version: 66.13
glider: 196
mission: 14
dive: 197
start: 8 29 117 21 52 47
data:
$ID,196
$MISSION,14
$DIVE,197
$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,26
$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,555.0
$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
$GPS1,290817,212525,7415.8643,-15325.1387,38,0.8,39,19.4,0.4,224.7,10,7.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.5
$GPS2,290817,215213,7415.8105,-15325.2373,11,0.8,11,19.4,0.0,358.3,9,7.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,275.0,16471,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,177,2215,498,481,0.0,0.0,0,151,0.00,0.00,-101.50,0.000,16386,0.000,0.000,174,2215,2381,2323,2440,0,0,0,0,0,0,14.46,28.83,14.48
$GC,154,-0.57,-145.9,175,2217,2331,2441,4.6,-7.2,10,202,12.82,2.75,-28.77,0.000,18724,0.454,2.146,2375,3594,3964,3946,3982,0,0,0,0,0,0,13.56,12.62,14.02
$GC,427,-0.75,-145.9,2375,3596,3954,3983,60.0,-11.1,64,432,0.12,2.38,0.00,0.000,5254,0.132,0.057,2325,2201,3967,3953,3982,0,0,0,0,0,0,14.18,14.15,14.28
$GC,757,-0.75,-145.9,2325,2201,3954,3983,114.8,-15.1,92,762,0.00,2.47,0.00,0.000,260,0.000,0.087,2319,3606,3968,3954,3982,0,0,0,0,0,0,14.61,14.07,14.61
$GC,842,-0.88,-145.9,2319,3605,3954,3983,125.7,-11.4,109,849,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2201,3968,3954,3982,0,0,0,0,0,0,14.25,14.13,14.31
$GC,1147,-0.93,-145.9,2320,2199,3955,3982,165.6,-12.6,120,1149,0.12,0.00,0.00,0.000,4230,0.139,0.000,2261,2199,3967,3954,3981,0,0,0,0,0,0,14.25,14.33,14.33
$GC,1447,-0.89,-145.9,2265,2200,3954,3983,215.2,-16.2,130,1452,0.00,2.47,0.00,0.000,388,0.000,0.089,2254,3607,3971,3961,3982,0,0,0,0,0,0,14.69,14.16,14.68
$GC,1537,-0.89,-145.9,2254,3609,3954,3982,228.8,-14.4,148,1543,0.15,2.42,0.00,0.000,3078,0.253,0.059,2284,2188,3968,3954,3982,0,0,0,0,0,0,13.95,14.21,14.22
$GC,1868,-0.94,-145.9,2284,2187,3955,3983,269.8,-11.7,164,1873,0.00,2.50,0.00,0.000,388,0.000,0.090,2280,3603,3968,3954,3982,0,0,0,0,0,0,14.66,14.19,14.69
$GC,1899,-1.03,-145.9,2280,3603,3955,3982,273.2,-11.5,170,1903,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2195,3968,3954,3982,0,0,0,0,0,0,14.39,14.26,14.42
$GC,2229,-1.09,-145.9,2280,2195,3955,3982,309.1,-10.8,186,2234,0.12,2.47,0.00,0.000,4484,0.142,0.086,2222,3601,3967,3954,3981,0,0,0,0,0,0,14.33,14.20,14.38
$GC,2279,-1.09,-145.9,2227,3601,3959,3981,316.0,-14.4,196,2284,0.00,2.38,0.00,0.000,1030,0.000,0.058,2222,2198,3967,3954,3981,0,0,0,0,0,0,14.42,14.26,14.42
$GC,2589,-1.04,-145.9,2222,2198,3954,3981,361.9,-14.5,208,2594,0.00,2.47,0.00,0.000,388,0.000,0.090,2222,3603,3967,3954,3980,0,0,0,0,0,0,14.69,14.20,14.70
$GC,2674,-1.07,-145.9,2222,3604,3958,3981,373.5,-12.8,225,2681,0.00,2.40,0.00,0.000,1158,0.000,0.060,2222,2198,3967,3954,3980,0,0,0,0,0,0,14.21,14.09,14.25
$GC,2979,-1.03,-145.9,2222,2195,3955,3979,416.5,-14.1,236,2984,0.00,2.47,0.00,0.000,388,0.000,0.089,2215,3604,3966,3953,3979,0,0,0,0,0,0,14.68,14.20,14.70
$GC,3069,-1.03,-145.9,2215,3606,3954,3980,428.7,-13.2,254,3074,0.15,2.40,0.00,0.000,3078,0.257,0.058,2245,2190,3966,3954,3979,0,0,0,0,0,0,13.98,14.25,14.25
$GC,3400,-1.06,-145.9,2246,2189,3954,3982,466.7,-11.3,270,3404,0.00,2.47,0.00,0.000,388,0.000,0.088,2240,3600,3968,3954,3982,0,0,0,0,0,0,14.69,14.14,14.70
$GC,3460,-1.14,-145.9,2240,3601,3953,3979,473.5,-10.8,282,3465,0.00,2.38,0.00,0.000,1158,0.000,0.057,2240,2195,3965,3953,3978,0,0,0,0,0,0,14.35,14.20,14.36
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3523,-0.13,0.0,2241,2065,3955,3978,480.4,-11.6,289,3742,1.12,0.00,215.25,1.437,10246,0.230,0.000,2530,2064,3363,3389,3338,0,0,0,0,0,0,13.90,13.48,12.68
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3748,0.57,145.9,2531,2065,3385,3334,491.5,0.0,296,3959,0.75,0.00,205.75,1.385,10758,0.063,0.000,2784,2064,2769,2818,2720,0,0,0,0,0,0,13.62,13.12,12.35
$GC,4242,0.16,145.9,2784,2064,2802,2712,458.6,15.6,323,4247,0.65,2.40,0.00,0.000,4740,0.324,0.080,2651,723,2755,2801,2710,0,0,0,0,0,0,13.47,13.82,13.71
$GC,4334,0.04,161.4,2652,723,2802,2710,448.9,9.3,341,4359,0.22,2.45,18.90,1.541,13478,0.276,0.081,2603,2098,2705,2753,2657,0,0,0,0,0,0,13.70,13.97,12.98
$GC,4666,0.04,213.8,2605,2098,2747,2648,423.4,7.6,357,4747,0.00,0.00,78.55,1.400,8870,0.000,0.000,2603,2098,2490,2553,2428,0,0,0,0,0,0,14.54,13.86,13.08
$GC,5024,0.06,241.4,2602,2098,2545,2415,392.9,8.7,374,5069,0.00,2.45,39.22,1.429,8740,0.000,0.087,2604,733,2376,2434,2318,0,0,0,0,0,0,14.50,14.00,13.18
$GC,5089,0.13,270.9,2604,730,2431,2318,387.1,8.6,387,5139,0.00,2.42,44.05,1.403,9382,0.000,0.080,2603,2105,2258,2317,2200,0,0,0,0,0,0,14.16,14.04,13.04
$GC,5446,0.21,295.7,2604,2101,2309,2186,355.2,8.9,408,5486,0.12,2.50,35.17,1.421,10916,0.131,0.087,2672,728,2156,2211,2102,0,0,0,0,0,0,14.26,14.04,13.22
$GC,5511,0.17,295.7,2672,730,2204,2103,346.8,13.9,421,5518,0.15,2.42,0.00,0.000,5254,0.249,0.079,2640,2101,2152,2204,2101,0,0,0,0,0,0,13.90,14.05,14.12
$GC,5838,0.17,295.7,2640,2102,2203,2094,311.1,10.6,436,5842,0.00,2.40,0.00,0.000,516,0.000,0.086,2645,729,2148,2203,2093,0,0,0,0,0,0,14.58,14.23,14.60
$GC,5878,0.22,295.7,2646,729,2202,2092,306.9,10.5,444,5883,0.00,2.38,0.00,0.000,1158,0.000,0.079,2646,2100,2147,2201,2093,0,0,0,0,0,0,14.34,14.21,14.38
$GC,6198,0.22,295.7,2646,2101,2202,2091,272.3,10.7,458,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2101,2146,2201,2091,0,0,0,0,0,0,14.65,14.67,14.67
$GC,6498,0.23,311.9,2646,2101,2202,2090,243.1,9.3,468,6530,0.00,2.45,22.85,1.461,8740,0.000,0.086,2646,729,2089,2141,2037,0,0,0,0,0,0,14.68,14.20,13.38
$GC,6630,0.34,350.3,2647,729,2136,2034,232.2,8.2,494,6700,0.15,2.40,63.88,1.318,11430,0.119,0.079,2705,2105,1936,1980,1893,0,0,0,0,0,0,14.28,14.21,13.20
$GC,7010,0.30,350.3,2705,2105,1963,1883,187.3,11.6,520,7015,0.00,2.47,0.00,0.000,388,0.000,0.084,2705,3507,1923,1963,1883,0,0,0,0,0,0,14.53,14.13,14.55
$GC,7031,0.25,350.3,2705,3508,1962,1884,184.8,12.4,524,7036,0.22,2.35,0.00,0.000,5254,0.248,0.063,2661,2130,1921,1961,1882,0,0,0,0,0,0,14.00,14.21,14.28
$GC,7341,0.35,397.3,2661,2130,1962,1880,158.9,7.8,536,7426,0.00,2.58,78.15,1.259,8868,0.000,0.091,2661,693,1741,1769,1714,0,0,0,0,0,0,14.62,13.97,13.22
$GC,7556,0.53,445.9,2661,693,1759,1712,142.3,7.8,579,7654,0.28,2.47,85.00,1.206,11430,0.089,0.080,2768,2104,1539,1572,1507,0,0,0,0,0,0,14.19,14.10,13.07
$GC,7959,0.50,445.9,2768,2102,1577,1491,85.4,13.7,612,7964,0.00,2.53,0.00,0.000,644,0.000,0.091,2768,689,1532,1575,1490,0,0,0,0,0,0,14.35,13.95,14.36
$GC,8019,0.50,445.9,2768,690,1573,1489,77.7,12.0,624,8024,0.00,2.50,0.00,0.000,1030,0.000,0.077,2768,2101,1531,1572,1490,0,0,0,0,0,0,14.09,13.98,14.12
$GC,8329,0.53,501.4,2768,2103,1573,1489,46.9,7.4,656,8362,0.00,2.58,27.35,0.344,8740,0.000,0.086,2768,692,1317,1367,1268,0,0,0,0,0,0,14.42,14.02,13.67
$GC,8439,0.69,573.3,2768,692,1368,1268,39.4,6.7,677,8481,0.12,2.50,37.85,0.318,11430,0.134,0.080,2818,2106,1026,1094,958,0,0,0,0,0,0,13.99,13.97,13.71
$GC,8787,0.79,634.1,2818,2106,1094,949,11.0,7.2,716,8824,0.00,2.50,31.80,0.242,8868,0.000,0.082,2822,692,775,841,710,0,0,0,0,0,0,14.40,13.92,13.84
$GC,8864,0.97,681.6,2822,692,842,710,5.4,7.8,731,8896,0.22,2.50,25.73,0.220,11430,0.090,0.077,2904,2107,584,626,542,0,0,0,0,0,0,14.14,13.97,13.85
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8899,begin surface coast
$FINISH,0.1,1.019765
$STATE,8909,end surface coast,CONTROL_FINISHED_OK
$STATE,8909,begin surface
$SM_CCo,8931,11.80,0.216,0,0,497,702.78
$SM_GC,1.42,8.32,0.17,11.80,0.073,0.122,0.216,204,2218,497,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.13,13.93
$RAFOS_CLK,65
$RAFOS_FIX,7415.113770,-15322.087891,290817,202058,3,255,0.14
$IRIDIUM_FIX,7414.76,-15319.02,290817,214245
$TT8_MAMPS,0.085386,0.951979
$HUMID,44.40
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15984164864.000000
$PM_FREEKB_00,52073024
$24V_AH,12.35,137.633
$10V_AH,12.40,0.000
$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,25.850,88.775,1009.500,11.800,0.000,0.000,0.000,1071.300,5.250,0.000,12.990,0.000,6585.068,1016.586,2615.784,345.956,0.000,2819.291,0.000,1062.336,2159.000,0.540,0.000
$DEVICE_MAMPS,453.645,2145.825,1540.710,215.730,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8940.000,8937.000,8886.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.021,20.000,9.873,0.000
$MEM,323392
$DATA_FILE_SIZE,26674,739
$CAP_FILE_SIZE,110820,0
$CFSIZE,2097872896,2027061248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.9
$CURRENT,0.053,194.35,1
$GPS,300817,002305,7416.342,-15329.034,26,0.9,30,19.4,0.4,120.4,9,9.5