version: 66.13
glider: 196
mission: 14
dive: 310
start: 9 11 117 19 0 54
data:
$ID,196
$MISSION,14
$DIVE,310
$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,36
$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,861.0
$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
$GPS1,110917,184917,7531.7295,-15111.3262,20,0.7,22,20.7,0.0,0.0,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.1
$GPS2,110917,190019,7531.7104,-15111.0762,6,0.8,46,20.7,0.4,54.5,10,10.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,164.1,87972,-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,-145.9,196,2220,503,488,0.0,0.0,0,144,0.00,0.00,-91.72,0.000,16386,0.000,0.000,195,2220,2121,2045,2198,0,0,0,0,0,0,14.53,28.83,14.55
$GC,148,-0.57,-145.9,196,2221,2049,2200,3.2,-3.6,9,205,12.85,2.72,-39.42,0.000,18724,0.451,2.140,2376,3593,3963,3950,3976,0,0,0,0,0,0,13.58,12.89,14.03
$GC,315,-0.73,-145.9,2376,3595,3955,3977,36.4,-13.1,42,321,0.00,2.33,0.00,0.000,1158,0.000,0.057,2375,2235,3964,3953,3976,0,0,0,0,0,0,14.05,13.94,14.09
$GC,620,-0.84,-145.9,2376,2235,3957,3976,77.2,-10.8,73,625,0.17,2.55,0.00,0.000,4740,0.114,0.080,2298,786,3966,3956,3976,0,0,0,0,0,0,14.21,13.98,14.26
$GC,666,-0.91,-145.9,2299,786,3957,3976,83.8,-14.6,82,672,0.00,2.50,0.00,0.000,1158,0.000,0.086,2297,2187,3966,3956,3976,0,0,0,0,0,0,14.09,13.97,14.12
$GC,981,-0.94,-145.9,2297,2189,3957,3977,130.0,-13.7,100,986,0.00,2.53,0.00,0.000,388,0.000,0.088,2293,3613,3964,3953,3976,0,0,0,0,0,0,14.60,13.97,14.64
$GC,1098,-1.09,-145.9,2294,3614,3957,3976,143.3,-10.1,123,1105,0.20,2.42,0.00,0.000,5254,0.103,0.054,2222,2189,3966,3956,3976,0,0,0,0,0,0,14.19,14.14,14.28
$GC,1402,-1.01,-145.9,2222,2190,3957,3977,201.3,-18.9,134,1407,0.12,2.53,0.00,0.000,2436,0.300,0.082,2240,3614,3966,3956,3976,0,0,0,0,0,0,13.89,14.07,14.04
$GC,1537,-1.10,-145.9,2240,3615,3957,3977,220.1,-12.6,161,1542,0.00,2.42,0.00,0.000,1158,0.000,0.058,2240,2195,3966,3956,3976,0,0,0,0,0,0,14.26,14.12,14.28
$GC,1852,-1.10,-145.9,2241,2195,3958,3976,263.5,-13.0,174,1857,0.00,2.53,0.00,0.000,260,0.000,0.086,2236,3614,3966,3956,3976,0,0,0,0,0,0,14.66,14.12,14.67
$GC,1892,-1.17,-145.9,2237,3614,3957,3976,268.5,-12.5,182,1897,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2196,3966,3956,3976,0,0,0,0,0,0,14.33,14.19,14.36
$GC,2212,-1.20,-145.9,2237,2196,3957,3976,307.9,-12.0,196,2218,0.12,2.53,0.00,0.000,4484,0.146,0.084,2169,3620,3965,3956,3975,0,0,0,0,0,0,14.15,14.12,14.18
$GC,2320,-1.15,-145.9,2170,3622,3957,3975,325.1,-16.6,217,2325,0.17,2.42,0.00,0.000,3206,0.272,0.057,2204,2198,3968,3956,3981,0,0,0,0,0,0,13.75,14.10,14.06
$GC,2636,-1.15,-145.9,2204,2198,3956,3977,369.8,-13.5,230,2640,0.00,2.50,0.00,0.000,260,0.000,0.086,2196,3613,3965,3955,3975,0,0,0,0,0,0,14.68,14.05,14.69
$GC,2726,-1.18,-145.9,2196,3615,3957,3977,381.8,-12.9,248,2732,0.00,2.40,0.00,0.000,1158,0.000,0.056,2195,2198,3965,3954,3976,0,0,0,0,0,0,14.29,14.17,14.33
$GC,3057,-1.15,-145.9,2196,2199,3955,3976,428.0,-13.9,264,3063,0.00,2.53,0.00,0.000,388,0.000,0.084,2186,3614,3965,3954,3976,0,0,0,0,0,0,14.64,14.06,14.66
$GC,3133,-1.15,-145.9,2186,3615,3955,3979,438.6,-13.4,279,3138,0.00,2.42,0.00,0.000,1030,0.000,0.056,2185,2198,3965,3954,3976,0,0,0,0,0,0,14.29,14.16,14.33
$STATE,3446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3446,begin apogee
$GC,3452,-0.13,0.0,2187,2054,3955,3976,484.1,-14.5,292,3675,1.38,0.08,218.77,1.419,10246,0.244,0.107,2529,2120,3363,3377,3349,0,0,0,0,0,0,13.78,13.24,12.62
$STATE,3725,end apogee,CONTROL_FINISHED_OK
$STATE,3725,begin climb
$GC,3728,0.57,145.9,2530,2119,3369,3340,495.7,0.0,299,3948,0.73,2.65,208.90,1.375,11012,0.060,0.073,2777,3493,2759,2788,2730,0,0,0,0,0,0,13.69,13.05,12.21
$GC,4173,0.10,145.9,2777,3493,2777,2732,474.1,16.3,350,4178,0.82,2.40,0.00,0.000,5254,0.349,0.057,2621,2132,2751,2776,2726,0,0,0,0,0,0,13.38,13.71,13.75
$GC,4489,-0.01,186.2,2621,2131,2777,2724,446.6,8.1,363,4550,0.15,0.00,55.58,1.424,12710,0.292,0.000,2588,2130,2603,2644,2562,0,0,0,0,0,0,13.72,13.82,13.03
$GC,4851,0.03,235.8,2587,2130,2643,2547,418.8,7.7,385,4927,0.00,0.00,74.20,1.390,8230,0.000,0.000,2586,2131,2403,2450,2356,0,0,0,0,0,0,14.43,13.85,13.05
$GC,5209,0.09,271.6,2587,2131,2439,2342,389.3,8.3,397,5271,0.00,2.62,52.42,1.392,8868,0.000,0.090,2585,700,2253,2297,2209,0,0,0,0,0,0,14.42,13.92,13.12
$GC,5323,0.23,309.1,2589,700,2293,2207,379.9,8.3,419,5386,0.22,2.45,57.08,1.359,11430,0.090,0.079,2677,2087,2103,2144,2063,0,0,0,0,0,0,13.95,13.86,13.01
$GC,5691,0.15,309.1,2684,2086,2134,2047,326.1,14.6,443,5696,0.17,2.47,0.00,0.000,4740,0.259,0.083,2643,687,2090,2134,2046,0,0,0,0,0,0,13.85,14.06,14.01
$GC,5722,0.15,309.1,2644,686,2134,2046,322.2,12.4,449,5727,0.00,2.47,0.00,0.000,1030,0.000,0.078,2643,2099,2089,2132,2046,0,0,0,0,0,0,14.17,14.03,14.19
$GC,6054,0.15,309.1,2645,2098,2133,2044,283.6,11.5,465,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2099,2088,2132,2044,0,0,0,0,0,0,14.44,14.46,14.47
$GC,6352,0.15,309.1,2644,2099,2133,2043,251.6,10.4,475,6357,0.00,2.47,0.00,0.000,516,0.000,0.086,2644,694,2086,2130,2043,0,0,0,0,0,0,14.63,14.13,14.64
$GC,6407,0.22,322.4,2644,693,2132,2043,246.3,9.4,486,6428,0.00,2.45,16.10,1.483,9382,0.000,0.078,2644,2101,2051,2095,2008,0,0,0,0,0,0,14.30,14.16,13.27
$GC,6745,0.26,344.3,2644,2102,2087,2000,215.4,9.0,503,6782,0.00,0.00,35.75,1.377,8358,0.000,0.000,2644,2100,1965,2004,1927,0,0,0,0,0,0,14.61,14.03,13.23
$GC,7073,0.35,383.5,2644,2100,1997,1910,187.6,8.2,514,7149,0.12,2.55,66.80,1.283,10916,0.127,0.088,2707,701,1797,1820,1775,0,0,0,0,0,0,14.31,13.96,13.17
$GC,7194,0.37,383.5,2708,698,1813,1775,173.9,11.4,538,7199,0.00,2.47,0.00,0.000,1158,0.000,0.076,2708,2105,1794,1814,1774,0,0,0,0,0,0,14.19,14.07,14.22
$GC,7524,0.37,383.5,2708,2106,1813,1767,136.0,11.1,554,7529,0.00,2.47,0.00,0.000,516,0.000,0.086,2712,693,1789,1813,1766,0,0,0,0,0,0,14.59,14.16,14.60
$GC,7574,0.39,383.5,2713,693,1811,1766,130.7,10.2,564,7580,0.00,2.47,0.00,0.000,1158,0.000,0.077,2712,2105,1786,1810,1762,0,0,0,0,0,0,14.27,14.14,14.32
$GC,7885,0.39,383.5,2713,2106,1811,1764,98.4,10.1,576,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2106,1787,1810,1764,0,0,0,0,0,0,14.62,14.63,14.63
$GC,8187,0.43,440.8,2712,2107,1810,1764,73.0,7.4,606,8217,0.00,0.00,29.55,0.421,8230,0.000,0.000,2712,2106,1565,1591,1540,0,0,0,0,0,0,14.59,14.14,13.67
$GC,8515,0.61,548.7,2711,2107,1591,1537,51.9,5.0,639,8578,0.22,2.58,56.80,0.353,10916,0.092,0.088,2799,695,1127,1187,1068,0,0,0,0,0,0,14.13,13.94,13.71
$GC,8603,0.64,561.1,2799,695,1187,1068,44.2,9.4,650,8620,0.00,2.47,7.55,0.335,9382,0.000,0.076,2798,2102,1075,1138,1012,0,0,0,0,0,0,14.10,13.97,13.65
$GC,8918,0.76,643.1,2799,2102,1139,1006,18.8,6.2,683,8972,0.00,2.55,43.70,0.265,8868,0.000,0.087,2799,694,742,804,681,0,0,0,0,0,0,14.57,13.87,13.81
$GC,9040,0.97,713.8,2799,695,804,679,10.8,6.7,706,9088,0.30,2.47,43.22,0.222,11430,0.083,0.076,2906,2100,501,522,481,0,0,0,0,0,0,14.18,14.07,13.85
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9111,begin surface coast
$FINISH,0.1,1.021539
$STATE,9123,end surface coast,CONTROL_FINISHED_OK
$STATE,9123,begin surface
$SM_CCo,9144,1.50,0.224,0,0,501,702.78
$SM_GC,1.56,8.40,0.17,1.50,0.077,0.115,0.224,200,2226,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.97
$RAFOS_CLK,252
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7532.56,-15115.12,110917,160827
$TT8_MAMPS,0.040446,0.971453
$HUMID,46.14
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15939862528.000000
$PM_FREEKB_00,48196096
$24V_AH,12.21,192.338
$10V_AH,12.13,0.000
$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,26.175,80.200,966.425,1.500,0.000,0.000,0.000,352.175,2.250,0.000,47.769,0.000,6515.240,730.291,2258.811,318.125,0.000,2052.663,0.000,1031.480,2199.000,0.540,0.000
$DEVICE_MAMPS,451.350,2139.705,1482.570,224.145,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9111.000,9127.000,9098.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.747,20.000,11.158,0.000
$MEM,323212
$DATA_FILE_SIZE,23403,719
$CAP_FILE_SIZE,99259,0
$CFSIZE,2097872896,1998848000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.022,101.32,1
$GPS,110917,213430,7530.455,-15111.888,17,0.7,25,20.7,0.3,31.9,11,10.0