version: 66.13
glider: 196
mission: 14
dive: 312
start: 9 12 117 0 40 26
data:
$ID,196
$MISSION,14
$DIVE,312
$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,26
$R_STBD_OVSHOOT,42
$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,866.0
$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
$GPS1,120917,002702,7529.1992,-15111.5205,31,0.8,32,20.7,0.0,80.5,10,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.4
$GPS2,120917,003951,7529.2153,-15111.3477,5,0.8,12,20.7,0.0,31.2,9,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.9,83446,-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,-145.9,204,2220,499,492,0.0,0.0,0,145,0.00,0.00,-91.20,0.000,16386,0.000,0.000,203,2222,2113,2040,2187,0,0,0,0,0,0,14.33,28.83,14.35
$GC,148,-0.57,-145.9,204,2222,2044,2188,3.1,-3.5,9,207,12.77,2.75,-39.28,0.000,18724,0.452,2.134,2382,3590,3963,3950,3977,0,0,0,0,0,0,13.48,12.57,13.99
$GC,297,-0.74,-145.9,2383,3591,3959,3977,33.3,-12.3,38,303,0.15,2.40,0.00,0.000,5254,0.113,0.056,2324,2194,3966,3957,3975,0,0,0,0,0,0,14.08,14.02,14.16
$GC,602,-0.77,-145.9,2325,2193,3960,3976,88.9,-14.4,69,607,0.00,2.50,0.00,0.000,388,0.000,0.084,2319,3592,3968,3959,3977,0,0,0,0,0,0,14.54,14.02,14.55
$GC,662,-0.91,-145.9,2320,3594,3960,3977,96.5,-11.6,81,667,0.00,2.40,0.00,0.000,1158,0.000,0.057,2319,2200,3967,3959,3975,0,0,0,0,0,0,14.22,14.09,14.23
$GC,992,-1.00,-145.9,2320,2198,3961,3977,135.7,-11.1,95,997,0.17,2.47,0.00,0.000,4484,0.109,0.083,2245,3589,3968,3959,3977,0,0,0,0,0,0,14.09,14.07,14.12
$GC,1048,-1.04,-145.9,2245,3590,3960,3978,143.7,-14.4,106,1054,0.00,2.38,0.00,0.000,1158,0.000,0.056,2245,2198,3968,3955,3982,0,0,0,0,0,0,14.26,14.12,14.30
$GC,1353,-1.04,-145.9,2245,2195,3960,3977,194.2,-16.0,117,1358,0.00,2.47,0.00,0.000,260,0.000,0.084,2236,3587,3968,3959,3977,0,0,0,0,0,0,14.66,13.63,14.67
$GC,1413,-1.10,-145.9,2237,3589,3959,3984,203.3,-14.0,129,1418,0.00,2.38,0.00,0.000,1158,0.000,0.055,2236,2196,3968,3959,3977,0,0,0,0,0,0,13.65,13.69,13.66
$GC,1743,-1.10,-145.9,2237,2195,3961,3977,253.0,-14.3,145,1748,0.00,2.50,0.00,0.000,260,0.000,0.087,2235,3588,3968,3959,3977,0,0,0,0,0,0,14.66,13.82,14.68
$GC,1855,-1.20,-145.9,2236,3588,3960,3976,266.5,-11.5,167,1860,0.15,2.38,0.00,0.000,5254,0.124,0.057,2176,2187,3968,3960,3976,0,0,0,0,0,0,14.22,14.19,14.33
$GC,2165,-1.10,-145.9,2176,2185,3960,3975,321.4,-17.6,179,2170,0.17,2.47,0.00,0.000,2436,0.291,0.081,2204,3588,3967,3959,3976,0,0,0,0,0,0,12.99,13.31,13.15
$GC,2287,-1.15,-145.9,2204,3590,3960,3977,337.8,-12.5,203,2292,0.00,2.35,0.00,0.000,1158,0.000,0.055,2204,2198,3967,3959,3976,0,0,0,0,0,0,14.32,14.19,14.35
$GC,2617,-1.15,-145.9,2205,2196,3960,3976,382.8,-13.4,219,2622,0.00,2.47,0.00,0.000,260,0.000,0.086,2197,3592,3967,3959,3976,0,0,0,0,0,0,14.62,14.07,14.63
$GC,2693,-1.19,-145.9,2198,3593,3959,3976,392.5,-12.4,234,2698,0.00,2.38,0.00,0.000,1158,0.000,0.055,2197,2195,3967,3958,3976,0,0,0,0,0,0,14.28,14.13,14.31
$GC,3008,-1.19,-145.9,2198,2198,3959,3977,435.7,-13.7,247,3012,0.00,2.45,0.00,0.000,260,0.000,0.085,2189,3588,3967,3958,3976,0,0,0,0,0,0,14.62,14.08,14.66
$GC,3083,-1.22,-145.9,2189,3588,3958,3976,446.0,-13.2,262,3088,0.00,2.35,0.00,0.000,1158,0.000,0.054,2188,2199,3970,3965,3976,0,0,0,0,0,0,14.28,14.16,14.32
$STATE,3335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3336,begin apogee
$GC,3341,-0.13,0.0,2188,2054,3957,3977,482.5,-14.3,273,3562,1.38,0.00,217.43,1.429,10246,0.242,0.000,2532,2052,3365,3379,3352,0,0,0,0,0,0,13.75,13.52,12.66
$STATE,3566,end apogee,CONTROL_FINISHED_OK
$STATE,3566,begin climb
$GC,3569,0.57,145.9,2532,2054,3373,3346,494.8,0.0,280,3786,0.73,2.50,207.18,1.375,11012,0.060,0.078,2781,731,2766,2801,2732,0,0,0,0,0,0,13.69,12.87,12.25
$GC,4012,0.17,145.9,2781,733,2788,2729,478.4,13.9,362,4017,0.68,2.42,0.00,0.000,5254,0.321,0.073,2644,2090,2756,2787,2726,0,0,0,0,0,0,13.42,13.80,13.81
$GC,4322,0.01,166.8,2644,2092,2788,2724,449.4,9.0,374,4354,0.22,2.47,26.48,1.506,12964,0.268,0.083,2589,726,2683,2720,2647,0,0,0,0,0,0,13.83,14.09,13.16
$GC,4499,0.05,232.4,2590,726,2719,2640,436.7,7.0,409,4605,0.00,2.40,99.22,1.374,9254,0.000,0.079,2589,2101,2413,2465,2361,0,0,0,0,0,0,14.26,14.14,12.99
$GC,4926,0.10,267.8,2589,2101,2456,2349,401.5,8.4,444,4979,0.00,0.00,51.22,1.400,8358,0.000,0.000,2589,2101,2274,2323,2225,0,0,0,0,0,0,14.57,13.98,13.16
$GC,5256,0.18,302.3,2590,2101,2315,2210,373.7,8.4,455,5317,0.12,2.53,51.95,1.382,10916,0.132,0.088,2658,723,2129,2169,2090,0,0,0,0,0,0,14.30,14.04,13.16
$GC,5359,0.18,302.3,2658,723,2165,2082,360.9,12.9,475,5364,0.00,2.42,0.00,0.000,1030,0.000,0.078,2658,2104,2122,2162,2082,0,0,0,0,0,0,14.19,14.07,14.23
$GC,5680,0.13,302.3,2658,2106,2164,2075,318.4,13.0,489,5685,0.12,2.40,0.00,0.000,4740,0.258,0.081,2635,732,2118,2163,2074,0,0,0,0,0,0,14.03,14.19,14.15
$GC,5721,0.17,302.3,2635,730,2163,2074,313.7,10.9,497,5727,0.00,2.40,0.00,0.000,1158,0.000,0.077,2636,2114,2118,2162,2074,0,0,0,0,0,0,14.35,14.21,14.40
$GC,6042,0.17,302.3,2636,2115,2162,2074,279.0,10.8,511,6047,0.00,2.42,0.00,0.000,516,0.000,0.084,2637,732,2118,2163,2073,0,0,0,0,0,0,14.66,14.14,14.67
$GC,6087,0.22,303.9,2637,733,2161,2074,274.3,9.9,520,6092,0.00,2.38,0.00,0.000,1190,0.000,0.076,2637,2103,2116,2160,2073,0,0,0,0,0,0,14.33,14.16,14.37
$GC,6402,0.24,325.3,2637,2106,2160,2074,244.1,9.0,533,6437,0.00,0.00,33.65,1.391,8230,0.000,0.000,2637,2105,2040,2083,1998,0,0,0,0,0,0,14.66,14.09,13.27
$GC,6732,0.31,363.7,2637,2106,2075,1987,215.7,8.2,544,6803,0.12,2.45,63.95,1.299,10916,0.127,0.084,2704,729,1878,1908,1849,0,0,0,0,0,0,14.33,13.78,13.20
$GC,6848,0.31,363.7,2704,730,1900,1850,202.5,11.5,567,6854,0.00,2.42,0.00,0.000,1030,0.000,0.076,2704,2097,1873,1898,1848,0,0,0,0,0,0,14.16,14.03,14.20
$GC,7154,0.27,363.7,2705,2099,1898,1840,166.8,11.6,578,7155,0.15,0.00,0.00,0.000,4230,0.221,0.000,2670,2099,1869,1897,1841,0,0,0,0,0,0,14.09,14.35,14.30
$GC,7454,0.33,396.2,2670,2100,1897,1839,140.3,8.5,588,7515,0.00,2.50,55.47,1.281,8868,0.000,0.088,2670,733,1744,1765,1723,0,0,0,0,0,0,14.63,14.08,13.26
$GC,7586,0.50,448.3,2670,733,1757,1722,129.6,7.6,614,7681,0.22,2.42,89.07,1.192,11430,0.097,0.079,2760,2109,1538,1567,1510,0,0,0,0,0,0,14.15,14.07,13.11
$GC,7986,0.46,448.3,2761,2109,1562,1487,76.2,12.1,657,7992,0.00,2.45,0.00,0.000,644,0.000,0.085,2767,726,1523,1561,1486,0,0,0,0,0,0,14.52,14.12,14.52
$GC,8114,0.47,460.8,2768,724,1558,1486,62.6,9.4,682,8125,0.15,2.42,5.35,0.373,13350,0.237,0.078,2736,2107,1484,1522,1447,0,0,0,0,0,0,13.81,13.97,13.56
$GC,8430,0.62,578.6,2737,2107,1525,1449,43.9,4.6,715,8495,0.12,0.00,62.28,0.330,10662,0.125,0.000,2797,2107,1006,1071,941,0,0,0,0,0,0,14.29,14.09,13.71
$GC,8790,0.77,665.9,2795,2107,1071,936,17.6,6.0,755,8843,0.00,2.45,46.38,0.260,8868,0.000,0.086,2798,731,650,702,598,0,0,0,0,0,0,14.58,13.98,13.77
$GC,8881,1.00,731.7,2799,731,703,598,11.7,7.0,772,8914,0.32,2.42,25.52,0.230,11430,0.081,0.076,2915,2106,499,521,478,0,0,0,0,0,0,14.16,14.06,13.88
$STATE,8957,end climb,SURFACE_DEPTH_REACHED
$STATE,8957,begin surface coast
$FINISH,0.1,1.010692
$STATE,8967,end surface coast,CONTROL_FINISHED_OK
$STATE,8969,begin surface
$SM_CCo,8991,0.98,0.252,0,0,501,702.78
$SM_GC,1.74,8.40,0.17,0.98,0.080,0.106,0.252,204,2231,501,-7.37,-0.51,702.78,0,0,0,0,0,0,14.28,14.31,14.00
$RAFOS_CLK,399
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7529.74,-15111.73,120917,003133
$TT8_MAMPS,0.038948,0.94374
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15939010560.000000
$PM_FREEKB_00,48103744
$24V_AH,12.25,193.379
$10V_AH,12.25,0.000
$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,26.175,83.350,1035.150,0.975,0.000,0.000,0.000,431.800,3.000,0.000,13.369,0.000,6390.376,1010.336,2054.938,321.440,0.000,2202.601,0.000,1123.400,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2133.585,1505.520,252.450,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9003.000,8974.000,8944.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.386,20.000,11.913,0.000
$MEM,323448
$DATA_FILE_SIZE,26719,784
$CAP_FILE_SIZE,103475,0
$CFSIZE,2097872896,1998323712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.9
$CURRENT,0.056,80.96,1
$GPS,120917,031130,7527.960,-15111.384,18,0.7,25,20.7,0.0,118.5,12,9.5