version: 66.13
glider: 196
mission: 14
dive: 246
start: 9 4 117 13 32 29
data:
$ID,196
$MISSION,14
$DIVE,246
$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,60
$R_STBD_OVSHOOT,36
$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,690.0
$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
$GPS1,040917,132108,7452.6187,-15221.6172,15,0.8,20,20.0,0.5,328.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.1
$GPS2,040917,133152,7452.6562,-15221.7656,6,0.7,6,20.0,0.0,0.0,11,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.5,98919,-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,-145.9,192,2214,496,491,0.0,0.0,0,142,0.00,0.00,-91.38,0.000,16386,0.000,0.000,192,2215,2146,2077,2216,0,0,0,0,0,0,14.50,28.83,14.51
$GC,145,-0.57,-145.9,192,2212,2083,2217,3.4,-4.3,9,202,12.80,2.80,-37.05,0.000,18724,0.455,2.138,2375,3592,3965,3949,3982,0,0,0,0,0,0,13.60,12.56,14.09
$GC,378,-0.69,-145.9,2376,3591,3955,3982,46.7,-13.9,55,383,0.00,2.33,0.00,0.000,1158,0.000,0.061,2375,2228,3968,3954,3982,0,0,0,0,0,0,14.30,14.17,14.34
$GC,688,-0.80,-145.9,2376,2228,3956,3984,85.5,-10.8,87,689,0.17,0.00,0.00,0.000,4230,0.122,0.000,2306,2227,3968,3955,3982,0,0,0,0,0,0,14.26,14.39,14.38
$GC,998,-0.84,-145.9,2306,2228,3956,3983,130.4,-13.7,104,1004,0.00,2.42,0.00,0.000,388,0.000,0.086,2301,3601,3968,3955,3982,0,0,0,0,0,0,14.64,14.17,14.69
$GC,1084,-0.97,-145.9,2301,3603,3956,3982,140.6,-11.2,121,1090,0.00,2.38,0.00,0.000,1158,0.000,0.057,2300,2201,3968,3955,3982,0,0,0,0,0,0,14.14,14.06,14.19
$GC,1389,-1.03,-145.9,2301,2200,3956,3983,178.8,-12.2,132,1390,0.17,0.00,0.00,0.000,4230,0.114,0.000,2238,2199,3968,3955,3982,0,0,0,0,0,0,14.31,14.41,14.38
$GC,1689,-0.99,-145.9,2239,2199,3957,3982,228.4,-16.3,142,1694,0.00,2.45,0.00,0.000,388,0.000,0.089,2236,3595,3969,3956,3982,0,0,0,0,0,0,14.67,14.14,14.68
$GC,1844,-1.02,-145.9,2236,3595,3956,3982,250.7,-13.7,173,1849,0.00,2.35,0.00,0.000,1158,0.000,0.056,2236,2198,3968,3955,3982,0,0,0,0,0,0,14.33,14.21,14.36
$GC,2169,-1.02,-145.9,2236,2198,3956,3983,296.7,-13.5,188,2175,0.00,2.47,0.00,0.000,260,0.000,0.090,2235,3603,3968,3955,3982,0,0,0,0,0,0,14.68,14.17,14.70
$GC,2240,-1.09,-145.9,2236,3604,3956,3983,305.4,-11.6,202,2245,0.00,2.38,0.00,0.000,1158,0.000,0.056,2236,2198,3969,3956,3982,0,0,0,0,0,0,14.38,14.25,14.42
$GC,2560,-1.11,-145.9,2236,2197,3955,3983,344.7,-12.1,216,2566,0.00,2.47,0.00,0.000,388,0.000,0.089,2235,3603,3968,3955,3982,0,0,0,0,0,0,14.68,14.17,14.68
$GC,2611,-1.20,-145.9,2236,3603,3956,3982,350.6,-10.5,226,2616,0.12,2.38,0.00,0.000,5254,0.138,0.057,2183,2199,3968,3955,3982,0,0,0,0,0,0,14.25,14.23,14.37
$GC,2921,-1.11,-145.9,2184,2198,3956,3981,400.5,-16.3,238,2926,0.12,2.45,0.00,0.000,2436,0.303,0.083,2202,3595,3968,3955,3981,0,0,0,0,0,0,13.91,14.16,14.08
$GC,3048,-1.11,-145.9,2202,3595,3955,3981,417.7,-13.2,263,3053,0.00,2.35,0.00,0.000,1030,0.000,0.055,2202,2199,3967,3954,3981,0,0,0,0,0,0,14.33,14.15,14.35
$GC,3373,-1.08,-145.9,2202,2198,3955,3981,462.8,-13.7,278,3378,0.12,2.45,0.00,0.000,2436,0.306,0.083,2222,3594,3966,3953,3980,0,0,0,0,0,0,13.93,14.16,14.09
$GC,3480,-1.17,-145.9,2222,3596,3955,3982,474.8,-10.7,299,3485,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2197,3967,3953,3981,0,0,0,0,0,0,14.36,14.24,14.40
$STATE,3522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3528,-0.13,0.0,2223,2066,3954,3981,480.1,-11.4,303,3755,1.20,0.00,223.23,1.449,10246,0.230,0.000,2530,2063,3365,3387,3344,0,0,0,0,0,0,13.83,13.47,12.63
$STATE,3759,end apogee,CONTROL_FINISHED_OK
$STATE,3759,begin climb
$GC,3761,0.57,145.9,2531,2063,3379,3334,490.9,0.0,310,3979,0.75,2.53,206.90,1.372,10756,0.062,0.079,2791,731,2761,2802,2721,0,0,0,0,0,0,13.59,13.14,12.30
$GC,4170,0.18,145.9,2792,732,2793,2713,469.6,15.6,385,4175,0.70,2.45,0.00,0.000,5254,0.323,0.075,2646,2088,2752,2793,2711,0,0,0,0,0,0,13.36,13.71,13.74
$GC,4486,0.03,156.4,2647,2088,2794,2706,438.1,9.5,398,4491,0.20,0.00,3.30,1.209,12966,0.271,0.000,2597,2088,2726,2770,2683,0,0,0,0,0,0,13.84,13.99,12.66
$GC,4816,0.03,220.6,2598,2088,2786,2696,414.3,7.0,414,4938,0.00,2.50,112.35,1.361,8868,0.000,0.084,2602,729,2455,2513,2397,0,0,0,0,0,0,14.62,13.82,13.02
$GC,5000,0.12,256.3,2603,729,2507,2393,399.7,8.4,450,5057,0.00,2.45,51.88,1.369,9382,0.000,0.079,2602,2105,2322,2379,2266,0,0,0,0,0,0,14.07,13.95,12.95
$GC,5364,0.18,279.6,2602,2106,2360,2242,367.6,8.9,472,5399,0.12,0.00,33.35,1.397,10406,0.128,0.000,2661,2105,2226,2281,2172,0,0,0,0,0,0,14.22,14.05,13.19
$GC,5692,0.13,279.6,2662,2105,2263,2153,325.6,12.7,483,5697,0.15,2.40,0.00,0.000,4740,0.256,0.083,2630,730,2208,2263,2153,0,0,0,0,0,0,14.02,14.17,14.13
$GC,5779,0.21,290.1,2630,731,2261,2154,316.9,9.5,500,5787,0.00,2.40,4.07,1.477,9382,0.000,0.079,2630,2098,2182,2238,2126,0,0,0,0,0,0,14.31,14.19,13.07
$GC,6082,0.24,300.0,2631,2098,2248,2139,287.1,9.5,511,6115,0.00,2.40,24.80,1.434,8868,0.000,0.083,2631,729,2135,2187,2084,0,0,0,0,0,0,14.64,13.93,13.30
$GC,6177,0.36,326.8,2631,729,2179,2083,278.7,8.8,529,6225,0.20,2.42,43.78,1.355,11430,0.096,0.078,2706,2101,2032,2079,1986,0,0,0,0,0,0,14.27,14.16,13.19
$GC,6535,0.29,326.8,2706,2106,2064,1968,230.6,12.7,551,6537,0.15,0.00,0.00,0.000,4230,0.227,0.000,2673,2105,2014,2062,1967,0,0,0,0,0,0,14.08,14.36,14.31
$GC,6835,0.29,336.3,2673,2106,2063,1962,201.0,9.6,561,6845,0.00,2.45,3.22,1.233,8740,0.000,0.087,2673,735,1995,2045,1945,0,0,0,0,0,0,14.63,14.05,12.83
$GC,6922,0.38,359.2,2673,737,2050,1953,193.2,8.9,578,6977,0.00,2.38,47.10,1.353,9382,0.000,0.080,2673,2105,1894,1935,1853,0,0,0,0,0,0,14.35,14.21,13.25
$GC,7289,0.45,391.0,2673,2106,1922,1850,160.4,8.5,601,7348,0.17,2.50,51.17,1.315,10916,0.114,0.086,2755,729,1766,1791,1742,0,0,0,0,0,0,14.27,14.03,13.24
$GC,7400,0.41,391.0,2754,728,1784,1742,146.2,13.2,618,7405,0.17,2.40,0.00,0.000,5254,0.245,0.078,2716,2099,1762,1783,1741,0,0,0,0,0,0,13.92,14.09,14.17
$GC,7710,0.41,391.0,2717,2099,1784,1734,112.6,10.5,630,7715,0.00,2.40,0.00,0.000,516,0.000,0.086,2721,730,1758,1782,1734,0,0,0,0,0,0,14.58,14.21,14.59
$GC,7765,0.45,391.0,2722,730,1783,1733,106.9,10.3,641,7771,0.00,2.40,0.00,0.000,1158,0.000,0.078,2721,2102,1757,1781,1733,0,0,0,0,0,0,14.31,14.17,14.35
$GC,8072,0.47,420.2,2722,2101,1782,1731,77.4,8.7,666,8092,0.00,2.50,14.62,0.434,8740,0.000,0.084,2726,728,1650,1676,1624,0,0,0,0,0,0,14.59,14.06,13.64
$GC,8142,0.58,454.5,2727,725,1679,1624,71.2,8.4,678,8169,0.12,2.42,19.17,0.416,11430,0.127,0.079,2780,2102,1512,1538,1486,0,0,0,0,0,0,14.19,14.05,13.61
$GC,8474,0.63,527.0,2781,2103,1539,1480,41.0,6.7,714,8517,0.00,0.00,38.05,0.324,8486,0.000,0.000,2781,2102,1214,1269,1160,0,0,0,0,0,0,14.59,14.09,13.72
$GC,8825,0.81,652.2,2787,2102,1271,1152,18.6,4.2,752,8895,0.20,0.00,65.82,0.261,10406,0.101,0.000,2862,2102,703,760,646,0,0,0,0,0,0,14.05,14.04,13.76
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9002,begin surface coast
$FINISH,0.6,1.021310
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9080,29.50,0.207,0,0,498,702.78
$SM_GC,1.37,8.30,0.17,29.50,0.081,0.113,0.207,204,2223,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.18,13.88
$RAFOS_CLK,19
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7451.20,-15219.85,040917,104257
$TT8_MAMPS,0.083888,0.845621
$HUMID,46.37
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,0.000000
$PM_FREEKB_00,50684608
$24V_AH,12.30,160.800
$10V_AH,12.36,0.000
$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,25.975,73.350,942.825,29.500,0.000,0.000,0.000,386.825,4.500,0.000,7.878,0.000,6452.993,975.078,2044.631,299.409,0.000,2087.604,0.000,1105.048,2210.000,0.539,0.000
$DEVICE_MAMPS,455.175,2138.175,1477.215,206.550,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9047.000,9066.000,9035.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.561,20.000,9.848,0.000
$MEM,323712
$DATA_FILE_SIZE,26699,771
$CAP_FILE_SIZE,100440,0
$CFSIZE,2097872896,2013790208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.8
$CURRENT,0.082,263.80,1
$GPS,040917,160532,7453.400,-15219.338,27,0.7,27,20.1,0.0,0.0,11,8.2