version: 66.13
glider: 196
mission: 14
dive: 292
start: 9 9 117 17 52 27
data:
$ID,196
$MISSION,14
$DIVE,292
$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,31
$R_STBD_OVSHOOT,44
$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,810.0
$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
$GPS1,090917,174230,7542.2593,-15109.2812,22,0.8,28,20.8,0.5,181.8,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.8
$GPS2,090917,175152,7542.2422,-15109.3359,5,0.9,37,20.8,0.0,145.0,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,147.8,107129,-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,-145.9,184,2189,503,490,0.0,0.0,0,145,0.00,0.00,-91.70,0.000,16386,0.000,0.000,182,2189,2160,2094,2226,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,183,2189,2098,2227,3.9,-6.2,9,205,13.18,2.83,-35.92,0.000,18980,0.460,2.134,2385,806,3964,3947,3981,1,0,0,0,0,0,13.47,12.55,14.01
$GC,370,-0.72,-145.9,2385,807,3953,3982,47.2,-12.8,53,376,0.12,2.45,0.00,0.000,5254,0.122,0.086,2335,2177,3966,3952,3981,0,0,0,0,0,0,14.08,14.00,14.17
$GC,681,-0.78,-145.9,2335,2177,3954,3982,95.5,-12.9,85,686,0.00,2.58,0.00,0.000,388,0.000,0.091,2333,3614,3967,3953,3981,0,0,0,0,0,0,14.34,13.99,14.35
$GC,803,-0.92,-145.9,2333,3614,3954,3981,108.2,-10.4,109,808,0.17,2.42,0.00,0.000,5254,0.105,0.054,2264,2202,3967,3953,3981,0,0,0,0,0,0,14.07,14.01,14.14
$GC,1133,-0.92,-145.9,2265,2201,3954,3980,163.3,-16.0,125,1138,0.00,2.53,0.00,0.000,260,0.000,0.087,2255,3610,3967,3953,3981,0,0,0,0,0,0,14.33,13.95,14.35
$GC,1228,-1.00,-145.9,2256,3610,3954,3981,176.7,-13.1,144,1234,0.00,2.45,0.00,0.000,1158,0.000,0.059,2255,2199,3967,3953,3981,0,0,0,0,0,0,14.05,13.94,14.09
$GC,1554,-1.00,-145.9,2255,2199,3953,3982,224.6,-14.1,159,1559,0.00,2.55,0.00,0.000,260,0.000,0.087,2247,3620,3967,3954,3981,0,0,0,0,0,0,14.32,13.94,14.36
$GC,1614,-1.10,-145.9,2247,3620,3954,3982,232.4,-11.8,171,1619,0.00,2.45,0.00,0.000,1158,0.000,0.057,2246,2199,3966,3953,3980,0,0,0,0,0,0,14.09,13.97,14.12
$GC,1944,-1.13,-145.9,2247,2199,3954,3982,274.9,-12.5,187,1949,0.00,2.55,0.00,0.000,388,0.000,0.089,2239,3614,3967,3953,3981,0,0,0,0,0,0,14.31,13.96,14.33
$GC,2019,-1.24,-145.9,2240,3615,3954,3981,283.4,-10.5,202,2025,0.17,2.45,0.00,0.000,5254,0.114,0.057,2166,2195,3967,3953,3981,0,0,0,0,0,0,14.04,13.97,14.14
$GC,2335,-1.12,-145.9,2168,2195,3954,3981,342.1,-18.8,215,2340,0.20,2.55,0.00,0.000,2436,0.298,0.083,2201,3614,3967,3953,3981,0,0,0,0,0,0,13.63,13.92,13.83
$GC,2460,-1.15,-145.9,2202,3617,3953,3981,359.5,-12.8,240,2466,0.00,2.47,0.00,0.000,1158,0.000,0.056,2201,2194,3967,3953,3981,0,0,0,0,0,0,14.07,13.92,14.07
$GC,2786,-1.13,-145.9,2202,2192,3954,3981,405.4,-13.9,255,2791,0.00,2.55,0.00,0.000,388,0.000,0.087,2197,3610,3966,3952,3981,0,0,0,0,0,0,14.28,13.90,14.32
$GC,2811,-1.11,-145.9,2197,3610,3953,3980,408.9,-15.0,260,2818,0.00,2.45,0.00,0.000,1158,0.000,0.056,2196,2190,3966,3952,3981,0,0,0,0,0,0,14.07,13.95,14.10
$GC,3116,-1.08,-145.9,2197,2190,3953,3982,452.0,-14.0,271,3122,0.12,2.58,0.00,0.000,2436,0.304,0.086,2222,3613,3966,3952,3981,0,0,0,0,0,0,13.69,13.86,13.85
$GC,3262,-1.18,-145.9,2223,3613,3953,3980,467.8,-10.4,300,3269,0.00,2.45,0.00,0.000,1158,0.000,0.055,2222,2195,3966,3952,3980,0,0,0,0,0,0,14.06,13.95,14.09
$STATE,3385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3385,begin apogee
$GC,3391,-0.13,0.0,2223,2066,3954,3981,481.8,-11.2,305,3644,1.20,0.08,249.62,1.352,10246,0.221,0.177,2527,2110,3366,3383,3350,0,0,0,0,0,0,13.70,13.28,12.55
$STATE,3647,end apogee,CONTROL_FINISHED_OK
$STATE,3647,begin climb
$GC,3649,0.57,145.9,2528,2111,3376,3342,494.5,0.0,313,3878,0.75,2.72,216.23,1.328,10756,0.061,0.081,2781,730,2761,2796,2726,0,0,0,0,0,0,13.52,12.97,12.20
$GC,4105,0.17,145.9,2781,731,2786,2710,477.4,13.9,386,4111,0.68,2.50,0.00,0.000,5254,0.324,0.076,2644,2104,2746,2785,2708,0,0,0,0,0,0,13.24,13.62,13.57
$GC,4431,0.02,171.6,2644,2106,2786,2704,447.6,8.8,401,4472,0.20,2.53,32.90,1.397,12964,0.262,0.083,2602,723,2657,2701,2614,0,0,0,0,0,0,13.71,13.91,13.14
$GC,4557,0.05,223.0,2602,724,2698,2604,437.9,7.6,426,4643,0.00,2.47,80.68,1.304,9254,0.000,0.080,2602,2106,2454,2511,2398,0,0,0,0,0,0,14.00,13.89,12.99
$GC,4942,0.06,239.2,2602,2107,2492,2374,403.2,9.3,453,4962,0.00,0.00,19.05,1.434,8230,0.000,0.000,2602,2106,2389,2446,2333,0,0,0,0,0,0,14.28,13.98,13.16
$GC,5242,0.08,256.2,2603,2107,2426,2316,375.4,9.2,463,5268,0.00,2.53,21.48,1.414,8740,0.000,0.086,2602,729,2317,2369,2266,0,0,0,0,0,0,14.31,14.00,13.21
$GC,5308,0.16,282.0,2602,730,2358,2258,369.4,8.8,476,5354,0.00,2.42,40.47,1.317,9382,0.000,0.079,2602,2099,2214,2267,2161,0,0,0,0,0,0,14.08,13.96,13.10
$GC,5666,0.23,308.4,2602,2100,2251,2141,337.6,8.8,497,5707,0.17,0.00,38.70,1.324,10406,0.103,0.000,2678,2099,2108,2156,2061,0,0,0,0,0,0,14.14,13.94,13.18
$GC,5994,0.15,308.4,2678,2100,2140,2039,291.5,14.2,508,6000,0.17,2.42,0.00,0.000,4740,0.246,0.083,2643,728,2088,2138,2038,0,0,0,0,0,0,13.85,14.02,13.99
$GC,6041,0.19,308.4,2643,729,2136,2039,286.1,10.8,517,6045,0.00,2.42,0.00,0.000,1158,0.000,0.079,2643,2103,2086,2135,2038,0,0,0,0,0,0,14.14,14.02,14.18
$GC,6355,0.19,308.4,2643,2106,2136,2038,252.7,10.2,530,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2105,2086,2135,2037,0,0,0,0,0,0,14.33,14.35,14.36
$GC,6656,0.21,337.0,2644,2105,2136,2037,225.5,8.7,540,6706,0.00,2.47,46.08,1.263,8740,0.000,0.084,2650,721,1986,2033,1939,0,0,0,0,0,0,14.33,13.76,13.19
$GC,6817,0.33,381.1,2644,723,2015,1932,212.1,8.0,572,6899,0.15,2.45,76.25,1.206,11430,0.113,0.080,2701,2103,1808,1837,1780,0,0,0,0,0,0,14.01,13.93,13.07
$GC,7197,0.33,381.1,2701,2104,1819,1761,168.2,11.3,598,7201,0.00,2.47,0.00,0.000,516,0.000,0.086,2707,727,1788,1818,1758,0,0,0,0,0,0,14.30,13.90,14.31
$GC,7232,0.33,381.1,2707,728,1816,1761,164.4,10.8,605,7237,0.00,2.42,0.00,0.000,1030,0.000,0.077,2707,2098,1787,1815,1760,0,0,0,0,0,0,13.74,13.75,13.74
$GC,7557,0.33,381.1,2707,2100,1816,1755,129.3,10.5,620,7562,0.00,2.45,0.00,0.000,516,0.000,0.086,2712,728,1784,1812,1757,0,0,0,0,0,0,14.33,13.92,14.35
$GC,7582,0.33,381.1,2713,727,1814,1757,126.8,10.1,625,7589,0.00,2.47,0.00,0.000,1030,0.000,0.078,2712,2112,1785,1812,1758,0,0,0,0,0,0,14.10,13.99,14.14
$GC,7889,0.33,383.0,2712,2113,1813,1758,96.0,9.9,638,7890,0.00,0.00,0.00,0.000,38,0.000,0.000,2712,2112,1784,1812,1757,0,0,0,0,0,0,14.21,14.23,14.23
$GC,8189,0.38,448.3,2713,2112,1813,1755,72.0,7.0,668,8231,0.00,2.50,35.95,0.405,8740,0.000,0.083,2712,724,1536,1567,1505,0,0,0,0,0,0,14.19,13.77,13.50
$GC,8271,0.55,510.1,2713,727,1572,1507,65.8,7.1,684,8313,0.15,2.47,36.90,0.390,11430,0.115,0.077,2774,2106,1282,1338,1226,0,0,0,0,0,0,13.85,13.80,13.55
$GC,8611,0.63,582.8,2777,2108,1340,1236,37.5,6.6,722,8664,0.00,2.50,44.88,0.305,8868,0.000,0.086,2781,726,987,1056,918,0,0,0,0,0,0,14.16,13.80,13.59
$GC,8749,0.82,649.7,2781,729,1057,917,27.8,6.9,749,8797,0.20,2.47,39.80,0.276,11430,0.101,0.079,2861,2107,712,774,651,0,0,0,0,0,0,13.89,13.83,13.62
$STATE,8991,end climb,SURFACE_DEPTH_REACHED
$STATE,8992,begin surface coast
$FINISH,0.1,1.021575
$STATE,9012,end surface coast,CONTROL_FINISHED_OK
$STATE,9012,begin surface
$SM_CCo,9078,31.80,0.206,0,0,497,702.78
$SM_GC,1.29,8.23,0.15,31.80,0.069,0.120,0.206,198,2232,497,-7.38,-0.68,702.78,0,0,0,0,0,0,14.16,14.14,13.87
$RAFOS_CLK,73
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7541.40,-15106.02,090917,150402
$TT8_MAMPS,0.086135,1.03662
$HUMID,44.88
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.40
$XPDR_PINGS,20
$CP_FREE,0.000000
$PM_FREEKB_00,49075520
$24V_AH,12.20,182.978
$10V_AH,12.08,0.000
$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,25.875,85.450,978.975,31.800,0.000,0.000,0.000,301.000,5.000,0.000,38.857,0.000,6389.753,973.124,2030.881,292.771,0.000,2058.002,0.000,1116.071,2198.000,0.539,0.000
$DEVICE_MAMPS,459.765,2133.585,1434.375,205.785,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5392.000,9050.000,9032.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.487,20.000,102.909,0.000
$MEM,323672
$DATA_FILE_SIZE,26709,780
$CAP_FILE_SIZE,103036,0
$CFSIZE,2097872896,2003402752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,3719.58,0x2341ea,1,24
$SOUNDSPEED,1445.9
$CURRENT,0.022,115.10,1
$GPS,090917,202534,7540.983,-15109.357,31,0.9,32,20.8,0.5,151.2,9,8.9