version: 66.13
glider: 196
mission: 14
dive: 267
start: 9 6 117 22 3 19
data:
$ID,196
$MISSION,14
$DIVE,267
$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,20
$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,745.0
$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
$GPS1,060917,215232,7515.4146,-15132.9893,37,0.8,37,20.5,0.0,0.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-77.3
$GPS2,060917,220244,7515.4448,-15133.0156,9,0.7,11,20.5,0.0,0.0,12,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,2.8,52231,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,192,2202,503,491,0.0,0.0,0,144,0.00,0.00,-91.90,0.000,16386,0.000,0.000,191,2203,2173,2106,2240,0,0,0,0,0,0,14.50,28.83,14.52
$GC,147,-0.57,-145.9,191,2202,2108,2242,3.9,-4.8,9,204,13.00,2.90,-35.38,0.000,18724,0.457,2.137,2377,3614,3964,3947,3981,0,0,0,0,0,0,13.54,12.57,14.07
$GC,324,-0.70,-145.9,2377,3615,3954,3982,41.2,-13.7,44,332,0.00,2.42,0.00,0.000,1158,0.000,0.058,2376,2200,3967,3954,3981,0,0,0,0,0,0,14.24,14.12,14.28
$GC,632,-0.80,-145.9,2378,2201,3956,3980,84.0,-11.1,75,633,0.17,0.00,0.00,0.000,4230,0.114,0.000,2308,2200,3967,3954,3981,0,0,0,0,0,0,14.17,14.30,14.25
$GC,950,-0.84,-145.9,2309,2200,3955,3981,130.5,-13.6,93,954,0.00,2.50,0.00,0.000,388,0.000,0.090,2302,3610,3968,3955,3981,0,0,0,0,0,0,14.64,14.12,14.66
$GC,1055,-0.96,-145.9,2303,3611,3956,3984,142.8,-11.3,114,1059,0.00,2.40,0.00,0.000,1158,0.000,0.057,2302,2192,3968,3955,3981,0,0,0,0,0,0,14.35,14.23,14.39
$GC,1370,-1.03,-145.9,2303,2191,3957,3981,181.6,-12.1,127,1375,0.15,2.53,0.00,0.000,4484,0.121,0.086,2236,3613,3968,3955,3981,0,0,0,0,0,0,14.29,14.12,14.32
$GC,1440,-1.06,-145.9,2236,3614,3957,3981,192.4,-15.1,141,1445,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2198,3968,3955,3981,0,0,0,0,0,0,14.04,13.99,14.11
$GC,1760,-1.03,-145.9,2235,2195,3956,3981,244.5,-15.6,155,1765,0.00,2.50,0.00,0.000,388,0.000,0.087,2227,3614,3968,3956,3981,0,0,0,0,0,0,14.66,14.14,14.69
$GC,1825,-1.08,-145.9,2228,3615,3956,3982,253.9,-13.3,168,1831,0.00,2.40,0.00,0.000,1158,0.000,0.057,2228,2196,3968,3955,3981,0,0,0,0,0,0,14.34,14.18,14.34
$GC,2151,-1.08,-145.9,2228,2196,3956,3982,300.1,-13.7,183,2156,0.00,2.50,0.00,0.000,260,0.000,0.089,2225,3614,3968,3955,3981,0,0,0,0,0,0,14.69,14.16,14.69
$GC,2283,-1.15,-145.9,2223,3615,3956,3982,316.5,-11.8,209,2288,0.00,2.42,0.00,0.000,1158,0.000,0.056,2223,2195,3967,3955,3980,0,0,0,0,0,0,14.12,13.66,14.21
$GC,2603,-1.15,-145.9,2223,2194,3956,3981,358.2,-12.8,223,2608,0.00,2.50,0.00,0.000,260,0.000,0.090,2223,3612,3968,3955,3981,0,0,0,0,0,0,14.67,14.16,14.69
$GC,2698,-1.23,-145.9,2223,3613,3956,3981,369.3,-11.1,242,2703,0.12,2.40,0.00,0.000,5254,0.139,0.055,2168,2190,3967,3955,3980,0,0,0,0,0,0,14.25,14.24,14.37
$GC,3024,-1.14,-145.9,2169,2189,3956,3980,424.3,-17.0,257,3029,0.17,2.50,0.00,0.000,2436,0.304,0.083,2197,3614,3967,3954,3980,0,0,0,0,0,0,13.83,14.16,14.02
$GC,3164,-1.17,-145.9,2198,3614,3957,3981,443.5,-12.7,285,3169,0.00,2.38,0.00,0.000,1158,0.000,0.055,2197,2201,3967,3954,3980,0,0,0,0,0,0,14.30,14.17,14.32
$STATE,3442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3442,begin apogee
$GC,3448,-0.13,0.0,2198,2056,3953,3981,482.0,-13.8,296,3669,1.33,0.10,217.52,1.444,10246,0.239,0.158,2532,2122,3365,3382,3349,0,0,0,0,0,0,13.85,13.50,12.66
$STATE,3673,end apogee,CONTROL_FINISHED_OK
$STATE,3673,begin climb
$GC,3677,0.57,145.9,2532,2123,3376,3341,493.4,0.0,303,3892,0.73,2.67,210.35,1.384,10756,0.063,0.079,2781,736,2764,2803,2726,0,0,0,0,0,0,13.66,12.90,12.29
$GC,4121,0.19,145.9,2782,736,2792,2721,474.3,14.1,396,4127,0.65,2.42,0.00,0.000,5254,0.325,0.075,2646,2087,2755,2791,2720,0,0,0,0,0,0,13.43,13.80,13.81
$GC,4438,0.03,165.3,2646,2088,2791,2716,444.1,9.1,409,4463,0.20,0.00,23.62,1.500,12966,0.269,0.000,2598,2088,2693,2734,2652,0,0,0,0,0,0,13.86,14.01,13.16
$GC,4769,0.02,217.7,2598,2089,2729,2640,418.8,7.6,425,4854,0.00,2.45,78.90,1.404,8868,0.000,0.085,2602,724,2469,2521,2417,0,0,0,0,0,0,14.59,13.94,13.10
$GC,4909,0.09,251.0,2602,724,2524,2416,407.4,8.5,453,4964,0.00,2.45,48.97,1.409,9382,0.000,0.080,2602,2105,2342,2397,2287,0,0,0,0,0,0,14.03,13.92,12.99
$GC,5281,0.13,272.5,2603,2105,2384,2274,374.0,9.0,477,5313,0.00,0.00,30.73,1.451,8358,0.000,0.000,2601,2105,2254,2306,2202,0,0,0,0,0,0,14.52,14.05,13.19
$GC,5610,0.20,300.0,2603,2105,2299,2187,345.0,8.7,488,5656,0.12,2.50,40.90,1.405,10916,0.128,0.087,2672,731,2138,2186,2091,0,0,0,0,0,0,14.30,14.07,13.20
$GC,5708,0.18,300.0,2673,732,2180,2088,332.7,13.1,507,5713,0.15,2.40,0.00,0.000,5254,0.246,0.078,2640,2101,2133,2178,2089,0,0,0,0,0,0,13.95,14.10,14.19
$GC,6033,0.18,300.0,2640,2102,2179,2082,296.5,10.8,522,6038,0.00,2.42,0.00,0.000,516,0.000,0.086,2644,728,2129,2177,2082,0,0,0,0,0,0,14.62,14.19,14.64
$GC,6078,0.22,300.0,2640,729,2178,2084,291.7,10.6,531,6083,0.00,2.40,0.00,0.000,1158,0.000,0.078,2644,2105,2129,2176,2082,0,0,0,0,0,0,14.34,14.21,14.38
$GC,6393,0.22,300.0,2645,2105,2177,2081,258.9,10.0,544,6399,0.00,2.42,0.00,0.000,516,0.000,0.085,2644,721,2128,2176,2081,0,0,0,0,0,0,14.66,14.21,14.69
$GC,6434,0.28,315.8,2644,722,2176,2082,255.1,9.3,552,6461,0.00,2.38,22.67,1.434,9382,0.000,0.078,2644,2101,2077,2125,2030,0,0,0,0,0,0,14.40,14.26,13.32
$GC,6789,0.33,345.5,2644,2102,2118,2020,223.0,8.6,572,6840,0.12,0.00,50.17,1.346,10406,0.128,0.000,2698,2100,1959,2008,1911,0,0,0,0,0,0,14.35,14.04,13.25
$GC,7118,0.28,345.5,2698,2098,1991,1900,185.6,11.1,583,7123,0.00,2.45,0.00,0.000,644,0.000,0.086,2698,721,1946,1989,1904,0,0,0,0,0,0,14.43,14.06,14.45
$GC,7238,0.28,345.5,2700,722,1989,1898,172.9,10.1,607,7243,0.00,2.42,0.00,0.000,1030,0.000,0.077,2699,2100,1943,1988,1899,0,0,0,0,0,0,14.21,14.08,14.25
$GC,7568,0.28,345.5,2699,2101,1988,1896,138.9,10.1,623,7573,0.00,2.42,0.00,0.000,516,0.000,0.083,2699,729,1941,1987,1896,0,0,0,0,0,0,14.50,14.07,14.50
$GC,7624,0.33,367.0,2698,729,1987,1897,133.8,9.0,634,7661,0.00,2.40,31.73,1.359,9382,0.000,0.077,2698,2102,1868,1904,1833,0,0,0,0,0,0,14.21,14.08,13.24
$GC,7958,0.34,388.0,2699,2103,1895,1828,102.8,9.0,651,7995,0.00,2.45,30.52,1.326,8740,0.000,0.084,2702,729,1779,1804,1754,0,0,0,0,0,0,14.45,13.97,13.24
$GC,8062,0.45,427.2,2701,729,1802,1753,94.1,8.2,671,8088,0.00,2.42,20.95,0.488,9382,0.000,0.076,2699,2100,1622,1650,1595,0,0,0,0,0,0,14.13,14.01,13.60
$GC,8393,0.59,506.7,2699,2101,1651,1588,69.2,6.3,707,8440,0.20,2.45,41.67,0.408,10916,0.098,0.085,2784,725,1296,1348,1245,0,0,0,0,0,0,14.12,13.90,13.62
$GC,8488,0.59,506.7,2786,725,1348,1246,59.6,10.9,725,8492,0.00,2.45,0.00,0.000,1030,0.000,0.076,2786,2113,1296,1348,1245,0,0,0,0,0,0,14.09,13.97,14.13
$GC,8797,0.63,563.0,2786,2114,1347,1235,32.1,7.4,757,8833,0.00,2.53,29.15,0.300,8740,0.000,0.087,2786,728,1069,1133,1005,0,0,0,0,0,0,14.40,13.96,13.68
$GC,8874,0.82,636.8,2786,728,1134,1005,26.6,6.6,772,8922,0.20,2.42,39.67,0.279,11430,0.100,0.077,2866,2105,765,829,702,0,0,0,0,0,0,14.01,14.03,13.64
$STATE,9116,end climb,SURFACE_DEPTH_REACHED
$STATE,9116,begin surface coast
$FINISH,0.2,1.021332
$STATE,9126,end surface coast,CONTROL_FINISHED_OK
$STATE,9126,begin surface
$SM_CCo,9146,41.30,0.202,0,0,500,703.03
$SM_GC,1.06,8.12,0.17,41.30,0.060,0.119,0.202,203,2215,500,-7.37,-0.62,703.03,0,0,0,0,0,0,14.18,14.16,13.88
$RAFOS_CLK,105
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7514.02,-15144.24,060917,191620
$TT8_MAMPS,0.088382,1.59687
$HUMID,43.81
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15958343680.000000
$PM_FREEKB_00,50077312
$24V_AH,12.29,170.582
$10V_AH,12.16,0.000
$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,25.450,84.150,917.550,41.300,0.000,0.000,0.000,346.475,3.750,0.000,13.416,0.000,6558.060,842.774,2111.963,301.177,0.000,2045.262,0.000,1148.798,2137.000,0.540,0.000
$DEVICE_MAMPS,456.705,2136.645,1500.165,201.960,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9108.000,9131.000,9098.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.448,20.000,9.864,0.000
$MEM,323532
$DATA_FILE_SIZE,26659,802
$CAP_FILE_SIZE,103252,0
$CFSIZE,2097872896,2008973312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.9
$CURRENT,0.050,318.90,1
$GPS,070917,003750,7516.638,-15130.517,17,0.8,38,20.5,0.5,34.3,10,9.8