version: 66.13
glider: 196
mission: 14
dive: 299
start: 9 10 117 12 46 2
data:
$ID,196
$MISSION,14
$DIVE,299
$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,58
$R_STBD_OVSHOOT,49
$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,832.0
$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
$GPS1,100917,123403,7540.8579,-15109.6328,19,0.7,37,20.8,0.2,78.5,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.4
$GPS2,100917,124528,7540.8574,-15109.5039,10,0.7,11,20.8,0.0,108.9,11,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,330.0,4184,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,176,2235,513,483,0.0,0.0,0,143,0.00,0.00,-91.35,0.000,16386,0.000,0.000,173,2236,2128,2054,2203,0,0,0,0,0,0,14.37,28.83,14.39
$GC,146,-0.57,-145.9,174,2236,2057,2204,3.5,-4.7,9,204,12.95,2.88,-36.67,0.000,18980,0.454,2.138,2384,826,3964,3949,3979,1,0,0,0,0,0,13.35,12.57,14.08
$GC,274,-0.73,-145.9,2384,826,3954,3979,34.7,-12.7,34,280,0.10,2.40,0.00,0.000,5254,0.138,0.086,2334,2178,3965,3953,3977,0,0,0,0,0,0,14.00,13.95,14.09
$GC,579,-0.78,-145.9,2334,2179,3954,3980,88.7,-14.2,65,584,0.00,2.55,0.00,0.000,388,0.000,0.090,2332,3613,3966,3953,3979,0,0,0,0,0,0,14.56,13.96,14.57
$GC,722,-0.95,-145.9,2333,3616,3954,3980,103.8,-9.9,93,727,0.20,2.35,0.00,0.000,5286,0.101,0.052,2256,2221,3966,3954,3979,0,0,0,0,0,0,14.27,14.21,14.36
$GC,1032,-0.92,-145.9,2257,2221,3954,3980,159.0,-17.0,105,1037,0.00,2.47,0.00,0.000,388,0.000,0.086,2248,3611,3966,3953,3979,0,0,0,0,0,0,14.65,14.15,14.66
$GC,1112,-0.98,-145.9,2249,3612,3954,3979,171.2,-14.1,121,1117,0.00,2.40,0.00,0.000,1158,0.000,0.057,2248,2195,3966,3954,3979,0,0,0,0,0,0,14.35,14.21,14.38
$GC,1422,-0.98,-145.9,2248,2195,3954,3980,220.0,-15.3,133,1427,0.00,2.53,0.00,0.000,260,0.000,0.086,2239,3620,3966,3954,3979,0,0,0,0,0,0,14.67,14.16,14.69
$GC,1518,-1.06,-145.9,2238,3621,3955,3980,232.9,-12.9,152,1523,0.00,2.40,0.00,0.000,1158,0.000,0.057,2239,2196,3966,3954,3979,0,0,0,0,0,0,14.35,14.23,14.39
$GC,1844,-1.06,-145.9,2239,2196,3949,3980,277.9,-13.1,167,1848,0.00,2.50,0.00,0.000,260,0.000,0.088,2234,3613,3966,3953,3979,0,0,0,0,0,0,14.68,14.16,14.70
$GC,1919,-1.15,-145.9,2236,3614,3955,3980,286.7,-11.1,182,1923,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2194,3965,3952,3979,0,0,0,0,0,0,14.35,14.23,14.39
$GC,2234,-1.20,-145.9,2236,2192,3955,3982,325.0,-11.9,195,2239,0.12,2.53,0.00,0.000,4484,0.146,0.084,2169,3610,3966,3954,3979,0,0,0,0,0,0,14.09,14.02,14.15
$GC,2309,-1.15,-145.9,2170,3610,3955,3979,337.1,-16.5,210,2314,0.17,2.42,0.00,0.000,3206,0.264,0.056,2204,2193,3966,3954,3979,0,0,0,0,0,0,13.73,14.04,14.04
$GC,2625,-1.15,-145.9,2204,2193,3953,3980,382.1,-13.9,223,2629,0.00,2.53,0.00,0.000,260,0.000,0.086,2196,3610,3966,3954,3978,0,0,0,0,0,0,14.47,14.00,14.49
$GC,2720,-1.19,-145.9,2196,3612,3954,3980,394.8,-12.9,242,2724,0.00,2.40,0.00,0.000,1158,0.000,0.055,2196,2199,3966,3954,3979,0,0,0,0,0,0,14.16,14.02,14.21
$GC,3045,-1.16,-145.9,2196,2199,3954,3979,441.4,-14.3,257,3050,0.00,2.50,0.00,0.000,388,0.000,0.086,2186,3618,3966,3954,3978,0,0,0,0,0,0,14.64,14.12,14.66
$GC,3150,-1.19,-145.9,2186,3621,3954,3979,456.1,-13.5,278,3155,0.00,2.40,0.00,0.000,1158,0.000,0.056,2186,2198,3966,3953,3979,0,0,0,0,0,0,14.32,14.19,14.34
$STATE,3312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3312,begin apogee
$GC,3318,-0.13,0.0,2187,2055,3954,3978,481.0,-15.3,286,3557,1.38,0.10,231.43,1.395,10246,0.242,0.155,2527,2120,3357,3373,3342,0,0,0,0,0,0,13.72,13.42,12.63
$STATE,3560,end apogee,CONTROL_FINISHED_OK
$STATE,3560,begin climb
$GC,3563,0.57,145.9,2527,2122,3371,3337,495.0,0.0,294,4122,0.75,2.65,212.25,1.349,10500,0.060,0.071,2782,3500,2745,2773,2718,0,0,0,0,0,0,13.66,12.86,12.25
$GC,4134,0.57,145.9,2783,3500,2775,2718,459.7,7.3,297,4140,0.00,2.33,0.00,0.000,1030,0.000,0.056,2791,2131,2745,2773,2718,0,0,0,0,0,0,14.16,14.05,14.19
$GC,4450,0.12,145.9,2792,2130,2775,2719,415.0,13.6,310,4455,0.73,2.47,0.00,0.000,4740,0.319,0.077,2644,695,2745,2774,2717,0,0,0,0,0,0,13.74,14.14,14.00
$GC,4681,0.03,199.3,2637,697,2775,2719,396.4,7.5,356,4771,0.20,2.42,80.47,1.338,13478,0.277,0.079,2596,2093,2546,2595,2498,0,0,0,0,0,0,13.91,14.23,13.11
$GC,5082,0.04,240.7,2596,2093,2589,2480,364.9,8.1,386,5152,0.00,2.47,65.45,1.310,8868,0.000,0.081,2601,698,2381,2431,2332,0,0,0,0,0,0,14.59,13.77,13.16
$GC,5237,0.12,271.8,2602,699,2419,2324,351.7,8.6,417,5294,0.00,2.45,47.90,1.319,9382,0.000,0.077,2602,2099,2254,2305,2204,0,0,0,0,0,0,14.23,14.11,13.12
$GC,5595,0.17,297.3,2603,2100,2295,2185,319.8,8.8,438,5635,0.00,0.00,38.90,1.327,8358,0.000,0.000,2601,2100,2153,2203,2104,0,0,0,0,0,0,14.57,14.03,13.24
$GC,5923,0.26,333.1,2602,2101,2187,2085,291.6,8.3,449,5989,0.17,2.55,58.25,1.280,10916,0.105,0.088,2685,703,2002,2050,1955,0,0,0,0,0,0,14.26,13.97,13.19
$GC,6055,0.22,333.1,2684,702,2031,1951,274.2,13.5,475,6060,0.15,2.45,0.00,0.000,5254,0.234,0.076,2653,2105,1990,2030,1951,0,0,0,0,0,0,13.94,14.11,14.19
$GC,6375,0.22,333.1,2654,2105,2032,1945,239.9,10.1,489,6381,0.00,2.50,0.00,0.000,516,0.000,0.086,2654,691,1986,2030,1942,0,0,0,0,0,0,14.64,14.14,14.62
$GC,6426,0.29,343.0,2655,691,2030,1942,234.9,9.5,499,6437,0.00,2.45,3.17,1.050,9382,0.000,0.078,2654,2106,1965,2011,1920,0,0,0,0,0,0,14.35,14.22,12.88
$GC,6736,0.30,354.6,2654,2106,2024,1929,204.9,9.5,511,6768,0.00,2.55,26.88,1.339,8740,0.000,0.085,2654,694,1918,1958,1878,0,0,0,0,0,0,14.66,14.10,13.29
$GC,6823,0.41,383.0,2655,694,1942,1875,197.1,8.7,523,6880,0.17,2.45,49.58,1.257,11430,0.106,0.077,2722,2101,1800,1825,1776,0,0,0,0,0,0,14.10,14.08,13.19
$GC,7190,0.35,383.0,2722,2102,1810,1760,150.6,12.5,546,7191,0.00,0.00,0.00,0.000,134,0.000,0.000,2721,2101,1784,1809,1759,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7490,0.31,383.0,2722,2102,1810,1757,116.0,11.2,556,7495,0.15,2.47,0.00,0.000,4740,0.227,0.083,2685,698,1782,1808,1757,0,0,0,0,0,0,13.90,14.12,14.02
$GC,7583,0.41,425.9,2685,697,1806,1758,108.1,8.0,574,7662,0.00,2.45,74.80,1.200,9382,0.000,0.079,2685,2107,1629,1656,1602,0,0,0,0,0,0,14.20,14.08,13.19
$GC,7963,0.55,483.8,2686,2106,1644,1573,78.6,7.3,619,7999,0.22,2.53,31.25,0.426,10916,0.093,0.085,2781,692,1389,1430,1349,0,0,0,0,0,0,14.28,13.49,13.61
$GC,8035,0.53,483.8,2781,692,1437,1356,70.2,12.4,632,8040,0.12,2.42,0.00,0.000,5254,0.249,0.078,2757,2098,1396,1436,1356,0,0,0,0,0,0,13.97,14.14,14.21
$GC,8345,0.62,558.0,2757,2099,1437,1355,45.0,6.6,664,8396,0.00,0.00,43.72,0.330,8358,0.000,0.000,2757,2100,1087,1150,1025,0,0,0,0,0,0,14.57,14.13,13.76
$GC,8695,0.88,684.3,2757,2100,1152,1034,24.5,4.2,699,8781,0.30,2.55,75.62,0.261,10916,0.083,0.093,2883,702,571,609,534,0,0,0,0,0,0,14.15,14.03,13.78
$GC,8886,0.88,684.3,2876,702,610,531,2.1,13.9,736,8892,0.00,2.45,0.00,0.000,1030,0.000,0.070,2880,2108,569,608,530,0,0,0,0,0,0,14.19,14.07,14.23
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8899,begin surface coast
$FINISH,0.0,1.021564
$STATE,8909,end surface coast,CONTROL_FINISHED_OK
$STATE,8909,begin surface
$SM_CCo,8930,10.40,0.214,0,0,498,703.52
$SM_GC,1.57,8.25,0.15,10.40,0.076,0.119,0.214,196,2231,498,-7.39,-0.88,703.52,0,0,0,0,0,0,14.30,14.28,13.95
$RAFOS_CLK,404
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7540.39,-15058.41,100917,095047
$TT8_MAMPS,0.039697,0.935501
$HUMID,46.69
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15944581120.000000
$PM_FREEKB_00,48633856
$24V_AH,12.25,186.911
$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,26.150,84.700,1039.675,10.400,0.000,0.000,0.000,415.500,2.250,0.000,12.604,0.000,5941.630,925.678,2455.209,318.844,0.000,2542.253,0.000,1060.389,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2138.175,1394.595,214.200,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8942.000,8897.000,8885.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.693,20.000,15.426,0.000
$MEM,323696
$DATA_FILE_SIZE,26689,739
$CAP_FILE_SIZE,101211,0
$CFSIZE,2097872896,2001829888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.8
$CURRENT,0.053,277.22,1
$GPS,100917,151622,7542.057,-15109.625,14,0.8,33,20.8,0.7,95.9,10,10.0