version: 66.13
glider: 196
mission: 14
dive: 353
start: 9 16 117 18 49 21
data:
$ID,196
$MISSION,14
$DIVE,353
$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,27
$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,988.0
$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
$GPS1,160917,183803,7442.9893,-15107.6221,31,0.8,32,20.6,0.6,106.8,10,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.5
$GPS2,160917,184849,7442.9829,-15107.7695,6,0.8,7,20.6,0.5,88.4,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,210.1,92143,-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,64,end surface,CONTROL_FINISHED_OK
$STATE,64,begin dive
$GC,67,-0.57,-145.9,177,2208,503,493,0.0,0.0,0,160,0.00,0.00,-91.70,0.000,16386,0.000,0.000,175,2208,2162,2093,2231,0,0,0,0,0,0,14.52,28.83,14.54
$GC,164,-0.57,-145.9,176,2208,2096,2231,3.9,-5.4,9,217,13.02,2.80,-34.75,0.000,18980,0.453,2.165,2385,831,3963,3945,3981,1,0,0,0,0,0,13.38,12.59,13.97
$GC,367,-0.71,-145.9,2385,831,3952,3980,47.9,-13.1,49,372,0.00,2.42,0.00,0.000,1158,0.000,0.085,2383,2201,3965,3951,3980,0,0,0,0,0,0,14.29,14.14,14.33
$GC,678,-0.85,-145.9,2383,2202,3953,3982,86.7,-9.7,81,683,0.20,2.50,0.00,0.000,4516,0.104,0.088,2293,3608,3966,3952,3981,0,0,0,0,0,0,14.23,14.03,14.28
$GC,786,-0.94,-145.9,2293,3609,3953,3980,101.0,-12.8,102,790,0.00,2.35,0.00,0.000,1158,0.000,0.058,2293,2235,3966,3952,3981,0,0,0,0,0,0,14.29,14.10,14.32
$GC,1101,-0.97,-145.9,2293,2234,3953,3981,147.1,-13.8,115,1102,0.00,0.00,0.00,0.000,134,0.000,0.000,2293,2234,3966,3951,3981,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1401,-1.03,-145.9,2293,2234,3954,3981,183.7,-11.7,125,1402,0.15,0.00,0.00,0.000,4230,0.119,0.000,2237,2234,3966,3952,3981,0,0,0,0,0,0,14.33,14.43,14.40
$GC,1701,-1.01,-145.9,2238,2234,3953,3982,232.4,-16.0,135,1706,0.00,2.45,0.00,0.000,388,0.000,0.086,2230,3610,3966,3951,3981,0,0,0,0,0,0,14.69,14.09,14.71
$GC,1761,-1.06,-145.9,2230,3611,3953,3981,241.4,-13.7,147,1766,0.00,2.42,0.00,0.000,1158,0.000,0.058,2230,2194,3967,3953,3981,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2091,-1.06,-145.9,2230,2196,3952,3982,288.5,-13.8,163,2096,0.00,2.53,0.00,0.000,260,0.000,0.086,2223,3613,3966,3952,3981,0,0,0,0,0,0,14.70,14.09,14.72
$GC,2147,-1.13,-145.9,2223,3615,3953,3982,295.8,-11.9,174,2153,0.00,2.40,0.00,0.000,1158,0.000,0.058,2223,2200,3966,3952,3981,0,0,0,0,0,0,14.28,14.14,14.31
$GC,2452,-1.13,-145.9,2224,2199,3953,3981,335.0,-12.6,185,2456,0.00,2.53,0.00,0.000,260,0.000,0.087,2225,3615,3966,3952,3980,0,0,0,0,0,0,14.73,14.08,14.73
$GC,2472,-1.13,-145.9,2223,3616,3953,3981,337.5,-12.1,189,2477,0.00,2.40,0.00,0.000,1030,0.000,0.057,2222,2199,3966,3952,3981,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2783,-1.15,-145.9,2223,2197,3953,3980,375.3,-11.9,201,2788,0.00,2.53,0.00,0.000,388,0.000,0.088,2222,3614,3966,3952,3980,0,0,0,0,0,0,14.71,14.07,14.74
$GC,2828,-1.25,-145.9,2222,3617,3952,3981,380.5,-11.1,210,2834,0.15,2.42,0.00,0.000,5254,0.119,0.058,2163,2197,3966,3952,3980,0,0,0,0,0,0,14.21,14.16,14.33
$GC,3144,-1.15,-145.9,2163,2197,3952,3982,434.6,-17.4,223,3149,0.17,2.50,0.00,0.000,2436,0.312,0.082,2191,3610,3965,3951,3980,0,0,0,0,0,0,13.70,14.06,13.91
$GC,3257,-1.19,-145.9,2192,3613,3952,3981,450.1,-13.0,245,3262,0.00,2.42,0.00,0.000,1158,0.000,0.058,2192,2187,3966,3951,3981,0,0,0,0,0,0,14.26,14.12,14.30
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3481,-0.13,0.0,2192,2056,3952,3981,482.0,-14.4,254,3759,1.35,0.10,274.58,1.333,10246,0.239,0.159,2527,2122,3364,3376,3353,0,0,0,0,0,0,13.66,13.52,12.69
$STATE,3761,end apogee,CONTROL_FINISHED_OK
$STATE,3761,begin climb
$GC,3764,0.57,145.9,2529,2122,3372,3347,498.0,0.0,263,3984,0.75,2.62,212.55,1.360,11012,0.060,0.072,2782,3495,2764,2797,2731,0,0,0,0,0,0,13.70,12.86,12.23
$GC,4040,0.08,145.9,2783,3495,2778,2725,503.8,14.3,321,4047,0.93,2.45,0.00,0.000,5254,0.345,0.054,2615,2138,2750,2777,2724,0,0,0,0,0,0,13.01,13.25,13.36
$GC,4347,-0.02,188.6,2615,2139,2778,2720,478.3,8.0,332,4411,0.15,0.00,61.45,1.396,12454,0.288,0.000,2582,2137,2595,2642,2549,0,0,0,0,0,0,13.70,13.80,12.99
$GC,4705,0.01,231.3,2582,2137,2632,2524,450.0,8.0,344,4775,0.00,2.65,62.67,1.390,8740,0.000,0.088,2589,668,2414,2465,2364,0,0,0,0,0,0,14.39,13.86,13.06
$GC,4828,0.11,274.7,2589,668,2458,2359,440.1,8.0,368,4901,0.00,2.53,66.03,1.359,9382,0.000,0.080,2588,2086,2244,2296,2192,0,0,0,0,0,0,14.09,13.96,12.97
$GC,5216,0.17,296.9,2589,2086,2282,2170,405.2,9.0,396,5248,0.15,0.00,29.85,1.439,10406,0.115,0.000,2659,2083,2157,2205,2109,0,0,0,0,0,0,14.17,13.97,13.15
$GC,5546,0.10,296.9,2664,2087,2186,2091,359.3,14.1,407,5551,0.15,2.47,0.00,0.000,4740,0.249,0.085,2633,690,2138,2185,2091,0,0,0,0,0,0,13.88,14.03,14.04
$GC,5597,0.15,296.9,2630,690,2184,2092,353.2,11.3,417,5603,0.00,2.50,0.00,0.000,1158,0.000,0.078,2629,2101,2136,2183,2090,0,0,0,0,0,0,14.20,14.07,14.23
$GC,5908,0.15,296.9,2630,2103,2184,2089,318.1,11.1,429,5913,0.00,2.53,0.00,0.000,516,0.000,0.087,2626,686,2135,2183,2088,0,0,0,0,0,0,14.45,13.97,14.47
$GC,5934,0.15,296.9,2630,683,2182,2088,315.2,10.6,434,5940,0.00,2.50,0.00,0.000,1030,0.000,0.078,2630,2102,2138,2189,2088,0,0,0,0,0,0,14.16,14.02,14.20
$GC,6239,0.15,296.9,2629,2107,2182,2089,282.5,10.3,445,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2106,2134,2181,2088,0,0,0,0,0,0,14.45,14.47,14.47
$GC,6539,0.16,309.9,2630,2107,2182,2089,253.1,9.4,455,6559,0.00,2.50,14.05,1.537,8740,0.000,0.086,2630,692,2098,2142,2054,0,0,0,0,0,0,14.42,14.09,13.23
$GC,6650,0.26,352.4,2630,692,2133,2052,243.8,8.0,477,6738,0.12,2.45,76.35,1.284,11430,0.123,0.077,2687,2105,1927,1958,1897,0,0,0,0,0,0,14.03,14.02,13.10
$GC,7054,0.22,352.4,2686,2106,1944,1882,197.3,11.2,507,7059,0.12,2.50,0.00,0.000,4740,0.236,0.086,2659,687,1911,1945,1878,0,0,0,0,0,0,14.00,13.96,14.13
$GC,7084,0.29,374.8,2659,688,1944,1879,194.3,9.0,513,7124,0.00,2.47,35.10,1.307,9382,0.000,0.078,2659,2100,1841,1872,1810,0,0,0,0,0,0,14.16,14.02,13.25
$GC,7447,0.36,401.8,2660,2101,1848,1795,162.5,8.8,535,7501,0.12,2.50,46.03,1.281,10916,0.129,0.089,2723,692,1720,1740,1701,0,0,0,0,0,0,14.19,14.06,13.24
$GC,7543,0.36,401.8,2723,693,1730,1695,151.3,12.2,554,7548,0.00,2.47,0.00,0.000,1030,0.000,0.078,2723,2100,1714,1730,1698,0,0,0,0,0,0,14.21,14.09,14.28
$GC,7869,0.33,401.8,2723,2101,1732,1690,111.3,11.9,569,7874,0.12,2.50,0.00,0.000,4740,0.239,0.083,2699,685,1710,1730,1690,0,0,0,0,0,0,14.02,13.93,14.11
$GC,7910,0.42,424.4,2699,686,1729,1691,107.3,9.0,577,7950,0.00,2.50,33.22,1.275,9382,0.000,0.078,2699,2108,1633,1657,1609,0,0,0,0,0,0,14.31,14.16,13.24
$GC,8250,0.53,481.8,2699,2110,1653,1590,78.9,7.4,612,8284,0.12,2.60,29.02,0.430,10916,0.128,0.089,2768,688,1399,1437,1362,0,0,0,0,0,0,14.24,14.11,13.68
$GC,8325,0.53,481.8,2768,689,1440,1365,71.1,10.5,626,8329,0.00,2.47,0.00,0.000,1030,0.000,0.077,2770,2099,1401,1439,1364,0,0,0,0,0,0,14.10,13.97,14.14
$GC,8635,0.58,562.9,2768,2100,1440,1365,45.5,6.3,658,8685,0.00,0.00,43.92,0.333,8230,0.000,0.000,2767,2096,1071,1129,1013,0,0,0,0,0,0,14.59,14.08,13.71
$GC,8985,0.82,692.3,2768,2099,1130,1011,23.1,4.0,693,9061,0.20,2.60,70.12,0.270,10916,0.099,0.090,2860,692,537,564,511,0,0,0,0,0,0,14.19,14.05,13.72
$GC,9127,0.91,692.3,2861,689,570,517,10.5,10.5,720,9133,0.00,2.53,0.00,0.000,1158,0.000,0.080,2860,2106,542,570,515,0,0,0,0,0,0,14.14,14.00,14.17
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,0.2,1.021328
$STATE,9219,end surface coast,CONTROL_FINISHED_OK
$STATE,9219,begin surface
$SM_CCo,9240,6.10,0.220,0,0,500,702.78
$SM_GC,2.32,8.30,0.17,6.10,0.082,0.116,0.220,198,2222,500,-7.38,-0.54,702.78,0,0,0,0,0,0,14.26,14.27,13.90
$RAFOS_CLK,235
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7442.62,-15103.85,160917,160219
$TT8_MAMPS,0.040446,0.951979
$HUMID,46.41
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15921315840.000000
$PM_FREEKB_00,46312256
$24V_AH,12.23,213.906
$10V_AH,12.08,0.000
$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,26.300,85.450,1054.950,6.100,0.000,0.000,0.000,362.725,1.750,0.000,8.759,0.000,6599.445,928.102,2028.967,348.968,0.000,2124.596,0.000,1047.759,2207.000,0.539,0.000
$DEVICE_MAMPS,452.880,2164.950,1536.885,219.555,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9240.000,5524.000,9180.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.587,20.000,12.095,0.000
$MEM,323612
$DATA_FILE_SIZE,26721,730
$CAP_FILE_SIZE,102632,0
$CFSIZE,2097872896,1987248128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.026,323.55,1
$GPS,160917,212436,7442.414,-15112.428,12,0.7,21,20.6,0.7,68.8,12,9.5