version: 66.13
glider: 196
mission: 14
dive: 46
start: 8 12 117 0 51 32
data:
$ID,196
$MISSION,14
$DIVE,46
$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,22
$R_STBD_OVSHOOT,50
$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
$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,141.0
$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
$GPS1,120817,004451,7146.1377,-14730.2744,40,0.8,42,21.4,0.3,243.4,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.9
$GPS2,120817,005058,7146.1128,-14730.3574,6,0.8,11,21.4,0.7,228.6,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,330.3,176131,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,192,2231,518,479,0.0,0.0,0,128,0.00,0.00,-81.28,0.000,16386,0.000,0.000,190,2231,2050,1973,2128,0,0,0,0,0,0,14.23,28.83,14.25
$GC,131,-0.57,-145.9,191,2231,1975,2129,3.4,-4.7,8,184,12.60,2.65,-35.97,0.000,19236,0.457,2.148,2376,3579,3963,3945,3981,0,0,0,0,0,0,13.67,12.95,14.06
$GC,284,-0.52,-145.9,2376,3581,3954,3982,44.6,-19.2,37,291,0.15,2.40,0.00,0.000,3206,0.269,0.062,2405,2195,3967,3954,3981,0,0,0,0,0,0,13.76,13.93,13.99
$GC,590,-0.57,-145.9,2405,2195,3959,3982,88.5,-12.4,68,594,0.00,2.47,0.00,0.000,388,0.000,0.086,2401,3587,3969,3958,3981,0,0,0,0,0,0,14.37,13.98,14.38
$GC,630,-0.69,-145.9,2402,3589,3959,3982,93.3,-11.3,76,635,0.15,2.38,0.00,0.000,5254,0.116,0.056,2347,2192,3967,3954,3981,0,0,0,0,0,0,14.06,14.03,14.12
$GC,950,-0.69,-145.9,2344,2192,3959,3982,143.1,-15.0,91,956,0.00,2.45,0.00,0.000,260,0.000,0.085,2336,3582,3969,3958,3981,0,0,0,0,0,0,14.43,14.04,14.46
$GC,1021,-0.76,-145.9,2336,3582,3959,3981,153.0,-12.5,105,1026,0.00,2.35,0.00,0.000,1158,0.000,0.057,2335,2202,3969,3958,3981,0,0,0,0,0,0,14.27,14.16,14.30
$GC,1341,-0.76,-145.9,2337,2201,3959,3981,195.4,-12.6,119,1347,0.00,2.42,0.00,0.000,260,0.000,0.087,2333,3581,3969,3958,3981,0,0,0,0,0,0,14.47,14.11,14.50
$GC,1427,-0.85,-145.9,2333,3581,3959,3982,205.2,-10.4,136,1433,0.00,2.35,0.00,0.000,1158,0.000,0.058,2333,2196,3968,3956,3981,0,0,0,0,0,0,14.26,14.13,14.28
$GC,1732,-0.89,-145.9,2333,2196,3959,3979,239.1,-10.8,147,1738,0.12,2.45,0.00,0.000,4484,0.143,0.086,2267,3580,3968,3958,3979,0,0,0,0,0,0,14.16,14.11,14.21
$GC,1813,-0.84,-145.9,2267,3581,3959,3978,251.1,-15.2,163,1819,0.17,2.35,0.00,0.000,3206,0.269,0.060,2303,2200,3968,3958,3978,0,0,0,0,0,0,13.95,14.19,14.21
$GC,2124,-0.84,-145.9,2304,2199,3959,3976,288.9,-11.8,175,2130,0.00,2.45,0.00,0.000,260,0.000,0.086,2295,3589,3967,3958,3977,0,0,0,0,0,0,14.50,14.14,14.52
$GC,2190,-0.88,-145.9,2296,3592,3959,3977,296.8,-11.6,188,2195,0.00,2.38,0.00,0.000,1158,0.000,0.059,2295,2196,3969,3962,3976,0,0,0,0,0,0,14.31,14.19,14.33
$GC,2515,-0.88,-145.9,2296,2194,3959,3974,336.7,-12.3,203,2520,0.00,2.42,0.00,0.000,260,0.000,0.086,2287,3580,3966,3958,3974,0,0,0,0,0,0,14.50,14.16,14.52
$GC,2596,-0.92,-145.9,2288,3581,3958,3974,346.6,-11.3,219,2601,0.00,2.38,0.00,0.000,1158,0.000,0.060,2288,2193,3965,3957,3974,0,0,0,0,0,0,14.28,14.16,14.30
$GC,2906,-0.92,-145.9,2288,2193,3958,3974,385.7,-12.4,231,2912,0.00,2.45,0.00,0.000,260,0.000,0.086,2280,3585,3965,3958,3973,0,0,0,0,0,0,14.51,14.15,14.53
$GC,2992,-0.95,-145.9,2280,3586,3958,3974,396.2,-12.0,248,2998,0.00,2.35,0.00,0.000,1158,0.000,0.058,2280,2198,3965,3957,3973,0,0,0,0,0,0,14.26,14.18,14.29
$GC,3297,-0.95,-145.9,2280,2198,3958,3973,434.7,-12.6,259,3303,0.00,2.45,0.00,0.000,260,0.000,0.087,2280,3586,3964,3957,3971,0,0,0,0,0,0,14.50,14.09,14.50
$GC,3383,-0.98,-145.9,2280,3587,3957,3973,445.1,-11.7,276,3389,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2196,3964,3957,3972,0,0,0,0,0,0,14.27,14.16,14.30
$STATE,3685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3691,-0.13,0.0,2280,2058,3957,3972,483.3,-12.5,287,3903,1.00,0.00,208.57,1.437,10246,0.249,0.000,2531,2056,3361,3389,3334,0,0,0,0,0,0,13.90,13.50,12.86
$STATE,3907,end apogee,CONTROL_FINISHED_OK
$STATE,3907,begin climb
$GC,3910,0.57,145.9,2532,2057,3389,3327,493.1,0.0,294,4118,0.73,2.47,196.88,1.382,10756,0.067,0.080,2782,726,2763,2818,2708,0,0,0,0,0,0,13.56,13.24,12.64
$GC,4343,0.25,145.9,2783,726,2804,2709,459.7,15.5,374,4348,0.55,2.42,0.00,0.000,5254,0.320,0.076,2668,2072,2755,2804,2706,0,0,0,0,0,0,13.48,13.73,13.78
$GC,4664,0.11,145.9,2669,2073,2804,2701,425.6,10.3,388,4669,0.17,2.40,0.00,0.000,4740,0.306,0.077,2635,717,2752,2803,2702,0,0,0,0,0,0,13.76,13.95,13.93
$GC,4751,0.11,185.8,2635,716,2804,2703,418.4,8.2,405,4810,0.00,2.45,54.17,1.416,9382,0.000,0.080,2635,2103,2608,2669,2547,0,0,0,0,0,0,14.14,14.00,13.15
$GC,5117,0.09,203.4,2635,2103,2663,2529,384.8,9.2,428,5146,0.00,0.00,22.90,1.509,8358,0.000,0.000,2635,2101,2532,2599,2465,0,0,0,0,0,0,14.30,13.95,13.26
$GC,5445,0.10,217.0,2635,2104,2597,2458,354.0,9.4,439,5464,0.00,0.00,18.40,1.543,8230,0.000,0.000,2635,2103,2483,2553,2413,0,0,0,0,0,0,14.35,14.03,13.29
$GC,5745,0.11,232.7,2635,2103,2541,2403,326.0,9.3,449,5769,0.00,0.00,22.83,1.509,8230,0.000,0.000,2635,2103,2413,2480,2347,0,0,0,0,0,0,14.38,14.02,13.32
$GC,6045,0.12,250.5,2635,2106,2471,2344,298.2,9.2,459,6077,0.00,0.00,26.08,1.479,8230,0.000,0.000,2634,2101,2342,2397,2288,0,0,0,0,0,0,14.38,13.84,13.31
$GC,6375,0.17,275.6,2635,2103,2393,2275,268.6,8.8,470,6420,0.00,2.53,37.40,1.392,8868,0.000,0.085,2643,720,2238,2295,2181,0,0,0,0,0,0,14.38,13.93,13.30
$GC,6446,0.28,304.5,2643,721,2296,2182,262.5,8.7,484,6497,0.00,2.45,44.55,1.336,9382,0.000,0.080,2646,2102,2121,2179,2064,0,0,0,0,0,0,14.04,13.96,13.18
$GC,6797,0.36,321.6,2643,2102,2169,2054,230.0,9.2,504,6826,0.17,0.00,24.45,1.386,10406,0.106,0.000,2708,2102,2049,2103,1996,0,0,0,0,0,0,14.02,13.94,13.27
$GC,7126,0.33,321.6,2708,2101,2099,1989,187.0,12.4,515,7131,0.00,2.45,0.00,0.000,644,0.000,0.086,2711,726,2043,2097,1989,0,0,0,0,0,0,14.35,14.00,14.38
$GC,7196,0.35,321.6,2713,727,2093,1990,179.1,10.9,529,7201,0.00,2.42,0.00,0.000,1158,0.000,0.079,2713,2103,2041,2094,1989,0,0,0,0,0,0,14.21,14.10,14.23
$GC,7516,0.35,321.6,2713,2105,2095,1988,144.3,10.6,543,7522,0.00,2.42,0.00,0.000,516,0.000,0.085,2713,726,2038,2094,1983,0,0,0,0,0,0,14.43,14.09,14.45
$GC,7552,0.40,330.3,2713,726,2093,1988,140.7,9.6,550,7568,0.00,2.40,9.52,1.512,9382,0.000,0.080,2713,2100,2018,2070,1966,0,0,0,0,0,0,14.24,14.13,13.43
$GC,7878,0.41,342.8,2713,2102,2066,1962,109.0,9.4,565,7894,0.00,0.00,14.62,1.438,8230,0.000,0.000,2713,2100,1968,2019,1918,0,0,0,0,0,0,14.42,14.09,13.40
$GC,8180,0.46,377.9,2713,2100,2014,1907,82.2,8.4,587,8207,0.00,2.47,18.00,0.461,8868,0.000,0.085,2713,727,1822,1862,1782,0,0,0,0,0,0,14.37,14.04,13.73
$GC,8237,0.59,412.5,2713,732,1862,1784,77.5,8.4,598,8264,0.17,2.42,18.55,0.443,11430,0.111,0.080,2780,2100,1685,1718,1652,0,0,0,0,0,0,14.14,14.04,13.70
$GC,8562,0.60,426.2,2787,2101,1716,1635,40.7,9.4,633,8574,0.00,2.50,6.85,0.336,8740,0.000,0.086,2780,729,1627,1668,1586,0,0,0,0,0,0,14.38,14.04,13.79
$GC,8724,0.71,498.9,2780,727,1665,1585,28.8,6.6,665,8767,0.00,2.42,37.28,0.297,9382,0.000,0.080,2781,2105,1329,1388,1271,0,0,0,0,0,0,14.20,14.09,13.83
$GC,9064,1.02,702.5,2781,2105,1389,1258,12.9,0.6,703,9176,0.38,2.55,105.90,0.245,10660,0.086,0.080,2917,3510,501,536,467,0,0,0,0,0,0,14.11,14.00,13.81
$GC,9203,1.00,702.5,2918,3512,537,468,3.9,12.8,729,9208,0.00,2.42,0.00,0.000,1158,0.000,0.069,2921,2124,502,536,468,0,0,0,0,0,0,14.08,13.95,14.10
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,0.1,1.019975
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9231,begin surface
$SM_CCo,9312,0.00,0.000,0,0,501,703.03
$SM_GC,1.10,8.27,0.12,0.00,0.066,0.135,0.000,201,2226,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.12,14.09,14.19
$RAFOS_CLK,407
$RAFOS_FIX,7145.260742,-14733.255859,120817,000009,4,255,0.30
$IRIDIUM_FIX,7145.35,-14729.09,110817,221215
$TT8_MAMPS,0.039697,0.854609
$HUMID,49.29
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,6
$CP_FREE,16011591680.000000
$PM_FREEKB_00,59574208
$24V_AH,12.64,64.646
$10V_AH,12.57,0.000
$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,24.650,83.050,866.950,0.000,0.000,0.000,0.000,161.375,1.500,0.000,11.619,0.000,6845.366,917.722,1715.715,214.642,0.000,1766.440,0.000,1051.369,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2148.120,1543.005,0.000,0.000,0.000,0.000,139.995,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9224.000,9260.000,9209.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.495,20.000,16.571,0.000
$MEM,323748
$DATA_FILE_SIZE,26734,733
$CAP_FILE_SIZE,98548,0
$CFSIZE,2097872896,2074181632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3923.74,0x2341ea,1,24
$SOUNDSPEED,1451.7
$CURRENT,0.077,211.48,1
$GPS,120817,032802,7147.053,-14730.839,35,0.8,35,21.4,0.5,304.7,10,9.2