version: 66.13
glider: 196
mission: 14
dive: 390
start: 9 21 117 0 24 47
data:
$ID,196
$MISSION,14
$DIVE,390
$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,30
$R_STBD_OVSHOOT,39
$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,1082.0
$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
$GPS1,210917,001101,7424.9155,-15328.2559,15,0.7,23,19.4,0.6,52.9,11,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.7
$GPS2,210917,002417,7424.9238,-15328.1846,8,0.8,10,19.4,0.0,106.2,9,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,196.8,15768,-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,53,-0.57,-145.9,189,2221,507,482,0.0,0.0,0,135,0.00,0.00,-80.68,0.000,16386,0.000,0.000,187,2220,1980,1905,2056,0,0,0,0,0,0,14.33,28.83,14.34
$GC,138,-0.57,-145.9,187,2220,1909,2058,3.1,-3.1,8,201,12.82,2.70,-42.15,0.000,18724,0.449,2.160,2376,3588,3964,3951,3977,1,0,0,0,0,0,13.42,13.01,14.00
$GC,277,-0.73,-145.9,2376,3590,3956,3976,33.7,-12.4,35,284,0.00,2.40,0.00,0.000,1158,0.000,0.056,2375,2197,3965,3955,3976,0,0,0,0,0,0,14.11,13.99,14.13
$GC,582,-0.85,-145.9,2376,2198,3958,3978,75.7,-10.7,66,587,0.20,2.53,0.00,0.000,4740,0.103,0.080,2291,784,3967,3957,3977,0,0,0,0,0,0,13.98,13.86,14.01
$GC,603,-0.91,-145.9,2291,786,3955,3977,78.4,-13.4,70,608,0.00,2.50,0.00,0.000,1158,0.000,0.086,2285,2182,3967,3957,3977,0,0,0,0,0,0,14.12,13.97,14.14
$GC,913,-0.91,-145.9,2285,2182,3958,3977,129.3,-15.2,90,918,0.00,2.53,0.00,0.000,260,0.000,0.086,2279,3615,3967,3957,3977,0,0,0,0,0,0,14.40,13.98,14.41
$GC,1044,-1.02,-145.9,2280,3617,3958,3978,145.7,-11.9,116,1049,0.00,2.40,0.00,0.000,1158,0.000,0.055,2279,2192,3966,3955,3977,0,0,0,0,0,0,14.14,13.94,14.15
$GC,1367,-1.07,-145.9,2280,2191,3958,3977,188.3,-12.9,130,1369,0.15,0.00,0.00,0.000,4230,0.122,0.000,2223,2191,3967,3957,3977,0,0,0,0,0,0,14.24,14.35,14.31
$GC,1665,-1.03,-145.9,2224,2191,3958,3976,239.1,-16.6,140,1670,0.00,2.55,0.00,0.000,388,0.000,0.088,2222,3625,3967,3957,3977,0,0,0,0,0,0,14.65,14.03,14.66
$GC,1798,-1.08,-145.9,2223,3620,3958,3977,257.9,-13.4,166,1803,0.00,2.45,0.00,0.000,1158,0.000,0.056,2222,2193,3966,3956,3977,0,0,0,0,0,0,14.18,14.04,14.22
$GC,2119,-1.08,-145.9,2223,2194,3957,3978,302.8,-13.4,180,2124,0.00,2.55,0.00,0.000,260,0.000,0.088,2224,3620,3966,3957,3976,0,0,0,0,0,0,14.62,14.02,14.63
$GC,2210,-1.17,-145.9,2222,3623,3957,3977,313.7,-11.2,198,2214,0.00,2.42,0.00,0.000,1158,0.000,0.055,2222,2201,3966,3956,3977,0,0,0,0,0,0,14.23,14.10,14.26
$GC,2540,-1.19,-145.9,2222,2202,3956,3978,354.4,-12.1,214,2541,0.00,0.00,0.00,0.000,134,0.000,0.000,2222,2200,3966,3956,3976,0,0,0,0,0,0,14.61,14.63,14.63
$GC,2840,-1.22,-145.9,2224,2201,3955,3978,389.3,-11.5,224,2845,0.12,2.53,0.00,0.000,4484,0.140,0.085,2158,3615,3965,3954,3977,0,0,0,0,0,0,14.20,14.00,14.23
$GC,2966,-1.17,-145.9,2158,3615,3954,3977,409.3,-16.1,249,2971,0.20,2.42,0.00,0.000,3206,0.264,0.055,2198,2199,3965,3954,3977,0,0,0,0,0,0,13.66,13.99,13.98
$GC,3292,-1.17,-145.9,2198,2198,3955,3977,453.9,-13.5,264,3296,0.00,2.53,0.00,0.000,260,0.000,0.085,2190,3614,3965,3954,3977,0,0,0,0,0,0,14.56,13.98,14.57
$GC,3362,-1.20,-145.9,2189,3615,3954,3977,463.4,-12.9,278,3367,0.00,2.42,0.00,0.000,1158,0.000,0.056,2189,2193,3965,3953,3977,0,0,0,0,0,0,14.21,14.07,14.28
$STATE,3500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3500,begin apogee
$GC,3507,-0.13,0.0,2190,2062,3955,3976,483.3,-14.3,286,3744,1.38,0.08,228.12,1.381,10246,0.240,0.180,2528,2112,3355,3372,3338,0,0,0,0,0,0,13.59,13.54,12.79
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3751,0.57,145.9,2529,2112,3368,3333,497.3,0.0,294,4315,0.75,1.80,214.52,1.325,10756,0.058,0.076,2796,733,2746,2775,2717,0,0,0,0,0,0,13.76,12.97,12.36
$GC,4325,0.57,145.9,2797,732,2776,2717,462.3,7.1,297,4330,0.15,2.40,0.00,0.000,5126,0.320,0.074,2771,2103,2745,2774,2716,0,0,0,0,0,0,13.70,14.06,14.07
$GC,4641,0.15,145.9,2771,2105,2775,2713,418.1,13.6,310,4643,0.60,0.00,0.00,0.000,4230,0.310,0.000,2638,2105,2743,2774,2712,0,0,0,0,0,0,13.66,14.19,14.08
$GC,4941,0.00,180.0,2638,2106,2775,2711,391.9,8.4,320,4995,0.22,2.50,47.25,1.364,12964,0.278,0.086,2589,737,2623,2664,2583,0,0,0,0,0,0,13.74,14.00,13.17
$GC,5043,0.04,237.7,2589,733,2659,2572,384.7,7.3,335,5141,0.00,2.40,92.55,1.274,9254,0.000,0.080,2589,2100,2395,2447,2343,0,0,0,0,0,0,14.23,14.10,13.05
$GC,5451,0.06,268.5,2589,2101,2424,2320,350.2,8.6,367,5499,0.00,0.00,45.53,1.304,8230,0.000,0.000,2589,2100,2268,2318,2219,0,0,0,0,0,0,14.56,14.00,13.21
$GC,5781,0.14,301.9,2589,2099,2304,2196,321.9,8.5,378,5835,0.12,0.00,51.90,1.284,10406,0.126,0.000,2651,2100,2133,2180,2087,0,0,0,0,0,0,14.29,14.00,13.19
$GC,6112,0.10,301.9,2651,2101,2162,2066,281.3,12.2,389,6117,0.12,2.42,0.00,0.000,4740,0.243,0.083,2626,727,2113,2161,2065,0,0,0,0,0,0,14.00,14.14,14.16
$GC,6152,0.16,301.9,2626,726,2158,2065,277.2,10.3,397,6157,0.00,2.40,0.00,0.000,1158,0.000,0.078,2626,2098,2111,2158,2065,0,0,0,0,0,0,14.28,14.14,14.33
$GC,6473,0.20,330.7,2627,2100,2160,2063,247.6,8.7,411,6519,0.00,0.00,44.78,1.277,8358,0.000,0.000,2626,2099,2020,2069,1972,0,0,0,0,0,0,14.59,13.98,13.24
$GC,6803,0.29,373.6,2626,2100,2046,1950,220.6,8.0,422,6883,0.12,2.45,73.60,1.225,10916,0.120,0.086,2693,733,1836,1864,1809,0,0,0,0,0,0,14.14,13.71,13.16
$GC,6923,0.29,373.6,2693,733,1850,1804,206.4,11.7,446,6928,0.00,2.42,0.00,0.000,1030,0.000,0.077,2693,2109,1825,1848,1803,0,0,0,0,0,0,14.18,14.06,14.22
$GC,7254,0.27,373.6,2693,2111,1845,1795,167.9,11.3,462,7259,0.00,2.45,0.00,0.000,644,0.000,0.088,2693,733,1819,1845,1794,0,0,0,0,0,0,14.58,14.08,14.60
$GC,7309,0.31,373.6,2693,733,1843,1794,162.0,10.2,473,7315,0.00,2.40,0.00,0.000,1158,0.000,0.076,2693,2105,1816,1839,1794,0,0,0,0,0,0,14.23,14.10,14.28
$GC,7614,0.31,373.6,2693,2106,1843,1793,130.3,10.2,484,7619,0.00,2.45,0.00,0.000,516,0.000,0.087,2693,729,1817,1842,1792,0,0,0,0,0,0,14.62,14.04,14.62
$GC,7645,0.34,380.7,2693,729,1842,1792,127.4,9.7,490,7650,0.00,2.40,0.00,0.000,1190,0.000,0.077,2693,2100,1816,1841,1792,0,0,0,0,0,0,14.17,14.03,14.21
$GC,7956,0.35,402.9,2693,2101,1840,1790,98.5,9.0,506,7976,0.00,0.00,13.77,0.461,8230,0.000,0.000,2693,2101,1722,1743,1701,0,0,0,0,0,0,14.59,14.12,13.62
$GC,8276,0.43,456.0,2693,2101,1758,1706,72.3,7.6,538,8309,0.00,0.00,31.65,0.404,8358,0.000,0.000,2693,2101,1506,1534,1478,0,0,0,0,0,0,14.55,14.02,13.61
$GC,8606,0.63,555.8,2693,2101,1545,1480,51.6,5.4,571,8670,0.25,2.45,57.28,0.343,10916,0.087,0.089,2793,728,1097,1160,1034,0,0,0,0,0,0,14.14,13.95,13.71
$GC,8795,0.70,582.2,2795,729,1162,1042,34.1,8.8,608,8817,0.00,2.42,16.10,0.290,9382,0.000,0.076,2794,2105,989,1054,924,0,0,0,0,0,0,14.05,13.93,13.76
$GC,9123,0.84,693.1,2795,2106,1058,937,11.8,4.9,643,9197,0.15,2.50,67.50,0.226,10660,0.112,0.080,2866,3509,535,563,507,0,0,0,0,0,0,14.07,13.97,13.81
$STATE,9227,end climb,SURFACE_DEPTH_REACHED
$STATE,9227,begin surface coast
$FINISH,0.3,1.021011
$STATE,9235,end surface coast,CONTROL_FINISHED_OK
$STATE,9235,begin surface
$SM_CCo,9260,5.10,0.218,0,0,500,702.78
$SM_GC,2.07,8.27,2.20,5.10,0.076,0.048,0.218,200,2228,500,-7.37,1.81,702.78,0,0,0,0,0,0,14.23,14.20,13.86
$RAFOS_CLK,405
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7424.60,-15318.94,210917,001557
$TT8_MAMPS,0.040446,0.892808
$HUMID,47.32
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15902310400.000000
$PM_FREEKB_00,45115584
$24V_AH,12.36,231.813
$10V_AH,12.22,0.000
$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,25.650,73.225,984.550,5.100,0.000,0.000,0.000,432.275,4.250,0.000,11.592,0.000,6448.779,887.044,2366.675,367.062,0.000,2442.401,0.000,955.700,0.000,0.539,0.000
$DEVICE_MAMPS,449.055,2160.360,1380.825,218.025,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9273.000,9215.000,9210.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.722,20.000,9.906,0.000
$MEM,323420
$DATA_FILE_SIZE,23396,665
$CAP_FILE_SIZE,98374,0
$CFSIZE,2097872896,1978105856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.1
$CURRENT,0.050,50.64,1
$GPS,210917,030032,7424.167,-15331.121,32,0.7,32,19.4,0.0,0.0,11,8.0