version: 66.13
glider: 196
mission: 14
dive: 116
start: 8 20 117 5 0 30
data:
$ID,196
$MISSION,14
$DIVE,116
$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,45
$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,329.0
$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
$GPS1,200817,043903,7300.2871,-14915.4658,14,0.8,19,21.0,0.4,126.7,11,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.5
$GPS2,200817,050002,7300.1470,-14915.1318,11,0.8,32,21.0,0.4,182.8,11,4.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.7,30446,-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,-145.9,205,2230,507,468,0.0,0.0,0,139,0.00,0.00,-91.25,0.000,16386,0.000,0.000,203,2231,2278,2213,2343,0,0,0,0,0,0,14.32,28.83,14.32
$GC,142,-0.57,-145.9,210,2230,2216,2344,4.9,-7.5,9,189,12.57,0.00,-29.83,0.000,19238,0.456,0.000,2382,2229,3965,3951,3980,0,0,0,0,0,0,13.64,12.66,14.09
$GC,487,-0.57,-145.9,2383,2229,3961,3980,84.9,-16.0,47,492,0.00,2.42,0.00,0.000,260,0.000,0.088,2376,3592,3970,3960,3980,0,0,0,0,0,0,14.47,14.07,14.49
$GC,677,-0.70,-145.9,2376,3593,3961,3980,108.2,-11.0,85,682,0.00,2.38,0.00,0.000,1158,0.000,0.055,2376,2190,3970,3960,3980,0,0,0,0,0,0,14.33,14.22,14.35
$GC,998,-0.79,-145.9,2376,2189,3961,3980,144.4,-10.8,99,1003,0.15,2.45,0.00,0.000,4484,0.124,0.085,2306,3583,3970,3961,3980,0,0,0,0,0,0,14.07,14.07,14.05
$GC,1048,-0.82,-145.9,2306,3582,3962,3980,151.6,-14.7,109,1053,0.00,2.33,0.00,0.000,1158,0.000,0.056,2305,2198,3970,3960,3980,0,0,0,0,0,0,14.33,14.21,14.35
$GC,1358,-0.80,-145.9,2306,2197,3961,3981,201.0,-15.3,121,1363,0.00,2.45,0.00,0.000,388,0.000,0.086,2297,3595,3970,3960,3980,0,0,0,0,0,0,14.59,14.19,14.60
$GC,1463,-0.85,-145.9,2297,3595,3962,3980,215.7,-12.9,142,1468,0.00,2.35,0.00,0.000,1158,0.000,0.056,2297,2199,3970,3960,3980,0,0,0,0,0,0,14.34,14.23,14.35
$GC,1778,-0.85,-145.9,2297,2199,3961,3981,259.6,-13.3,155,1783,0.00,2.45,0.00,0.000,260,0.000,0.088,2289,3595,3969,3960,3979,0,0,0,0,0,0,14.60,14.23,14.62
$GC,1890,-0.93,-145.9,2289,3596,3961,3980,272.6,-11.0,177,1894,0.00,2.35,0.00,0.000,1158,0.000,0.057,2289,2196,3970,3960,3980,0,0,0,0,0,0,14.40,14.28,14.42
$GC,2200,-0.93,-145.9,2289,2195,3961,3980,310.7,-12.1,189,2205,0.00,2.45,0.00,0.000,260,0.000,0.089,2280,3589,3969,3959,3979,0,0,0,0,0,0,14.60,14.19,14.61
$GC,2316,-1.00,-145.9,2280,3591,3959,3979,323.9,-11.2,212,2323,0.00,2.35,0.00,0.000,1158,0.000,0.056,2280,2202,3968,3958,3979,0,0,0,0,0,0,14.36,14.24,14.38
$GC,2620,-1.00,-145.9,2280,2201,3958,3979,360.4,-11.9,223,2625,0.00,2.45,0.00,0.000,260,0.000,0.088,2273,3588,3968,3958,3978,0,0,0,0,0,0,14.59,14.19,14.62
$GC,2700,-1.07,-145.9,2274,3590,3957,3980,369.6,-11.0,239,2705,0.12,2.35,0.00,0.000,5254,0.134,0.056,2227,2195,3967,3956,3978,0,0,0,0,0,0,14.28,14.26,14.38
$GC,3010,-0.98,-145.9,2227,2195,3956,3978,419.2,-16.1,251,3015,0.15,2.45,0.00,0.000,2436,0.298,0.085,2251,3592,3967,3956,3978,0,0,0,0,0,0,13.93,14.19,14.12
$GC,3127,-0.98,-145.9,2252,3594,3956,3979,434.5,-12.5,274,3133,0.00,2.38,0.00,0.000,1030,0.000,0.057,2251,2189,3966,3955,3978,0,0,0,0,0,0,14.34,14.25,14.38
$GC,3431,-0.95,-145.9,2251,2190,3956,3978,475.7,-13.6,285,3436,0.00,2.45,0.00,0.000,388,0.000,0.087,2242,3588,3966,3955,3977,0,0,0,0,0,0,14.61,14.21,14.62
$STATE,3463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3463,begin apogee
$GC,3471,-0.13,0.0,2244,2099,3956,3978,480.6,-14.3,292,3700,1.15,0.00,225.15,1.403,10246,0.255,0.000,2530,2098,3362,3385,3340,0,0,0,0,0,0,13.94,13.43,12.70
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3706,0.57,145.9,2530,2098,3378,3331,492.0,0.0,299,3928,0.73,2.42,208.57,1.332,10756,0.065,0.085,2781,690,2759,2801,2717,0,0,0,0,0,0,13.54,13.16,12.47
$GC,3979,0.23,145.9,2781,690,2796,2709,490.5,14.9,311,3984,0.60,2.58,0.00,0.000,5254,0.321,0.075,2659,2079,2751,2795,2708,0,0,0,0,0,0,13.16,13.40,13.46
$GC,4311,0.08,151.1,2660,2080,2794,2700,457.3,9.8,327,4316,0.17,2.47,0.00,0.000,4772,0.301,0.078,2626,688,2746,2793,2700,0,0,0,0,0,0,13.70,13.83,13.88
$GC,4371,0.08,193.9,2627,685,2794,2700,452.1,8.0,339,4446,0.00,2.53,67.97,1.358,9382,0.000,0.080,2626,2107,2568,2624,2513,0,0,0,0,0,0,14.01,13.90,13.00
$GC,4761,0.05,206.9,2626,2107,2616,2491,416.0,9.4,367,4777,0.00,2.53,9.52,1.598,8868,0.000,0.083,2639,683,2522,2585,2459,0,0,0,0,0,0,14.37,14.04,13.14
$GC,4817,0.06,220.6,2634,687,2578,2460,410.8,9.4,378,4843,0.15,2.50,20.95,1.458,13350,0.247,0.079,2602,2100,2467,2527,2407,0,0,0,0,0,0,13.89,14.07,13.18
$GC,5155,0.13,266.6,2603,2103,2509,2386,384.2,7.9,395,5228,0.00,0.00,71.72,1.343,8358,0.000,0.000,2603,2104,2280,2333,2227,0,0,0,0,0,0,14.46,13.88,13.15
$GC,5513,0.25,310.3,2602,2104,2317,2203,355.5,8.0,407,5588,0.17,2.60,67.85,1.315,10916,0.107,0.089,2680,694,2094,2143,2045,0,0,0,0,0,0,14.19,13.83,13.16
$GC,5628,0.25,310.3,2682,694,2129,2040,340.6,13.7,430,5634,0.00,2.50,0.00,0.000,1030,0.000,0.077,2686,2102,2083,2128,2039,0,0,0,0,0,0,14.01,13.90,14.03
$GC,5934,0.22,310.3,2682,2104,2128,2030,299.2,13.5,441,5939,0.12,2.50,0.00,0.000,4740,0.259,0.084,2659,684,2078,2128,2029,0,0,0,0,0,0,13.89,14.12,14.05
$GC,5984,0.28,310.3,2660,685,2126,2030,293.3,11.1,451,5989,0.00,2.47,0.00,0.000,1158,0.000,0.079,2659,2103,2077,2125,2029,0,0,0,0,0,0,14.29,14.18,14.33
$GC,6294,0.28,310.3,2660,2103,2126,2027,259.5,10.8,463,6299,0.00,2.47,0.00,0.000,516,0.000,0.087,2660,691,2076,2125,2027,0,0,0,0,0,0,14.56,14.22,14.57
$GC,6344,0.37,310.3,2660,692,2125,2028,254.2,10.2,473,6349,0.12,2.45,0.00,0.000,3206,0.137,0.078,2709,2106,2075,2124,2027,0,0,0,0,0,0,14.29,14.26,14.40
$GC,6654,0.30,310.3,2709,2108,2124,2027,214.5,11.9,485,6656,0.15,0.00,0.00,0.000,4230,0.236,0.000,2676,2107,2075,2124,2027,0,0,0,0,0,0,14.04,14.33,14.27
$GC,6954,0.33,329.6,2681,2114,2119,2026,187.0,9.1,495,6986,0.00,2.50,23.95,1.345,8868,0.000,0.088,2677,685,2017,2064,1970,0,0,0,0,0,0,14.60,14.17,13.42
$GC,7048,0.46,374.2,2677,686,2054,1968,179.3,7.9,513,7138,0.17,2.47,80.57,1.220,11430,0.113,0.079,2748,2101,1834,1864,1805,0,0,0,0,0,0,14.23,14.18,13.20
$GC,7437,0.40,374.2,2748,2105,1851,1786,129.1,12.8,541,7442,0.12,2.47,0.00,0.000,4740,0.243,0.081,2727,691,1818,1850,1786,0,0,0,0,0,0,13.97,14.10,14.12
$GC,7492,0.45,374.2,2727,691,1848,1786,123.1,10.2,552,7499,0.00,2.47,0.00,0.000,1158,0.000,0.077,2727,2106,1815,1844,1786,0,0,0,0,0,0,14.17,14.05,14.20
$GC,7797,0.46,393.7,2727,2107,1846,1784,92.8,9.1,567,7810,0.00,2.55,8.40,0.430,8740,0.000,0.084,2729,690,1757,1787,1728,0,0,0,0,0,0,14.50,14.17,13.71
$GC,7935,0.56,445.3,2730,690,1799,1737,81.3,7.6,594,7973,0.00,2.47,30.88,0.435,9382,0.000,0.078,2729,2105,1549,1583,1515,0,0,0,0,0,0,14.29,14.17,13.68
$GC,8270,0.73,537.2,2729,2104,1590,1518,57.0,5.8,631,8329,0.28,2.47,51.92,0.363,10660,0.091,0.080,2831,3507,1172,1235,1109,0,0,0,0,0,0,14.23,14.11,13.76
$GC,8381,0.70,537.2,2831,3508,1236,1119,44.5,13.0,651,8387,0.15,2.42,0.00,0.000,5254,0.269,0.066,2808,2101,1176,1235,1118,0,0,0,0,0,0,13.85,14.04,14.09
$GC,8685,0.80,587.4,2808,2101,1236,1118,17.6,7.7,682,8720,0.00,2.53,28.38,0.253,9124,0.000,0.079,2808,3510,968,1038,899,0,0,0,0,0,0,14.48,14.09,13.88
$GC,8736,1.02,660.2,2808,3510,1039,904,14.3,6.6,690,8783,0.32,2.42,41.85,0.240,11430,0.086,0.070,2919,2101,668,729,608,0,0,0,0,0,0,14.10,14.14,13.87
$STATE,8866,end climb,SURFACE_DEPTH_REACHED
$STATE,8868,begin surface coast
$FINISH,0.3,1.009621
$STATE,8876,end surface coast,CONTROL_FINISHED_OK
$STATE,8876,begin surface
$SM_CCo,8897,26.30,0.210,0,0,498,703.03
$SM_GC,0.87,8.35,0.17,26.30,0.081,0.104,0.210,205,2232,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.24,14.26,14.00
$RAFOS_CLK,390
$RAFOS_FIX,7258.971191,-14918.901367,200817,040437,4,255,0.39
$IRIDIUM_FIX,7300.75,-14922.37,200817,045243
$TT8_MAMPS,0.038948,0.922768
$HUMID,47.08
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,15999664128.000000
$PM_FREEKB_00,54607360
$24V_AH,12.47,98.004
$10V_AH,12.37,0.000
$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,25.775,93.625,937.700,26.300,0.000,0.000,0.000,774.200,4.750,0.000,33.515,0.000,6545.112,872.705,2440.848,332.647,0.000,2477.609,0.000,1018.258,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,104.040,1598.085,209.610,0.000,0.000,0.000,161.415,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8906.000,8897.000,8855.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.479,20.000,16.560,0.000
$MEM,323488
$DATA_FILE_SIZE,23413,709
$CAP_FILE_SIZE,108627,0
$CFSIZE,2097872896,2052816896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.7
$CURRENT,0.031,235.49,1
$GPS,200817,073018,7301.184,-14917.779,18,0.8,19,21.0,0.2,174.4,11,9.3