version: 66.13
glider: 196
mission: 14
dive: 259
start: 9 6 117 0 44 35
data:
$ID,196
$MISSION,14
$DIVE,259
$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,35
$R_STBD_OVSHOOT,47
$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,727.0
$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
$GPS1,060917,003755,7505.7993,-15151.1924,12,0.7,16,20.3,0.0,346.7,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.4
$GPS2,060917,004401,7505.8418,-15151.2510,6,0.8,41,20.3,0.0,337.2,9,6.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,8.8,71458,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,197,2190,503,493,0.0,0.0,0,143,0.00,0.00,-91.05,0.000,16386,0.000,0.000,195,2191,2159,2095,2224,0,0,0,0,0,0,14.40,28.83,14.41
$GC,146,-0.57,-145.9,196,2192,2099,2226,3.8,-5.1,9,199,12.85,2.85,-34.83,0.000,18724,0.454,2.139,2373,3580,3963,3946,3981,0,0,0,0,0,0,13.59,12.55,14.08
$GC,350,-0.73,-145.9,2378,3580,3953,3981,44.1,-12.9,49,355,0.00,2.35,0.00,0.000,1158,0.000,0.058,2378,2202,3966,3952,3981,0,0,0,0,0,0,14.13,14.04,14.16
$GC,662,-0.85,-145.9,2378,2201,3955,3981,84.3,-10.3,81,663,0.22,0.00,0.00,0.000,4230,0.106,0.000,2289,2201,3967,3953,3981,0,0,0,0,0,0,14.22,14.35,14.31
$GC,970,-0.85,-145.9,2290,2201,3954,3981,132.8,-14.8,98,974,0.00,2.45,0.00,0.000,260,0.000,0.090,2280,3588,3966,3952,3981,0,0,0,0,0,0,14.64,14.10,14.66
$GC,1117,-0.95,-145.9,2281,3589,3954,3982,151.4,-12.2,127,1122,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2199,3967,3953,3981,0,0,0,0,0,0,14.30,14.17,14.34
$GC,1420,-0.98,-145.9,2281,2198,3954,3981,192.4,-13.1,138,1425,0.00,2.45,0.00,0.000,388,0.000,0.089,2271,3582,3967,3953,3981,0,0,0,0,0,0,14.66,14.11,14.68
$GC,1450,-1.05,-145.9,2272,3585,3954,3982,196.3,-13.2,144,1456,0.00,2.35,0.00,0.000,1158,0.000,0.058,2271,2198,3967,3953,3981,0,0,0,0,0,0,14.31,14.18,14.35
$GC,1781,-1.10,-145.9,2272,2198,3954,3982,238.9,-12.6,160,1787,0.12,2.45,0.00,0.000,4484,0.139,0.086,2209,3584,3967,3953,3981,0,0,0,0,0,0,14.28,14.15,14.33
$GC,1867,-1.10,-145.9,2215,3585,3958,3981,252.1,-15.6,177,1873,0.00,2.38,0.00,0.000,1030,0.000,0.059,2210,2201,3967,3953,3981,0,0,0,0,0,0,14.35,14.19,14.36
$GC,2173,-1.05,-145.9,2210,2199,3954,3981,301.0,-15.5,188,2179,0.12,2.47,0.00,0.000,2436,0.301,0.087,2235,3587,3967,3953,3981,0,0,0,0,0,0,13.88,13.66,14.04
$GC,2239,-1.14,-145.9,2236,3589,3954,3982,309.3,-11.1,201,2244,0.00,2.35,0.00,0.000,1158,0.000,0.058,2235,2196,3967,3953,3981,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2564,-1.18,-145.9,2236,2196,3954,3981,348.2,-11.8,216,2570,0.12,2.47,0.00,0.000,4484,0.145,0.086,2172,3591,3967,3953,3981,0,0,0,0,0,0,14.25,14.14,14.28
$GC,2655,-1.12,-145.9,2172,3591,3953,3982,362.8,-16.8,234,2660,0.20,2.35,0.00,0.000,3206,0.262,0.057,2213,2199,3967,3953,3981,0,0,0,0,0,0,13.88,14.23,14.19
$GC,2985,-1.12,-145.9,2214,2198,3954,3981,406.9,-13.0,250,2990,0.00,2.45,0.00,0.000,260,0.000,0.088,2209,3588,3966,3953,3980,0,0,0,0,0,0,14.69,14.14,14.70
$GC,3070,-1.18,-145.9,2209,3589,3953,3982,417.6,-12.0,267,3077,0.00,2.38,0.00,0.000,1158,0.000,0.057,2209,2199,3967,3953,3981,0,0,0,0,0,0,14.23,14.07,14.28
$GC,3375,-1.18,-145.9,2209,2198,3953,3981,457.1,-12.8,278,3380,0.00,2.45,0.00,0.000,260,0.000,0.087,2204,3589,3966,3953,3980,0,0,0,0,0,0,14.69,14.15,14.71
$GC,3445,-1.22,-145.9,2205,3591,3954,3980,466.0,-12.2,292,3451,0.00,2.38,0.00,0.000,1158,0.000,0.057,2204,2195,3969,3959,3980,0,0,0,0,0,0,14.28,14.14,14.31
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3560,-0.13,0.0,2205,2063,3954,3981,480.7,-13.3,299,3792,1.27,0.00,228.20,1.431,10246,0.237,0.000,2528,2061,3364,3383,3345,0,0,0,0,0,0,13.87,13.47,12.65
$STATE,3795,end apogee,CONTROL_FINISHED_OK
$STATE,3795,begin climb
$GC,3798,0.57,145.9,2529,2060,3378,3336,491.7,0.0,306,4020,0.75,2.58,209.02,1.384,10756,0.063,0.080,2780,736,2763,2805,2722,0,0,0,0,0,0,13.61,13.12,12.28
$GC,4158,0.18,145.9,2781,737,2796,2715,485.8,14.2,371,4164,0.65,2.42,0.00,0.000,5254,0.321,0.075,2648,2075,2758,2804,2713,0,0,0,0,0,0,13.24,13.59,13.60
$GC,4461,0.02,165.0,2649,2078,2796,2709,456.9,9.1,382,4492,0.25,0.00,24.55,1.490,12454,0.268,0.000,2591,2076,2686,2734,2638,0,0,0,0,0,0,13.80,13.76,13.12
$GC,4791,0.03,223.2,2592,2077,2731,2629,432.5,7.3,393,4884,0.00,0.00,91.35,1.378,8358,0.000,0.000,2592,2076,2456,2516,2397,0,0,0,0,0,0,14.56,13.86,13.07
$GC,5181,0.08,263.5,2592,2076,2501,2376,401.1,8.1,406,5245,0.00,0.00,62.65,1.374,8870,0.000,0.000,2592,2076,2292,2347,2237,0,0,0,0,0,0,14.54,13.94,13.12
$GC,5543,0.16,303.9,2590,2077,2333,2218,371.6,8.1,428,5612,0.12,2.42,63.15,1.357,10916,0.132,0.087,2659,726,2121,2172,2071,0,0,0,0,0,0,14.27,13.95,13.14
$GC,5672,0.16,303.9,2659,726,2159,2069,355.7,12.2,454,5677,0.00,2.45,0.00,0.000,1030,0.000,0.079,2659,2104,2112,2158,2067,0,0,0,0,0,0,14.18,14.06,14.21
$GC,5993,0.12,303.9,2660,2105,2159,2060,315.1,12.6,468,5999,0.12,2.40,0.00,0.000,4740,0.261,0.083,2634,730,2109,2158,2060,0,0,0,0,0,0,14.02,14.21,14.18
$GC,6039,0.19,303.9,2635,729,2157,2061,310.0,10.2,477,6044,0.00,2.38,0.00,0.000,1158,0.000,0.079,2634,2101,2108,2157,2060,0,0,0,0,0,0,14.36,14.23,14.40
$GC,6354,0.21,303.9,2634,2102,2156,2058,278.0,10.0,490,6359,0.00,2.40,0.00,0.000,644,0.000,0.084,2641,724,2106,2156,2057,0,0,0,0,0,0,14.65,14.10,14.67
$GC,6424,0.27,311.1,2642,724,2157,2057,271.1,9.7,504,6431,0.00,2.40,1.35,0.262,9382,0.000,0.080,2641,2100,2095,2144,2047,0,0,0,0,0,0,14.35,14.21,13.99
$GC,6746,0.28,335.6,2641,2101,2155,2060,241.1,8.9,518,6800,0.00,0.00,52.83,1.333,8230,0.000,0.000,2641,2100,1995,2043,1948,0,0,0,0,0,0,14.66,14.06,13.27
$GC,7076,0.37,374.9,2642,2100,2033,1930,213.7,8.2,529,7152,0.15,2.50,68.03,1.278,10916,0.115,0.086,2712,730,1831,1862,1801,0,0,0,0,0,0,14.15,13.98,13.19
$GC,7207,0.37,374.9,2713,731,1850,1800,198.1,12.0,555,7212,0.00,2.42,0.00,0.000,1030,0.000,0.076,2712,2097,1826,1850,1803,0,0,0,0,0,0,13.81,13.46,14.03
$GC,7527,0.34,374.9,2713,2098,1851,1790,159.5,11.7,569,7528,0.00,0.00,0.00,0.000,134,0.000,0.000,2712,2098,1820,1850,1790,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7827,0.31,374.9,2712,2099,1850,1789,126.6,10.5,579,7832,0.12,2.40,0.00,0.000,4740,0.236,0.082,2685,720,1818,1849,1788,0,0,0,0,0,0,14.04,14.23,14.22
$GC,7930,0.42,418.6,2686,720,1845,1788,118.2,8.0,599,8009,0.00,2.42,75.15,1.239,9382,0.000,0.079,2685,2112,1660,1689,1631,0,0,0,0,0,0,14.23,14.12,13.24
$GC,8308,0.55,478.5,2686,2113,1680,1607,87.9,7.2,635,8340,0.17,0.00,30.17,0.461,10918,0.109,0.000,2766,2112,1413,1456,1371,0,0,0,0,0,0,14.17,14.07,13.62
$GC,8638,0.58,513.6,2767,2111,1458,1375,52.7,8.4,669,8664,0.00,2.50,19.70,0.355,8740,0.000,0.087,2768,727,1271,1322,1220,0,0,0,0,0,0,14.58,14.08,13.76
$GC,8810,0.71,589.6,2768,728,1323,1227,40.7,6.5,703,8857,0.12,2.40,41.28,0.321,11430,0.134,0.079,2816,2100,959,1026,893,0,0,0,0,0,0,14.07,14.07,13.77
$GC,9162,0.82,665.8,2817,2100,1027,898,11.1,6.5,743,9209,0.00,2.45,41.70,0.239,8868,0.000,0.083,2821,724,648,701,596,0,0,0,0,0,0,14.56,14.00,13.82
$GC,9235,1.00,724.2,2822,725,701,595,6.1,7.3,755,9262,0.25,2.42,20.80,0.223,11430,0.090,0.079,2911,2106,495,515,476,0,0,0,0,0,0,14.19,14.04,13.87
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,0.3,1.021350
$STATE,9284,end surface coast,CONTROL_FINISHED_OK
$STATE,9285,begin surface
$SM_CCo,9367,0.00,0.000,0,0,495,704.50
$SM_GC,1.34,8.30,0.17,0.00,0.071,0.117,0.000,198,2226,495,-7.38,-0.57,704.50,0,0,0,0,0,0,14.29,14.26,14.38
$RAFOS_CLK,431
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7507.00,-15148.76,050917,215811
$TT8_MAMPS,0.038948,0.86884
$HUMID,46.69
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15961620480.000000
$PM_FREEKB_00,50303552
$24V_AH,12.28,166.900
$10V_AH,12.32,0.000
$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,25.950,78.275,1029.925,0.000,0.000,0.000,0.000,143.400,3.750,0.000,42.401,0.000,6723.672,1030.620,1762.572,226.874,0.000,1902.268,0.000,1095.729,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2138.940,1490.220,0.000,0.000,0.000,0.000,141.525,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9277.000,9287.000,9260.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.484,20.000,9.852,0.000
$MEM,323572
$DATA_FILE_SIZE,26711,763
$CAP_FILE_SIZE,97733,0
$CFSIZE,2097872896,2010742784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.059,315.03,1
$GPS,060917,032143,7507.052,-15148.342,15,0.7,19,20.4,0.4,346.3,12,10.0