version: 66.13
glider: 196
mission: 14
dive: 270
start: 9 7 117 6 18 30
data:
$ID,196
$MISSION,14
$DIVE,270
$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,61
$R_STBD_OVSHOOT,18
$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,752.0
$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
$GPS1,070917,061158,7518.7275,-15126.9629,38,0.8,39,20.6,0.5,67.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.0
$GPS2,070917,061754,7518.7598,-15127.0156,8,0.8,10,20.6,0.6,43.8,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.7,45698,-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,47,begin dive
$GC,50,-0.57,-145.9,188,2204,515,492,0.0,0.0,0,142,0.00,0.00,-91.12,0.000,16386,0.000,0.000,185,2203,2170,2098,2242,0,0,0,0,0,0,14.55,28.83,14.57
$GC,145,-0.57,-145.9,186,2203,2102,2248,3.8,-5.5,9,199,12.93,2.88,-35.45,0.000,19236,0.455,2.136,2376,3611,3963,3947,3979,0,0,0,0,0,0,13.56,12.57,14.07
$GC,354,-0.74,-145.9,2376,3613,3954,3979,43.0,-12.4,50,360,0.00,2.35,0.00,0.000,1158,0.000,0.056,2375,2227,3965,3953,3978,0,0,0,0,0,0,14.26,14.12,14.27
$GC,659,-0.85,-145.9,2376,2226,3955,3980,82.0,-10.4,81,664,0.20,2.50,0.00,0.000,4740,0.106,0.081,2290,793,3966,3954,3979,0,0,0,0,0,0,14.20,14.04,14.24
$GC,714,-0.88,-145.9,2292,793,3955,3979,89.9,-14.8,92,721,0.00,2.50,0.00,0.000,1158,0.000,0.090,2286,2200,3966,3954,3979,0,0,0,0,0,0,14.09,13.95,14.13
$GC,1029,-0.88,-145.9,2287,2202,3955,3980,136.5,-14.0,108,1035,0.00,2.50,0.00,0.000,260,0.000,0.090,2280,3614,3966,3954,3979,0,0,0,0,0,0,14.64,14.07,14.67
$GC,1115,-0.98,-145.9,2281,3617,3955,3980,147.1,-11.5,125,1121,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2201,3966,3954,3979,0,0,0,0,0,0,14.19,14.06,14.23
$GC,1420,-1.01,-145.9,2279,2200,3955,3980,186.6,-12.9,136,1421,0.00,0.00,0.00,0.000,134,0.000,0.000,2280,2199,3966,3954,3979,0,0,0,0,0,0,14.66,14.70,14.67
$GC,1720,-1.06,-145.9,2280,2200,3955,3980,222.7,-11.7,146,1721,0.12,0.00,0.00,0.000,4230,0.137,0.000,2232,2199,3966,3954,3979,0,0,0,0,0,0,14.30,14.39,14.36
$GC,2020,-1.06,-145.9,2235,2200,3955,3987,264.2,-13.4,156,2026,0.00,2.53,0.00,0.000,260,0.000,0.091,2235,3614,3967,3955,3979,0,0,0,0,0,0,14.69,14.09,14.69
$GC,2111,-1.13,-145.9,2236,3616,3955,3979,275.2,-11.4,174,2116,0.00,2.42,0.00,0.000,1158,0.000,0.057,2235,2196,3966,3954,3979,0,0,0,0,0,0,14.38,14.23,14.40
$GC,2441,-1.13,-145.9,2235,2196,3955,3980,315.2,-11.8,190,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2195,3965,3952,3979,0,0,0,0,0,0,14.68,14.70,14.70
$GC,2741,-1.16,-145.9,2235,2196,3955,3980,349.7,-11.3,200,2747,0.00,2.53,0.00,0.000,388,0.000,0.089,2226,3614,3964,3954,3975,0,0,0,0,0,0,14.69,14.19,14.70
$GC,2787,-1.24,-145.9,2228,3616,3955,3979,354.9,-10.8,209,2792,0.15,2.40,0.00,0.000,5254,0.122,0.057,2166,2196,3966,3954,3979,0,0,0,0,0,0,14.28,14.23,14.39
$GC,3102,-1.15,-145.9,2166,2195,3955,3979,405.5,-16.2,222,3107,0.17,2.50,0.00,0.000,2436,0.303,0.083,2194,3617,3966,3953,3979,0,0,0,0,0,0,13.75,13.78,13.94
$GC,3183,-1.17,-145.9,2195,3618,3954,3976,416.3,-12.5,238,3187,0.00,2.40,0.00,0.000,1158,0.000,0.058,2194,2195,3966,3953,3979,0,0,0,0,0,0,14.35,14.22,14.39
$GC,3493,-1.14,-145.9,2194,2194,3955,3981,457.8,-13.3,250,3498,0.00,2.50,0.00,0.000,388,0.000,0.087,2185,3616,3966,3953,3979,0,0,0,0,0,0,14.69,14.16,14.69
$GC,3543,-1.14,-145.9,2185,3616,3954,3980,464.6,-13.2,260,3549,0.00,2.40,0.00,0.000,1030,0.000,0.057,2184,2193,3965,3952,3979,0,0,0,0,0,0,14.35,14.22,14.37
$STATE,3672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3672,begin apogee
$GC,3678,-0.13,0.0,2185,2064,3953,3979,482.9,-14.1,266,3916,1.38,0.08,228.93,1.405,10246,0.247,0.177,2527,2116,3355,3374,3336,0,0,0,0,0,0,13.83,13.47,12.65
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3922,0.57,145.9,2527,2117,3373,3332,496.7,0.0,274,4318,0.75,2.00,211.10,1.360,11012,0.062,0.077,2787,725,2752,2788,2716,0,0,0,0,0,0,13.65,13.16,12.30
$GC,4545,0.17,145.9,2788,725,2788,2716,455.7,13.4,321,4552,0.70,2.40,0.00,0.000,5254,0.329,0.076,2638,2095,2751,2787,2715,0,0,0,0,0,0,13.63,14.03,14.04
$GC,4848,0.02,181.3,2638,2095,2788,2712,429.1,8.4,332,4903,0.17,0.00,50.72,1.400,12966,0.275,0.000,2597,2095,2623,2671,2575,0,0,0,0,0,0,13.93,14.02,13.21
$GC,5210,0.01,225.2,2597,2096,2665,2557,401.0,8.0,354,5283,0.00,0.00,70.93,1.344,8870,0.000,0.000,2597,2095,2445,2502,2388,0,0,0,0,0,0,14.57,13.90,13.14
$GC,5599,0.03,255.8,2597,2095,2489,2372,367.7,8.6,377,5653,0.00,2.45,47.05,1.368,8740,0.000,0.086,2602,725,2314,2364,2265,0,0,0,0,0,0,14.58,14.04,13.19
$GC,5690,0.12,287.2,2602,725,2359,2261,360.0,8.6,395,5745,0.00,2.42,49.05,1.351,9382,0.000,0.079,2602,2106,2192,2245,2140,0,0,0,0,0,0,14.19,14.08,13.09
$GC,6070,0.18,311.3,2602,2107,2231,2122,327.3,8.9,417,6113,0.12,2.50,35.47,1.375,10660,0.129,0.081,2667,3513,2090,2138,2042,0,0,0,0,0,0,14.21,14.04,13.19
$GC,6150,0.06,311.3,2666,3513,2127,2039,315.1,15.5,433,6156,0.30,2.40,0.00,0.000,5254,0.262,0.064,2606,2131,2082,2126,2039,0,0,0,0,0,0,13.34,13.96,13.55
$GC,6461,0.14,339.8,2607,2131,2127,2032,286.3,8.7,445,6515,0.00,2.62,45.90,1.333,8868,0.000,0.090,2606,685,1972,2018,1926,0,0,0,0,0,0,14.47,13.98,13.22
$GC,6611,0.32,388.7,2607,685,2008,1921,274.0,7.7,475,6702,0.25,2.50,83.30,1.254,11430,0.086,0.080,2699,2102,1777,1804,1750,0,0,0,0,0,0,14.14,14.05,13.06
$GC,7001,0.28,388.7,2699,2103,1794,1734,220.5,13.1,503,7006,0.00,2.53,0.00,0.000,644,0.000,0.090,2700,686,1763,1793,1733,0,0,0,0,0,0,14.40,14.06,14.42
$GC,7036,0.28,388.7,2699,691,1790,1734,216.1,12.2,510,7040,0.00,2.50,0.00,0.000,1030,0.000,0.077,2699,2105,1760,1788,1733,0,0,0,0,0,0,14.21,14.10,14.26
$GC,7361,0.28,388.7,2700,2105,1791,1730,177.4,11.4,525,7366,0.00,2.53,0.00,0.000,516,0.000,0.088,2700,687,1759,1788,1731,0,0,0,0,0,0,14.47,14.07,14.48
$GC,7396,0.31,388.7,2699,688,1788,1733,173.5,10.8,532,7401,0.00,2.50,0.00,0.000,1158,0.000,0.077,2699,2106,1763,1790,1736,0,0,0,0,0,0,14.28,14.11,14.29
$GC,7721,0.31,388.7,2700,2106,1787,1730,138.7,10.5,547,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,1758,1787,1730,0,0,0,0,0,0,14.47,14.49,14.49
$GC,8021,0.31,400.2,2700,2107,1787,1730,108.9,9.5,557,8032,0.00,2.53,4.05,1.419,8740,0.000,0.087,2700,696,1732,1762,1703,0,0,0,0,0,0,14.47,14.11,13.03
$GC,8097,0.42,434.8,2700,697,1769,1711,102.1,8.4,572,8175,0.00,2.47,70.40,1.240,9382,0.000,0.079,2699,2105,1590,1621,1559,0,0,0,0,0,0,14.25,14.12,13.18
$GC,8474,0.55,503.6,2700,2105,1617,1548,72.4,6.8,617,8515,0.17,2.47,34.42,0.415,10660,0.108,0.078,2774,3511,1311,1361,1262,0,0,0,0,0,0,14.14,13.87,13.59
$GC,8527,0.48,503.6,2774,3511,1362,1273,67.1,11.6,625,8533,0.20,2.42,0.00,0.000,5254,0.269,0.067,2739,2098,1314,1362,1267,0,0,0,0,0,0,13.80,13.99,14.07
$GC,8839,0.64,585.7,2739,2099,1362,1268,44.3,6.2,657,8892,0.12,2.53,43.97,0.332,10916,0.122,0.090,2796,691,978,1043,913,0,0,0,0,0,0,14.27,14.04,13.74
$GC,8987,0.77,638.1,2795,692,1044,915,32.2,7.6,686,9024,0.00,2.47,29.15,0.295,9382,0.000,0.078,2795,2103,761,827,696,0,0,0,0,0,0,14.24,14.09,13.73
$GC,9323,0.97,727.2,2795,2103,828,701,8.8,5.9,723,9366,0.30,2.53,35.88,0.231,10916,0.086,0.093,2912,687,495,516,474,0,0,0,0,0,0,14.31,13.97,13.84
$GC,9371,0.86,727.2,2911,688,518,473,3.3,13.1,731,9377,0.22,2.47,0.00,0.000,5254,0.256,0.073,2863,2107,498,516,480,0,0,0,0,0,0,13.86,14.10,14.19
$STATE,9383,end climb,SURFACE_DEPTH_REACHED
$STATE,9383,begin surface coast
$FINISH,0.2,1.007306
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9520,0.00,0.000,0,0,496,703.77
$SM_GC,1.26,8.20,0.17,0.00,0.076,0.121,0.000,202,2224,496,-7.37,-0.59,703.77,0,0,0,0,0,0,14.32,14.29,14.39
$RAFOS_CLK,162
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7517.53,-15117.29,070917,032207
$TT8_MAMPS,0.039697,0.925764
$HUMID,45.55
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,3
$CP_FREE,0.000000
$PM_FREEKB_00,49987456
$24V_AH,12.30,172.049
$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,26.475,84.450,1040.325,0.000,0.000,0.000,0.000,159.725,0.750,0.000,11.585,0.000,6635.669,911.001,2107.886,232.889,0.000,2117.075,0.000,1052.738,2202.000,0.539,0.000
$DEVICE_MAMPS,455.175,2135.880,1419.075,0.000,0.000,0.000,0.000,136.935,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9388.000,9431.000,9412.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.669,20.000,9.886,0.000
$MEM,323604
$DATA_FILE_SIZE,26697,734
$CAP_FILE_SIZE,102190,0
$CFSIZE,2097872896,2008317952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.7
$CURRENT,0.052,291.66,1
$GPS,070917,085818,7519.871,-15125.499,24,0.7,26,20.6,0.5,59.9,12,10.0