version: 66.13
glider: 196
mission: 14
dive: 351
start: 9 16 117 13 27 29
data:
$ID,196
$MISSION,14
$DIVE,351
$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,20
$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,981.0
$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
$GPS1,160917,131443,7443.8579,-15057.9043,15,0.7,17,20.7,0.0,306.0,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.4
$GPS2,160917,132655,7443.8716,-15058.1328,15,0.9,35,20.7,0.7,3.0,6,5.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,214.8,97152,-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,50,-0.57,-145.9,168,2206,496,495,0.0,0.0,0,143,0.00,0.00,-91.65,0.000,16386,0.000,0.000,164,2206,2168,2094,2242,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,165,2206,2097,2241,4.0,-5.8,9,200,13.02,2.78,-33.95,0.000,18980,0.451,2.160,2384,797,3963,3947,3979,1,0,0,0,0,0,13.24,12.97,14.09
$GC,350,-0.72,-145.9,2384,798,3953,3981,47.9,-12.7,49,355,0.12,2.50,0.00,0.000,5254,0.122,0.086,2334,2201,3966,3952,3980,0,0,0,0,0,0,14.16,14.05,14.25
$GC,661,-0.78,-145.9,2334,2203,3954,3981,99.6,-13.4,81,666,0.00,2.53,0.00,0.000,388,0.000,0.088,2333,3610,3966,3953,3979,0,0,0,0,0,0,14.56,13.50,14.57
$GC,746,-0.96,-145.9,2333,3613,3954,3981,108.6,-9.6,98,753,0.20,2.42,0.00,0.000,5286,0.105,0.056,2254,2193,3964,3949,3979,0,0,0,0,0,0,14.10,14.09,14.21
$GC,1052,-0.92,-145.9,2260,2196,3955,3980,162.5,-17.4,109,1057,0.12,2.55,0.00,0.000,2436,0.295,0.081,2272,3610,3967,3954,3980,0,0,0,0,0,0,13.71,14.00,13.88
$GC,1103,-1.03,-145.9,2272,3612,3954,3981,169.8,-12.3,119,1107,0.00,2.40,0.00,0.000,1158,0.000,0.058,2271,2201,3966,3953,3979,0,0,0,0,0,0,14.29,14.16,14.33
$GC,1413,-1.07,-145.9,2272,2199,3954,3979,210.7,-12.7,131,1414,0.12,0.00,0.00,0.000,4230,0.137,0.000,2226,2199,3966,3953,3980,0,0,0,0,0,0,14.26,14.33,14.31
$GC,1713,-1.04,-145.9,2227,2200,3954,3980,258.9,-15.5,141,1718,0.00,2.53,0.00,0.000,388,0.000,0.088,2222,3610,3967,3953,3981,0,0,0,0,0,0,14.64,14.07,14.65
$GC,1788,-1.09,-145.9,2222,3613,3954,3981,269.6,-13.1,156,1794,0.00,2.42,0.00,0.000,1158,0.000,0.058,2222,2192,3966,3953,3980,0,0,0,0,0,0,14.28,14.14,14.33
$GC,2105,-1.09,-145.9,2222,2191,3955,3981,312.1,-13.1,169,2109,0.00,2.53,0.00,0.000,260,0.000,0.087,2222,3612,3966,3953,3979,0,0,0,0,0,0,14.65,14.07,14.66
$GC,2170,-1.18,-145.9,2223,3613,3954,3980,320.1,-11.3,182,2175,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2201,3966,3953,3979,0,0,0,0,0,0,14.28,14.14,14.33
$GC,2496,-1.21,-145.9,2222,2197,3954,3980,360.4,-12.3,197,2500,0.00,2.50,0.00,0.000,388,0.000,0.087,2222,3609,3966,3953,3979,0,0,0,0,0,0,14.64,14.06,14.66
$GC,2546,-1.31,-145.9,2223,3610,3954,3980,366.3,-10.5,207,2551,0.20,2.40,0.00,0.000,5254,0.103,0.057,2149,2201,3967,3955,3979,0,0,0,0,0,0,14.19,14.11,14.28
$GC,2857,-1.19,-145.9,2149,2197,3953,3979,423.5,-18.6,219,2862,0.20,2.50,0.00,0.000,2436,0.321,0.083,2181,3611,3965,3952,3978,0,0,0,0,0,0,13.64,14.02,13.86
$GC,2957,-1.19,-145.9,2182,3613,3954,3978,438.2,-13.5,239,2962,0.00,2.45,0.00,0.000,1030,0.000,0.057,2181,2189,3965,3952,3978,0,0,0,0,0,0,14.24,14.11,14.28
$STATE,3245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3245,begin apogee
$GC,3251,-0.13,0.0,2182,2060,3954,3978,481.4,-14.9,252,3479,1.40,0.08,223.62,1.402,10246,0.246,0.179,2528,2112,3366,3385,3347,0,0,0,0,0,0,13.71,13.52,12.69
$STATE,3482,end apogee,CONTROL_FINISHED_OK
$STATE,3482,begin climb
$GC,3487,0.57,145.9,2528,2113,3377,3337,493.2,0.0,259,3709,0.75,2.62,210.25,1.358,11012,0.060,0.071,2784,3509,2763,2804,2723,0,0,0,0,0,0,13.74,12.90,12.27
$GC,3826,0.08,145.9,2784,3512,2781,2717,489.2,16.1,310,3832,0.93,2.45,0.00,0.000,5254,0.348,0.057,2611,2125,2750,2783,2717,0,0,0,0,0,0,13.22,13.62,13.60
$GC,4142,-0.01,192.9,2611,2126,2784,2716,462.5,7.8,323,4214,0.15,0.00,70.05,1.375,12454,0.285,0.000,2580,2124,2579,2631,2527,0,0,0,0,0,0,13.85,13.88,13.06
$GC,4502,0.03,241.7,2581,2124,2622,2503,435.2,7.7,335,4583,0.00,2.62,76.03,1.352,8740,0.000,0.088,2580,695,2373,2424,2322,0,0,0,0,0,0,14.57,13.95,13.07
$GC,4610,0.13,282.9,2581,696,2418,2317,426.9,8.1,351,4685,0.15,2.47,65.05,1.336,11430,0.120,0.080,2644,2089,2204,2255,2153,0,0,0,0,0,0,14.07,14.00,12.95
$GC,4983,0.07,282.9,2649,2090,2245,2137,379.1,12.8,376,4989,0.15,2.47,0.00,0.000,4740,0.241,0.084,2616,687,2189,2242,2136,0,0,0,0,0,0,13.95,14.14,14.08
$GC,5015,0.11,282.9,2616,688,2241,2138,375.6,10.5,382,5020,0.00,2.47,0.00,0.000,1158,0.000,0.078,2616,2101,2188,2240,2136,0,0,0,0,0,0,14.28,14.15,14.33
$GC,5345,0.11,282.9,2616,2101,2241,2134,341.7,10.3,398,5350,0.00,2.47,0.00,0.000,516,0.000,0.087,2616,699,2187,2240,2134,0,0,0,0,0,0,14.61,14.13,14.62
$GC,5365,0.13,282.9,2616,700,2242,2135,339.7,10.2,402,5370,0.00,2.45,0.00,0.000,1158,0.000,0.077,2616,2099,2186,2239,2134,0,0,0,0,0,0,14.31,14.17,14.37
$GC,5676,0.13,285.9,2616,2100,2240,2134,308.5,9.9,414,5681,0.00,2.50,0.00,0.000,548,0.000,0.088,2616,692,2186,2239,2134,0,0,0,0,0,0,14.64,14.07,14.66
$GC,5697,0.16,288.8,2617,690,2239,2134,306.5,9.9,418,5701,0.00,2.45,0.00,0.000,1190,0.000,0.078,2616,2099,2186,2238,2134,0,0,0,0,0,0,14.30,14.16,14.34
$GC,6007,0.20,308.3,2614,2102,2239,2134,277.3,9.1,430,6045,0.00,0.00,36.67,1.359,8870,0.000,0.000,2615,2101,2108,2158,2058,0,0,0,0,0,0,14.66,14.04,13.24
$GC,6337,0.28,352.2,2616,2101,2147,2043,249.4,8.0,446,6422,0.15,2.58,76.30,1.270,10916,0.109,0.089,2689,697,1921,1959,1884,0,0,0,0,0,0,14.30,13.95,13.15
$GC,6467,0.28,352.2,2691,698,1946,1884,234.4,11.3,472,6473,0.00,2.47,0.00,0.000,1030,0.000,0.077,2689,2099,1914,1946,1883,0,0,0,0,0,0,14.14,14.00,14.17
$GC,6788,0.24,352.2,2690,2101,1946,1875,196.1,11.7,486,6793,0.00,2.50,0.00,0.000,644,0.000,0.087,2689,692,1910,1945,1875,0,0,0,0,0,0,14.56,14.13,14.59
$GC,6813,0.24,352.2,2690,693,1943,1876,193.2,11.3,491,6819,0.00,2.47,0.00,0.000,1030,0.000,0.078,2689,2101,1908,1942,1875,0,0,0,0,0,0,14.23,14.10,14.29
$GC,7119,0.21,352.2,2689,2104,1942,1874,160.7,10.3,502,7124,0.12,2.47,0.00,0.000,4740,0.239,0.085,2660,695,1906,1939,1874,0,0,0,0,0,0,14.02,14.13,14.14
$GC,7165,0.34,387.8,2661,695,1939,1874,156.7,8.4,511,7229,0.00,2.45,59.28,1.255,9382,0.000,0.079,2660,2101,1784,1808,1760,0,0,0,0,0,0,14.31,14.16,13.22
$GC,7542,0.45,433.9,2660,2101,1796,1743,126.7,7.9,536,7632,0.20,2.60,84.18,1.193,10916,0.099,0.090,2748,694,1593,1621,1566,0,0,0,0,0,0,14.26,13.87,13.16
$GC,7667,0.45,433.9,2748,691,1607,1560,110.6,13.2,551,7672,0.00,2.50,0.00,0.000,1030,0.000,0.078,2747,2103,1582,1605,1560,0,0,0,0,0,0,14.00,13.88,14.03
$GC,7972,0.43,433.9,2748,2104,1608,1552,74.8,10.3,580,7978,0.12,2.50,0.00,0.000,4740,0.236,0.084,2716,692,1578,1607,1550,0,0,0,0,0,0,14.00,14.00,14.12
$GC,8009,0.55,479.5,2717,692,1607,1549,71.8,7.9,587,8042,0.12,2.50,24.77,0.405,11430,0.122,0.077,2778,2109,1409,1447,1371,0,0,0,0,0,0,14.10,14.04,13.64
$GC,8347,0.60,554.3,2773,2108,1450,1375,43.0,6.5,624,8401,0.00,2.55,44.28,0.323,8740,0.000,0.087,2781,698,1105,1165,1046,0,0,0,0,0,0,14.59,13.95,13.76
$GC,8474,0.73,609.7,2780,699,1165,1049,34.1,7.4,648,8516,0.12,2.50,33.42,0.294,11430,0.132,0.079,2842,2113,875,939,811,0,0,0,0,0,0,14.16,14.11,13.67
$GC,8812,0.75,631.5,2836,2113,939,819,3.1,9.0,686,8833,0.00,2.55,13.45,0.213,8740,0.000,0.084,2837,702,786,849,723,0,0,0,0,0,0,14.57,13.97,13.78
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8836,begin surface coast
$FINISH,0.5,1.021205
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8878,43.80,0.205,0,0,500,703.03
$SM_GC,1.10,8.18,2.72,43.80,0.080,0.089,0.205,206,2210,500,-7.36,-0.51,703.03,0,0,0,0,0,0,14.27,14.20,13.90
$RAFOS_CLK,406
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7444.43,-15059.90,160917,103915
$TT8_MAMPS,0.038948,0.912282
$HUMID,47.28
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15922233344.000000
$PM_FREEKB_00,46411456
$24V_AH,12.27,212.910
$10V_AH,12.17,0.000
$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,26.550,95.500,1017.350,43.800,0.000,0.000,0.000,418.225,3.500,0.000,36.797,0.000,6324.312,1045.076,1949.611,347.363,0.000,2192.185,0.000,996.516,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2160.360,1402.245,205.020,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8885.000,8846.000,8829.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.106,20.000,12.089,0.000
$MEM,323352
$DATA_FILE_SIZE,23407,694
$CAP_FILE_SIZE,101618,0
$CFSIZE,2097872896,1987772416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.6
$CURRENT,0.035,313.63,1
$GPS,160917,155732,7443.423,-15102.832,35,0.7,35,20.6,0.0,0.0,12,8.9