version: 66.13
glider: 196
mission: 14
dive: 62
start: 8 13 117 21 47 1
data:
$ID,196
$MISSION,14
$DIVE,62
$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,55
$R_STBD_OVSHOOT,41
$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,181.0
$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
$GPS1,130817,213350,7202.9023,-14748.3271,59,0.7,59,21.3,0.6,61.2,10,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.2
$GPS2,130817,214631,7202.8628,-14748.4336,8,0.8,11,21.3,0.6,322.9,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,320.1,144159,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,169,2223,518,457,0.0,0.0,0,129,0.00,0.00,-81.18,0.000,16386,0.000,0.000,166,2224,2127,2049,2206,0,0,0,0,0,0,14.35,28.83,14.37
$GC,132,-0.57,-145.9,167,2224,2052,2208,3.4,-4.1,8,185,12.70,2.65,-33.45,0.000,18724,0.455,2.141,2375,3587,3965,3953,3978,0,0,0,0,0,0,13.71,12.95,14.13
$GC,346,-0.57,-145.9,2376,3589,3962,3979,53.7,-15.8,50,351,0.00,2.33,0.00,0.000,1030,0.000,0.056,2376,2225,3970,3962,3978,0,0,0,0,0,0,14.12,14.02,14.14
$GC,666,-0.57,-145.9,2376,2224,3965,3977,104.9,-13.9,81,670,0.00,2.42,0.00,0.000,260,0.000,0.083,2366,3597,3971,3964,3978,0,0,0,0,0,0,14.42,14.02,14.45
$GC,716,-0.67,-145.9,2366,3600,3965,3979,111.5,-12.3,91,722,0.00,2.40,0.00,0.000,1158,0.000,0.059,2362,2195,3971,3964,3978,0,0,0,0,0,0,14.17,14.07,14.21
$GC,1027,-0.70,-145.9,2366,2194,3965,3986,151.1,-12.2,103,1033,0.00,2.47,0.00,0.000,388,0.000,0.085,2357,3595,3971,3965,3977,0,0,0,0,0,0,14.50,14.16,14.52
$GC,1058,-0.78,-145.9,2357,3595,3966,3978,154.9,-12.1,109,1063,0.00,2.38,0.00,0.000,1158,0.000,0.058,2357,2199,3970,3963,3977,0,0,0,0,0,0,14.28,14.17,14.31
$GC,1388,-0.83,-145.9,2357,2198,3965,3977,192.7,-11.2,125,1393,0.12,2.45,0.00,0.000,4484,0.141,0.083,2292,3589,3967,3959,3976,0,0,0,0,0,0,14.14,14.16,14.19
$GC,1468,-0.83,-145.9,2294,3589,3965,3977,204.7,-15.4,141,1473,0.00,2.38,0.00,0.000,1030,0.000,0.059,2292,2189,3970,3964,3976,0,0,0,0,0,0,14.33,14.22,14.35
$GC,1778,-0.78,-145.9,2292,2188,3963,3973,251.2,-14.5,153,1783,0.15,2.47,0.00,0.000,2436,0.281,0.083,2319,3595,3968,3963,3973,0,0,0,0,0,0,13.85,14.10,14.01
$GC,1870,-0.87,-145.9,2318,3597,3964,3974,261.2,-10.2,171,1876,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2189,3968,3964,3973,0,0,0,0,0,0,14.33,14.22,14.35
$GC,2201,-0.92,-145.9,2319,2188,3965,3970,297.0,-10.6,187,2207,0.12,2.47,0.00,0.000,4484,0.138,0.085,2262,3595,3967,3964,3970,0,0,0,0,0,0,14.26,14.16,14.33
$GC,2314,-0.89,-145.9,2264,3597,3964,3970,312.4,-13.6,209,2318,0.00,2.38,0.00,0.000,1158,0.000,0.059,2263,2194,3966,3963,3970,0,0,0,0,0,0,14.30,14.19,14.33
$GC,2624,-0.83,-145.9,2263,2192,3964,3969,358.6,-14.8,221,2629,0.17,2.45,0.00,0.000,2436,0.293,0.083,2296,3591,3965,3963,3968,0,0,0,0,0,0,13.95,14.19,14.13
$GC,2699,-0.90,-145.9,2296,3593,3963,3969,367.6,-10.8,236,2704,0.00,2.35,0.00,0.000,1158,0.000,0.057,2296,2197,3965,3963,3968,0,0,0,0,0,0,14.35,14.23,14.38
$GC,3014,-0.90,-145.9,2295,2196,3964,3962,403.1,-11.2,249,3019,0.00,2.45,0.00,0.000,260,0.000,0.086,2288,3595,3964,3963,3966,0,0,0,0,0,0,14.54,14.19,14.56
$GC,3064,-0.95,-145.9,2288,3597,3963,3967,408.8,-11.2,259,3070,0.00,2.38,0.00,0.000,1158,0.000,0.059,2288,2196,3964,3962,3966,0,0,0,0,0,0,14.33,14.19,14.38
$GC,3375,-0.95,-145.9,2288,2195,3963,3963,445.2,-11.7,271,3381,0.00,2.42,0.00,0.000,260,0.000,0.086,2280,3588,3963,3961,3965,0,0,0,0,0,0,14.56,14.14,14.57
$GC,3451,-0.99,-145.9,2280,3589,3962,3966,454.2,-11.2,286,3456,0.00,2.35,0.00,0.000,1158,0.000,0.058,2280,2201,3963,3962,3965,0,0,0,0,0,0,14.35,14.23,14.37
$STATE,3674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3674,begin apogee
$GC,3680,-0.13,0.0,2281,2060,3963,3964,481.8,-12.3,296,3891,0.98,0.00,207.70,1.440,10246,0.239,0.000,2530,2059,3364,3404,3325,0,0,0,0,0,0,13.93,13.52,12.86
$STATE,3895,end apogee,CONTROL_FINISHED_OK
$STATE,3895,begin climb
$GC,3897,0.57,145.9,2530,2060,3397,3316,491.5,0.0,303,4102,0.75,2.67,193.73,1.396,10500,0.067,0.076,2781,3488,2764,2826,2703,0,0,0,0,0,0,13.59,13.09,12.59
$GC,4327,0.15,145.9,2781,3488,2805,2703,454.6,17.7,383,4332,0.75,2.38,0.00,0.000,5254,0.353,0.058,2639,2130,2753,2803,2703,0,0,0,0,0,0,13.46,13.75,13.80
$GC,4647,0.08,171.7,2639,2131,2804,2702,424.8,8.8,397,4688,0.00,2.47,32.47,1.463,8612,0.000,0.083,2639,3484,2662,2719,2606,0,0,0,0,0,0,14.29,13.86,13.19
$GC,4913,-0.01,171.7,2642,3485,2704,2606,397.1,10.5,450,4919,0.28,2.38,0.00,0.000,5254,0.256,0.059,2583,2098,2654,2703,2605,0,0,0,0,0,0,13.83,14.04,14.10
$GC,5218,0.12,260.5,2583,2099,2705,2604,378.3,5.9,461,5358,0.12,2.62,131.00,1.338,10916,0.135,0.087,2632,691,2297,2356,2239,0,0,0,0,0,0,14.21,13.65,13.05
$GC,5385,0.21,280.9,2635,692,2353,2237,363.6,9.1,489,5420,0.00,2.53,29.48,1.398,9382,0.000,0.078,2634,2089,2216,2282,2151,0,0,0,0,0,0,13.83,13.74,13.00
$GC,5733,0.27,286.9,2634,2089,2272,2137,330.3,9.7,508,5736,0.00,0.00,1.90,0.493,8358,0.000,0.000,2633,2088,2197,2266,2129,0,0,0,0,0,0,14.26,13.68,13.41
$GC,6031,0.33,296.9,2634,2088,2268,2138,301.3,9.5,518,6052,0.17,0.00,19.45,1.470,10406,0.108,0.000,2701,2088,2156,2220,2093,0,0,0,0,0,0,14.19,14.06,13.34
$GC,6331,0.26,296.9,2702,2088,2209,2085,258.8,14.2,528,6337,0.15,2.45,0.00,0.000,4740,0.239,0.082,2672,693,2146,2208,2085,0,0,0,0,0,0,13.96,14.11,14.11
$GC,6377,0.31,296.9,2673,693,2207,2085,253.2,11.3,537,6382,0.00,2.47,0.00,0.000,1158,0.000,0.080,2672,2105,2145,2205,2085,0,0,0,0,0,0,14.27,14.15,14.29
$GC,6692,0.31,296.9,2672,2106,2206,2085,218.5,10.5,550,6697,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,698,2145,2206,2084,0,0,0,0,0,0,14.49,14.08,14.51
$GC,6727,0.36,300.6,2672,693,2204,2085,215.1,9.8,557,6732,0.00,2.45,0.00,0.000,1190,0.000,0.081,2672,2098,2144,2204,2084,0,0,0,0,0,0,14.31,14.17,14.31
$GC,7052,0.37,319.1,2673,2100,2204,2084,184.7,9.1,572,7092,0.00,2.53,34.08,1.377,8484,0.000,0.086,2672,3521,2062,2118,2007,0,0,0,0,0,0,14.52,14.08,13.43
$GC,7117,0.37,321.3,2672,3522,2112,2008,178.6,9.9,585,7122,0.00,2.47,0.00,0.000,1062,0.000,0.066,2673,2093,2059,2111,2007,0,0,0,0,0,0,14.18,14.07,14.17
$GC,7443,0.44,352.7,2674,2092,2112,2002,150.5,8.6,600,7505,0.12,2.58,56.65,1.297,10916,0.138,0.087,2729,691,1924,1970,1878,0,0,0,0,0,0,14.19,13.91,13.28
$GC,7565,0.46,352.7,2729,691,1960,1880,136.6,10.7,624,7571,0.00,2.53,0.00,0.000,1158,0.000,0.079,2729,2106,1918,1959,1878,0,0,0,0,0,0,14.09,13.98,14.12
$GC,7896,0.46,352.7,2729,2108,1958,1873,100.4,10.6,640,7902,0.00,2.50,0.00,0.000,516,0.000,0.086,2729,689,1914,1956,1872,0,0,0,0,0,0,14.39,14.10,14.40
$GC,7942,0.52,368.7,2729,689,1954,1873,96.0,9.3,649,7958,0.00,2.47,7.62,0.489,9382,0.000,0.080,2729,2101,1860,1898,1822,0,0,0,0,0,0,14.12,14.04,13.65
$GC,8266,0.55,398.8,2729,2102,1901,1823,65.5,8.6,682,8286,0.00,0.00,16.20,0.404,8230,0.000,0.000,2729,2106,1736,1771,1702,0,0,0,0,0,0,14.32,13.95,13.70
$GC,8586,0.69,487.6,2729,2101,1772,1700,41.5,5.9,714,8638,0.20,2.50,44.83,0.329,10916,0.104,0.086,2807,690,1375,1433,1318,0,0,0,0,0,0,13.97,13.96,13.73
$GC,8734,0.76,516.4,2807,689,1438,1312,27.7,8.7,743,8755,0.00,2.50,14.98,0.298,9382,0.000,0.078,2807,2102,1256,1322,1191,0,0,0,0,0,0,14.05,13.97,13.74
$GC,9060,1.05,737.1,2808,2102,1323,1182,15.0,-0.2,778,9164,0.30,2.58,93.60,0.256,10660,0.088,0.083,2919,3512,496,536,456,0,0,0,0,0,0,13.93,13.89,13.74
$STATE,9212,end climb,SURFACE_DEPTH_REACHED
$STATE,9212,begin surface coast
$FINISH,0.8,1.020108
$STATE,9222,end surface coast,CONTROL_FINISHED_OK
$STATE,9222,begin surface
$SM_CCo,9304,0.00,0.000,0,0,495,704.01
$SM_GC,1.23,8.43,2.33,0.00,0.076,0.052,0.000,198,2191,495,-7.38,0.48,704.01,0,0,0,0,0,0,14.02,13.98,14.10
$RAFOS_CLK,67
$RAFOS_FIX,7228.703125,-14627.398438,130817,202006,2,255,13.68
$IRIDIUM_FIX,7206.48,-14753.74,130817,213818
$TT8_MAMPS,0.084637,0.855358
$HUMID,47.32
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,19
$CP_FREE,16008839168.000000
$PM_FREEKB_00,58405376
$24V_AH,12.59,72.102
$10V_AH,12.65,0.000
$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,25.525,93.625,883.675,0.000,0.000,0.000,0.000,430.825,4.750,0.000,12.587,0.000,6756.655,905.183,2130.243,279.770,0.000,2088.591,0.000,1164.773,2155.000,0.540,0.000
$DEVICE_MAMPS,455.175,2141.235,1470.330,0.000,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9249.000,9248.000,9198.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.791,20.000,16.548,0.000
$MEM,323792
$DATA_FILE_SIZE,26687,810
$CAP_FILE_SIZE,106613,0
$CFSIZE,2097872896,2069561344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1451.7
$CURRENT,0.075,252.17,1
$GPS,140817,002351,7203.886,-14750.308,62,0.8,63,21.3,1.1,271.9,11,8.3