version: 66.13
glider: 196
mission: 14
dive: 95
start: 8 17 117 18 4 13
data:
$ID,196
$MISSION,14
$DIVE,95
$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,60
$R_STBD_OVSHOOT,29
$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,272.0
$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
$GPS1,170817,175302,7237.4126,-14832.3477,25,0.7,25,21.2,0.0,0.0,12,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.0
$GPS2,170817,180339,7237.4912,-14832.6748,7,0.7,9,21.2,0.0,13.4,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,316.6,77195,-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,-145.9,193,2217,519,462,0.0,0.0,0,128,0.00,0.00,-81.43,0.000,16386,0.000,0.000,191,2216,2051,1964,2138,0,0,0,0,0,0,14.40,28.83,14.41
$GC,131,-0.57,-145.9,192,2218,1966,2141,3.2,-4.1,8,188,12.52,2.75,-36.75,0.000,18724,0.454,2.149,2374,3593,3964,3951,3978,0,0,0,0,0,0,13.73,12.64,14.15
$GC,413,-0.62,-145.9,2375,3596,3958,3979,62.6,-15.6,64,418,0.00,2.30,0.00,0.000,1158,0.000,0.054,2376,2234,3968,3958,3978,0,0,0,0,0,0,14.25,14.15,14.27
$GC,725,-0.65,-145.9,2375,2233,3962,3980,108.3,-13.2,92,730,0.00,2.42,0.00,0.000,388,0.000,0.086,2365,3608,3969,3961,3978,0,0,0,0,0,0,14.49,14.16,14.49
$GC,852,-0.79,-145.9,2366,3609,3962,3978,122.7,-10.5,117,857,0.12,2.38,0.00,0.000,5254,0.130,0.054,2316,2198,3969,3961,3978,0,0,0,0,0,0,14.22,14.17,14.27
$GC,1177,-0.76,-145.9,2316,2195,3962,3978,174.7,-15.8,132,1182,0.00,2.47,0.00,0.000,388,0.000,0.086,2307,3607,3969,3961,3978,0,0,0,0,0,0,14.53,14.20,14.54
$GC,1289,-0.80,-145.9,2308,3609,3962,3979,190.2,-13.3,154,1294,0.00,2.38,0.00,0.000,1158,0.000,0.054,2313,2196,3969,3961,3977,0,0,0,0,0,0,14.33,14.22,14.35
$GC,1599,-0.80,-145.9,2308,2195,3962,3978,233.7,-13.5,166,1604,0.00,2.47,0.00,0.000,260,0.000,0.088,2306,3604,3969,3961,3978,0,0,0,0,0,0,14.57,14.21,14.58
$GC,1726,-0.87,-145.9,2305,3606,3961,3979,248.2,-11.0,191,1732,0.00,2.38,0.00,0.000,1158,0.000,0.055,2305,2193,3968,3961,3976,0,0,0,0,0,0,14.38,14.26,14.40
$GC,2052,-0.90,-145.9,2306,2192,3962,3976,286.0,-11.3,206,2057,0.00,2.47,0.00,0.000,388,0.000,0.090,2305,3601,3968,3961,3976,0,0,0,0,0,0,14.59,14.18,14.60
$GC,2147,-1.01,-145.9,2306,3602,3960,3976,295.7,-9.6,225,2152,0.17,2.35,0.00,0.000,5286,0.110,0.054,2242,2199,3968,3960,3976,0,0,0,0,0,0,14.31,14.28,14.39
$GC,2472,-0.92,-145.9,2242,2199,3960,3975,347.7,-16.3,240,2477,0.15,2.47,0.00,0.000,2436,0.295,0.083,2266,3610,3966,3959,3974,0,0,0,0,0,0,13.93,14.17,14.12
$GC,2632,-0.96,-145.9,2266,3611,3959,3975,368.6,-12.2,272,2637,0.00,2.38,0.00,0.000,1158,0.000,0.055,2266,2194,3968,3961,3975,0,0,0,0,0,0,14.38,14.26,14.40
$GC,2953,-0.96,-145.9,2267,2193,3959,3971,410.7,-13.1,286,2957,0.00,2.47,0.00,0.000,260,0.000,0.087,2257,3607,3966,3959,3973,0,0,0,0,0,0,14.59,14.21,14.61
$GC,3058,-0.98,-145.9,2257,3609,3958,3974,424.4,-12.6,307,3063,0.00,2.35,0.00,0.000,1158,0.000,0.054,2257,2201,3965,3957,3973,0,0,0,0,0,0,14.32,14.24,14.35
$GC,3374,-0.95,-145.9,2257,2199,3958,3972,467.2,-13.5,320,3379,0.00,2.47,0.00,0.000,388,0.000,0.087,2249,3608,3964,3957,3972,0,0,0,0,0,0,14.59,14.21,14.61
$STATE,3466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3466,begin apogee
$GC,3474,-0.13,0.0,2250,2103,3957,3972,480.1,-13.1,339,3687,1.12,0.00,209.23,1.437,10246,0.255,0.000,2530,2102,3364,3391,3338,0,0,0,0,0,0,13.97,13.50,12.80
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3694,0.57,145.9,2531,2103,3385,3331,490.7,0.0,346,3903,0.73,2.62,200.30,1.385,10500,0.067,0.073,2775,3504,2762,2811,2714,0,0,0,0,0,0,13.58,13.05,12.51
$GC,4130,0.15,145.9,2775,3504,2792,2714,458.6,17.0,392,4135,0.73,2.45,0.00,0.000,5254,0.349,0.058,2638,2096,2752,2791,2713,0,0,0,0,0,0,13.45,13.77,13.81
$GC,4440,0.07,175.6,2640,2095,2793,2710,430.1,8.6,404,4486,0.12,2.58,38.12,1.449,12708,0.297,0.081,2605,3500,2645,2691,2599,0,0,0,0,0,0,13.86,13.83,13.13
$GC,4682,0.04,196.7,2609,3500,2684,2596,408.9,9.0,452,4717,0.00,2.40,29.05,1.493,9382,0.000,0.058,2616,2101,2561,2614,2508,0,0,0,0,0,0,14.19,14.07,13.16
$GC,5044,0.07,231.7,2616,2101,2611,2497,378.7,8.4,474,5103,0.00,2.58,50.95,1.420,8740,0.000,0.088,2616,694,2415,2470,2360,0,0,0,0,0,0,14.42,13.88,13.19
$GC,5178,0.19,271.1,2616,694,2465,2360,367.3,8.2,501,5243,0.00,2.47,59.03,1.372,9382,0.000,0.078,2616,2097,2257,2312,2202,0,0,0,0,0,0,14.12,14.00,13.05
$GC,5554,0.27,301.5,2616,2098,2306,2187,334.8,8.6,526,5600,0.12,0.00,44.30,1.385,10918,0.129,0.000,2680,2097,2135,2189,2082,0,0,0,0,0,0,14.14,13.90,13.16
$GC,5885,0.24,301.5,2680,2097,2180,2069,292.6,12.9,542,5890,0.00,2.47,0.00,0.000,644,0.000,0.086,2685,693,2123,2178,2068,0,0,0,0,0,0,14.40,14.12,14.42
$GC,5965,0.24,301.5,2685,694,2176,2069,282.5,12.0,558,5970,0.00,2.45,0.00,0.000,1030,0.000,0.078,2685,2100,2121,2174,2068,0,0,0,0,0,0,14.28,14.16,14.28
$GC,6275,0.20,301.5,2686,2101,2175,2067,244.1,12.1,570,6277,0.15,0.00,0.00,0.000,4230,0.242,0.000,2652,2102,2121,2175,2067,0,0,0,0,0,0,14.04,14.34,14.31
$GC,6576,0.27,336.2,2653,2103,2174,2066,217.3,8.4,580,6638,0.00,2.50,54.25,1.335,8868,0.000,0.084,2659,693,1989,2040,1939,0,0,0,0,0,0,14.54,13.85,13.32
$GC,6723,0.40,371.4,2659,693,2032,1938,205.0,8.4,609,6789,0.17,2.47,57.72,1.287,11430,0.114,0.080,2729,2100,1845,1879,1812,0,0,0,0,0,0,14.10,14.04,13.17
$GC,7088,0.37,371.4,2731,2101,1878,1800,158.6,12.7,632,7093,0.00,2.47,0.00,0.000,644,0.000,0.085,2736,694,1838,1876,1800,0,0,0,0,0,0,14.31,14.06,14.33
$GC,7133,0.37,371.4,2737,693,1873,1800,153.0,12.2,641,7138,0.15,2.47,0.00,0.000,5126,0.236,0.076,2704,2100,1836,1872,1800,0,0,0,0,0,0,13.93,14.06,14.14
$GC,7448,0.43,389.8,2704,2101,1873,1798,122.6,9.1,654,7480,0.00,2.58,21.65,1.366,8868,0.000,0.086,2709,689,1774,1804,1745,0,0,0,0,0,0,14.39,14.03,13.33
$GC,7510,0.55,413.6,2709,689,1802,1743,117.1,8.9,666,7551,0.15,2.50,35.62,1.294,11430,0.119,0.076,2773,2108,1683,1719,1648,0,0,0,0,0,0,14.09,14.02,13.21
$GC,7851,0.51,413.6,2773,2109,1708,1633,72.6,12.0,700,7856,0.00,2.53,0.00,0.000,644,0.000,0.086,2781,690,1668,1706,1631,0,0,0,0,0,0,14.28,14.00,14.30
$GC,7966,0.51,413.6,2781,690,1699,1631,59.9,10.0,723,7973,0.15,2.50,0.00,0.000,5126,0.249,0.078,2749,2101,1670,1708,1632,0,0,0,0,0,0,13.86,14.03,14.11
$GC,8271,0.62,513.6,2750,2105,1701,1631,39.8,5.4,754,8325,0.00,2.55,49.65,0.321,8868,0.000,0.086,2754,693,1269,1330,1209,0,0,0,0,0,0,14.34,13.98,13.70
$GC,8410,0.84,589.2,2755,692,1331,1208,31.1,6.5,781,8458,0.28,2.50,38.50,0.293,11430,0.090,0.077,2862,2105,964,1042,886,0,0,0,0,0,0,14.04,13.97,13.71
$GC,8756,0.92,693.6,2862,2105,1037,877,5.0,5.2,820,8808,0.00,0.00,50.28,0.220,8738,0.000,0.000,2861,2105,560,612,509,0,0,0,0,0,0,14.33,28.83,14.34
$STATE,8808,end climb,SURFACE_DEPTH_REACHED
$STATE,8808,begin surface coast
$FINISH,0.2,1.012787
$STATE,8833,end surface coast,CONTROL_FINISHED_OK
$STATE,8833,begin surface
$SM_CCo,8854,8.05,0.220,0,0,500,702.78
$SM_GC,2.12,8.27,0.17,8.05,0.084,0.125,0.220,204,2211,500,-7.38,-0.62,702.78,0,0,0,0,0,0,14.11,14.09,13.89
$RAFOS_CLK,93
$RAFOS_FIX,7235.269531,-14837.536133,170817,161641,3,255,1.15
$IRIDIUM_FIX,7237.31,-14826.38,170817,151247
$TT8_MAMPS,0.083139,0.859852
$HUMID,45.51
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,12
$CP_FREE,16003268608.000000
$PM_FREEKB_00,56011968
$24V_AH,12.51,87.815
$10V_AH,12.43,0.000
$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,25.125,84.400,938.650,8.050,0.000,0.000,0.000,364.450,3.000,0.000,10.017,0.000,6151.193,821.021,2258.694,282.168,0.000,2087.593,0.000,1187.983,2202.000,0.539,0.000
$DEVICE_MAMPS,453.645,2148.885,1492.515,220.320,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8863.000,8853.000,8812.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.566,20.000,16.553,0.000
$MEM,323560
$DATA_FILE_SIZE,30051,830
$CAP_FILE_SIZE,103546,0
$CFSIZE,2097872896,2059501568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.035,263.20,1
$GPS,170817,203320,7238.603,-14833.515,14,0.7,35,21.2,0.3,344.2,11,8.8