version: 66.13
glider: 196
mission: 14
dive: 99
start: 8 18 117 5 3 40
data:
$ID,196
$MISSION,14
$DIVE,99
$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,25
$R_STBD_OVSHOOT,19
$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,283.0
$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
$GPS1,180817,044920,7241.6245,-14838.2178,35,0.9,35,21.2,0.7,263.8,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.8
$GPS2,180817,050306,7241.6108,-14838.7148,7,0.8,9,21.2,0.0,0.0,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.0,69156,-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,-145.9,198,2189,508,460,0.0,0.0,0,129,0.00,0.00,-81.30,0.000,16386,0.000,0.000,197,2190,2042,1959,2126,0,0,0,0,0,0,14.42,28.83,14.45
$GC,132,-0.57,-145.9,198,2191,1961,2130,3.1,-3.6,8,189,12.43,2.85,-37.42,0.000,18724,0.454,2.151,2376,3605,3964,3951,3977,0,0,0,0,0,0,13.72,12.63,14.12
$GC,415,-0.62,-145.9,2376,3607,3962,3977,62.8,-15.1,64,419,0.00,2.40,0.00,0.000,1158,0.000,0.056,2376,2192,3969,3961,3977,0,0,0,0,0,0,14.16,14.04,14.19
$GC,726,-0.65,-145.9,2376,2191,3963,3978,108.1,-12.8,92,731,0.00,2.53,0.00,0.000,388,0.000,0.088,2369,3618,3969,3962,3977,0,0,0,0,0,0,14.52,14.16,14.54
$GC,806,-0.78,-145.9,2369,3619,3963,3978,117.4,-10.6,108,812,0.15,2.40,0.00,0.000,5254,0.119,0.054,2310,2192,3969,3962,3977,0,0,0,0,0,0,14.26,14.25,14.35
$GC,1117,-0.74,-145.9,2311,2191,3963,3977,168.6,-16.3,120,1122,0.12,2.53,0.00,0.000,2436,0.285,0.086,2332,3619,3969,3962,3977,0,0,0,0,0,0,13.93,14.19,14.09
$GC,1242,-0.84,-145.9,2332,3621,3962,3978,183.6,-11.3,145,1247,0.00,2.40,0.00,0.000,1158,0.000,0.056,2332,2194,3970,3962,3978,0,0,0,0,0,0,14.37,14.26,14.39
$GC,1568,-0.88,-145.9,2333,2193,3963,3976,222.9,-11.6,160,1573,0.12,2.50,0.00,0.000,4484,0.139,0.086,2263,3616,3971,3967,3975,0,0,0,0,0,0,14.18,14.20,14.22
$GC,1713,-0.86,-145.9,2263,3617,3962,3976,245.7,-15.2,189,1719,0.17,2.40,0.00,0.000,3206,0.265,0.056,2299,2195,3968,3961,3975,0,0,0,0,0,0,13.99,14.24,14.26
$GC,2018,-0.86,-145.9,2300,2194,3962,3974,283.6,-12.0,200,2023,0.00,2.50,0.00,0.000,260,0.000,0.088,2293,3620,3967,3961,3973,0,0,0,0,0,0,14.59,14.18,14.61
$GC,2123,-0.94,-145.9,2293,3620,3962,3972,295.6,-10.9,221,2128,0.00,2.40,0.00,0.000,1158,0.000,0.056,2292,2187,3967,3961,3973,0,0,0,0,0,0,14.39,14.28,14.42
$GC,2438,-0.97,-145.9,2293,2186,3962,3970,332.2,-11.4,234,2443,0.00,2.50,0.00,0.000,388,0.000,0.088,2284,3609,3966,3961,3971,0,0,0,0,0,0,14.59,14.23,14.61
$GC,2564,-1.04,-145.9,2284,3614,3961,3971,345.9,-10.5,259,2571,0.12,2.38,0.00,0.000,5254,0.131,0.056,2237,2196,3965,3960,3970,0,0,0,0,0,0,14.29,14.28,14.38
$GC,2891,-0.96,-145.9,2238,2196,3961,3969,396.1,-15.5,274,2896,0.15,2.47,0.00,0.000,2436,0.297,0.084,2262,3614,3964,3960,3969,0,0,0,0,0,0,13.91,14.20,14.12
$GC,3051,-0.99,-145.9,2262,3615,3960,3970,416.4,-12.0,306,3056,0.00,2.38,0.00,0.000,1158,0.000,0.055,2261,2195,3964,3959,3969,0,0,0,0,0,0,14.39,14.28,14.41
$GC,3371,-0.96,-145.9,2258,2193,3961,3968,457.8,-12.9,320,3376,0.00,2.50,0.00,0.000,388,0.000,0.088,2254,3617,3963,3959,3967,0,0,0,0,0,0,14.58,14.19,14.59
$GC,3497,-0.96,-145.9,2254,3619,3960,3967,473.5,-12.6,345,3502,0.00,2.40,0.00,0.000,1030,0.000,0.056,2254,2190,3963,3959,3967,0,0,0,0,0,0,14.38,14.27,14.40
$STATE,3550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3556,-0.13,0.0,2255,2064,3960,3967,480.9,-13.2,351,3773,1.10,0.08,213.48,1.429,10246,0.249,0.181,2532,2111,3365,3397,3333,0,0,0,0,0,0,13.97,13.44,12.76
$STATE,3777,end apogee,CONTROL_FINISHED_OK
$STATE,3777,begin climb
$GC,3781,0.57,145.9,2533,2111,3395,3324,491.2,0.0,358,3992,0.73,2.60,199.20,1.390,10500,0.066,0.073,2778,3502,2762,2819,2705,0,0,0,0,0,0,13.57,13.05,12.50
$GC,4082,0.15,145.9,2778,3503,2799,2706,480.2,17.4,412,4087,0.75,2.45,0.00,0.000,5254,0.346,0.057,2637,2128,2751,2799,2704,0,0,0,0,0,0,13.26,13.54,13.58
$GC,4414,0.06,170.3,2638,2128,2800,2701,449.3,8.9,428,4454,0.12,2.62,29.85,1.483,12964,0.297,0.083,2616,693,2665,2717,2613,0,0,0,0,0,0,13.79,13.85,13.07
$GC,4534,0.09,208.2,2619,693,2714,2611,439.6,8.3,452,4596,0.00,2.50,54.28,1.431,9254,0.000,0.078,2616,2097,2514,2579,2450,0,0,0,0,0,0,14.06,13.95,12.97
$GC,4896,0.11,231.4,2616,2099,2576,2431,407.7,8.9,474,4928,0.00,0.00,31.10,1.475,8230,0.000,0.000,2616,2099,2422,2490,2355,0,0,0,0,0,0,14.34,13.92,13.15
$GC,5224,0.15,256.6,2617,2099,2478,2346,378.5,8.8,485,5265,0.00,2.50,36.72,1.459,8868,0.000,0.083,2616,694,2312,2376,2249,0,0,0,0,0,0,14.42,13.78,13.20
$GC,5317,0.29,294.2,2616,694,2367,2254,370.6,8.3,503,5382,0.17,2.50,56.10,1.387,11430,0.106,0.078,2686,2108,2161,2220,2103,0,0,0,0,0,0,14.07,14.01,13.04
$GC,5707,0.23,294.2,2686,2109,2211,2097,317.3,13.7,531,5713,0.00,2.53,0.00,0.000,644,0.000,0.085,2693,687,2151,2211,2091,0,0,0,0,0,0,14.40,14.09,14.41
$GC,5758,0.21,294.2,2693,688,2210,2092,310.3,13.7,541,5763,0.17,2.47,0.00,0.000,5254,0.231,0.079,2654,2105,2150,2209,2091,0,0,0,0,0,0,13.99,14.14,14.23
$GC,6068,0.21,294.2,2654,2105,2210,2089,276.8,10.5,553,6073,0.00,2.47,0.00,0.000,516,0.000,0.086,2659,694,2149,2209,2089,0,0,0,0,0,0,14.52,14.21,14.52
$GC,6093,0.25,294.2,2659,695,2208,2090,274.1,11.0,558,6099,0.00,2.45,0.00,0.000,1158,0.000,0.078,2659,2102,2148,2208,2089,0,0,0,0,0,0,14.31,14.20,14.35
$GC,6398,0.25,294.2,2660,2104,2208,2089,242.4,10.1,569,6403,0.00,2.47,0.00,0.000,516,0.000,0.086,2659,693,2149,2207,2092,0,0,0,0,0,0,14.56,14.22,14.57
$GC,6454,0.33,307.5,2660,692,2207,2089,237.2,9.4,580,6475,0.00,2.45,16.10,1.480,9382,0.000,0.078,2659,2106,2109,2167,2052,0,0,0,0,0,0,14.38,14.23,13.40
$GC,6792,0.40,339.0,2660,2106,2161,2046,207.0,8.5,597,6851,0.15,0.00,53.10,1.345,10406,0.122,0.000,2722,2106,1977,2027,1927,0,0,0,0,0,0,14.31,13.83,13.28
$GC,7150,0.36,339.0,2722,2106,2021,1919,164.2,11.7,609,7155,0.00,2.50,0.00,0.000,644,0.000,0.084,2729,689,1969,2020,1919,0,0,0,0,0,0,14.45,14.14,14.47
$GC,7282,0.36,339.0,2729,690,2019,1918,149.9,10.7,635,7288,0.15,2.45,0.00,0.000,5126,0.230,0.078,2696,2099,1968,2017,1919,0,0,0,0,0,0,14.00,14.13,14.22
$GC,7603,0.41,368.6,2697,2101,2018,1918,121.4,8.6,649,7649,0.00,0.00,43.78,1.298,8358,0.000,0.000,2692,2100,1861,1901,1822,0,0,0,0,0,0,14.54,14.06,13.35
$GC,7933,0.53,423.4,2697,2100,1893,1813,94.2,7.5,664,7970,0.15,2.55,29.70,0.498,10916,0.121,0.087,2768,691,1636,1673,1600,0,0,0,0,0,0,14.18,14.04,13.64
$GC,8045,0.53,423.4,2768,691,1673,1600,81.4,11.5,686,8050,0.00,2.47,0.00,0.000,1030,0.000,0.078,2768,2102,1636,1672,1600,0,0,0,0,0,0,13.82,13.84,13.82
$GC,8355,0.56,468.3,2768,2104,1673,1593,50.2,7.9,718,8388,0.00,2.53,23.38,0.357,8740,0.000,0.086,2769,698,1456,1501,1411,0,0,0,0,0,0,14.47,14.07,13.79
$GC,8455,0.70,535.8,2769,698,1502,1411,43.4,6.9,737,8498,0.12,2.47,37.58,0.332,11430,0.134,0.080,2818,2112,1176,1245,1108,0,0,0,0,0,0,14.14,14.10,13.80
$GC,8804,0.91,703.1,2819,2113,1245,1099,13.1,2.3,776,8902,0.15,2.53,90.82,0.242,10916,0.119,0.085,2888,694,495,530,461,0,0,0,0,0,0,14.14,14.00,13.90
$GC,8928,1.07,773.8,2888,694,530,462,7.2,6.7,799,8934,0.12,2.47,0.00,0.000,3238,0.137,0.077,2942,2102,495,530,461,0,0,0,0,0,0,14.12,14.07,14.22
$STATE,8976,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$FINISH,-0.1,1.020046
$STATE,8986,end surface coast,CONTROL_FINISHED_OK
$STATE,8987,begin surface
$SM_CCo,9067,0.00,0.000,0,0,494,704.26
$SM_GC,1.10,8.35,0.17,0.00,0.075,0.114,0.000,205,2215,494,-7.37,-0.65,704.26,0,0,0,0,0,0,14.22,14.22,14.29
$RAFOS_CLK,393
$RAFOS_FIX,7240.064453,-14838.027344,180817,040401,4,255,0.20
$IRIDIUM_FIX,7242.96,-14831.14,180817,045346
$TT8_MAMPS,0.040446,0.88382
$HUMID,48.97
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.40
$XPDR_PINGS,9
$CP_FREE,16002613248.000000
$PM_FREEKB_00,55755776
$24V_AH,12.50,89.697
$10V_AH,12.41,0.000
$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,25.525,89.925,915.175,0.000,0.000,0.000,0.000,499.700,2.250,0.000,9.988,0.000,6494.576,943.377,2169.226,302.240,0.000,2186.247,0.000,1160.306,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,2151.180,1483.335,0.000,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9014.000,9012.000,8963.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.374,20.000,16.538,0.000
$MEM,323904
$DATA_FILE_SIZE,26757,806
$CAP_FILE_SIZE,106444,0
$CFSIZE,2097872896,2058256384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.7
$CURRENT,0.057,265.30,1
$GPS,180817,073602,7242.848,-14840.121,32,0.8,32,21.2,0.0,0.0,10,9.0