version: 66.13
glider: 196
mission: 14
dive: 395
start: 9 21 117 14 11 52
data:
$ID,196
$MISSION,14
$DIVE,395
$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,57
$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,1096.0
$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
$GPS1,210917,140003,7421.0767,-15342.6602,37,1.0,38,19.3,0.0,0.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.0
$GPS2,210917,141117,7421.1221,-15342.2725,6,0.9,12,19.3,0.0,74.8,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,191.6,6078,-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,50,end surface,CONTROL_FINISHED_OK
$STATE,50,begin dive
$GC,53,-0.57,-145.9,196,2236,503,485,0.0,0.0,0,146,0.00,0.00,-91.47,0.000,16386,0.000,0.000,193,2237,2237,2178,2296,0,0,0,0,0,0,14.47,28.83,14.49
$GC,150,-0.57,-145.9,194,2238,2181,2296,4.6,-6.5,9,203,12.82,2.70,-31.62,0.000,18724,0.451,2.171,2376,3583,3963,3947,3979,0,0,0,0,0,0,13.54,12.59,14.00
$GC,288,-0.73,-145.9,2376,3584,3954,3980,37.5,-12.9,36,295,0.00,2.33,0.00,0.000,1158,0.000,0.057,2375,2224,3966,3953,3980,0,0,0,0,0,0,14.25,14.11,14.30
$GC,593,-0.84,-145.9,2376,2224,3955,3979,77.0,-10.3,67,595,0.22,0.00,0.00,0.000,4230,0.098,0.000,2291,2223,3967,3955,3979,0,0,0,0,0,0,14.16,14.27,14.24
$GC,896,-0.87,-145.9,2289,2223,3956,3979,123.3,-14.6,87,901,0.00,2.45,0.00,0.000,388,0.000,0.088,2280,3590,3967,3955,3980,0,0,0,0,0,0,14.57,14.06,14.59
$GC,996,-0.97,-145.9,2279,3590,3955,3976,136.7,-12.3,107,1001,0.00,2.40,0.00,0.000,1158,0.000,0.055,2280,2195,3966,3954,3979,0,0,0,0,0,0,14.25,14.12,14.28
$GC,1317,-1.02,-145.9,2279,2195,3955,3980,178.4,-12.4,121,1322,0.00,2.47,0.00,0.000,388,0.000,0.087,2278,3581,3966,3954,3979,0,0,0,0,0,0,14.60,14.04,14.62
$GC,1372,-1.17,-145.9,2279,3583,3956,3980,184.5,-10.3,132,1380,0.22,2.38,0.00,0.000,5254,0.097,0.055,2192,2199,3967,3955,3979,0,0,0,0,0,0,14.12,14.06,14.21
$GC,1677,-1.06,-145.9,2192,2199,3956,3979,244.9,-19.6,143,1682,0.17,2.47,0.00,0.000,2436,0.291,0.083,2223,3587,3966,3954,3979,0,0,0,0,0,0,13.70,14.02,13.88
$GC,1848,-1.11,-145.9,2222,3588,3963,3979,268.7,-13.0,177,1853,0.00,2.38,0.00,0.000,1158,0.000,0.056,2222,2202,3967,3955,3979,0,0,0,0,0,0,14.22,14.08,14.25
$GC,2159,-1.11,-145.9,2223,2202,3955,3980,309.7,-12.8,189,2164,0.00,2.50,0.00,0.000,260,0.000,0.089,2223,3594,3967,3955,3979,0,0,0,0,0,0,14.59,13.98,14.61
$GC,2245,-1.20,-145.9,2222,3595,3955,3980,319.8,-11.1,206,2251,0.00,2.40,0.00,0.000,1158,0.000,0.055,2222,2206,3966,3954,3979,0,0,0,0,0,0,14.14,14.02,14.21
$GC,2550,-1.24,-145.9,2222,2194,3955,3979,356.3,-11.9,217,2555,0.12,2.50,0.00,0.000,4484,0.148,0.085,2159,3588,3966,3954,3979,0,0,0,0,0,0,14.16,13.97,14.21
$GC,2625,-1.18,-145.9,2157,3592,3953,3980,368.4,-16.3,232,2631,0.17,2.40,0.00,0.000,3206,0.263,0.056,2193,2189,3966,3953,3979,0,0,0,0,0,0,13.66,14.07,14.00
$GC,2942,-1.16,-145.9,2194,2189,3954,3978,413.5,-13.9,245,2947,0.00,2.50,0.00,0.000,388,0.000,0.084,2185,3585,3969,3960,3979,0,0,0,0,0,0,14.61,13.88,14.62
$GC,3060,-1.18,-145.9,2185,3587,3953,3980,429.2,-12.9,268,3067,0.00,2.38,0.00,0.000,1158,0.000,0.055,2185,2199,3966,3953,3979,0,0,0,0,0,0,14.15,14.00,14.17
$GC,3363,-1.15,-145.9,2185,2200,3953,3979,473.4,-14.4,279,3368,0.00,2.50,0.00,0.000,388,0.000,0.085,2175,3590,3965,3953,3978,0,0,0,0,0,0,14.60,13.88,14.62
$STATE,3405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3405,begin apogee
$GC,3414,-0.13,0.0,2176,2100,3953,3978,480.1,-14.5,288,3649,1.45,0.00,227.52,1.388,10246,0.249,0.000,2529,2096,3361,3378,3344,0,0,0,0,0,0,13.64,13.35,12.75
$STATE,3653,end apogee,CONTROL_FINISHED_OK
$STATE,3653,begin climb
$GC,3656,0.57,145.9,2529,2100,3375,3340,494.1,0.0,296,3875,0.75,2.67,207.35,1.365,10756,0.058,0.079,2793,689,2763,2799,2727,0,0,0,0,0,0,13.75,13.14,12.32
$GC,3961,0.14,145.9,2795,690,2788,2722,495.3,14.3,350,3966,0.80,2.55,0.00,0.000,5254,0.321,0.073,2633,2072,2753,2787,2720,0,0,0,0,0,0,13.09,13.40,13.47
$GC,4294,-0.01,170.3,2633,2072,2788,2714,464.9,8.9,366,4329,0.22,0.00,31.75,1.464,12454,0.268,0.000,2584,2072,2669,2712,2626,0,0,0,0,0,0,13.71,13.65,13.09
$GC,4622,-0.01,224.6,2585,2072,2705,2607,440.2,7.5,377,4712,0.00,0.00,84.55,1.365,8358,0.000,0.000,2584,2072,2441,2498,2385,0,0,0,0,0,0,14.57,13.66,13.08
$GC,5012,0.02,256.0,2585,2073,2490,2373,407.5,8.5,390,5061,0.00,0.00,47.35,1.388,8230,0.000,0.000,2584,2072,2320,2372,2269,0,0,0,0,0,0,14.57,13.98,13.19
$GC,5342,0.08,287.6,2585,2071,2359,2253,379.2,8.5,401,5392,0.00,0.00,48.12,1.372,8358,0.000,0.000,2584,2071,2192,2240,2144,0,0,0,0,0,0,14.57,14.00,13.21
$GC,5672,0.17,320.6,2585,2073,2228,2128,350.8,8.5,412,5733,0.17,2.53,52.15,1.349,10916,0.106,0.088,2669,698,2050,2095,2005,0,0,0,0,0,0,14.28,13.98,13.19
$GC,5759,0.13,320.6,2669,691,2089,2004,339.1,14.7,424,5765,0.20,2.50,0.00,0.000,5254,0.236,0.078,2622,2106,2045,2087,2004,0,0,0,0,0,0,13.93,14.08,14.17
$GC,6064,0.15,320.6,2623,2107,2088,1995,305.6,10.6,435,6069,0.00,2.53,0.00,0.000,644,0.000,0.088,2630,688,2041,2087,1995,0,0,0,0,0,0,14.58,14.11,14.60
$GC,6080,0.18,320.6,2630,688,2086,1996,303.9,10.7,438,6085,0.00,2.47,0.00,0.000,1158,0.000,0.076,2630,2107,2040,2085,1995,0,0,0,0,0,0,14.29,14.15,14.34
$GC,6395,0.18,320.6,2630,2109,2086,1993,270.0,10.5,451,6400,0.00,2.47,0.00,0.000,516,0.000,0.089,2630,687,2038,2085,1991,0,0,0,0,0,0,14.62,14.09,14.63
$GC,6453,0.26,322.4,2631,688,2084,1993,265.9,9.9,459,6458,0.00,2.50,0.00,0.000,1190,0.000,0.077,2630,2100,2037,2083,1992,0,0,0,0,0,0,14.19,14.04,14.21
$GC,6774,0.31,355.1,2631,2101,2085,1992,235.7,8.5,473,6835,0.17,0.00,55.80,1.313,10406,0.098,0.000,2703,2101,1914,1949,1879,0,0,0,0,0,0,14.16,13.95,13.19
$GC,7134,0.24,355.1,2703,2102,1936,1870,189.4,12.6,485,7140,0.15,2.53,0.00,0.000,4740,0.239,0.087,2672,688,1902,1935,1870,0,0,0,0,0,0,13.87,14.02,14.02
$GC,7191,0.31,371.3,2671,689,1932,1871,183.6,9.3,496,7221,0.00,2.50,23.65,1.375,9382,0.000,0.078,2672,2099,1849,1876,1822,0,0,0,0,0,0,14.11,13.98,13.26
$GC,7529,0.35,388.7,2672,2100,1866,1813,151.9,9.2,513,7562,0.00,2.58,26.38,1.359,8868,0.000,0.090,2672,692,1775,1797,1753,0,0,0,0,0,0,14.42,14.02,13.26
$GC,7603,0.47,415.5,2672,693,1792,1754,145.3,8.8,528,7655,0.20,2.47,45.25,1.271,11430,0.100,0.080,2756,2102,1670,1690,1651,0,0,0,0,0,0,14.16,14.07,13.18
$GC,7960,0.37,415.5,2756,2100,1686,1635,93.4,13.6,555,7962,0.22,0.00,0.00,0.000,4230,0.246,0.000,2706,2100,1660,1685,1635,0,0,0,0,0,0,13.77,14.09,14.07
$GC,8260,0.45,459.2,2706,2100,1687,1631,66.8,8.0,585,8287,0.00,2.60,22.08,0.399,8868,0.000,0.090,2706,688,1494,1524,1464,0,0,0,0,0,0,14.40,13.79,13.64
$GC,8393,0.65,532.6,2706,688,1524,1465,57.7,6.6,611,8440,0.28,2.50,40.03,0.369,11430,0.082,0.079,2806,2099,1192,1246,1138,0,0,0,0,0,0,14.09,14.04,13.69
$GC,8746,0.71,617.7,2807,2100,1247,1127,23.5,6.1,651,8800,0.00,2.58,44.62,0.272,8740,0.000,0.090,2807,686,845,913,777,0,0,0,0,0,0,14.36,13.87,13.76
$GC,8846,0.87,676.6,2808,685,915,780,16.2,7.3,670,8885,0.17,2.53,33.25,0.249,11430,0.102,0.075,2878,2109,603,647,560,0,0,0,0,0,0,13.95,13.86,13.76
$STATE,8968,end climb,SURFACE_DEPTH_REACHED
$STATE,8968,begin surface coast
$FINISH,0.4,1.021094
$STATE,8978,end surface coast,CONTROL_FINISHED_OK
$STATE,8978,begin surface
$SM_CCo,9000,14.60,0.210,0,0,499,702.78
$SM_GC,1.49,8.40,0.17,14.60,0.079,0.116,0.210,201,2223,499,-7.36,-0.37,702.78,0,0,0,0,0,0,14.12,14.10,13.82
$RAFOS_CLK,122
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7423.08,-15347.54,210917,112224
$TT8_MAMPS,0.08239,0.942242
$HUMID,44.13
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15899787264.000000
$PM_FREEKB_00,44938816
$24V_AH,12.32,234.195
$10V_AH,12.33,0.000
$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,26.950,80.050,989.850,14.600,0.000,0.000,0.000,385.325,3.000,0.000,13.375,0.000,6425.216,1053.937,1858.280,365.683,0.000,2097.606,0.000,986.342,2215.000,0.539,0.000
$DEVICE_MAMPS,451.350,2171.070,1464.210,210.375,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9014.000,8973.000,8956.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.017,20.000,9.898,0.000
$MEM,323440
$DATA_FILE_SIZE,23430,687
$CAP_FILE_SIZE,99400,0
$CFSIZE,2097872896,1976795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.059,75.88,1
$GPS,210917,164330,7420.188,-15344.473,21,0.9,35,19.3,0.5,83.0,9,9.8