version: 66.13
glider: 196
mission: 14
dive: 273
start: 9 7 117 14 30 44
data:
$ID,196
$MISSION,14
$DIVE,273
$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,44
$R_STBD_OVSHOOT,51
$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,761.0
$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
$GPS1,070917,142402,7522.2446,-15121.4932,29,0.8,29,20.6,0.5,173.8,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.1
$GPS2,070917,143015,7522.2554,-15121.6221,5,0.8,9,20.6,0.0,0.0,11,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,357.9,38931,-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,-145.9,184,2184,502,495,0.0,0.0,0,144,0.00,0.00,-91.82,0.000,16386,0.000,0.000,179,2183,2171,2112,2231,0,0,0,0,0,0,14.57,28.83,14.59
$GC,147,-0.57,-145.9,180,2184,2113,2234,3.6,-4.2,9,200,12.93,2.88,-34.85,0.000,18724,0.455,2.144,2376,3580,3964,3948,3981,0,0,0,0,0,0,13.62,12.59,14.14
$GC,341,-0.71,-145.9,2376,3581,3954,3981,43.5,-13.5,47,346,0.00,2.30,0.00,0.000,1158,0.000,0.059,2376,2219,3967,3954,3981,0,0,0,0,0,0,14.35,14.21,14.38
$GC,651,-0.82,-145.9,2376,2219,3955,3982,84.2,-10.7,79,652,0.20,0.00,0.00,0.000,4230,0.106,0.000,2296,2218,3968,3954,3982,0,0,0,0,0,0,14.34,14.47,14.44
$GC,961,-0.85,-145.9,2296,2219,3955,3983,130.1,-13.7,96,967,0.00,2.40,0.00,0.000,388,0.000,0.090,2289,3581,3967,3954,3981,0,0,0,0,0,0,14.74,14.13,14.76
$GC,1079,-0.96,-145.9,2289,3582,3955,3982,144.1,-11.4,119,1085,0.00,2.35,0.00,0.000,1158,0.000,0.058,2289,2195,3967,3954,3981,0,0,0,0,0,0,14.34,14.21,14.38
$GC,1382,-1.02,-145.9,2289,2194,3956,3981,182.5,-12.1,130,1383,0.12,0.00,0.00,0.000,4230,0.135,0.000,2241,2194,3967,3954,3981,0,0,0,0,0,0,14.42,14.50,14.47
$GC,1682,-1.02,-145.9,2241,2195,3955,3982,229.9,-15.6,140,1687,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3585,3968,3954,3982,0,0,0,0,0,0,14.77,14.12,14.78
$GC,1837,-1.08,-145.9,2237,3586,3956,3981,250.9,-12.8,171,1842,0.00,2.33,0.00,0.000,1158,0.000,0.057,2236,2200,3967,3954,3981,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2162,-1.08,-145.9,2237,2200,3955,3982,294.3,-12.9,186,2167,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3585,3967,3954,3981,0,0,0,0,0,0,14.78,14.19,14.79
$GC,2304,-1.17,-145.9,2236,3585,3955,3981,310.2,-10.9,214,2309,0.00,2.33,0.00,0.000,1158,0.000,0.057,2236,2202,3967,3954,3981,0,0,0,0,0,0,14.40,14.27,14.42
$GC,2614,-1.22,-145.9,2236,2201,3955,3981,347.0,-11.5,226,2619,0.12,2.42,0.00,0.000,4484,0.148,0.086,2169,3581,3967,3954,3981,0,0,0,0,0,0,14.35,14.19,14.39
$GC,2680,-1.17,-145.9,2169,3581,3955,3981,357.2,-16.1,239,2685,0.15,2.35,0.00,0.000,3206,0.272,0.059,2198,2189,3967,3954,3980,0,0,0,0,0,0,13.91,14.26,14.22
$GC,3005,-1.14,-145.9,2198,2189,3955,3981,404.1,-14.2,254,3010,0.00,2.45,0.00,0.000,388,0.000,0.087,2190,3586,3967,3954,3980,0,0,0,0,0,0,14.79,14.19,14.78
$GC,3142,-1.14,-145.9,2190,3587,3955,3981,423.1,-13.7,281,3147,0.00,2.33,0.00,0.000,1030,0.000,0.057,2190,2201,3967,3954,3980,0,0,0,0,0,0,14.39,14.26,14.43
$GC,3457,-1.10,-145.9,2190,2200,3955,3981,470.2,-14.8,294,3462,0.12,2.42,0.00,0.000,2436,0.309,0.084,2209,3581,3966,3954,3979,0,0,0,0,0,0,13.95,14.18,14.12
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3535,begin apogee
$GC,3543,-0.13,0.0,2210,2102,3955,3980,480.3,-11.7,310,3778,1.25,0.00,228.93,1.415,10246,0.226,0.000,2530,2100,3357,3381,3334,0,0,0,0,0,0,13.83,13.28,12.65
$STATE,3781,end apogee,CONTROL_FINISHED_OK
$STATE,3781,begin climb
$GC,3784,0.57,145.9,2530,2102,3379,3330,494.6,0.0,318,4178,0.75,2.65,214.30,1.361,10500,0.062,0.073,2783,3481,2747,2783,2712,0,0,0,0,0,0,13.66,12.90,12.28
$GC,4437,0.09,145.9,2783,3481,2781,2712,443.1,15.2,365,4444,0.85,2.38,0.00,0.000,5254,0.344,0.057,2615,2087,2745,2780,2711,0,0,0,0,0,0,13.64,14.09,14.02
$GC,4742,0.02,205.9,2616,2089,2781,2711,419.7,7.2,376,4836,0.00,0.00,92.15,1.335,8358,0.000,0.000,2615,2088,2527,2583,2471,0,0,0,0,0,0,14.60,13.90,13.10
$GC,5133,-0.02,219.7,2616,2088,2568,2447,384.5,9.4,389,5154,0.15,2.45,15.52,1.509,12964,0.275,0.086,2580,691,2465,2524,2407,0,0,0,0,0,0,13.90,13.89,13.26
$GC,5241,0.11,284.0,2580,691,2515,2402,376.7,7.0,410,5356,0.12,2.42,106.82,1.292,11430,0.139,0.081,2640,2079,2208,2266,2151,0,0,0,0,0,0,14.22,14.16,13.01
$GC,5671,0.11,284.0,2639,2079,2248,2133,328.7,11.4,446,5675,0.00,2.45,0.00,0.000,516,0.000,0.086,2640,697,2187,2246,2129,0,0,0,0,0,0,14.42,14.06,14.45
$GC,5716,0.14,284.0,2641,701,2244,2129,323.8,10.4,455,5720,0.00,2.45,0.00,0.000,1158,0.000,0.080,2640,2099,2186,2243,2129,0,0,0,0,0,0,14.22,14.09,14.26
$GC,6031,0.14,284.0,2641,2100,2241,2128,288.9,10.7,468,6036,0.00,2.47,0.00,0.000,516,0.000,0.086,2640,694,2185,2241,2129,0,0,0,0,0,0,14.48,14.10,14.50
$GC,6081,0.18,287.6,2641,694,2242,2129,283.8,9.8,478,6086,0.00,2.47,0.00,0.000,1190,0.000,0.079,2640,2100,2184,2240,2128,0,0,0,0,0,0,14.22,14.09,14.23
$GC,6391,0.19,301.8,2641,2100,2241,2128,253.4,9.3,490,6415,0.00,0.00,22.80,1.393,8230,0.000,0.000,2640,2100,2135,2191,2080,0,0,0,0,0,0,14.50,14.09,13.30
$GC,6692,0.24,338.3,2641,2101,2177,2069,227.4,8.3,500,6762,0.00,2.55,63.28,1.279,8868,0.000,0.086,2639,694,1978,2029,1928,0,0,0,0,0,0,14.45,13.94,13.18
$GC,6838,0.38,390.1,2641,695,2015,1927,216.0,7.6,529,6934,0.20,2.50,90.30,1.204,11430,0.097,0.080,2712,2105,1774,1805,1743,0,0,0,0,0,0,14.05,13.98,13.05
$GC,7233,0.36,390.1,2713,2106,1789,1721,168.2,12.0,558,7237,0.00,2.50,0.00,0.000,644,0.000,0.087,2713,697,1754,1789,1720,0,0,0,0,0,0,14.39,14.04,14.41
$GC,7338,0.39,390.1,2713,697,1784,1720,156.7,10.5,579,7342,0.00,2.45,0.00,0.000,1158,0.000,0.078,2713,2099,1751,1783,1720,0,0,0,0,0,0,14.22,14.09,14.26
$GC,7653,0.39,390.1,2714,2101,1783,1719,122.6,10.6,592,7658,0.00,2.45,0.00,0.000,516,0.000,0.086,2713,697,1751,1782,1720,0,0,0,0,0,0,14.45,14.04,14.47
$GC,7716,0.45,405.2,2713,698,1777,1720,116.6,9.3,604,7741,0.00,2.42,16.62,1.315,9382,0.000,0.076,2713,2097,1709,1741,1678,0,0,0,0,0,0,14.21,14.09,13.27
$GC,8046,0.51,437.7,2713,2098,1736,1667,85.4,8.5,630,8069,0.00,2.58,17.80,0.438,8612,0.000,0.083,2712,3524,1579,1613,1545,0,0,0,0,0,0,14.54,14.14,13.63
$GC,8079,0.55,463.4,2713,3524,1614,1551,82.5,8.8,635,8101,0.15,2.42,15.90,0.441,11430,0.112,0.064,2774,2080,1475,1513,1438,0,0,0,0,0,0,14.12,14.02,13.62
$GC,8399,0.55,499.3,2774,2081,1520,1446,50.0,8.3,669,8426,0.00,2.45,22.05,0.343,8868,0.000,0.086,2780,689,1326,1373,1280,0,0,0,0,0,0,14.56,13.88,13.62
$GC,8481,0.64,567.3,2781,689,1376,1288,44.1,6.9,685,8529,0.00,2.47,40.58,0.327,9382,0.000,0.078,2781,2106,1048,1117,980,0,0,0,0,0,0,14.26,14.12,13.73
$GC,8834,0.83,680.3,2782,2106,1121,991,21.0,4.8,725,8906,0.17,0.00,66.22,0.252,10918,0.110,0.000,2861,2104,590,633,547,0,0,0,0,0,0,14.23,14.00,13.76
$STATE,9013,end climb,SURFACE_DEPTH_REACHED
$STATE,9013,begin surface coast
$FINISH,0.3,1.021449
$STATE,9022,end surface coast,CONTROL_FINISHED_OK
$STATE,9022,begin surface
$SM_CCo,9042,15.57,0.213,0,0,498,702.78
$SM_GC,1.11,8.15,0.17,15.57,0.069,0.147,0.213,203,2203,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.28,14.21,13.95
$RAFOS_CLK,175
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7520.89,-15120.66,070917,114756
$TT8_MAMPS,0.040446,0.862099
$HUMID,45.43
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,20
$CP_FREE,15955722240.000000
$PM_FREEKB_00,49901376
$24V_AH,12.28,173.405
$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,25.450,78.800,1013.275,15.575,0.000,0.000,0.000,182.200,5.000,0.000,10.386,0.000,6181.146,855.913,2177.813,227.587,0.000,2108.531,0.000,1071.797,2219.000,0.539,0.000
$DEVICE_MAMPS,455.175,2143.530,1508.580,212.670,0.000,0.000,0.000,134.640,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4822.000,9013.000,8996.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.539,20.000,9.891,0.000
$MEM,323576
$DATA_FILE_SIZE,26719,749
$CAP_FILE_SIZE,99614,0
$CFSIZE,2097872896,2007629824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1438.5
$CURRENT,0.023,285.11,1
$GPS,070917,170249,7523.323,-15119.494,18,0.7,22,20.6,0.4,309.3,12,9.9