version: 66.13
glider: 196
mission: 14
dive: 66
start: 8 14 117 9 2 28
data:
$ID,196
$MISSION,14
$DIVE,66
$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,24
$R_STBD_OVSHOOT,22
$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,191.0
$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
$GPS1,140817,084251,7207.4907,-14754.5889,20,0.7,25,21.3,0.5,83.1,11,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.8
$GPS2,140817,090155,7207.4766,-14754.4902,19,0.8,42,21.3,0.5,164.1,9,6.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,313.6,135113,-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,-145.9,152,2206,506,463,0.0,0.0,0,129,0.00,0.00,-81.20,0.000,16386,0.000,0.000,148,2206,2238,2172,2304,0,0,0,0,0,0,14.26,28.83,14.28
$GC,132,-0.57,-145.9,148,2207,2169,2306,4.6,-7.0,8,180,12.75,2.75,-29.15,0.000,18724,0.451,2.140,2378,3614,3965,3953,3977,0,0,0,0,0,0,13.71,12.69,14.11
$GC,405,-0.57,-145.9,2378,3609,3962,3979,63.6,-15.1,62,410,0.00,2.42,0.00,0.000,1030,0.000,0.056,2378,2189,3969,3961,3977,0,0,0,0,0,0,14.08,13.98,14.09
$GC,735,-0.57,-145.9,2378,2188,3964,3978,113.5,-14.0,90,740,0.00,2.50,0.00,0.000,260,0.000,0.083,2370,3610,3971,3964,3978,0,0,0,0,0,0,14.45,14.04,14.47
$GC,895,-0.69,-145.9,2371,3613,3965,3977,131.8,-11.0,122,900,0.00,2.38,0.00,0.000,1158,0.000,0.054,2370,2198,3970,3964,3977,0,0,0,0,0,0,14.22,14.12,14.24
$GC,1215,-0.74,-145.9,2370,2197,3964,3977,168.7,-11.2,136,1220,0.00,2.47,0.00,0.000,388,0.000,0.084,2363,3610,3970,3964,3976,0,0,0,0,0,0,14.52,14.07,14.52
$GC,1270,-0.88,-145.9,2364,3609,3965,3976,174.8,-10.6,147,1278,0.20,2.40,0.00,0.000,5254,0.106,0.056,2279,2191,3970,3964,3976,0,0,0,0,0,0,14.16,14.12,14.22
$GC,1575,-0.78,-145.9,2279,2191,3964,3974,227.7,-17.0,158,1580,0.17,2.50,0.00,0.000,2436,0.280,0.081,2312,3620,3968,3964,3973,0,0,0,0,0,0,13.97,14.16,14.12
$GC,1636,-0.84,-145.9,2309,3622,3966,3973,235.8,-12.0,170,1640,0.00,2.40,0.00,0.000,1158,0.000,0.057,2312,2201,3969,3966,3973,0,0,0,0,0,0,14.27,14.16,14.31
$GC,1965,-0.84,-145.9,2312,2199,3965,3971,276.2,-11.9,186,1970,0.00,2.47,0.00,0.000,260,0.000,0.085,2307,3608,3966,3963,3970,0,0,0,0,0,0,14.56,14.14,14.57
$GC,2087,-0.93,-145.9,2308,3611,3964,3971,289.5,-10.6,210,2092,0.00,2.40,0.00,0.000,1158,0.000,0.057,2307,2196,3966,3963,3970,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2417,-0.93,-145.9,2308,2196,3964,3967,327.9,-11.4,226,2422,0.00,2.47,0.00,0.000,260,0.000,0.085,2299,3610,3964,3963,3966,0,0,0,0,0,0,14.54,14.17,14.56
$GC,2452,-0.98,-145.9,2300,3611,3963,3967,331.9,-11.1,233,2457,0.12,2.40,0.00,0.000,5254,0.133,0.059,2251,2195,3964,3962,3966,0,0,0,0,0,0,14.27,14.23,14.36
$GC,2778,-0.89,-145.9,2251,2195,3964,3964,382.8,-15.8,248,2783,0.15,2.47,0.00,0.000,2436,0.314,0.081,2274,3610,3963,3962,3964,0,0,0,0,0,0,13.40,13.58,13.52
$GC,2863,-0.89,-145.9,2274,3610,3963,3963,394.2,-12.7,265,2869,0.00,2.40,0.00,0.000,1030,0.000,0.058,2274,2196,3963,3962,3964,0,0,0,0,0,0,14.31,14.20,14.35
$GC,3168,-0.85,-145.9,2273,2197,3962,3963,435.8,-13.7,276,3173,0.12,2.47,0.00,0.000,2436,0.324,0.081,2293,3609,3965,3969,3962,0,0,0,0,0,0,13.93,14.16,14.10
$GC,3238,-0.93,-145.9,2293,3610,3962,3963,444.2,-10.9,290,3243,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2192,3961,3961,3962,0,0,0,0,0,0,14.30,14.19,14.33
$STATE,3556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3556,begin apogee
$GC,3562,-0.13,0.0,2294,2066,3963,3960,482.0,-11.7,304,3781,0.93,0.05,216.07,1.408,10246,0.238,0.220,2534,2102,3366,3408,3325,0,0,0,0,0,0,13.92,13.45,12.84
$STATE,3785,end apogee,CONTROL_FINISHED_OK
$STATE,3785,begin climb
$GC,3790,0.57,145.9,2531,2102,3396,3312,492.3,0.0,311,3999,0.73,2.67,196.82,1.366,10500,0.067,0.075,2776,3510,2759,2817,2701,0,0,0,0,0,0,13.59,13.12,12.60
$GC,4008,0.57,145.9,2776,3511,2809,2703,494.0,-0.3,313,4013,0.00,2.50,0.00,0.000,1030,0.000,0.056,2786,2128,2754,2807,2701,0,0,0,0,0,0,13.43,13.34,13.47
$GC,4329,0.19,145.9,2786,2126,2799,2700,440.7,16.5,327,4334,0.60,2.55,0.00,0.000,4740,0.315,0.080,2660,690,2748,2797,2700,0,0,0,0,0,0,13.59,13.87,13.81
$GC,4339,-0.16,145.9,2660,691,2798,2701,439.1,16.5,329,4344,0.55,2.53,0.00,0.000,5254,0.288,0.076,2537,2103,2748,2797,2700,0,0,0,0,0,0,13.64,13.87,13.93
$GC,4659,0.09,276.4,2537,2104,2798,2699,425.3,4.0,343,4872,0.20,2.62,203.40,1.278,10916,0.106,0.082,2615,688,2235,2302,2169,0,0,0,0,0,0,14.08,13.35,12.91
$GC,5097,0.23,307.3,2619,689,2284,2163,388.5,8.6,430,5148,0.12,2.53,44.50,1.330,11430,0.129,0.078,2673,2100,2108,2172,2045,0,0,0,0,0,0,13.89,13.85,13.03
$GC,5473,0.23,307.3,2673,2100,2157,2032,341.0,12.8,455,5478,0.00,2.50,0.00,0.000,516,0.000,0.086,2673,691,2093,2156,2031,0,0,0,0,0,0,14.32,14.01,14.31
$GC,5528,0.29,307.3,2674,691,2155,2031,334.2,12.0,466,5535,0.00,2.50,0.00,0.000,1158,0.000,0.078,2672,2105,2092,2154,2031,0,0,0,0,0,0,14.14,14.03,14.18
$GC,5834,0.29,307.3,2673,2105,2155,2030,295.9,12.3,477,5838,0.00,2.50,0.00,0.000,516,0.000,0.086,2674,685,2092,2154,2030,0,0,0,0,0,0,14.45,14.12,14.47
$GC,5878,0.33,307.3,2674,685,2153,2030,290.6,11.6,486,5883,0.00,2.47,0.00,0.000,1158,0.000,0.078,2673,2107,2090,2151,2030,0,0,0,0,0,0,14.29,14.17,14.32
$GC,6193,0.33,307.3,2673,2108,2153,2030,253.7,11.5,499,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2108,2090,2151,2029,0,0,0,0,0,0,14.51,14.53,14.53
$GC,6494,0.33,307.3,2674,2108,2152,2028,219.8,11.1,509,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2108,2089,2151,2028,0,0,0,0,0,0,14.53,14.55,14.55
$GC,6794,0.34,329.5,2673,2108,2152,2028,191.0,9.0,519,6831,0.00,2.47,32.28,1.338,8484,0.000,0.083,2673,3507,2016,2072,1961,0,0,0,0,0,0,14.54,13.97,13.43
$GC,6851,0.40,344.6,2673,3506,2060,1962,185.5,9.3,525,6881,0.10,2.42,22.33,1.354,11430,0.150,0.063,2712,2093,1955,2006,1904,0,0,0,0,0,0,14.12,14.12,13.36
$GC,7188,0.40,344.6,2712,2094,1997,1894,148.0,11.0,542,7193,0.00,2.47,0.00,0.000,516,0.000,0.088,2712,691,1942,1996,1889,0,0,0,0,0,0,14.40,14.10,14.42
$GC,7253,0.46,353.4,2713,691,1995,1893,141.3,9.6,555,7264,0.00,2.45,3.62,1.336,9382,0.000,0.077,2712,2099,1923,1972,1874,0,0,0,0,0,0,14.27,14.11,12.97
$GC,7579,0.47,366.5,2713,2099,1981,1883,109.6,9.4,570,7611,0.00,2.58,26.75,1.350,8740,0.000,0.086,2712,683,1867,1908,1826,0,0,0,0,0,0,14.47,14.07,13.40
$GC,7656,0.59,399.6,2711,685,1897,1825,103.0,8.5,585,7719,0.17,2.50,56.28,1.232,11430,0.107,0.079,2781,2102,1734,1768,1701,0,0,0,0,0,0,14.12,14.05,13.24
$GC,8024,0.54,399.6,2782,2102,1757,1681,54.2,12.5,628,8030,0.00,2.53,0.00,0.000,644,0.000,0.086,2781,685,1719,1755,1683,0,0,0,0,0,0,14.33,13.97,14.34
$GC,8075,0.54,399.6,2788,686,1753,1684,48.6,10.7,638,8080,0.00,2.50,0.00,0.000,1030,0.000,0.077,2781,2105,1717,1751,1683,0,0,0,0,0,0,14.11,14.00,14.12
$GC,8385,0.60,490.0,2782,2106,1752,1682,24.0,5.8,670,8437,0.00,2.58,46.97,0.275,8740,0.000,0.084,2781,687,1363,1419,1308,0,0,0,0,0,0,14.42,14.07,13.83
$GC,8447,0.71,587.0,2781,688,1420,1309,20.3,5.5,678,8506,0.00,2.50,52.05,0.262,9382,0.000,0.080,2781,2108,970,1059,881,0,0,0,0,0,0,14.17,14.07,13.78
$GC,8811,1.13,722.3,2781,2108,1060,879,10.7,3.8,720,8885,0.50,2.55,63.40,0.230,10916,0.137,0.082,2943,694,495,539,452,0,0,0,0,0,0,13.94,14.04,13.89
$STATE,8915,end climb,SURFACE_DEPTH_REACHED
$STATE,8915,begin surface coast
$FINISH,0.5,1.020030
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,9051,0.00,0.000,0,0,497,703.28
$SM_GC,1.14,8.38,2.70,0.00,0.076,0.080,0.000,202,2203,497,-7.37,-0.71,703.28,0,0,0,0,0,0,14.20,14.14,14.28
$RAFOS_CLK,374
$RAFOS_FIX,7314.406250,-15445.173828,140817,080852,4,255,34.25
$IRIDIUM_FIX,7212.54,-14823.55,140817,085329
$TT8_MAMPS,0.038948,0.85386
$HUMID,50.66
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,23
$CP_FREE,0.000000
$PM_FREEKB_00,58105536
$24V_AH,12.60,73.945
$10V_AH,12.53,0.000
$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,25.800,95.150,964.475,0.000,0.000,0.000,0.000,661.575,5.750,0.000,43.644,0.000,6613.123,841.608,2459.892,292.094,0.000,2357.453,0.000,1068.327,0.000,0.541,0.000
$DEVICE_MAMPS,451.350,2140.470,1408.365,0.000,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8949.000,8984.000,8943.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.649,20.000,16.540,0.000
$MEM,323592
$DATA_FILE_SIZE,26697,742
$CAP_FILE_SIZE,104707,0
$CFSIZE,2097872896,2068414464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.4
$CURRENT,0.047,218.77,1
$GPS,140817,113432,7208.310,-14755.233,31,0.7,31,21.3,0.0,0.0,11,8.2