version: 66.13
glider: 196
mission: 14
dive: 293
start: 9 9 117 20 32 58
data:
$ID,196
$MISSION,14
$DIVE,293
$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,53
$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,813.0
$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
$GPS1,090917,202534,7540.9829,-15109.3574,31,0.9,32,20.8,0.5,151.2,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.1
$GPS2,090917,203226,7540.9756,-15109.3701,5,0.9,12,20.8,0.0,330.9,9,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.9,3974,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,187,2235,497,486,0.0,0.0,0,146,0.00,0.00,-92.22,0.000,16386,0.000,0.000,185,2235,2143,2071,2215,0,0,0,0,0,0,14.36,28.83,14.38
$GC,149,-0.57,-145.9,186,2234,2075,2215,3.6,-4.7,9,203,13.23,0.00,-36.80,0.000,18982,0.458,0.000,2382,2233,3963,3947,3979,1,0,0,0,0,0,13.40,12.55,13.91
$GC,504,-0.68,-145.9,2384,2235,3955,3982,70.8,-11.2,46,510,0.00,2.45,0.00,0.000,388,0.000,0.086,2377,3582,3967,3954,3981,0,0,0,0,0,0,14.16,13.85,14.17
$GC,540,-0.88,-145.9,2377,3587,3955,3981,74.5,-9.4,53,547,0.25,2.35,0.00,0.000,5286,0.096,0.054,2282,2228,3967,3954,3981,0,0,0,0,0,0,13.84,13.79,13.93
$GC,865,-0.88,-145.9,2282,2227,3956,3981,130.2,-15.9,74,870,0.00,2.42,0.00,0.000,260,0.000,0.087,2279,3577,3967,3954,3981,0,0,0,0,0,0,14.28,13.88,14.29
$GC,900,-0.94,-145.9,2280,3579,3956,3980,135.4,-14.3,81,905,0.00,2.40,0.00,0.000,1158,0.000,0.057,2280,2202,3967,3954,3981,0,0,0,0,0,0,14.05,13.90,14.07
$GC,1225,-0.98,-145.9,2280,2200,3956,3981,180.7,-13.5,96,1231,0.00,2.47,0.00,0.000,388,0.000,0.087,2276,3579,3967,3954,3981,0,0,0,0,0,0,14.29,13.93,14.31
$GC,1302,-1.11,-145.9,2277,3581,3955,3981,189.9,-11.5,111,1307,0.17,2.40,0.00,0.000,5254,0.109,0.057,2213,2194,3967,3953,3981,0,0,0,0,0,0,13.96,13.91,14.04
$GC,1617,-1.04,-145.9,2213,2193,3956,3980,247.5,-18.0,124,1623,0.12,2.50,0.00,0.000,2436,0.293,0.083,2235,3578,3968,3955,3981,0,0,0,0,0,0,13.71,13.87,13.87
$GC,1736,-1.13,-145.9,2236,3580,3955,3982,262.8,-11.7,147,1742,0.00,2.40,0.00,0.000,1158,0.000,0.057,2233,2190,3967,3954,3981,0,0,0,0,0,0,14.05,13.90,14.06
$GC,2039,-1.15,-145.9,2236,2189,3955,3982,301.1,-12.1,158,2044,0.00,2.50,0.00,0.000,388,0.000,0.087,2235,3573,3967,3954,3981,0,0,0,0,0,0,14.29,13.22,14.31
$GC,2119,-1.26,-145.9,2236,3574,3955,3982,309.9,-10.4,174,2124,0.20,2.38,0.00,0.000,5254,0.105,0.056,2164,2194,3968,3955,3981,0,0,0,0,0,0,14.02,13.95,14.09
$GC,2430,-1.15,-145.9,2164,2194,3955,3980,366.2,-18.5,186,2435,0.17,2.50,0.00,0.000,2436,0.319,0.081,2191,3579,3968,3955,3981,0,0,0,0,0,0,13.56,13.88,13.77
$GC,2570,-1.17,-145.9,2192,3580,3955,3980,386.5,-13.6,214,2575,0.00,2.40,0.00,0.000,1158,0.000,0.056,2191,2193,3967,3954,3981,0,0,0,0,0,0,14.06,13.95,14.09
$GC,2880,-1.13,-145.9,2191,2193,3955,3982,432.1,-14.7,226,2885,0.00,2.50,0.00,0.000,388,0.000,0.085,2184,3579,3969,3954,3984,0,0,0,0,0,0,14.28,13.89,14.30
$GC,2975,-1.13,-145.9,2185,3579,3955,3980,445.8,-13.8,245,2980,0.15,2.40,0.00,0.000,3078,0.243,0.055,2213,2191,3967,3954,3981,0,0,0,0,0,0,13.64,13.84,13.88
$STATE,3268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3268,begin apogee
$GC,3274,-0.13,0.0,2214,2069,3954,3982,482.4,-12.2,259,3496,1.25,0.00,218.05,1.427,10246,0.225,0.000,2532,2067,3363,3379,3348,0,0,0,0,0,0,13.71,13.34,12.56
$STATE,3500,end apogee,CONTROL_FINISHED_OK
$STATE,3500,begin climb
$GC,3502,0.57,145.9,2533,2068,3380,3339,494.7,0.0,266,3897,0.75,2.62,212.73,1.375,10756,0.060,0.080,2782,728,2757,2792,2723,0,0,0,0,0,0,13.54,12.79,12.20
$GC,4070,0.17,145.9,2782,728,2790,2721,463.4,13.6,302,4076,0.68,2.40,0.00,0.000,5254,0.324,0.076,2641,2069,2755,2789,2721,0,0,0,0,0,0,13.47,13.82,13.86
$GC,4403,0.02,173.6,2642,2069,2790,2716,433.5,8.7,318,4447,0.22,2.45,36.75,1.468,12964,0.259,0.084,2590,730,2653,2697,2610,0,0,0,0,0,0,13.78,13.95,13.12
$GC,4492,0.06,230.2,2591,730,2697,2606,426.9,7.4,331,4584,0.00,2.45,85.40,1.373,9254,0.000,0.079,2590,2106,2423,2481,2365,0,0,0,0,0,0,14.07,13.95,12.92
$GC,4882,0.10,257.9,2591,2106,2472,2352,393.6,8.7,359,4924,0.00,0.00,40.05,1.414,8358,0.000,0.000,2590,2107,2312,2366,2259,0,0,0,0,0,0,14.28,13.90,13.12
$GC,5212,0.16,285.8,2590,2107,2357,2246,364.8,8.7,370,5257,0.15,0.00,42.60,1.393,10406,0.117,0.000,2657,2106,2196,2246,2146,0,0,0,0,0,0,14.12,13.91,13.14
$GC,5542,0.09,285.8,2657,2107,2239,2133,322.1,13.0,381,5547,0.15,2.47,0.00,0.000,4740,0.252,0.082,2629,723,2184,2237,2132,0,0,0,0,0,0,13.83,13.93,13.98
$GC,5629,0.15,288.9,2629,724,2236,2134,313.2,9.9,398,5635,0.00,2.45,0.00,0.000,1190,0.000,0.078,2629,2105,2184,2235,2133,0,0,0,0,0,0,14.09,13.93,14.13
$GC,5932,0.15,289.6,2630,2105,2236,2131,282.3,10.0,409,5933,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2105,2183,2234,2133,0,0,0,0,0,0,14.35,14.37,14.37
$GC,6233,0.16,307.3,2629,2106,2235,2131,254.1,9.2,419,6269,0.00,2.53,29.98,1.406,8740,0.000,0.086,2628,727,2108,2157,2060,0,0,0,0,0,0,14.33,14.00,13.18
$GC,6295,0.25,334.2,2631,727,2154,2060,248.6,8.8,431,6346,0.00,2.45,44.00,1.333,9382,0.000,0.079,2630,2106,2000,2047,1953,0,0,0,0,0,0,14.09,13.98,13.11
$GC,6658,0.34,375.5,2630,2107,2042,1940,218.5,8.1,453,6732,0.17,2.50,68.03,1.273,10916,0.103,0.086,2706,721,1830,1861,1800,0,0,0,0,0,0,14.05,13.67,13.12
$GC,6797,0.34,375.5,2705,722,1851,1800,201.5,11.7,481,6802,0.00,2.47,0.00,0.000,1030,0.000,0.076,2706,2103,1824,1850,1798,0,0,0,0,0,0,13.92,13.81,13.94
$GC,7107,0.31,375.5,2707,2108,1850,1787,164.2,11.6,493,7112,0.00,2.47,0.00,0.000,644,0.000,0.086,2706,724,1819,1848,1790,0,0,0,0,0,0,14.32,14.00,14.32
$GC,7157,0.33,375.5,2706,724,1847,1791,158.7,10.6,503,7162,0.00,2.45,0.00,0.000,1158,0.000,0.076,2706,2107,1818,1846,1790,0,0,0,0,0,0,14.07,13.92,14.11
$GC,7467,0.33,375.5,2706,2110,1845,1790,125.1,10.7,515,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2109,1815,1840,1790,0,0,0,0,0,0,14.33,14.35,14.35
$GC,7767,0.34,390.1,2707,2109,1846,1787,95.5,9.3,527,7780,0.00,2.58,6.70,0.468,8740,0.000,0.084,2706,717,1774,1803,1746,0,0,0,0,0,0,14.29,13.93,13.43
$GC,7882,0.43,437.7,2706,718,1804,1749,86.1,7.8,549,7918,0.00,2.47,28.02,0.457,9382,0.000,0.076,2706,2108,1578,1607,1550,0,0,0,0,0,0,14.06,13.99,13.51
$GC,8224,0.56,519.5,2707,2108,1609,1547,61.2,6.2,587,8277,0.15,2.50,45.55,0.379,10660,0.116,0.080,2776,3507,1245,1302,1188,0,0,0,0,0,0,13.92,13.90,13.60
$GC,8303,0.56,519.5,2776,3509,1302,1190,53.6,11.3,602,8309,0.00,2.42,0.00,0.000,1030,0.000,0.064,2781,2127,1245,1302,1189,0,0,0,0,0,0,13.99,13.88,14.04
$GC,8608,0.64,581.4,2781,2127,1305,1182,30.1,7.1,633,8651,0.00,2.58,34.38,0.294,8868,0.000,0.090,2787,692,992,1061,923,0,0,0,0,0,0,14.28,13.90,13.67
$GC,8761,0.88,677.3,2781,693,1061,924,20.7,5.6,663,8826,0.28,2.50,55.03,0.259,11430,0.085,0.076,2884,2106,600,644,557,0,0,0,0,0,0,13.99,13.88,13.64
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8919,begin surface coast
$FINISH,0.1,1.016603
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,8951,15.88,0.200,0,0,502,703.28
$SM_GC,1.10,8.27,0.15,15.88,0.074,0.097,0.200,203,2202,502,-7.36,-0.85,703.28,0,0,0,0,0,0,14.24,14.27,13.95
$RAFOS_CLK,853
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7543.41,-15121.29,090917,174621
$TT8_MAMPS,0.038948,0.967708
$HUMID,47.00
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.30
$XPDR_PINGS,10
$CP_FREE,15947137024.000000
$PM_FREEKB_00,48981888
$24V_AH,12.20,183.635
$10V_AH,12.06,0.000
$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,26.375,79.150,947.250,15.875,0.000,0.000,0.000,212.550,2.500,0.000,19.885,0.000,6263.315,858.818,2016.296,250.278,0.000,2060.835,0.000,984.904,0.000,0.539,0.000
$DEVICE_MAMPS,458.235,110.925,1468.035,199.665,0.000,0.000,0.000,135.405,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8522.000,8920.000,8903.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.882,20.000,103.053,0.000
$MEM,323656
$DATA_FILE_SIZE,23412,686
$CAP_FILE_SIZE,97468,0
$CFSIZE,2097872896,2003238912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.059,242.70,1
$GPS,090917,230336,7542.157,-15110.235,24,0.7,27,20.8,0.5,302.7,12,9.8