version: 66.13
glider: 196
mission: 14
dive: 322
start: 9 13 117 4 13 37
data:
$ID,196
$MISSION,14
$DIVE,322
$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,52
$R_STBD_OVSHOOT,59
$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,894.0
$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
$GPS1,130917,035728,7516.5361,-15110.1055,17,0.7,18,20.7,0.8,336.4,11,9.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.1
$GPS2,130917,041301,7516.6079,-15110.0830,7,0.7,36,20.7,0.4,325.4,10,7.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.4,60478,-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,-145.9,169,2178,510,486,0.0,0.0,0,141,0.00,0.00,-88.45,0.000,16386,0.000,0.000,164,2178,2051,1974,2128,0,0,0,0,0,0,14.52,28.83,14.53
$GC,144,-0.57,-145.9,164,2178,1976,2129,3.7,-4.8,9,206,13.25,2.72,-40.28,0.000,18980,0.457,2.147,2383,824,3964,3950,3978,1,0,0,0,0,0,13.33,12.59,13.92
$GC,277,-0.72,-145.9,2384,824,3950,3979,32.8,-13.1,35,281,0.00,2.40,0.00,0.000,1158,0.000,0.086,2378,2160,3966,3955,3978,0,0,0,0,0,0,14.12,13.98,14.14
$GC,587,-0.83,-145.9,2378,2162,3963,3979,77.3,-10.9,67,592,0.20,2.62,0.00,0.000,4484,0.103,0.086,2289,3614,3966,3955,3978,0,0,0,0,0,0,13.88,13.90,13.92
$GC,727,-0.91,-145.9,2289,3617,3956,3979,97.5,-13.9,95,732,0.00,2.40,0.00,0.000,1158,0.000,0.058,2289,2222,3964,3955,3974,0,0,0,0,0,0,14.14,14.02,14.16
$GC,1048,-0.94,-145.9,2290,2222,3954,3978,145.1,-14.0,108,1048,0.00,0.00,0.00,0.000,134,0.000,0.000,2289,2221,3966,3954,3978,0,0,0,0,0,0,14.42,14.45,14.44
$GC,1347,-1.01,-145.9,2290,2221,3956,3978,183.4,-12.4,118,1352,0.12,2.50,0.00,0.000,4484,0.135,0.084,2236,3619,3966,3955,3978,0,0,0,0,0,0,14.02,13.94,14.04
$GC,1410,-1.06,-145.9,2236,3621,3955,3979,192.2,-14.4,130,1415,0.00,2.42,0.00,0.000,1158,0.000,0.057,2236,2191,3966,3954,3978,0,0,0,0,0,0,14.09,13.97,14.13
$GC,1742,-1.06,-145.9,2236,2190,3955,3979,244.8,-15.3,146,1747,0.00,2.53,0.00,0.000,260,0.000,0.087,2228,3615,3966,3955,3978,0,0,0,0,0,0,14.55,14.02,14.59
$GC,1812,-1.14,-145.9,2228,3617,3955,3980,254.7,-12.5,160,1818,0.00,2.42,0.00,0.000,1158,0.000,0.057,2228,2195,3966,3955,3978,0,0,0,0,0,0,14.27,14.14,14.31
$GC,2133,-1.14,-145.9,2228,2194,3955,3980,299.3,-13.4,174,2138,0.00,2.53,0.00,0.000,260,0.000,0.088,2223,3620,3966,3955,3978,0,0,0,0,0,0,14.64,14.09,14.66
$GC,2218,-1.24,-145.9,2223,3622,3956,3978,309.6,-11.2,191,2224,0.15,2.42,0.00,0.000,5254,0.118,0.057,2162,2198,3966,3955,3978,0,0,0,0,0,0,14.17,14.12,14.26
$GC,2523,-1.13,-145.9,2161,2196,3956,3978,365.3,-18.4,202,2528,0.22,2.50,0.00,0.000,2436,0.301,0.082,2202,3614,3966,3955,3978,0,0,0,0,0,0,13.73,14.10,13.95
$GC,2646,-1.19,-145.9,2203,3615,3955,3979,381.4,-12.1,226,2651,0.00,2.42,0.00,0.000,1158,0.000,0.057,2202,2195,3966,3954,3978,0,0,0,0,0,0,14.21,14.09,14.26
$GC,2976,-1.19,-145.9,2202,2195,3955,3979,426.0,-13.4,242,2981,0.00,2.53,0.00,0.000,260,0.000,0.086,2197,3616,3966,3955,3977,0,0,0,0,0,0,14.69,14.03,14.70
$GC,3041,-1.25,-145.9,2197,3616,3955,3978,434.4,-12.3,255,3046,0.00,2.42,0.00,0.000,1158,0.000,0.056,2196,2195,3966,3954,3978,0,0,0,0,0,0,14.30,14.17,14.34
$GC,3366,-1.25,-145.9,2197,2194,3955,3978,478.7,-13.7,270,3371,0.00,2.53,0.00,0.000,260,0.000,0.086,2192,3617,3966,3954,3978,0,0,0,0,0,0,14.68,14.03,14.68
$STATE,3373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3373,begin apogee
$GC,3381,-0.13,0.0,2193,2092,3954,3979,480.1,-13.8,272,3618,1.35,0.00,233.27,1.392,10246,0.241,0.000,2528,2091,3367,3385,3349,0,0,0,0,0,0,13.71,13.53,12.68
$STATE,3622,end apogee,CONTROL_FINISHED_OK
$STATE,3622,begin climb
$GC,3625,0.57,145.9,2529,2091,3376,3338,495.0,0.0,280,3851,0.75,2.70,214.73,1.353,10756,0.060,0.076,2793,690,2761,2795,2728,0,0,0,0,0,0,13.69,12.83,12.23
$GC,4016,0.14,145.9,2793,690,2785,2722,492.7,12.6,315,4023,0.77,2.55,0.00,0.000,5254,0.327,0.073,2633,2107,2758,2792,2724,0,0,0,0,0,0,13.30,13.69,13.70
$GC,4321,0.00,193.9,2633,2108,2785,2714,467.9,7.8,326,4396,0.20,0.00,72.60,1.359,12454,0.270,0.000,2590,2106,2573,2627,2520,0,0,0,0,0,0,13.80,13.88,13.07
$GC,4681,-0.00,234.5,2590,2108,2616,2494,439.7,8.1,338,4752,0.00,2.58,63.15,1.346,8868,0.000,0.086,2590,696,2402,2457,2348,0,0,0,0,0,0,14.55,13.97,13.14
$GC,4794,0.09,268.4,2592,696,2451,2342,430.5,8.4,360,4857,0.00,2.47,54.58,1.329,9382,0.000,0.080,2590,2098,2266,2321,2211,0,0,0,0,0,0,14.16,14.03,13.04
$GC,5163,0.16,296.1,2590,2099,2308,2194,398.3,8.7,384,5206,0.12,0.00,40.95,1.359,10406,0.130,0.000,2650,2098,2158,2209,2108,0,0,0,0,0,0,14.17,14.02,13.19
$GC,5493,0.10,296.1,2651,2099,2189,2088,356.1,12.8,395,5498,0.12,2.47,0.00,0.000,4740,0.246,0.083,2629,689,2137,2188,2086,0,0,0,0,0,0,13.91,14.12,14.03
$GC,5558,0.15,296.1,2629,690,2188,2087,348.9,10.4,408,5563,0.00,2.45,0.00,0.000,1158,0.000,0.077,2630,2101,2137,2187,2087,0,0,0,0,0,0,14.28,14.12,14.31
$GC,5883,0.15,296.1,2630,2100,2187,2086,314.3,10.4,423,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2099,2135,2186,2085,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6183,0.15,296.9,2630,2100,2187,2085,284.0,10.0,433,6189,0.00,2.47,0.00,0.000,548,0.000,0.085,2631,691,2135,2186,2084,0,0,0,0,0,0,14.66,14.17,14.68
$GC,6210,0.17,296.9,2631,692,2186,2085,281.5,10.5,438,6216,0.00,2.45,0.00,0.000,1158,0.000,0.077,2630,2101,2134,2185,2083,0,0,0,0,0,0,14.18,14.05,14.18
$GC,6515,0.19,322.0,2632,2102,2188,2084,253.5,8.8,449,6555,0.00,0.00,39.40,1.329,8230,0.000,0.000,2630,2102,2053,2101,2005,0,0,0,0,0,0,14.66,14.09,13.24
$GC,6845,0.27,371.1,2631,2102,2087,1987,226.6,7.7,460,6941,0.12,2.58,88.90,1.233,10916,0.129,0.088,2692,698,1846,1875,1817,0,0,0,0,0,0,14.30,13.93,13.15
$GC,6976,0.27,371.1,2692,698,1862,1809,212.4,11.0,476,6981,0.00,2.50,0.00,0.000,1030,0.000,0.077,2692,2102,1836,1861,1812,0,0,0,0,0,0,14.04,13.92,14.07
$GC,7296,0.24,371.1,2692,2104,1859,1805,177.0,10.9,490,7301,0.12,2.50,0.00,0.000,4740,0.229,0.085,2660,690,1830,1858,1803,0,0,0,0,0,0,13.98,14.09,14.12
$GC,7352,0.38,409.6,2660,692,1857,1805,172.2,8.2,501,7424,0.15,2.47,66.75,1.201,11430,0.119,0.078,2721,2102,1696,1719,1674,0,0,0,0,0,0,14.21,14.14,13.21
$GC,7749,0.35,409.6,2721,2103,1705,1648,124.7,11.4,530,7750,0.12,0.00,0.00,0.000,4230,0.235,0.000,2694,2102,1675,1705,1645,0,0,0,0,0,0,14.08,14.35,14.30
$GC,8049,0.41,439.4,2695,2102,1706,1641,97.5,8.6,540,8071,0.00,2.50,15.55,0.460,8868,0.000,0.086,2699,688,1574,1606,1543,0,0,0,0,0,0,14.61,14.00,13.55
$GC,8134,0.54,480.6,2699,687,1614,1549,90.7,8.1,556,8167,0.17,2.50,27.38,0.460,11430,0.106,0.078,2773,2109,1402,1439,1365,0,0,0,0,0,0,14.23,14.15,13.60
$GC,8462,0.53,503.9,2773,2110,1450,1375,53.6,8.9,592,8484,0.00,2.50,15.52,0.342,8868,0.000,0.083,2780,699,1309,1356,1262,0,0,0,0,0,0,14.57,13.81,13.59
$GC,8520,0.59,547.8,2781,695,1359,1271,48.8,8.0,603,8558,0.00,2.47,28.92,0.338,9382,0.000,0.077,2781,2106,1130,1191,1069,0,0,0,0,0,0,14.14,14.00,13.65
$GC,8855,0.73,629.8,2781,2106,1193,1081,24.4,6.2,640,8912,0.12,2.53,52.12,0.264,10916,0.129,0.086,2850,688,794,860,729,0,0,0,0,0,0,14.21,13.86,13.67
$GC,8954,0.74,645.7,2850,688,862,736,16.3,9.3,656,8972,0.00,2.47,13.52,0.249,9254,0.000,0.075,2850,2106,730,794,666,0,0,0,0,0,0,14.16,14.07,13.74
$STATE,9105,end climb,SURFACE_DEPTH_REACHED
$STATE,9105,begin surface coast
$FINISH,0.2,1.010529
$STATE,9117,end surface coast,CONTROL_FINISHED_OK
$STATE,9117,begin surface
$SM_CCo,9138,36.50,0.205,0,0,498,702.78
$SM_GC,1.15,8.15,0.17,36.50,0.074,0.112,0.205,204,2230,498,-7.36,-0.68,702.78,0,0,0,0,0,0,14.29,14.30,13.92
$RAFOS_CLK,427
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7516.52,-15109.87,130917,040411
$TT8_MAMPS,0.040446,0.908537
$HUMID,47.36
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,17
$CP_FREE,15934881792.000000
$PM_FREEKB_00,47656896
$24V_AH,12.23,198.372
$10V_AH,12.13,0.000
$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,26.250,85.375,1027.350,36.500,0.000,0.000,0.000,512.725,4.250,0.000,37.249,0.000,6680.268,900.746,2221.402,322.902,0.000,2283.255,0.000,967.376,1282.000,0.540,0.000
$DEVICE_MAMPS,456.705,2146.590,1392.300,205.020,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9151.000,9115.000,9093.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.272,20.000,10.807,0.000
$MEM,323512
$DATA_FILE_SIZE,23365,674
$CAP_FILE_SIZE,101280,0
$CFSIZE,2097872896,1995669504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.066,85.70,1
$GPS,130917,064734,7515.297,-15109.558,15,0.8,16,20.7,0.5,337.1,10,8.2