version: 66.13
glider: 196
mission: 14
dive: 374
start: 9 19 117 4 37 36
data:
$ID,196
$MISSION,14
$DIVE,374
$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,27
$R_STBD_OVSHOOT,35
$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,1041.0
$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
$GPS1,190917,042405,7433.6567,-15235.4365,17,0.7,30,19.9,0.5,311.7,10,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.7
$GPS2,190917,043702,7433.7520,-15235.4395,8,0.8,9,19.9,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,205.6,46110,-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,49,begin dive
$GC,52,-0.57,-145.9,196,2217,498,490,0.0,0.0,0,145,0.00,0.00,-90.50,0.000,16386,0.000,0.000,195,2217,2180,2114,2246,0,0,0,0,0,0,14.40,28.83,14.39
$GC,148,-0.57,-145.9,196,2218,2116,2250,4.2,-6.3,9,202,12.77,2.70,-32.12,0.000,18724,0.453,2.156,2373,3593,3964,3947,3981,0,0,0,0,0,0,13.52,12.59,14.05
$GC,428,-0.77,-145.9,2373,3595,3954,3982,56.2,-10.4,64,435,0.12,2.35,0.00,0.000,5254,0.129,0.054,2323,2201,3967,3953,3981,0,0,0,0,0,0,14.20,14.16,14.30
$GC,743,-0.82,-145.9,2324,2200,3954,3982,105.0,-13.4,94,744,0.00,0.00,0.00,0.000,134,0.000,0.000,2323,2199,3967,3954,3981,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1043,-0.91,-145.9,2324,2200,3954,3982,139.6,-10.9,104,1049,0.12,2.47,0.00,0.000,4484,0.135,0.085,2256,3596,3967,3954,3981,0,0,0,0,0,0,14.31,14.09,14.34
$GC,1115,-0.98,-145.9,2257,3596,3954,3981,149.6,-13.8,118,1120,0.00,2.40,0.00,0.000,1158,0.000,0.058,2256,2195,3967,3954,3981,0,0,0,0,0,0,14.34,14.16,14.33
$GC,1435,-0.98,-145.9,2255,2196,3954,3982,200.0,-15.0,132,1441,0.00,2.47,0.00,0.000,260,0.000,0.084,2247,3600,3967,3954,3981,0,0,0,0,0,0,14.70,14.09,14.71
$GC,1461,-0.98,-145.9,2247,3602,3955,3982,203.8,-14.6,137,1468,0.00,2.40,0.00,0.000,1030,0.000,0.059,2247,2201,3967,3954,3981,0,0,0,0,0,0,14.28,14.13,14.33
$GC,1767,-0.98,-145.9,2247,2200,3954,3982,247.8,-13.8,148,1772,0.00,2.47,0.00,0.000,260,0.000,0.085,2238,3601,3967,3954,3981,0,0,0,0,0,0,14.69,14.07,14.71
$GC,1813,-1.05,-145.9,2238,3602,3955,3984,253.8,-12.8,157,1818,0.00,2.40,0.00,0.000,1158,0.000,0.059,2238,2194,3967,3954,3981,0,0,0,0,0,0,14.27,14.12,14.32
$GC,2128,-1.08,-145.9,2238,2193,3955,3981,295.2,-12.7,170,2133,0.00,2.50,0.00,0.000,388,0.000,0.086,2235,3603,3967,3954,3981,0,0,0,0,0,0,14.69,14.06,14.70
$GC,2189,-1.19,-145.9,2236,3604,3954,3982,302.1,-10.6,182,2194,0.12,2.40,0.00,0.000,5254,0.135,0.057,2181,2189,3967,3954,3981,0,0,0,0,0,0,14.16,14.14,14.28
$GC,2520,-1.12,-145.9,2181,2189,3954,3981,357.4,-16.8,198,2525,0.15,2.50,0.00,0.000,2436,0.282,0.082,2206,3602,3966,3953,3980,0,0,0,0,0,0,13.79,14.04,13.95
$GC,2601,-1.17,-145.9,2206,3603,3954,3981,368.4,-12.3,214,2605,0.00,2.40,0.00,0.000,1158,0.000,0.057,2205,2198,3966,3953,3980,0,0,0,0,0,0,14.26,14.14,14.29
$GC,2911,-1.17,-145.9,2205,2197,3951,3981,409.8,-13.3,226,2916,0.00,2.47,0.00,0.000,260,0.000,0.085,2197,3595,3966,3953,3980,0,0,0,0,0,0,14.69,13.99,14.71
$GC,2976,-1.21,-145.9,2197,3596,3953,3980,418.3,-12.5,239,2981,0.00,2.40,0.00,0.000,1158,0.000,0.057,2197,2193,3966,3952,3980,0,0,0,0,0,0,14.26,14.13,14.31
$GC,3302,-1.19,-145.9,2198,2191,3953,3980,462.2,-13.5,254,3307,0.00,2.50,0.00,0.000,388,0.000,0.084,2190,3602,3966,3952,3980,0,0,0,0,0,0,14.70,13.96,14.71
$GC,3343,-1.21,-145.9,2190,3603,3953,3979,467.7,-13.2,262,3348,0.00,2.42,0.00,0.000,1158,0.000,0.057,2190,2191,3965,3952,3979,0,0,0,0,0,0,14.25,14.12,14.29
$STATE,3450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3450,begin apogee
$GC,3457,-0.13,0.0,2191,2063,3953,3981,483.1,-14.0,269,3678,1.35,0.00,217.75,1.415,10246,0.240,0.000,2527,2061,3368,3386,3350,0,0,0,0,0,0,13.75,13.58,12.75
$STATE,3726,end apogee,CONTROL_FINISHED_OK
$STATE,3726,begin climb
$GC,3729,0.57,145.9,2528,2062,3376,3338,494.9,0.0,276,3949,0.75,2.55,206.88,1.369,11012,0.057,0.079,2798,723,2762,2799,2725,0,0,0,0,0,0,13.90,13.28,12.41
$GC,3962,0.14,192.8,2798,728,2794,2724,509.9,7.8,320,4037,0.82,2.53,66.40,1.411,13478,0.323,0.073,2632,2095,2574,2636,2513,0,0,0,0,0,0,13.08,13.38,12.32
$GC,4343,0.01,192.8,2633,2097,2629,2501,469.4,11.1,346,4344,0.20,0.00,0.00,0.000,4230,0.253,0.000,2587,2096,2563,2627,2500,0,0,0,0,0,0,13.75,14.12,14.05
$GC,4643,0.01,227.1,2588,2097,2627,2499,443.6,8.4,356,4697,0.00,2.47,47.42,1.440,8868,0.000,0.087,2589,736,2433,2493,2374,0,0,0,0,0,0,14.59,13.99,13.11
$GC,4745,0.09,259.8,2589,736,2491,2374,434.9,8.5,376,4799,0.00,2.40,48.88,1.417,9382,0.000,0.079,2589,2102,2304,2360,2249,0,0,0,0,0,0,14.14,14.04,13.05
$GC,5125,0.13,277.6,2588,2102,2349,2237,400.0,9.2,402,5156,0.12,0.00,24.52,1.486,10406,0.129,0.000,2650,2101,2230,2282,2178,0,0,0,0,0,0,14.28,13.82,13.22
$GC,5455,0.06,277.6,2651,2101,2279,2171,356.9,13.0,413,5461,0.17,2.42,0.00,0.000,4740,0.237,0.083,2614,720,2224,2277,2171,0,0,0,0,0,0,13.94,14.09,14.10
$GC,5512,0.13,285.0,2615,719,2277,2171,351.0,9.7,424,5524,0.00,2.40,7.82,1.672,9382,0.000,0.078,2614,2100,2205,2257,2154,0,0,0,0,0,0,14.28,14.14,13.28
$GC,5849,0.13,285.6,2615,2100,2251,2148,317.2,10.0,441,5850,0.00,0.00,0.00,0.000,38,0.000,0.000,2614,2100,2198,2249,2147,0,0,0,0,0,0,14.64,14.66,14.65
$GC,6150,0.14,300.3,2615,2101,2249,2148,288.8,9.3,451,6180,0.00,0.00,24.58,1.466,8742,0.000,0.000,2614,2100,2136,2187,2086,0,0,0,0,0,0,14.65,13.89,13.28
$GC,6479,0.20,335.5,2615,2099,2185,2081,259.8,8.4,467,6545,0.00,2.47,57.35,1.338,8868,0.000,0.086,2615,737,1993,2041,1946,0,0,0,0,0,0,14.62,14.03,13.21
$GC,6593,0.36,383.5,2615,736,2034,1949,250.8,7.8,489,6681,0.25,2.40,79.68,1.258,11430,0.083,0.077,2708,2106,1796,1820,1773,0,0,0,0,0,0,14.21,14.11,13.08
$GC,6991,0.30,383.5,2709,2107,1814,1764,196.8,13.2,519,6996,0.00,2.45,0.00,0.000,644,0.000,0.087,2710,732,1786,1812,1761,0,0,0,0,0,0,14.58,13.98,14.59
$GC,7041,0.30,383.5,2710,733,1810,1762,190.3,12.6,529,7048,0.12,2.40,0.00,0.000,5126,0.228,0.076,2683,2106,1785,1809,1761,0,0,0,0,0,0,13.93,14.14,14.19
$GC,7353,0.30,385.1,2683,2107,1809,1758,157.7,9.9,541,7359,0.00,2.45,0.00,0.000,548,0.000,0.088,2685,730,1782,1808,1757,0,0,0,0,0,0,14.59,14.07,14.61
$GC,7429,0.39,399.3,2686,730,1807,1758,150.3,9.3,556,7459,0.00,2.40,21.27,1.387,9382,0.000,0.079,2685,2099,1734,1757,1711,0,0,0,0,0,0,14.28,14.13,13.31
$GC,7777,0.43,418.4,2686,2099,1756,1705,118.0,9.1,575,7806,0.00,0.00,27.23,1.344,8358,0.000,0.000,2685,2099,1660,1686,1634,0,0,0,0,0,0,14.59,14.09,13.29
$GC,8107,0.53,454.2,2686,2099,1682,1619,89.2,8.3,594,8134,0.17,2.50,18.80,0.469,10916,0.106,0.090,2767,729,1513,1541,1486,0,0,0,0,0,0,14.26,14.10,13.66
$GC,8207,0.50,454.2,2768,729,1542,1491,76.6,12.9,613,8213,0.00,2.42,0.00,0.000,1158,0.000,0.076,2768,2106,1513,1541,1486,0,0,0,0,0,0,14.19,14.05,14.23
$GC,8510,0.51,506.8,2767,2107,1541,1482,46.1,7.6,644,8543,0.00,2.50,28.27,0.338,8868,0.000,0.087,2766,730,1298,1344,1253,0,0,0,0,0,0,14.54,14.08,13.70
$GC,8641,0.61,570.4,2768,730,1344,1250,36.9,7.1,669,8683,0.00,2.42,34.85,0.307,9382,0.000,0.078,2764,2111,1037,1101,973,0,0,0,0,0,0,14.05,13.93,13.69
$GC,8989,0.82,684.5,2768,2108,1102,964,15.9,4.7,708,9057,0.22,2.47,62.00,0.248,10916,0.093,0.089,2863,732,572,606,538,0,0,0,0,0,0,14.10,13.97,13.78
$GC,9133,0.88,687.8,2864,733,607,534,2.3,9.8,736,9138,0.00,2.40,0.00,0.000,1190,0.000,0.076,2864,2093,568,604,533,0,0,0,0,0,0,14.17,14.04,14.21
$STATE,9140,end climb,SURFACE_DEPTH_REACHED
$STATE,9140,begin surface coast
$FINISH,0.2,1.021056
$STATE,9150,end surface coast,CONTROL_FINISHED_OK
$STATE,9150,begin surface
$SM_CCo,9172,10.10,0.213,0,0,499,702.78
$SM_GC,1.94,8.25,0.20,10.10,0.074,0.122,0.213,197,2217,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.21,13.88
$RAFOS_CLK,417
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7437.10,-15228.08,190917,014626
$TT8_MAMPS,0.040446,0.911533
$HUMID,47.44
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,25
$CP_FREE,15910600704.000000
$PM_FREEKB_00,45594560
$24V_AH,12.32,224.157
$10V_AH,11.79,0.000
$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,25.750,83.700,973.700,10.100,0.000,0.000,0.000,426.625,6.250,0.000,10.579,0.000,6621.790,987.038,1998.366,370.398,0.000,2135.298,0.000,1063.186,0.000,0.539,0.000
$DEVICE_MAMPS,452.880,2155.770,1671.525,213.435,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5471.000,9154.000,9125.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.391,20.000,9.881,0.000
$MEM,323300
$DATA_FILE_SIZE,26735,739
$CAP_FILE_SIZE,104486,0
$CFSIZE,2097872896,1982070784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.0
$CURRENT,0.060,32.43,1
$GPS,190917,071202,7433.290,-15239.017,37,0.8,37,19.8,0.0,0.0,9,9.5