version: 66.13
glider: 196
mission: 14
dive: 160
start: 8 25 117 9 36 55
data:
$ID,196
$MISSION,14
$DIVE,160
$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,33
$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,450.0
$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
$GPS1,250817,091713,7342.8477,-15115.5771,18,0.7,21,20.3,0.8,12.6,12,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.6
$GPS2,250817,093620,7342.8071,-15115.8398,8,0.7,30,20.3,0.0,71.8,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.4,103894,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,171,2215,502,487,0.0,0.0,0,142,0.00,0.00,-91.97,0.000,16386,0.000,0.000,169,2214,2213,2140,2286,0,0,0,0,0,0,14.48,28.83,14.50
$GC,145,-0.57,-145.9,167,2215,2145,2287,4.8,-7.5,9,198,12.57,2.78,-31.62,0.000,18724,0.452,2.150,2375,3590,3964,3948,3981,0,0,0,0,0,0,13.64,12.60,14.08
$GC,348,-0.64,-145.9,2376,3591,3954,3981,52.7,-17.0,49,353,0.00,2.38,0.00,0.000,1158,0.000,0.060,2372,2199,3964,3947,3981,0,0,0,0,0,0,14.29,14.17,14.31
$GC,678,-0.69,-145.9,2376,2198,3956,3980,104.6,-12.8,81,683,0.00,2.45,0.00,0.000,388,0.000,0.086,2366,3598,3967,3954,3981,0,0,0,0,0,0,14.54,14.15,14.56
$GC,753,-0.88,-145.9,2366,3601,3955,3989,112.8,-9.8,96,760,0.22,2.35,0.00,0.000,5286,0.100,0.055,2272,2197,3967,3954,3981,0,0,0,0,0,0,14.29,14.26,14.38
$GC,1070,-0.80,-145.9,2273,2197,3953,3981,173.3,-19.0,109,1075,0.17,2.47,0.00,0.000,2436,0.279,0.083,2305,3604,3967,3954,3981,0,0,0,0,0,0,13.97,14.19,14.10
$GC,1145,-0.91,-145.9,2306,3606,3955,3981,183.9,-12.2,124,1151,0.00,2.38,0.00,0.000,1158,0.000,0.058,2305,2199,3968,3954,3982,0,0,0,0,0,0,14.40,14.28,14.43
$GC,1462,-0.93,-145.9,2305,2199,3957,3982,225.9,-13.0,137,1466,0.00,2.45,0.00,0.000,388,0.000,0.086,2299,3600,3967,3954,3981,0,0,0,0,0,0,14.62,14.19,14.65
$GC,1506,-1.04,-145.9,2299,3600,3955,3980,231.5,-11.9,146,1512,0.17,2.38,0.00,0.000,5254,0.114,0.059,2235,2193,3965,3950,3980,0,0,0,0,0,0,14.31,14.26,14.40
$GC,1822,-0.96,-145.9,2236,2193,3955,3982,285.6,-16.7,159,1827,0.12,2.47,0.00,0.000,2436,0.299,0.084,2260,3607,3967,3954,3981,0,0,0,0,0,0,13.97,14.21,14.18
$GC,1952,-1.01,-145.9,2254,3608,3955,3985,303.2,-12.3,185,1957,0.00,2.38,0.00,0.000,1158,0.000,0.057,2254,2196,3967,3954,3981,0,0,0,0,0,0,14.42,14.29,14.45
$GC,2272,-1.01,-145.9,2250,2196,3961,3981,346.2,-13.4,199,2277,0.00,2.45,0.00,0.000,260,0.000,0.087,2244,3600,3967,3954,3980,0,0,0,0,0,0,14.66,14.24,14.69
$GC,2347,-1.04,-145.9,2250,3602,3952,3981,356.2,-13.2,214,2352,0.00,2.35,0.00,0.000,1158,0.000,0.057,2244,2200,3967,3954,3980,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2662,-1.04,-145.9,2244,2201,3955,3979,398.4,-13.2,227,2667,0.00,2.45,0.00,0.000,260,0.000,0.086,2236,3601,3967,3956,3979,0,0,0,0,0,0,14.66,14.21,14.68
$GC,2742,-1.07,-145.9,2237,3601,3955,3979,408.8,-12.7,243,2747,0.00,2.38,0.00,0.000,1158,0.000,0.058,2235,2195,3966,3954,3979,0,0,0,0,0,0,14.39,14.23,14.43
$GC,3052,-1.04,-145.9,2237,2194,3955,3978,451.3,-13.7,255,3057,0.00,2.47,0.00,0.000,388,0.000,0.089,2236,3600,3966,3954,3978,0,0,0,0,0,0,14.66,14.20,14.68
$GC,3123,-1.08,-145.9,2238,3601,3955,3979,460.5,-12.6,269,3127,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2198,3966,3954,3978,0,0,0,0,0,0,14.42,14.29,14.45
$STATE,3290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3290,begin apogee
$GC,3296,-0.13,0.0,2237,2055,3955,3978,483.5,-13.6,278,3517,1.15,0.05,217.00,1.435,10246,0.248,0.222,2529,2092,3363,3389,3337,0,0,0,0,0,0,13.98,13.42,12.70
$STATE,3521,end apogee,CONTROL_FINISHED_OK
$STATE,3521,begin climb
$GC,3525,0.57,145.9,2530,2093,3383,3330,494.8,0.0,285,3744,0.75,2.60,205.65,1.380,10756,0.067,0.079,2793,733,2762,2809,2715,0,0,0,0,0,0,13.58,13.15,12.38
$GC,3969,0.19,145.9,2794,733,2803,2715,468.9,15.3,363,3975,0.70,2.47,0.00,0.000,5254,0.325,0.074,2646,2106,2755,2797,2713,0,0,0,0,0,0,13.40,13.76,13.79
$GC,4302,0.05,158.3,2647,2106,2797,2709,436.7,9.4,379,4321,0.17,2.42,13.30,1.599,12964,0.287,0.081,2604,727,2717,2766,2669,0,0,0,0,0,0,13.85,13.83,13.16
$GC,4502,0.09,222.7,2605,728,2758,2670,421.5,7.0,419,4604,0.00,2.40,96.12,1.385,9254,0.000,0.080,2604,2103,2457,2521,2393,0,0,0,0,0,0,14.30,14.17,13.02
$GC,4902,0.14,256.4,2604,2105,2509,2379,388.1,8.4,449,4954,0.00,0.00,50.20,1.398,8358,0.000,0.000,2604,2103,2319,2379,2260,0,0,0,0,0,0,14.44,13.93,13.14
$GC,5232,0.22,284.9,2604,2104,2368,2248,359.7,8.7,460,5282,0.12,2.50,42.90,1.401,10916,0.132,0.086,2672,729,2197,2253,2141,0,0,0,0,0,0,14.25,13.97,13.19
$GC,5318,0.22,284.9,2672,729,2249,2141,349.1,13.1,477,5324,0.00,2.42,0.00,0.000,1030,0.000,0.079,2673,2104,2192,2245,2140,0,0,0,0,0,0,14.13,14.02,14.17
$GC,5622,0.17,284.9,2672,2106,2246,2135,309.3,12.8,488,5627,0.12,2.40,0.00,0.000,4740,0.277,0.080,2649,727,2189,2245,2134,0,0,0,0,0,0,14.02,14.01,14.14
$GC,5667,0.22,290.3,2650,728,2244,2140,304.5,9.8,497,5672,0.00,2.40,0.00,0.000,1190,0.000,0.079,2649,2103,2188,2244,2133,0,0,0,0,0,0,14.21,13.74,14.28
$GC,5982,0.22,290.3,2650,2104,2244,2132,271.7,10.3,510,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2104,2187,2244,2131,0,0,0,0,0,0,14.63,14.64,14.64
$GC,6282,0.23,309.2,2650,2104,2244,2131,242.7,9.1,520,6323,0.00,2.42,35.20,1.391,8740,0.000,0.085,2654,726,2102,2157,2048,0,0,0,0,0,0,14.64,14.18,13.34
$GC,6370,0.33,336.8,2655,726,2150,2049,235.0,8.7,537,6421,0.10,2.40,45.22,1.336,11430,0.152,0.079,2697,2097,1991,2037,1945,0,0,0,0,0,0,14.13,14.11,13.21
$GC,6736,0.31,336.8,2695,2098,2032,1929,193.6,10.9,560,6741,0.00,2.40,0.00,0.000,644,0.000,0.084,2698,727,1978,2031,1925,0,0,0,0,0,0,14.52,14.19,14.54
$GC,6786,0.34,336.8,2698,728,2031,1930,188.4,10.1,570,6792,0.00,2.40,0.00,0.000,1158,0.000,0.078,2699,2105,1979,2030,1929,0,0,0,0,0,0,14.21,14.11,14.23
$GC,7097,0.34,336.8,2699,2106,2030,1928,156.7,10.0,582,7102,0.00,2.40,0.00,0.000,516,0.000,0.085,2699,727,1978,2029,1927,0,0,0,0,0,0,14.60,14.23,14.62
$GC,7153,0.40,357.4,2699,727,2028,1927,151.5,9.0,593,7189,0.00,2.38,30.48,1.362,9382,0.000,0.079,2699,2101,1909,1952,1866,0,0,0,0,0,0,14.38,14.24,13.37
$GC,7490,0.44,377.5,2699,2103,1941,1863,120.1,9.1,610,7524,0.00,2.42,29.92,1.341,8868,0.000,0.082,2699,720,1824,1856,1792,0,0,0,0,0,0,14.54,13.92,13.33
$GC,7596,0.55,417.4,2699,720,1848,1789,111.2,8.2,631,7671,0.17,2.42,65.65,1.225,11430,0.109,0.078,2772,2101,1660,1689,1631,0,0,0,0,0,0,14.21,14.14,13.18
$GC,7969,0.51,426.7,2772,2103,1689,1617,67.3,9.6,674,7980,0.00,0.00,3.95,0.394,8358,0.000,0.000,2772,2102,1625,1662,1589,0,0,0,0,0,0,14.45,14.04,13.63
$GC,8279,0.58,531.6,2772,2103,1664,1589,47.1,5.2,705,8338,0.00,2.55,54.58,0.344,8484,0.000,0.084,2772,3513,1196,1261,1131,0,0,0,0,0,0,14.53,14.01,13.82
$GC,8364,0.68,567.1,2772,3513,1260,1132,41.7,8.4,721,8387,0.00,2.38,18.73,0.330,9382,0.000,0.066,2777,2134,1053,1126,980,0,0,0,0,0,0,14.28,14.14,13.78
$GC,8695,0.89,658.7,2778,2129,1128,969,19.3,5.8,755,8748,0.25,2.62,47.83,0.267,10916,0.093,0.090,2887,684,677,739,615,0,0,0,0,0,0,14.15,13.99,13.72
$STATE,8866,end climb,SURFACE_DEPTH_REACHED
$STATE,8866,begin surface coast
$FINISH,0.9,1.020798
$STATE,8876,end surface coast,CONTROL_FINISHED_OK
$STATE,8876,begin surface
$SM_CCo,8899,26.30,0.207,0,0,503,702.78
$SM_GC,1.12,8.27,2.72,26.30,0.081,0.076,0.207,199,2205,503,-7.38,-0.48,702.78,0,0,0,0,0,0,14.18,14.09,13.93
$RAFOS_CLK,22
$RAFOS_FIX,7341.236328,-15114.365234,250817,080806,4,255,0.27
$IRIDIUM_FIX,7341.61,-15122.76,250817,092716
$TT8_MAMPS,0.085386,0.832139
$HUMID,45.70
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,15992389632.000000
$PM_FREEKB_00,53252544
$24V_AH,12.38,119.393
$10V_AH,12.29,0.000
$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,25.100,88.300,956.725,26.300,0.000,0.000,0.000,724.425,3.000,0.000,31.699,0.000,6396.756,960.926,2412.428,317.141,0.000,2453.680,0.000,1133.641,2214.000,0.539,0.000
$DEVICE_MAMPS,452.115,2150.415,1598.850,207.315,0.000,0.000,0.000,159.885,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8904.000,8894.000,8849.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.365,20.000,9.894,0.000
$MEM,323388
$DATA_FILE_SIZE,26745,791
$CAP_FILE_SIZE,108719,0
$CFSIZE,2097872896,2038726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.5
$CURRENT,0.046,242.34,1
$GPS,250817,120703,7343.829,-15118.632,37,0.8,38,20.3,0.0,0.0,11,7.6