version: 66.13
glider: 196
mission: 14
dive: 313
start: 9 12 117 3 23 21
data:
$ID,196
$MISSION,14
$DIVE,313
$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,64
$R_STBD_OVSHOOT,45
$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,868.0
$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
$GPS1,120917,031130,7527.9600,-15111.3838,18,0.7,25,20.7,0.0,118.5,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.6
$GPS2,120917,032247,7527.9600,-15111.2793,10,0.8,13,20.7,0.0,44.2,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,161.3,81154,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,51,-0.57,-145.9,203,2234,518,484,0.0,0.0,0,153,0.00,0.00,-100.78,0.000,16386,0.000,0.000,202,2231,2367,2314,2420,0,0,0,0,0,0,14.52,28.83,14.53
$GC,156,-0.57,-145.9,203,2234,2319,2419,5.0,-8.0,10,204,12.95,2.70,-28.25,0.000,18724,0.456,2.140,2377,3591,3962,3946,3979,0,0,0,0,0,0,13.56,12.62,14.07
$GC,304,-0.72,-145.9,2378,3592,3954,3980,40.1,-12.7,39,310,0.00,2.30,0.00,0.000,1158,0.000,0.057,2374,2240,3965,3951,3979,0,0,0,0,0,0,14.24,14.12,14.27
$GC,609,-0.84,-145.9,2377,2239,3955,3979,80.2,-10.6,70,614,0.17,2.58,0.00,0.000,4740,0.116,0.081,2301,783,3966,3953,3979,0,0,0,0,0,0,14.13,14.00,14.12
$GC,654,-0.92,-145.9,2301,784,3954,3980,86.4,-13.6,79,660,0.00,2.47,0.00,0.000,1158,0.000,0.085,2297,2174,3965,3953,3978,0,0,0,0,0,0,14.06,13.92,14.11
$GC,960,-0.96,-145.9,2298,2175,3954,3980,130.6,-13.9,96,964,0.00,2.55,0.00,0.000,388,0.000,0.090,2293,3616,3966,3954,3978,0,0,0,0,0,0,14.62,14.10,14.64
$GC,1106,-1.10,-145.9,2293,3617,3954,3980,147.5,-11.2,125,1114,0.22,2.42,0.00,0.000,5254,0.096,0.057,2211,2199,3965,3953,3978,0,0,0,0,0,0,14.20,14.12,14.28
$GC,1410,-1.00,-145.9,2211,2199,3954,3980,207.6,-19.8,136,1415,0.17,2.53,0.00,0.000,2436,0.290,0.083,2241,3622,3966,3953,3979,0,0,0,0,0,0,13.81,14.13,14.00
$GC,1522,-1.08,-145.9,2244,3622,3954,3978,223.5,-12.7,158,1527,0.00,2.45,0.00,0.000,1158,0.000,0.059,2241,2197,3965,3953,3978,0,0,0,0,0,0,14.26,14.12,14.33
$GC,1833,-1.10,-145.9,2242,2196,3955,3978,266.4,-13.2,170,1834,0.00,0.00,0.00,0.000,134,0.000,0.000,2241,2196,3966,3954,3978,0,0,0,0,0,0,14.66,14.68,14.68
$GC,2133,-1.14,-145.9,2242,2197,3955,3979,302.6,-11.6,180,2138,0.00,2.50,0.00,0.000,388,0.000,0.088,2236,3610,3965,3953,3978,0,0,0,0,0,0,14.66,14.04,14.69
$GC,2223,-1.24,-145.9,2237,3618,3955,3979,312.1,-10.0,195,2229,0.17,2.42,0.00,0.000,5254,0.113,0.057,2170,2196,3965,3953,3978,0,0,0,0,0,0,14.11,14.04,14.21
$GC,2539,-1.14,-145.9,2170,2194,3954,3979,366.0,-17.2,208,2544,0.15,2.55,0.00,0.000,2436,0.322,0.083,2191,3621,3965,3952,3979,0,0,0,0,0,0,13.64,13.85,13.83
$GC,2651,-1.16,-145.9,2191,3623,3953,3979,381.8,-13.1,230,2656,0.00,2.45,0.00,0.000,1158,0.000,0.055,2191,2200,3963,3952,3974,0,0,0,0,0,0,14.16,14.02,14.19
$GC,2961,-1.13,-145.9,2191,2199,3953,3976,426.9,-14.5,242,2966,0.00,2.55,0.00,0.000,388,0.000,0.086,2183,3614,3965,3952,3978,0,0,0,0,0,0,14.43,13.90,14.45
$GC,3071,-1.13,-145.9,2184,3617,3952,3979,442.5,-13.7,264,3076,0.12,2.45,0.00,0.000,3078,0.243,0.056,2208,2201,3964,3951,3978,0,0,0,0,0,0,13.79,14.01,14.02
$STATE,3379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3380,begin apogee
$GC,3386,-0.13,0.0,2211,2059,3953,3978,480.9,-12.3,276,3824,1.25,0.08,434.40,1.177,10246,0.230,0.177,2527,2112,3366,3379,3353,0,0,0,0,0,0,13.71,13.19,12.47
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3832,0.57,145.9,2528,2113,3376,3348,505.8,0.0,290,4391,0.75,2.70,213.65,1.306,10756,0.058,0.078,2781,730,2744,2779,2709,0,0,0,0,0,0,13.37,12.76,12.17
$GC,4405,0.57,145.9,2782,730,2780,2709,469.0,7.6,293,4412,0.00,2.40,0.00,0.000,1030,0.000,0.075,2781,2112,2743,2779,2707,0,0,0,0,0,0,14.02,13.90,14.06
$GC,4724,0.14,145.9,2781,2113,2779,2705,420.0,14.9,306,4729,0.65,2.40,0.00,0.000,4484,0.317,0.073,2636,3511,2740,2777,2703,0,0,0,0,0,0,13.61,14.00,13.86
$GC,4755,-0.08,145.9,2637,3512,2776,2705,416.0,11.5,312,4760,0.30,2.35,0.00,0.000,5254,0.262,0.057,2562,2129,2740,2775,2706,0,0,0,0,0,0,13.78,14.08,14.10
$GC,5085,-0.02,241.1,2562,2130,2775,2704,396.3,5.6,328,5282,0.00,0.00,194.68,1.188,8230,0.000,0.000,2562,2127,2382,2434,2330,0,0,0,0,0,0,14.64,13.66,12.93
$GC,5565,0.12,312.5,2562,2129,2414,2310,364.7,6.7,344,5724,0.17,2.65,147.32,1.154,10916,0.101,0.088,2647,694,2084,2130,2039,0,0,0,0,0,0,14.22,13.78,13.05
$GC,5774,0.15,312.5,2647,693,2116,2036,340.9,11.8,385,5781,0.00,2.50,0.00,0.000,1158,0.000,0.077,2646,2101,2074,2115,2034,0,0,0,0,0,0,14.03,13.90,14.07
$GC,6079,0.15,312.5,2649,2101,2115,2024,303.8,12.0,396,6084,0.00,2.50,0.00,0.000,516,0.000,0.086,2647,694,2068,2114,2023,0,0,0,0,0,0,14.58,14.14,14.60
$GC,6104,0.15,312.5,2647,694,2113,2025,300.8,11.8,401,6112,0.00,2.47,0.00,0.000,1030,0.000,0.078,2645,2098,2068,2113,2023,0,0,0,0,0,0,14.29,14.15,14.33
$GC,6409,0.15,312.5,2646,2102,2113,2021,266.4,10.9,412,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,2066,2112,2020,0,0,0,0,0,0,14.66,14.66,14.68
$GC,6710,0.16,320.5,2647,2102,2113,2020,236.1,9.6,422,6715,0.00,2.47,0.00,0.000,548,0.000,0.084,2651,694,2065,2112,2019,0,0,0,0,0,0,14.65,14.18,14.67
$GC,6795,0.23,341.7,2652,694,2113,2019,228.1,9.0,439,6852,0.00,2.47,52.08,1.216,9382,0.000,0.079,2651,2109,1974,2019,1930,0,0,0,0,0,0,14.24,14.13,13.29
$GC,7164,0.30,374.3,2651,2108,2004,1913,195.7,8.5,462,7236,0.00,0.00,69.78,1.183,8870,0.000,0.000,2651,2109,1840,1870,1810,0,0,0,0,0,0,14.59,13.97,13.21
$GC,7522,0.40,419.3,2652,2109,1853,1794,166.4,7.9,479,7628,0.15,2.53,99.43,1.141,10916,0.115,0.086,2725,697,1651,1677,1626,0,0,0,0,0,0,14.28,13.72,13.17
$GC,7700,0.42,419.3,2725,697,1664,1618,145.7,11.2,514,7706,0.00,2.47,0.00,0.000,1158,0.000,0.077,2725,2098,1640,1663,1617,0,0,0,0,0,0,14.11,13.99,14.16
$GC,8005,0.42,419.3,2725,2099,1664,1611,109.4,11.3,525,8010,0.00,2.47,0.00,0.000,516,0.000,0.086,2726,694,1636,1663,1610,0,0,0,0,0,0,14.59,14.17,14.61
$GC,8101,0.47,426.8,2727,694,1664,1610,99.6,9.7,544,8106,0.00,2.42,1.40,0.202,9382,0.000,0.077,2726,2094,1623,1650,1596,0,0,0,0,0,0,14.23,14.15,13.83
$GC,8407,0.50,463.4,2726,2096,1661,1601,69.9,8.3,577,8433,0.00,2.50,21.17,0.396,8484,0.000,0.081,2726,3517,1475,1507,1443,0,0,0,0,0,0,14.62,13.95,13.65
$GC,8464,0.56,485.1,2726,3518,1508,1456,65.1,9.0,588,8482,0.12,2.42,13.55,0.383,11430,0.119,0.063,2780,2103,1386,1424,1348,0,0,0,0,0,0,14.12,14.11,13.58
$GC,8779,0.61,557.1,2780,2103,1433,1358,39.5,6.7,621,8827,0.00,2.58,39.67,0.314,8740,0.000,0.090,2780,690,1091,1150,1033,0,0,0,0,0,0,14.58,14.09,13.71
$GC,8927,0.77,618.0,2781,690,1152,1043,28.5,7.2,650,8970,0.15,2.47,35.50,0.281,11430,0.119,0.079,2847,2100,843,906,780,0,0,0,0,0,0,14.04,13.99,13.73
$STATE,9202,end climb,SURFACE_DEPTH_REACHED
$STATE,9203,begin surface coast
$FINISH,0.1,1.010577
$STATE,9223,end surface coast,CONTROL_FINISHED_OK
$STATE,9223,begin surface
$SM_CCo,9244,45.72,0.210,0,0,501,702.78
$SM_GC,1.34,8.15,0.17,45.72,0.075,0.110,0.210,201,2228,501,-7.38,-0.68,702.78,0,0,0,0,0,0,14.30,14.32,13.93
$RAFOS_CLK,311
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7529.74,-15111.73,120917,003340
$TT8_MAMPS,0.040446,0.932505
$HUMID,46.73
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,15938584576.000000
$PM_FREEKB_00,48057024
$24V_AH,12.17,193.957
$10V_AH,12.01,0.000
$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,25.675,80.150,1322.625,45.725,0.000,0.000,0.000,401.300,2.500,0.000,14.391,0.000,6053.042,1235.206,2377.332,315.809,0.000,2796.149,0.000,981.803,2219.000,0.540,0.000
$DEVICE_MAMPS,455.940,2139.705,1305.855,210.375,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9255.000,9210.000,9198.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.052,20.000,10.711,0.000
$MEM,323512
$DATA_FILE_SIZE,23401,684
$CAP_FILE_SIZE,98838,0
$CFSIZE,2097872896,1998061568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.8
$CURRENT,0.065,73.85,1
$GPS,120917,055932,7526.746,-15111.362,34,0.8,34,20.7,0.0,0.0,10,8.6