version: 66.13
glider: 196
mission: 14
dive: 285
start: 9 8 117 22 54 38
data:
$ID,196
$MISSION,14
$DIVE,285
$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,28
$R_STBD_OVSHOOT,48
$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,793.0
$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
$GPS1,080917,224238,7536.2832,-15107.0225,22,0.7,27,20.8,0.3,121.5,11,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.5
$GPS2,080917,225402,7536.2759,-15106.9355,16,0.8,40,20.8,0.5,31.4,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,337.5,12749,-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,-145.9,189,2195,496,492,0.0,0.0,0,143,0.00,0.00,-91.10,0.000,16386,0.000,0.000,188,2194,2109,2038,2180,0,0,0,0,0,0,14.54,28.83,14.57
$GC,146,-0.57,-145.9,188,2195,2039,2183,3.1,-3.8,9,203,12.90,0.00,-40.17,0.000,18470,0.454,0.000,2384,2195,3963,3947,3980,0,0,0,0,0,0,13.62,12.52,14.14
$GC,501,-0.67,-145.9,2385,2195,3955,3981,69.8,-12.7,45,506,0.00,2.45,0.00,0.000,388,0.000,0.086,2379,3590,3967,3955,3980,0,0,0,0,0,0,14.69,14.17,14.69
$GC,542,-0.87,-145.9,2380,3592,3956,3979,74.1,-9.7,53,547,0.25,2.35,0.00,0.000,5286,0.100,0.056,2289,2201,3968,3956,3980,0,0,0,0,0,0,14.21,14.17,14.31
$GC,874,-0.87,-145.9,2289,2201,3956,3980,129.0,-15.3,75,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2201,3967,3955,3980,0,0,0,0,0,0,14.72,14.74,14.74
$GC,1172,-0.91,-145.9,2289,2202,3956,3981,169.6,-12.9,85,1177,0.00,2.45,0.00,0.000,388,0.000,0.087,2281,3588,3967,3955,3979,0,0,0,0,0,0,14.76,14.19,14.78
$GC,1237,-1.05,-145.9,2281,3589,3956,3981,177.3,-10.9,98,1242,0.12,2.35,0.00,0.000,5254,0.129,0.057,2232,2190,3967,3955,3980,0,0,0,0,0,0,14.31,14.27,14.40
$GC,1562,-1.01,-145.9,2232,2190,3956,3979,232.8,-16.8,113,1567,0.00,2.45,0.00,0.000,388,0.000,0.086,2223,3581,3967,3955,3980,0,0,0,0,0,0,14.75,14.19,14.78
$GC,1653,-1.05,-145.9,2223,3581,3956,3980,246.4,-13.6,131,1658,0.00,2.35,0.00,0.000,1158,0.000,0.057,2223,2199,3967,3955,3979,0,0,0,0,0,0,14.39,14.26,14.45
$GC,1983,-1.05,-145.9,2223,2199,3956,3981,294.3,-14.0,147,1989,0.00,2.45,0.00,0.000,260,0.000,0.089,2222,3587,3967,3955,3980,0,0,0,0,0,0,14.76,14.19,14.78
$GC,2116,-1.13,-145.9,2223,3588,3956,3980,310.4,-11.5,173,2121,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2198,3967,3955,3980,0,0,0,0,0,0,14.30,14.17,14.33
$GC,2436,-1.13,-145.9,2222,2197,3955,3980,350.7,-12.3,187,2441,0.00,2.45,0.00,0.000,260,0.000,0.088,2222,3587,3967,3954,3980,0,0,0,0,0,0,14.76,14.18,14.78
$GC,2531,-1.22,-145.9,2222,3588,3955,3980,361.4,-10.6,206,2537,0.12,2.33,0.00,0.000,5254,0.135,0.055,2172,2199,3966,3954,3979,0,0,0,0,0,0,14.28,14.26,14.40
$GC,2857,-1.13,-145.9,2173,2198,3956,3978,414.6,-16.5,221,2862,0.15,2.42,0.00,0.000,2436,0.288,0.082,2198,3582,3966,3954,3978,0,0,0,0,0,0,13.90,14.18,14.07
$GC,2932,-1.16,-145.9,2198,3583,3955,3979,424.9,-12.6,236,2937,0.00,2.33,0.00,0.000,1158,0.000,0.055,2198,2199,3966,3954,3978,0,0,0,0,0,0,14.42,14.26,14.42
$GC,3247,-1.14,-145.9,2198,2198,3955,3978,467.8,-13.6,249,3252,0.00,2.42,0.00,0.000,388,0.000,0.085,2188,3582,3966,3954,3978,0,0,0,0,0,0,14.74,14.18,14.76
$GC,3327,-1.14,-145.9,2189,3582,3954,3978,478.8,-13.3,265,3332,0.00,2.33,0.00,0.000,1030,0.000,0.055,2190,2199,3966,3954,3978,0,0,0,0,0,0,14.31,14.19,14.35
$STATE,3334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3334,begin apogee
$GC,3340,-0.13,0.0,2189,2072,3955,3978,480.1,-12.9,267,3564,1.38,0.00,220.23,1.422,10246,0.251,0.000,2529,2070,3365,3386,3344,0,0,0,0,0,0,13.82,13.54,12.69
$STATE,3568,end apogee,CONTROL_FINISHED_OK
$STATE,3568,begin climb
$GC,3570,0.57,145.9,2530,2070,3382,3337,491.8,0.0,274,3981,0.75,0.00,211.25,1.373,11014,0.062,0.000,2783,2070,2755,2794,2716,0,0,0,0,0,0,13.69,12.89,12.30
$GC,4302,0.14,145.9,2783,2069,2793,2714,429.5,14.7,290,4307,0.65,2.40,0.00,0.000,4740,0.317,0.079,2646,707,2753,2792,2714,0,0,0,0,0,0,13.64,14.00,13.88
$GC,4452,0.03,182.7,2647,707,2800,2713,415.6,8.3,320,4514,0.22,2.40,51.00,1.413,13478,0.269,0.079,2595,2074,2615,2665,2566,0,0,0,0,0,0,13.80,14.08,13.12
$GC,4812,0.03,225.5,2600,2074,2665,2556,386.9,8.0,342,4878,0.00,0.00,63.97,1.385,8358,0.000,0.000,2599,2074,2443,2499,2388,0,0,0,0,0,0,14.42,13.89,13.11
$GC,5172,0.05,256.9,2599,2075,2493,2374,356.4,8.6,354,5222,0.00,0.00,48.00,1.390,8230,0.000,0.000,2599,2074,2315,2367,2263,0,0,0,0,0,0,14.42,13.95,13.15
$GC,5502,0.11,284.6,2599,2075,2359,2251,327.7,8.7,365,5545,0.00,0.00,41.35,1.391,8358,0.000,0.000,2599,2075,2204,2256,2153,0,0,0,0,0,0,14.42,13.88,13.16
$GC,5832,0.20,314.4,2600,2074,2248,2139,299.1,8.6,376,5881,0.15,0.00,46.60,1.361,10406,0.112,0.000,2665,2074,2081,2131,2032,0,0,0,0,0,0,14.18,13.97,13.19
$GC,6162,0.16,314.4,2666,2075,2117,2019,257.9,12.2,387,6168,0.12,2.38,0.00,0.000,4740,0.261,0.083,2644,708,2069,2121,2018,0,0,0,0,0,0,13.89,14.03,13.99
$GC,6199,0.23,316.3,2644,709,2120,2022,254.1,9.9,394,6204,0.00,2.40,0.00,0.000,1190,0.000,0.078,2644,2103,2070,2119,2021,0,0,0,0,0,0,14.20,14.06,14.23
$GC,6526,0.27,345.3,2643,2104,2120,2017,224.4,8.7,409,6580,0.00,2.47,47.17,1.334,8868,0.000,0.085,2644,711,1952,1999,1906,0,0,0,0,0,0,14.45,13.81,13.25
$GC,6646,0.41,390.6,2644,711,1993,1906,214.4,7.9,433,6726,0.22,2.45,74.80,1.258,11430,0.093,0.080,2732,2099,1773,1800,1747,0,0,0,0,0,0,14.09,14.01,13.10
$GC,7036,0.34,390.6,2732,2100,1789,1732,160.0,13.9,461,7041,0.15,2.45,0.00,0.000,4740,0.230,0.084,2699,716,1760,1789,1732,0,0,0,0,0,0,13.96,14.10,14.13
$GC,7101,0.40,390.6,2699,716,1785,1733,152.6,10.5,474,7106,0.00,2.42,0.00,0.000,1158,0.000,0.077,2699,2103,1760,1785,1735,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7427,0.41,398.9,2699,2106,1785,1730,119.9,9.6,489,7436,0.00,2.50,2.65,1.036,8484,0.000,0.082,2699,3509,1739,1768,1711,0,0,0,0,0,0,14.65,14.21,12.79
$GC,7457,0.42,407.2,2699,3510,1769,1715,116.8,9.6,495,7477,0.00,2.38,13.90,1.431,9254,0.000,0.062,2699,2122,1701,1729,1674,0,0,0,0,0,0,14.35,14.21,13.26
$GC,7777,0.49,448.3,2699,2122,1727,1665,88.5,8.1,518,7804,0.12,2.53,21.33,0.467,10916,0.131,0.087,2767,689,1537,1567,1508,0,0,0,0,0,0,14.16,13.97,13.64
$GC,7944,0.49,448.3,2768,690,1565,1507,70.0,10.1,551,7951,0.12,2.47,0.00,0.000,5126,0.244,0.079,2742,2102,1534,1563,1506,0,0,0,0,0,0,13.97,14.14,14.20
$GC,8249,0.60,546.3,2742,2104,1564,1501,48.2,5.5,582,8308,0.00,2.53,51.08,0.345,8868,0.000,0.086,2742,693,1137,1200,1074,0,0,0,0,0,0,14.59,13.95,13.74
$GC,8393,0.84,633.5,2744,695,1200,1070,40.0,6.0,610,8447,0.32,2.47,46.08,0.317,11430,0.081,0.077,2866,2106,780,846,714,0,0,0,0,0,0,14.15,14.08,13.69
$STATE,8720,end climb,SURFACE_DEPTH_REACHED
$STATE,8720,begin surface coast
$FINISH,0.4,1.021566
$STATE,8730,end surface coast,CONTROL_FINISHED_OK
$STATE,8731,begin surface
$SM_CCo,8796,39.97,0.207,0,0,498,702.78
$SM_GC,1.01,8.27,0.17,39.97,0.083,0.119,0.207,201,2229,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.32,14.30,13.96
$RAFOS_CLK,222
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7537.22,-15114.39,080917,201146
$TT8_MAMPS,0.038948,0.939246
$HUMID,47.00
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,0.000000
$PM_FREEKB_00,49540544
$24V_AH,12.30,178.930
$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,26.050,68.125,939.400,39.975,0.000,0.000,0.000,361.075,4.750,0.000,41.527,0.000,6187.483,892.199,2179.028,278.230,0.000,2215.485,0.000,930.990,2121.000,0.539,0.000
$DEVICE_MAMPS,453.645,212.670,1431.315,206.550,0.000,0.000,0.000,159.885,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4985.000,8767.000,8749.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.818,20.000,9.931,0.000
$MEM,323652
$DATA_FILE_SIZE,23441,649
$CAP_FILE_SIZE,95486,0
$CFSIZE,2097872896,2005041152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1444.3
$CURRENT,0.032,276.26,1
$GPS,090917,012300,7537.517,-15106.489,16,0.7,19,20.8,0.2,126.1,11,8.7