945
$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,26.125,80.075,916.975,52.825,0.000,0.000,0.000,152.125,3.000,0.000,16.427,0.000,6467.858,863.909,1898.546,232.562,0.000,1865.090,0.000,1060.884,2214.000,0.539,0.000
$DEVICE_MAMPS,455.940,2147.355,1463.445,205.020,0.000,0.000,0.000,143.055,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5445.000,9018.000,8999.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.642,20.000,9.900,0.000
$MEM,323524
$DATA_FILE_SIZE,26798,741
$CAP_FILE_SIZE,99754,0
$CFSIZE,2097872896,2007826432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.050,285.39,1
$GPS,070917,142402,7522.245,-15121.493,29,0.8,29,20.6,0.5,173.8,10,8.9