version: 66.13
glider: 196
mission: 14
dive: 311
start: 9 11 117 21 45 51
data:
$ID,196
$MISSION,14
$DIVE,311
$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,27
$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,863.0
$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
$GPS1,110917,213430,7530.4551,-15111.8877,17,0.7,25,20.7,0.3,31.9,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.7
$GPS2,110917,214515,7530.4834,-15111.8066,5,0.7,10,20.7,0.0,0.0,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.6,85796,-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,-145.9,198,2228,520,485,0.0,0.0,0,143,0.00,0.00,-91.50,0.000,16386,0.000,0.000,198,2228,2125,2049,2201,0,0,0,0,0,0,14.52,28.83,14.54
$GC,146,-0.57,-145.9,199,2228,2053,2201,3.0,-3.7,9,204,12.82,2.67,-39.38,0.000,18724,0.451,2.140,2376,3579,3963,3950,3977,0,0,0,0,0,0,13.54,12.88,14.07
$GC,339,-0.73,-145.9,2376,3581,3956,3977,39.7,-13.4,47,344,0.00,2.35,0.00,0.000,1158,0.000,0.057,2376,2202,3966,3955,3977,0,0,0,0,0,0,14.08,13.97,14.12
$GC,649,-0.85,-145.9,2376,2202,3958,3977,80.9,-10.2,79,651,0.22,0.00,0.00,0.000,4230,0.100,0.000,2288,2202,3970,3964,3977,0,0,0,0,0,0,14.26,14.37,14.34
$GC,949,-0.85,-145.9,2288,2203,3957,3978,127.4,-14.7,97,954,0.00,2.45,0.00,0.000,260,0.000,0.086,2279,3588,3967,3957,3977,0,0,0,0,0,0,14.62,14.07,14.64
$GC,1054,-0.96,-145.9,2280,3589,3957,3977,140.7,-11.8,118,1059,0.00,2.35,0.00,0.000,1158,0.000,0.057,2279,2200,3966,3956,3977,0,0,0,0,0,0,14.26,14.12,14.29
$GC,1369,-1.01,-145.9,2280,2200,3957,3978,182.8,-13.2,131,1370,0.00,0.00,0.00,0.000,134,0.000,0.000,2279,2199,3967,3957,3977,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1669,-1.07,-145.9,2279,2200,3957,3978,219.4,-11.7,141,1674,0.12,2.45,0.00,0.000,4484,0.141,0.083,2223,3586,3967,3957,3977,0,0,0,0,0,0,14.28,14.10,14.32
$GC,1735,-1.09,-145.9,2223,3587,3958,3977,229.0,-14.8,154,1740,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2198,3966,3956,3977,0,0,0,0,0,0,14.27,14.11,14.32
$GC,2060,-1.09,-145.9,2223,2197,3958,3975,278.4,-14.4,169,2065,0.00,2.45,0.00,0.000,260,0.000,0.088,2222,3582,3967,3957,3977,0,0,0,0,0,0,14.65,14.11,14.66
$GC,2160,-1.16,-145.9,2222,3583,3957,3979,291.1,-11.9,189,2165,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2190,3967,3957,3977,0,0,0,0,0,0,14.15,14.02,14.21
$GC,2480,-1.16,-145.9,2223,2191,3958,3980,332.2,-12.7,203,2485,0.00,2.47,0.00,0.000,260,0.000,0.087,2222,3587,3966,3956,3977,0,0,0,0,0,0,14.61,14.11,14.65
$GC,2540,-1.25,-145.9,2223,3588,3957,3977,339.3,-11.2,215,2545,0.15,2.35,0.00,0.000,5254,0.121,0.055,2162,2199,3966,3956,3977,0,0,0,0,0,0,14.20,14.16,14.30
$GC,2871,-1.14,-145.9,2163,2198,3956,3977,397.7,-17.9,231,2876,0.20,2.45,0.00,0.000,2436,0.320,0.083,2196,3582,3966,3955,3977,0,0,0,0,0,0,13.71,14.10,13.93
$GC,3006,-1.17,-145.9,2197,3582,3956,3976,416.2,-13.1,258,3011,0.00,2.35,0.00,0.000,1158,0.000,0.056,2196,2194,3966,3955,3977,0,0,0,0,0,0,14.31,14.19,14.35
$GC,3321,-1.17,-145.9,2197,2193,3956,3977,459.0,-13.5,271,3326,0.00,2.45,0.00,0.000,260,0.000,0.085,2187,3582,3966,3955,3977,0,0,0,0,0,0,14.66,14.09,14.67
$GC,3401,-1.17,-145.9,2187,3583,3955,3980,469.8,-13.3,287,3406,0.00,2.38,0.00,0.000,1030,0.000,0.054,2187,2193,3965,3954,3977,0,0,0,0,0,0,13.77,13.78,13.76
$STATE,3498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3499,begin apogee
$GC,3505,-0.13,0.0,2188,2062,3955,3978,483.9,-14.2,292,3986,1.38,0.00,477.55,1.154,10246,0.243,0.000,2530,2060,3365,3381,3350,0,0,0,0,0,0,13.72,13.30,12.53
$STATE,3992,end apogee,CONTROL_FINISHED_OK
$STATE,3992,begin climb
$GC,3994,0.57,145.9,2530,2061,3375,3345,512.3,0.0,308,4389,0.75,2.58,214.38,1.315,10756,0.059,0.080,2781,737,2740,2774,2706,0,0,0,0,0,0,13.46,12.81,12.21
$GC,4444,0.18,145.9,2782,737,2788,2706,490.6,14.6,321,4451,0.65,2.40,0.00,0.000,5254,0.320,0.075,2647,2076,2741,2779,2704,0,0,0,0,0,0,13.38,13.48,13.78
$GC,4772,0.01,156.5,2647,2073,2775,2701,458.7,9.5,336,4775,0.25,0.00,1.80,0.225,12454,0.261,0.000,2589,2076,2726,2765,2687,0,0,0,0,0,0,13.83,14.20,13.95
$GC,5071,0.00,221.6,2590,2076,2779,2694,437.3,7.0,346,5217,0.00,0.00,142.60,1.230,8870,0.000,0.000,2589,2077,2462,2516,2408,0,0,0,0,0,0,14.64,13.80,13.03
$GC,5522,0.03,256.2,2590,2077,2499,2383,400.3,8.4,381,5589,0.00,2.47,61.80,1.252,8740,0.000,0.086,2590,729,2316,2366,2267,0,0,0,0,0,0,14.58,14.00,13.19
$GC,5642,0.17,298.6,2590,730,2356,2257,390.7,8.0,404,5730,0.15,2.42,79.90,1.202,11430,0.116,0.079,2656,2101,2144,2193,2096,0,0,0,0,0,0,14.09,14.02,13.07
$GC,6036,0.12,298.6,2656,2101,2179,2078,339.9,13.0,433,6042,0.12,2.40,0.00,0.000,4740,0.249,0.081,2632,731,2128,2178,2078,0,0,0,0,0,0,14.00,14.10,14.13
$GC,6092,0.17,298.6,2633,733,2176,2079,333.6,10.5,444,6098,0.00,2.40,0.00,0.000,1158,0.000,0.077,2633,2110,2125,2174,2076,0,0,0,0,0,0,14.27,14.18,14.33
$GC,6397,0.17,298.6,2633,2107,2176,2076,300.3,10.8,455,6402,0.00,2.38,0.00,0.000,516,0.000,0.085,2633,726,2125,2174,2076,0,0,0,0,0,0,14.65,14.05,14.67
$GC,6437,0.22,298.6,2633,724,2173,2077,296.2,10.2,463,6442,0.00,2.38,0.00,0.000,1158,0.000,0.077,2633,2098,2124,2173,2076,0,0,0,0,0,0,14.37,14.23,14.41
$GC,6757,0.22,301.3,2634,2098,2173,2075,263.2,9.9,477,6763,0.00,2.40,0.00,0.000,548,0.000,0.084,2634,730,2126,2173,2080,0,0,0,0,0,0,14.67,14.16,14.69
$GC,6798,0.29,319.8,2634,732,2172,2076,259.4,9.1,485,6834,0.12,2.38,29.80,1.311,11430,0.128,0.077,2688,2101,2060,2103,2018,0,0,0,0,0,0,14.30,14.24,13.29
$GC,7151,0.23,319.8,2689,2100,2089,1996,217.6,11.4,505,7152,0.15,0.00,0.00,0.000,4230,0.238,0.000,2656,2101,2042,2088,1997,0,0,0,0,0,0,14.06,14.35,14.28
$GC,7449,0.25,349.4,2656,2102,2088,1995,190.7,8.6,515,7512,0.00,2.50,56.70,1.215,8740,0.000,0.088,2656,733,1937,1980,1894,0,0,0,0,0,0,14.66,14.07,13.25
$GC,7552,0.38,388.9,2657,733,1965,1894,182.1,8.2,530,7628,0.15,2.40,69.20,1.188,11430,0.114,0.078,2715,2101,1780,1805,1756,0,0,0,0,0,0,14.19,14.12,13.11
$GC,7933,0.35,388.9,2715,2101,1786,1735,136.2,11.8,556,7938,0.00,2.45,0.00,0.000,644,0.000,0.085,2723,723,1759,1784,1734,0,0,0,0,0,0,14.57,14.14,14.58
$GC,8023,0.35,388.9,2724,723,1783,1734,125.9,10.9,574,8028,0.00,2.42,0.00,0.000,1030,0.000,0.076,2720,2101,1757,1781,1734,0,0,0,0,0,0,14.31,14.18,14.36
$GC,8333,0.36,391.9,2723,2101,1782,1732,93.1,9.9,592,8338,0.00,2.50,0.00,0.000,292,0.000,0.082,2722,3511,1756,1781,1732,0,0,0,0,0,0,14.45,14.02,14.44
$GC,8368,0.31,391.9,2723,3512,1781,1733,89.4,11.1,599,8374,0.20,2.38,0.00,0.000,5254,0.244,0.061,2685,2135,1756,1780,1732,0,0,0,0,0,0,13.81,14.01,14.11
$GC,8673,0.46,482.9,2685,2135,1781,1730,69.2,5.8,630,8727,0.12,2.60,46.45,0.401,10916,0.133,0.085,2751,683,1394,1436,1353,0,0,0,0,0,0,14.09,13.59,13.21
$GC,8822,0.58,532.8,2751,682,1440,1356,57.0,7.7,659,8854,0.00,2.53,27.38,0.365,9382,0.000,0.076,2751,2099,1191,1251,1132,0,0,0,0,0,0,14.11,13.98,13.54
$GC,9159,0.75,620.9,2751,2100,1252,1142,34.6,5.9,696,9212,0.22,0.00,49.72,0.297,10662,0.092,0.000,2833,2099,834,899,769,0,0,0,0,0,0,14.12,14.02,13.69
$STATE,9506,end climb,SURFACE_DEPTH_REACHED
$STATE,9506,begin surface coast
$FINISH,0.1,1.021563
$STATE,9527,end surface coast,CONTROL_FINISHED_OK
$STATE,9527,begin surface
$SM_CCo,9548,44.97,0.210,0,0,499,703.28
$SM_GC,1.24,8.25,0.17,44.97,0.080,0.120,0.210,205,2219,499,-7.37,-0.76,703.28,0,0,0,0,0,0,14.16,14.14,13.83
$RAFOS_CLK,77
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7530.74,-15119.26,110917,185346
$TT8_MAMPS,0.084637,0.886816
$HUMID,44.21
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15939436544.000000
$PM_FREEKB_00,48156416
$24V_AH,12.21,192.896
$10V_AH,12.05,0.000
$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,26.050,78.225,1257.275,44.975,0.000,0.000,0.000,371.025,3.500,0.000,11.490,0.000,6524.056,1150.884,2264.260,314.977,0.000,2556.388,0.000,1053.109,2159.000,0.540,0.000
$DEVICE_MAMPS,450.585,2139.705,1315.035,210.375,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9560.000,9521.000,9500.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.274,20.000,10.874,0.000
$MEM,323304
$DATA_FILE_SIZE,26769,734
$CAP_FILE_SIZE,100530,0
$CFSIZE,2097872896,1998585856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.032,67.09,1
$GPS,120917,002702,7529.199,-15111.521,31,0.8,32,20.7,0.0,80.5,10,8.4