version: 66.13
glider: 196
mission: 14
dive: 296
start: 9 10 117 4 34 59
data:
$ID,196
$MISSION,14
$DIVE,296
$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,42
$R_STBD_OVSHOOT,58
$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,822.0
$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
$GPS1,100917,042734,7542.2139,-15110.2412,31,0.7,32,20.8,0.0,0.0,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.6
$GPS2,100917,043423,7542.2002,-15110.2334,5,0.7,11,20.8,0.0,158.9,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,145.4,107111,-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,-145.9,187,2180,504,491,0.0,0.0,0,145,0.00,0.00,-91.45,0.000,16386,0.000,0.000,184,2177,2154,2082,2227,0,0,0,0,0,0,14.38,28.83,14.40
$GC,148,-0.57,-145.9,185,2182,2085,2228,4.0,-5.9,9,204,12.98,2.83,-36.45,0.000,18724,0.457,2.131,2371,3573,3965,3950,3980,1,0,0,0,0,0,13.36,12.54,13.83
$GC,400,-0.74,-145.9,2370,3577,3955,3981,50.3,-12.3,58,407,0.00,2.35,0.00,0.000,1158,0.000,0.059,2370,2209,3967,3954,3980,0,0,0,0,0,0,14.07,13.97,14.09
$GC,705,-0.87,-145.9,2372,2210,3956,3980,88.2,-10.3,89,706,0.22,0.00,0.00,0.000,4230,0.100,0.000,2284,2209,3967,3955,3980,0,0,0,0,0,0,14.23,14.34,14.33
$GC,1024,-0.87,-145.9,2284,2209,3956,3976,138.6,-15.0,105,1029,0.00,2.40,0.00,0.000,260,0.000,0.087,2279,3576,3967,3955,3980,0,0,0,0,0,0,14.66,14.19,14.68
$GC,1119,-0.97,-145.9,2279,3578,3956,3981,151.0,-12.3,124,1124,0.00,2.35,0.00,0.000,1158,0.000,0.059,2279,2190,3967,3955,3980,0,0,0,0,0,0,14.30,14.17,14.33
$GC,1445,-1.02,-145.9,2280,2189,3957,3980,194.1,-12.8,139,1449,0.00,2.42,0.00,0.000,388,0.000,0.086,2271,3575,3967,3955,3979,0,0,0,0,0,0,14.69,14.20,14.71
$GC,1505,-1.15,-145.9,2272,3577,3955,3980,201.2,-10.9,151,1510,0.20,2.33,0.00,0.000,5254,0.103,0.058,2193,2195,3967,3955,3980,0,0,0,0,0,0,14.27,14.26,14.34
$GC,1835,-1.05,-145.9,2193,2195,3956,3981,265.1,-18.8,167,1840,0.17,2.42,0.00,0.000,2436,0.287,0.084,2225,3573,3967,3955,3980,0,0,0,0,0,0,13.90,13.59,14.08
$GC,1942,-1.11,-145.9,2225,3574,3957,3980,279.3,-12.1,188,1947,0.00,2.35,0.00,0.000,1158,0.000,0.058,2225,2191,3967,3955,3980,0,0,0,0,0,0,14.35,14.21,14.40
$GC,2257,-1.11,-145.9,2225,2188,3956,3981,320.5,-12.6,201,2262,0.00,2.45,0.00,0.000,260,0.000,0.088,2222,3574,3968,3956,3980,0,0,0,0,0,0,14.69,14.14,14.71
$GC,2342,-1.19,-145.9,2223,3574,3957,3980,330.4,-11.2,218,2349,0.00,2.35,0.00,0.000,1158,0.000,0.057,2223,2192,3967,3955,3980,0,0,0,0,0,0,14.35,14.21,14.38
$GC,2647,-1.21,-145.9,2222,2191,3955,3980,367.6,-12.1,229,2652,0.00,2.45,0.00,0.000,388,0.000,0.088,2222,3570,3967,3955,3980,0,0,0,0,0,0,14.66,14.11,14.69
$GC,2747,-1.31,-145.9,2222,3575,3956,3979,378.9,-10.7,249,2753,0.20,2.33,0.00,0.000,5254,0.103,0.057,2149,2193,3967,3955,3980,0,0,0,0,0,0,14.31,14.23,14.40
$GC,3068,-1.18,-145.9,2150,2192,3955,3981,438.8,-19.1,263,3073,0.20,2.45,0.00,0.000,2436,0.322,0.081,2182,3579,3967,3954,3980,0,0,0,0,0,0,13.69,14.07,13.92
$GC,3185,-1.18,-145.9,2183,3582,3955,3981,456.2,-14.0,286,3191,0.00,2.35,0.00,0.000,1030,0.000,0.057,2183,2195,3965,3952,3979,0,0,0,0,0,0,14.24,14.12,14.28
$STATE,3366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3366,begin apogee
$GC,3372,-0.13,0.0,2184,2064,3956,3979,484.4,-15.3,293,3612,1.40,0.00,236.90,1.389,10246,0.249,0.000,2530,2063,3367,3390,3344,0,0,0,0,0,0,13.76,13.49,12.63
$STATE,3616,end apogee,CONTROL_FINISHED_OK
$STATE,3616,begin climb
$GC,3619,0.57,145.9,2531,2063,3380,3335,497.8,0.0,301,3836,0.75,2.58,212.10,1.366,10756,0.061,0.077,2793,729,2765,2807,2723,0,0,0,0,0,0,13.64,12.87,12.25
$GC,3890,0.16,145.9,2794,728,2790,2717,504.9,12.4,357,3895,0.77,2.47,0.00,0.000,5254,0.325,0.073,2639,2067,2753,2791,2715,0,0,0,0,0,0,13.04,13.36,13.40
$GC,4211,-0.00,168.7,2638,2069,2791,2710,475.5,8.9,371,4247,0.22,2.40,29.62,1.476,12964,0.265,0.085,2589,725,2672,2717,2628,0,0,0,0,0,0,13.67,13.98,13.07
$GC,4262,0.02,229.6,2589,726,2713,2624,471.6,7.2,376,4364,0.00,2.42,95.55,1.345,9382,0.000,0.080,2589,2096,2427,2489,2366,0,0,0,0,0,0,14.12,14.01,12.86
$GC,4662,0.03,257.6,2589,2097,2475,2350,437.2,8.7,406,4704,0.00,0.00,40.08,1.416,8230,0.000,0.000,2589,2096,2316,2373,2260,0,0,0,0,0,0,14.50,13.98,13.14
$GC,4992,0.09,284.6,2589,2096,2358,2243,408.2,8.7,417,5036,0.00,0.00,42.17,1.407,8358,0.000,0.000,2588,2096,2204,2258,2151,0,0,0,0,0,0,14.60,13.98,13.18
$GC,5322,0.18,315.4,2589,2097,2241,2133,379.6,8.6,428,5378,0.12,2.50,47.45,1.378,10916,0.131,0.089,2657,730,2071,2121,2021,0,0,0,0,0,0,14.28,14.00,13.19
$GC,5425,0.18,315.4,2658,730,2118,2019,366.8,12.9,448,5430,0.00,2.42,0.00,0.000,1030,0.000,0.078,2658,2109,2064,2110,2018,0,0,0,0,0,0,14.20,14.11,14.22
$GC,5745,0.13,315.4,2657,2114,2112,2012,324.1,13.1,462,5751,0.12,2.42,0.00,0.000,4740,0.256,0.083,2630,724,2060,2110,2011,0,0,0,0,0,0,14.08,14.21,14.21
$GC,5771,0.13,315.4,2631,724,2110,2012,321.0,11.1,467,5777,0.00,2.40,0.00,0.000,1030,0.000,0.077,2630,2104,2060,2109,2011,0,0,0,0,0,0,14.33,14.20,14.39
$GC,6076,0.15,315.4,2630,2105,2109,2011,289.5,10.2,478,6082,0.00,2.40,0.00,0.000,644,0.000,0.086,2630,730,2059,2109,2010,0,0,0,0,0,0,14.65,14.23,14.64
$GC,6102,0.19,317.1,2630,731,2108,2011,286.8,9.9,483,6109,0.00,2.40,0.00,0.000,1190,0.000,0.077,2630,2109,2059,2109,2009,0,0,0,0,0,0,14.34,14.21,14.39
$GC,6407,0.23,330.0,2631,2112,2108,2010,257.2,9.4,494,6427,0.00,0.00,17.88,1.471,8870,0.000,0.000,2630,2108,2017,2065,1970,0,0,0,0,0,0,14.68,14.16,13.29
$GC,6738,0.31,368.4,2631,2112,2056,1959,228.5,8.2,510,6813,0.12,2.53,66.90,1.298,10916,0.127,0.088,2696,727,1859,1891,1827,0,0,0,0,0,0,14.35,14.00,13.19
$GC,6918,0.31,368.4,2696,728,1878,1827,208.0,11.0,546,6924,0.00,2.40,0.00,0.000,1030,0.000,0.078,2696,2099,1851,1878,1825,0,0,0,0,0,0,14.25,14.12,14.27
$GC,7249,0.29,368.4,2697,2100,1878,1821,170.8,11.0,562,7255,0.00,2.42,0.00,0.000,644,0.000,0.086,2696,730,1849,1877,1821,0,0,0,0,0,0,14.61,14.06,14.63
$GC,7285,0.31,368.4,2696,731,1876,1822,167.1,10.7,569,7290,0.00,2.42,0.00,0.000,1158,0.000,0.077,2696,2109,1848,1876,1821,0,0,0,0,0,0,14.16,14.04,14.23
$GC,7610,0.31,368.4,2697,2111,1876,1818,133.5,10.1,584,7615,0.00,2.47,0.00,0.000,516,0.000,0.086,2696,721,1844,1874,1814,0,0,0,0,0,0,14.42,14.06,14.45
$GC,7640,0.35,389.9,2696,722,1874,1818,130.6,9.0,590,7680,0.00,2.42,33.30,1.325,9382,0.000,0.078,2696,2111,1774,1798,1750,0,0,0,0,0,0,14.25,14.12,13.23
$GC,7982,0.39,411.5,2697,2111,1790,1739,98.9,9.0,612,7994,0.00,0.00,10.82,0.474,8358,0.000,0.000,2696,2110,1686,1710,1662,0,0,0,0,0,0,14.52,14.07,13.57
$GC,8291,0.50,477.6,2697,2111,1721,1662,75.2,7.0,643,8334,0.12,2.45,36.15,0.422,10916,0.135,0.086,2763,730,1417,1457,1377,0,0,0,0,0,0,14.18,13.91,13.62
$GC,8381,0.53,477.6,2764,730,1460,1380,65.9,10.3,660,8387,0.00,2.42,0.00,0.000,1158,0.000,0.077,2763,2111,1419,1459,1379,0,0,0,0,0,0,14.23,14.08,14.27
$GC,8684,0.60,571.0,2763,2111,1459,1380,41.7,5.7,691,8741,0.00,2.50,50.05,0.324,8740,0.000,0.088,2764,737,1033,1104,962,0,0,0,0,0,0,14.52,14.02,13.71
$GC,8856,0.80,651.2,2764,738,1104,970,30.9,6.3,725,8905,0.22,2.40,43.33,0.289,11430,0.096,0.078,2854,2107,708,771,645,0,0,0,0,0,0,14.17,14.08,13.74
$STATE,9128,end climb,SURFACE_DEPTH_REACHED
$STATE,9128,begin surface coast
$FINISH,0.2,1.021442
$STATE,9148,end surface coast,CONTROL_FINISHED_OK
$STATE,9148,begin surface
$SM_CCo,9169,32.60,0.204,0,0,499,702.78
$SM_GC,1.35,8.05,0.17,32.60,0.061,0.123,0.204,205,2220,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.29,14.26,13.95
$RAFOS_CLK,415
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7543.81,-15030.46,100917,015444
$TT8_MAMPS,0.039697,0.897302
$HUMID,47.20
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15945859072.000000
$PM_FREEKB_00,48785088
$24V_AH,12.25,185.348
$10V_AH,12.14,0.000
$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,25.900,83.100,962.300,32.600,0.000,0.000,0.000,215.375,2.250,0.000,12.605,0.000,6592.981,889.056,1889.350,257.032,0.000,1941.893,0.000,1088.275,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2131.290,1475.685,204.255,0.000,0.000,0.000,131.580,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9096.000,9152.000,9126.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.643,20.000,22.053,0.000
$MEM,323652
$DATA_FILE_SIZE,26693,759
$CAP_FILE_SIZE,103187,0
$CFSIZE,2097872896,2002550784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.031,76.55,1
$GPS,100917,070932,7540.903,-15109.663,26,0.9,26,20.8,0.0,0.0,9,8.2