version: 66.13
glider: 196
mission: 14
dive: 321
start: 9 13 117 1 27 16
data:
$ID,196
$MISSION,14
$DIVE,321
$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,63
$R_STBD_OVSHOOT,37
$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,891.0
$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
$GPS1,130917,011134,7517.7090,-15110.8809,68,0.8,70,20.7,1.0,71.5,10,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.0
$GPS2,130917,012640,7517.7832,-15110.8242,7,0.8,9,20.7,0.0,12.2,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.4,62678,-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,48,begin dive
$GC,51,-0.57,-145.9,163,2222,512,489,0.0,0.0,0,143,0.00,0.00,-91.07,0.000,16386,0.000,0.000,166,2221,2119,2048,2190,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,159,2222,2051,2192,3.1,-3.6,9,204,13.20,2.75,-38.22,0.000,18980,0.456,2.142,2385,829,3959,3945,3973,1,0,0,0,0,0,13.26,12.91,14.07
$GC,264,-0.74,-145.9,2386,830,3950,3973,31.1,-13.2,32,272,0.12,2.42,0.00,0.000,5254,0.122,0.087,2333,2187,3961,3949,3973,0,0,0,0,0,0,13.97,14.01,14.04
$GC,569,-0.78,-145.9,2333,2188,3952,3972,86.1,-14.6,63,574,0.00,2.53,0.00,0.000,388,0.000,0.088,2331,3611,3961,3950,3973,0,0,0,0,0,0,14.54,13.97,14.58
$GC,684,-0.94,-145.9,2333,3613,3952,3973,99.3,-10.3,86,690,0.17,2.35,0.00,0.000,5254,0.106,0.054,2264,2229,3961,3950,3973,0,0,0,0,0,0,13.97,13.94,14.06
$GC,999,-0.94,-145.9,2263,2229,3951,3974,153.2,-16.1,98,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2228,3961,3949,3973,0,0,0,0,0,0,14.65,14.66,14.66
$GC,1299,-0.97,-145.9,2264,2229,3951,3974,197.3,-14.3,108,1305,0.00,2.45,0.00,0.000,388,0.000,0.086,2256,3610,3961,3950,3973,0,0,0,0,0,0,14.66,14.00,14.67
$GC,1386,-1.07,-145.9,2256,3612,3951,3974,208.5,-12.3,125,1392,0.00,2.42,0.00,0.000,1158,0.000,0.057,2256,2195,3962,3951,3973,0,0,0,0,0,0,14.25,14.12,14.29
$GC,1691,-1.11,-145.9,2256,2195,3951,3973,249.5,-13.1,136,1696,0.00,2.55,0.00,0.000,388,0.000,0.088,2249,3619,3961,3950,3973,0,0,0,0,0,0,14.67,13.97,14.69
$GC,1757,-1.24,-145.9,2249,3620,3951,3974,257.4,-10.5,149,1762,0.22,2.40,0.00,0.000,5254,0.101,0.057,2164,2201,3961,3950,3972,0,0,0,0,0,0,14.26,14.18,14.35
$GC,2082,-1.11,-145.9,2165,2200,3952,3973,321.9,-19.6,164,2088,0.22,2.50,0.00,0.000,2436,0.300,0.083,2205,3612,3961,3950,3973,0,0,0,0,0,0,13.70,14.04,13.93
$GC,2180,-1.16,-145.9,2205,3613,3950,3974,335.7,-12.8,183,2185,0.00,2.42,0.00,0.000,1158,0.000,0.057,2205,2194,3961,3950,3973,0,0,0,0,0,0,14.28,14.14,14.33
$GC,2505,-1.16,-145.9,2204,2194,3951,3974,380.7,-13.5,198,2510,0.00,2.50,0.00,0.000,260,0.000,0.087,2197,3610,3961,3950,3973,0,0,0,0,0,0,14.68,14.10,14.69
$GC,2566,-1.21,-145.9,2198,3610,3952,3973,388.8,-12.9,210,2570,0.00,2.40,0.00,0.000,1158,0.000,0.056,2197,2200,3961,3950,3972,0,0,0,0,0,0,14.33,14.16,14.33
$GC,2896,-1.21,-145.9,2198,2198,3952,3973,435.3,-14.0,226,2900,0.00,2.50,0.00,0.000,260,0.000,0.086,2188,3614,3961,3950,3973,0,0,0,0,0,0,14.64,14.09,14.66
$GC,2991,-1.24,-145.9,2188,3614,3951,3973,448.4,-13.3,245,2995,0.00,2.42,0.00,0.000,1158,0.000,0.057,2188,2198,3961,3950,3973,0,0,0,0,0,0,14.26,14.14,14.33
$STATE,3223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3223,begin apogee
$GC,3229,-0.13,0.0,2189,2052,3951,3972,483.0,-14.8,257,3467,1.35,0.10,228.80,1.395,10246,0.240,0.157,2527,2118,3357,3372,3342,0,0,0,0,0,0,13.77,13.53,12.65
$STATE,3471,end apogee,CONTROL_FINISHED_OK
$STATE,3471,begin climb
$GC,3474,0.57,145.9,2528,2119,3370,3339,497.8,0.0,265,3699,0.75,2.55,212.00,1.356,10500,0.060,0.073,2784,3495,2760,2788,2732,0,0,0,0,0,0,13.71,13.06,12.31
$GC,3925,0.07,145.9,2785,3495,2776,2721,483.2,14.5,312,3932,0.90,2.38,0.00,0.000,5254,0.348,0.055,2616,2124,2749,2774,2724,0,0,0,0,0,0,13.42,13.84,13.81
$GC,4230,-0.01,203.9,2612,2124,2775,2724,459.7,7.3,323,4321,0.15,0.00,89.03,1.344,12454,0.289,0.000,2587,2126,2533,2584,2483,0,0,0,0,0,0,13.83,13.84,13.02
$GC,4620,0.02,253.4,2583,2124,2570,2454,430.3,7.7,336,4700,0.00,0.00,78.12,1.317,8230,0.000,0.000,2588,2123,2331,2379,2284,0,0,0,0,0,0,14.54,13.90,13.11
$GC,4980,0.09,292.4,2582,2124,2360,2261,400.9,8.2,348,5046,0.00,2.58,59.40,1.327,8868,0.000,0.089,2588,697,2165,2209,2122,0,0,0,0,0,0,14.54,13.98,13.15
$GC,5089,0.24,328.9,2589,698,2197,2116,392.1,8.3,369,5152,0.22,2.47,57.17,1.290,11430,0.091,0.080,2679,2094,2023,2067,1980,0,0,0,0,0,0,14.09,14.00,13.05
$GC,5463,0.16,328.9,2679,2094,2048,1954,336.6,15.0,394,5468,0.15,2.45,0.00,0.000,4740,0.259,0.084,2647,697,2000,2046,1954,0,0,0,0,0,0,13.90,14.15,14.07
$GC,5508,0.20,328.9,2647,698,2044,1955,330.7,11.9,403,5513,0.00,2.45,0.00,0.000,1158,0.000,0.078,2647,2102,1999,2044,1954,0,0,0,0,0,0,14.32,14.18,14.39
$GC,5823,0.20,328.9,2647,2103,2044,1953,293.6,11.6,416,5829,0.00,2.47,0.00,0.000,516,0.000,0.086,2653,695,1997,2043,1952,0,0,0,0,0,0,14.62,14.19,14.64
$GC,5864,0.23,328.9,2653,696,2042,1953,288.8,11.6,424,5870,0.00,2.45,0.00,0.000,1158,0.000,0.079,2653,2101,1996,2041,1952,0,0,0,0,0,0,14.31,14.16,14.35
$GC,6185,0.23,328.9,2653,2102,2042,1952,252.9,10.7,438,6190,0.00,2.47,0.00,0.000,516,0.000,0.087,2654,694,1996,2041,1951,0,0,0,0,0,0,14.64,14.16,14.66
$GC,6221,0.27,337.5,2654,694,2042,1951,249.2,9.6,445,6225,0.00,2.45,0.00,0.000,1190,0.000,0.077,2654,2100,1995,2040,1951,0,0,0,0,0,0,14.30,14.18,14.34
$GC,6546,0.28,357.2,2655,2101,2041,1950,218.5,9.1,460,6590,0.00,0.00,43.50,1.280,8230,0.000,0.000,2654,2101,1908,1946,1871,0,0,0,0,0,0,14.65,14.07,13.25
$GC,6876,0.34,387.9,2653,2100,1925,1856,190.0,8.6,471,6937,0.12,2.53,52.75,1.241,10916,0.132,0.089,2716,691,1775,1798,1753,0,0,0,0,0,0,14.22,13.97,13.21
$GC,6974,0.34,387.9,2716,692,1787,1751,178.2,12.6,490,6979,0.00,2.50,0.00,0.000,1030,0.000,0.077,2716,2107,1767,1786,1748,0,0,0,0,0,0,14.05,13.94,14.09
$GC,7299,0.30,387.9,2716,2105,1781,1741,138.5,11.6,505,7304,0.12,2.50,0.00,0.000,4740,0.238,0.085,2685,694,1760,1785,1735,0,0,0,0,0,0,14.02,14.06,14.14
$GC,7350,0.40,406.4,2685,695,1784,1742,133.5,9.1,515,7381,0.00,2.47,26.27,1.273,9382,0.000,0.076,2685,2105,1704,1730,1679,0,0,0,0,0,0,14.20,14.04,13.29
$GC,7693,0.47,435.6,2686,2106,1719,1664,103.4,8.6,533,7753,0.12,2.58,49.17,1.209,10916,0.134,0.088,2751,695,1581,1606,1556,0,0,0,0,0,0,14.28,13.97,13.24
$GC,7776,0.44,435.6,2751,695,1608,1550,94.0,12.3,549,7781,0.00,2.47,0.00,0.000,1158,0.000,0.077,2757,2100,1575,1600,1550,0,0,0,0,0,0,14.21,14.08,14.24
$GC,8086,0.43,451.9,2751,2101,1601,1542,61.1,9.3,581,8097,0.12,0.00,7.62,0.338,12454,0.233,0.000,2724,2102,1522,1555,1489,0,0,0,0,0,0,13.97,14.07,13.65
$GC,8396,0.60,582.6,2724,2103,1564,1500,45.7,4.0,612,8481,0.12,2.58,78.80,0.328,10916,0.125,0.088,2785,697,987,1056,918,0,0,0,0,0,0,14.12,14.07,13.70
$GC,8536,0.75,635.2,2786,697,1059,925,36.2,7.6,638,8575,0.12,2.50,34.35,0.299,11430,0.130,0.079,2842,2109,775,845,706,0,0,0,0,0,0,14.13,14.07,13.70
$STATE,8869,end climb,SURFACE_DEPTH_REACHED
$STATE,8869,begin surface coast
$FINISH,0.7,1.021497
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8900,45.50,0.199,0,0,500,702.78
$SM_GC,1.18,8.20,0.15,45.50,0.081,0.106,0.199,199,2238,500,-7.38,-0.82,702.78,0,0,0,0,0,0,14.28,14.33,13.94
$RAFOS_CLK,406
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7518.35,-15105.78,130917,011609
$TT8_MAMPS,0.040446,0.865095
$HUMID,47.40
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15935307776.000000
$PM_FREEKB_00,47710144
$24V_AH,12.31,197.880
$10V_AH,12.14,0.000
$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,26.425,79.900,1017.000,45.500,0.000,0.000,0.000,572.600,4.000,0.000,10.075,0.000,6399.496,971.371,2170.675,326.031,0.000,2346.891,0.000,970.711,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2142.000,1394.595,198.900,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8913.000,8875.000,8854.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.501,20.000,12.438,0.000
$MEM,323344
$DATA_FILE_SIZE,23423,676
$CAP_FILE_SIZE,98265,0
$CFSIZE,2097872896,1995964416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.050,86.88,1
$GPS,130917,035728,7516.536,-15110.105,17,0.7,18,20.7,0.8,336.4,11,9.1