version: 66.13
glider: 196
mission: 14
dive: 219
start: 9 1 117 10 45 26
data:
$ID,196
$MISSION,14
$DIVE,219
$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,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,1.4
$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,617.0
$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
$GPS1,010917,102002,7430.6118,-15320.6328,16,0.7,27,19.5,0.5,278.5,11,7.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.1
$GPS2,010917,104453,7430.5610,-15320.7832,7,0.8,9,19.5,0.0,0.0,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,12.1,146919,-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,-145.9,196,2201,489,493,0.0,0.0,0,142,0.00,0.00,-91.80,0.000,16386,0.000,0.000,194,2201,2143,2072,2215,0,0,0,0,0,0,14.49,28.83,14.50
$GC,145,-0.57,-145.9,195,2201,2075,2217,3.3,-4.0,9,202,12.73,2.80,-37.42,0.000,18724,0.454,2.140,2375,3607,3963,3946,3980,0,0,0,0,0,0,13.58,12.59,14.05
$GC,288,-0.68,-145.9,2375,3609,3952,3981,36.8,-14.8,37,292,0.00,2.40,0.00,0.000,1158,0.000,0.059,2374,2201,3965,3951,3980,0,0,0,0,0,0,14.26,14.12,14.30
$GC,599,-0.77,-145.9,2375,2202,3954,3981,83.8,-11.5,69,601,0.15,0.00,0.00,0.000,4230,0.137,0.000,2322,2200,3968,3956,3980,0,0,0,0,0,0,14.16,14.30,14.31
$GC,918,-0.80,-145.9,2323,2201,3954,3977,128.7,-13.0,87,922,0.00,2.50,0.00,0.000,388,0.000,0.089,2319,3617,3966,3953,3980,0,0,0,0,0,0,14.63,14.17,14.66
$GC,993,-0.96,-145.9,2320,3617,3954,3980,137.2,-10.3,102,998,0.15,2.40,0.00,0.000,5254,0.119,0.056,2256,2195,3966,3953,3980,0,0,0,0,0,0,14.26,14.21,14.34
$GC,1308,-0.91,-145.9,2256,2195,3953,3981,191.5,-16.9,115,1313,0.12,2.50,0.00,0.000,2436,0.295,0.083,2273,3613,3966,3953,3980,0,0,0,0,0,0,13.88,14.14,14.03
$GC,1405,-0.99,-145.9,2273,3615,3954,3981,204.2,-12.4,134,1410,0.00,2.38,0.00,0.000,1158,0.000,0.057,2273,2201,3967,3954,3980,0,0,0,0,0,0,14.39,14.27,14.43
$GC,1730,-1.02,-145.9,2273,2199,3954,3980,248.5,-13.1,149,1735,0.00,2.47,0.00,0.000,388,0.000,0.087,2267,3613,3966,3953,3980,0,0,0,0,0,0,14.64,14.19,14.66
$GC,1820,-1.09,-145.9,2267,3615,3954,3981,259.2,-11.6,167,1825,0.12,2.38,0.00,0.000,5254,0.135,0.057,2220,2201,3966,3953,3980,0,0,0,0,0,0,14.29,14.26,14.40
$GC,2151,-1.05,-145.9,2220,2200,3954,3981,309.8,-14.9,183,2156,0.00,2.47,0.00,0.000,388,0.000,0.087,2210,3613,3966,3953,3979,0,0,0,0,0,0,14.68,14.21,14.69
$GC,2226,-1.05,-145.9,2210,3614,3954,3979,320.8,-14.2,198,2231,0.12,2.38,0.00,0.000,3078,0.261,0.057,2234,2201,3966,3953,3980,0,0,0,0,0,0,14.01,14.27,14.27
$GC,2541,-1.05,-145.9,2235,2200,3953,3980,361.0,-12.4,211,2546,0.00,2.47,0.00,0.000,260,0.000,0.090,2235,3613,3965,3952,3979,0,0,0,0,0,0,14.67,14.20,14.70
$GC,2611,-1.13,-145.9,2235,3612,3953,3979,369.2,-11.1,225,2616,0.00,2.40,0.00,0.000,1158,0.000,0.057,2234,2190,3965,3952,3979,0,0,0,0,0,0,14.40,14.27,14.45
$GC,2931,-1.13,-145.9,2235,2189,3953,3979,408.6,-12.3,239,2936,0.00,2.50,0.00,0.000,260,0.000,0.089,2234,3613,3965,3952,3978,0,0,0,0,0,0,14.68,14.19,14.69
$GC,3007,-1.21,-145.9,2234,3615,3953,3978,417.3,-11.0,254,3012,0.15,2.38,0.00,0.000,5254,0.129,0.056,2177,2199,3965,3952,3978,0,0,0,0,0,0,14.27,14.25,14.38
$GC,3322,-1.11,-145.9,2177,2198,3952,3978,470.9,-17.2,267,3327,0.17,2.47,0.00,0.000,2436,0.291,0.083,2206,3614,3964,3951,3978,0,0,0,0,0,0,13.85,14.16,14.04
$STATE,3385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3385,begin apogee
$GC,3393,-0.13,0.0,2207,2097,3952,3979,480.2,-13.3,280,3612,1.27,0.00,215.35,1.427,10246,0.246,0.000,2527,2095,3363,3385,3342,0,0,0,0,0,0,13.89,13.50,12.69
$STATE,3615,end apogee,CONTROL_FINISHED_OK
$STATE,3615,begin climb
$GC,3618,0.57,145.9,2527,2096,3381,3337,491.5,0.0,287,4011,0.75,2.05,208.32,1.382,11012,0.063,0.080,2781,691,2756,2793,2719,0,0,0,0,0,0,13.63,13.15,12.34
$GC,4238,0.20,145.9,2781,692,2790,2721,442.2,14.6,334,4244,0.60,2.50,0.00,0.000,5254,0.322,0.077,2652,2113,2754,2790,2718,0,0,0,0,0,0,13.65,13.99,14.02
$GC,4543,0.04,157.4,2653,2113,2791,2715,412.2,9.5,345,4562,0.22,2.55,11.15,1.636,12964,0.277,0.083,2602,693,2720,2759,2681,0,0,0,0,0,0,13.79,14.12,13.22
$GC,4732,0.09,223.6,2602,694,2758,2680,398.2,6.9,383,4844,0.00,2.47,100.60,1.369,9254,0.000,0.080,2604,2103,2449,2507,2391,0,0,0,0,0,0,14.25,14.12,13.01
$GC,5143,0.11,259.6,2603,2103,2501,2379,364.5,8.3,415,5204,0.00,0.00,53.90,1.382,8230,0.000,0.000,2602,2103,2300,2353,2247,0,0,0,0,0,0,14.38,13.90,13.13
$GC,5503,0.18,291.2,2603,2104,2349,2239,333.6,8.5,427,5554,0.12,2.60,46.53,1.381,10916,0.129,0.087,2672,693,2175,2224,2127,0,0,0,0,0,0,14.14,13.95,13.19
$GC,5609,0.18,291.2,2672,690,2216,2122,320.4,12.3,448,5616,0.15,2.53,0.00,0.000,5126,0.241,0.080,2640,2108,2169,2215,2124,0,0,0,0,0,0,13.84,13.97,14.04
$GC,5926,0.18,291.2,2641,2109,2216,2116,285.9,10.7,461,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2108,2165,2215,2116,0,0,0,0,0,0,14.45,14.47,14.47
$GC,6226,0.19,306.7,2640,2109,2216,2113,256.6,9.3,471,6250,0.00,0.00,21.70,1.454,8742,0.000,0.000,2639,2108,2112,2162,2063,0,0,0,0,0,0,14.51,14.12,13.30
$GC,6556,0.26,347.4,2640,2108,2157,2054,228.8,8.1,487,6625,0.00,0.00,67.57,1.308,8870,0.000,0.000,2640,2108,1950,2000,1901,0,0,0,0,0,0,14.46,13.91,13.18
$GC,6916,0.38,393.9,2642,2110,1985,1887,200.6,7.9,509,7000,0.17,2.60,74.75,1.262,10916,0.103,0.089,2713,684,1755,1783,1727,0,0,0,0,0,0,14.13,13.83,13.13
$GC,7110,0.42,393.9,2714,687,1772,1727,177.8,10.7,547,7115,0.00,2.47,0.00,0.000,1158,0.000,0.078,2713,2105,1748,1772,1725,0,0,0,0,0,0,14.08,13.97,14.12
$GC,7430,0.42,393.9,2713,2105,1772,1719,140.8,11.4,561,7435,0.00,2.47,0.00,0.000,516,0.000,0.088,2717,691,1745,1771,1719,0,0,0,0,0,0,14.57,14.15,14.59
$GC,7455,0.42,393.9,2717,691,1771,1719,138.1,10.8,566,7461,0.00,2.45,0.00,0.000,1030,0.000,0.078,2716,2099,1744,1769,1719,0,0,0,0,0,0,14.33,14.20,14.37
$GC,7761,0.42,393.9,2717,2101,1770,1717,105.6,10.4,577,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,1742,1769,1716,0,0,0,0,0,0,14.62,14.65,14.64
$GC,8062,0.47,424.6,2717,2101,1770,1715,77.7,8.6,603,8084,0.00,2.47,14.35,0.434,8868,0.000,0.086,2717,693,1638,1667,1609,0,0,0,0,0,0,14.61,14.19,13.72
$GC,8186,0.59,482.6,2717,692,1667,1610,67.7,7.3,627,8224,0.17,2.47,31.73,0.404,11430,0.106,0.079,2788,2106,1395,1435,1356,0,0,0,0,0,0,14.26,14.17,13.67
$GC,8529,0.63,538.2,2788,2106,1436,1349,35.7,7.4,665,8565,0.00,2.53,29.20,0.312,8484,0.000,0.082,2788,3515,1168,1227,1110,0,0,0,0,0,0,14.58,14.02,13.78
$GC,8600,0.70,560.1,2788,3514,1227,1112,29.9,9.0,679,8617,0.00,2.42,12.45,0.295,9382,0.000,0.065,2794,2100,1079,1142,1016,0,0,0,0,0,0,14.29,14.12,13.76
$GC,8923,0.88,672.8,2794,2100,1142,1013,9.9,4.8,713,8987,0.20,2.58,59.28,0.232,10916,0.103,0.091,2889,690,620,666,575,0,0,0,0,0,0,14.19,14.02,13.85
$STATE,9000,end climb,SURFACE_DEPTH_REACHED
$STATE,9000,begin surface coast
$FINISH,1.2,1.021222
$STATE,9007,end surface coast,CONTROL_FINISHED_OK
$STATE,9007,begin surface
$SM_CCo,9030,16.23,0.214,0,0,502,702.78
$SM_GC,0.87,8.15,2.62,16.23,0.065,0.061,0.214,201,2199,502,-7.38,-0.85,702.78,0,0,0,0,0,0,14.29,14.20,13.97
$RAFOS_CLK,214
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7430.74,-15326.10,010917,103700
$TT8_MAMPS,0.039697,0.907788
$HUMID,46.41
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,15978463232.000000
$PM_FREEKB_00,51456064
$24V_AH,12.34,148.106
$10V_AH,12.20,0.000
$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,25.550,79.325,946.875,16.225,0.000,0.000,0.000,964.850,3.500,0.000,9.979,0.000,6532.052,847.108,2832.595,340.077,0.000,2825.533,0.000,1049.301,2216.000,0.540,0.000
$DEVICE_MAMPS,453.645,2139.705,1635.570,214.200,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9038.000,9024.000,8982.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.676,20.000,9.902,0.000
$MEM,323528
$DATA_FILE_SIZE,26737,729
$CAP_FILE_SIZE,108674,0
$CFSIZE,2097872896,2020409344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$CURRENT,0.016,262.30,1
$GPS,010917,131731,7431.410,-15317.632,17,0.7,32,19.5,0.5,333.1,11,6.1