version: 66.13
glider: 196
mission: 14
dive: 50
start: 8 12 117 12 5 22
data:
$ID,196
$MISSION,14
$DIVE,50
$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,29
$R_STBD_OVSHOOT,21
$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
$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,150.0
$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
$GPS1,120817,115049,7149.3560,-14732.4600,18,0.7,22,21.4,0.0,0.0,12,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-78.1
$GPS2,120817,120450,7149.3022,-14732.6660,39,0.8,40,21.4,0.0,0.0,10,7.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.7,170304,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,191,2188,520,477,0.0,0.0,0,125,0.00,0.00,-78.05,0.000,16386,0.000,0.000,190,2189,2012,1937,2088,0,0,0,0,0,0,14.33,28.83,14.33
$GC,128,-0.57,-145.9,191,2189,1938,2092,3.2,-3.4,8,185,12.55,2.80,-39.10,0.000,18724,0.452,2.146,2375,3610,3961,3949,3974,1,0,0,0,0,0,13.55,12.94,14.05
$GC,360,-0.57,-145.9,2376,3611,3960,3974,55.5,-17.6,54,365,0.00,2.42,0.00,0.000,1030,0.000,0.057,2375,2205,3967,3959,3975,0,0,0,0,0,0,14.01,13.91,14.03
$GC,670,-0.57,-145.9,2376,2206,3962,3974,104.1,-13.5,84,675,0.00,2.50,0.00,0.000,260,0.000,0.086,2372,3613,3967,3961,3974,0,0,0,0,0,0,14.26,13.87,14.28
$GC,720,-0.67,-145.9,2372,3612,3962,3975,110.4,-11.6,94,725,0.00,2.42,0.00,0.000,1158,0.000,0.056,2372,2197,3968,3961,3975,0,0,0,0,0,0,14.00,13.91,14.04
$GC,1030,-0.72,-145.9,2372,2198,3968,3975,147.6,-11.6,106,1035,0.00,2.53,0.00,0.000,388,0.000,0.087,2371,3609,3967,3961,3974,0,0,0,0,0,0,14.29,13.46,14.32
$GC,1085,-0.86,-145.9,2366,3608,3962,3974,153.8,-10.5,117,1091,0.20,2.42,0.00,0.000,5254,0.102,0.056,2287,2199,3967,3961,3974,0,0,0,0,0,0,13.96,13.93,14.03
$GC,1390,-0.78,-145.9,2288,2198,3962,3973,207.3,-17.0,128,1395,0.15,2.53,0.00,0.000,2436,0.291,0.083,2314,3615,3966,3961,3972,0,0,0,0,0,0,13.78,14.00,13.93
$GC,1520,-0.84,-145.9,2314,3615,3962,3973,223.5,-11.3,154,1525,0.00,2.42,0.00,0.000,1158,0.000,0.058,2314,2201,3966,3960,3972,0,0,0,0,0,0,14.05,13.97,14.07
$GC,1840,-0.84,-145.9,2315,2199,3962,3970,261.4,-11.7,168,1845,0.00,2.53,0.00,0.000,260,0.000,0.087,2307,3614,3965,3961,3970,0,0,0,0,0,0,14.33,14.00,14.35
$MODEM_MSG,CACST,6,1,20170812121425.396304,3,156,15,0096,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$MODEM_MSG,CACST,6,1,20170812122226.583241,3,1703,32,0466,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,1896,-0.91,-145.9,2308,3614,3962,3969,267.9,-11.0,179,1904,0.00,2.45,0.00,0.000,1158,0.000,0.058,2308,2196,3963,3961,3966,0,0,0,0,0,0,14.12,14.01,14.13
$GC,2201,-0.91,-145.9,2307,2195,3962,3966,302.9,-11.2,190,2206,0.00,2.50,0.00,0.000,260,0.000,0.089,2307,3616,3963,3961,3966,0,0,0,0,0,0,14.32,13.98,14.34
$GC,2256,-0.99,-145.9,2307,3619,3961,3967,308.9,-10.3,201,2263,0.15,2.42,0.00,0.000,5254,0.119,0.059,2251,2199,3962,3959,3966,0,0,0,0,0,0,14.10,14.07,14.19
$GC,2562,-0.89,-145.9,2252,2198,3961,3964,357.0,-16.2,212,2567,0.15,2.50,0.00,0.000,2436,0.314,0.083,2280,3614,3962,3960,3964,0,0,0,0,0,0,13.83,14.11,14.04
$GC,2642,-0.91,-145.9,2280,3615,3960,3965,368.0,-12.9,228,2647,0.00,2.42,0.00,0.000,1158,0.000,0.058,2279,2192,3962,3960,3964,0,0,0,0,0,0,14.26,14.16,14.30
$GC,2952,-0.88,-145.9,2280,2190,3961,3965,409.0,-13.2,240,2957,0.00,2.50,0.00,0.000,388,0.000,0.086,2274,3610,3961,3960,3962,0,0,0,0,0,0,14.50,14.14,14.50
$GC,3062,-0.88,-145.9,2274,3611,3960,3963,423.4,-12.8,262,3067,0.00,2.40,0.00,0.000,1030,0.000,0.057,2273,2199,3960,3959,3962,0,0,0,0,0,0,14.27,14.16,14.30
$GC,3372,-0.84,-145.9,2274,2198,3960,3961,464.7,-13.3,274,3378,0.12,2.47,0.00,0.000,2436,0.328,0.083,2294,3608,3960,3959,3961,0,0,0,0,0,0,13.87,14.14,14.06
$GC,3469,-0.92,-145.9,2294,3609,3960,3961,475.5,-10.3,293,3474,0.00,2.40,0.00,0.000,1158,0.000,0.057,2293,2196,3960,3959,3961,0,0,0,0,0,0,14.28,14.19,14.28
$STATE,3522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3528,-0.13,0.0,2299,2077,3960,3961,481.7,-11.2,299,3737,0.93,0.00,206.27,1.440,10246,0.233,0.000,2530,2071,3367,3403,3332,0,0,0,0,0,0,13.92,13.51,12.87
$STATE,3741,end apogee,CONTROL_FINISHED_OK
$STATE,3741,begin climb
$GC,3743,0.57,145.9,2531,2071,3396,3322,491.4,0.0,306,3948,0.73,2.53,195.12,1.384,11012,0.070,0.076,2781,722,2766,2826,2706,0,0,0,0,0,0,13.57,13.00,12.62
$GC,4173,0.25,145.9,2782,721,2801,2704,458.0,15.5,386,4178,0.55,2.47,0.00,0.000,5254,0.321,0.076,2667,2101,2753,2803,2704,0,0,0,0,0,0,13.49,13.74,13.79
$GC,4494,0.11,145.9,2667,2101,2807,2700,424.0,10.3,400,4499,0.17,2.42,0.00,0.000,4740,0.310,0.076,2634,721,2750,2802,2699,0,0,0,0,0,0,13.77,13.99,13.95
$GC,4719,0.14,186.5,2634,722,2803,2701,405.1,8.1,445,4780,0.00,2.42,56.67,1.402,9254,0.000,0.080,2634,2101,2603,2666,2541,0,0,0,0,0,0,14.19,14.08,13.21
$GC,5097,0.12,195.4,2634,2101,2657,2519,369.5,9.6,470,5107,0.00,0.00,5.93,1.648,8614,0.000,0.000,2634,2101,2570,2639,2501,0,0,0,0,0,0,14.32,14.07,13.21
$GC,5427,0.10,206.8,2634,2102,2637,2499,337.8,9.5,486,5447,0.00,0.00,18.48,1.535,8358,0.000,0.000,2632,2101,2521,2591,2452,0,0,0,0,0,0,14.40,14.08,13.34
$GC,5727,0.11,222.6,2634,2102,2584,2443,309.6,9.3,496,5750,0.00,0.00,21.65,1.497,8230,0.000,0.000,2634,2101,2458,2526,2391,0,0,0,0,0,0,14.42,14.06,13.35
$GC,6027,0.13,241.3,2634,2102,2518,2382,281.8,9.1,506,6059,0.00,2.53,27.92,1.440,8740,0.000,0.083,2642,715,2377,2442,2312,0,0,0,0,0,0,14.40,14.00,13.33
$GC,6089,0.20,259.5,2642,716,2431,2317,276.2,9.2,513,6121,0.00,2.45,27.23,1.412,9382,0.000,0.080,2642,2100,2307,2368,2246,0,0,0,0,0,0,14.11,14.00,13.25
$GC,6421,0.23,269.8,2643,2101,2359,2235,244.7,9.5,529,6436,0.00,0.00,13.80,1.509,8358,0.000,0.000,2642,2100,2263,2325,2202,0,0,0,0,0,0,14.34,14.04,13.33
$GC,6719,0.29,293.8,2642,2100,2321,2194,216.8,8.9,539,6758,0.00,0.00,36.97,1.373,8358,0.000,0.000,2642,2100,2166,2226,2106,0,0,0,0,0,0,14.40,13.97,13.32
$GC,7049,0.41,346.7,2642,2101,2218,2098,190.5,7.6,550,7142,0.20,2.58,85.90,1.255,10916,0.105,0.084,2725,717,1947,1997,1898,0,0,0,0,0,0,14.14,13.77,13.19
$GC,7197,0.41,346.7,2729,718,1989,1897,172.1,12.4,579,7204,0.00,2.50,0.00,0.000,1030,0.000,0.079,2729,2107,1942,1988,1896,0,0,0,0,0,0,13.95,13.85,13.97
$GC,7502,0.38,346.7,2729,2108,1989,1888,134.4,12.0,590,7507,0.00,2.45,0.00,0.000,644,0.000,0.085,2729,723,1937,1987,1888,0,0,0,0,0,0,14.32,14.05,14.34
$GC,7557,0.41,346.7,2729,722,1985,1889,128.3,10.7,601,7563,0.00,2.42,0.00,0.000,1158,0.000,0.078,2729,2100,1939,1991,1888,0,0,0,0,0,0,14.18,14.06,14.21
$GC,7862,0.41,346.7,2729,2101,1985,1886,96.0,10.1,614,7867,0.00,2.45,0.00,0.000,516,0.000,0.086,2729,716,1934,1983,1886,0,0,0,0,0,0,14.40,14.08,14.42
$GC,7887,0.43,346.7,2729,717,1982,1887,93.5,10.1,619,7894,0.00,2.42,0.00,0.000,1158,0.000,0.079,2729,2100,1934,1981,1887,0,0,0,0,0,0,14.24,14.13,14.28
$GC,8192,0.46,385.5,2729,2100,1981,1886,65.5,8.2,650,8214,0.00,0.00,18.10,0.405,8230,0.000,0.000,2726,2100,1794,1832,1757,0,0,0,0,0,0,14.41,14.07,13.72
$GC,8512,0.59,477.1,2729,2101,1832,1754,42.9,5.8,682,8567,0.12,2.45,46.10,0.334,10916,0.135,0.086,2794,721,1419,1475,1364,0,0,0,0,0,0,14.15,14.04,13.81
$GC,8614,0.67,499.3,2794,722,1473,1363,34.3,9.0,701,8631,0.00,2.42,11.52,0.310,9382,0.000,0.079,2794,2099,1327,1390,1265,0,0,0,0,0,0,14.07,13.96,13.80
$GC,8927,0.93,676.9,2794,2100,1391,1257,13.0,1.8,734,9024,0.25,2.50,88.68,0.252,10660,0.096,0.081,2892,3514,601,664,539,0,0,0,0,0,0,14.13,13.97,13.81
$GC,9090,0.95,676.9,2893,3513,663,538,3.3,10.0,765,9096,0.00,2.42,0.00,0.000,1158,0.000,0.068,2903,2124,599,662,537,0,0,0,0,0,0,14.13,14.02,14.15
$STATE,9102,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$FINISH,0.9,1.020002
$STATE,9112,end surface coast,CONTROL_FINISHED_OK
$STATE,9112,begin surface
$SM_CCo,9133,12.77,0.222,0,0,501,702.78
$SM_GC,2.46,8.32,0.15,12.77,0.079,0.118,0.222,204,2241,501,-7.37,-0.42,702.78,0,0,0,0,0,0,14.13,14.12,13.89
$RAFOS_CLK,391
$MODEM,3,1502540546,74.30400,-153.94400,239.583,347904.9
$MODEM,2,1502540065,73.18300,-149.96500,118.396,171926.3
$RAFOS_FIX,7201.346680,-14622.458984,120817,121225,2,255,56.54
$IRIDIUM_FIX,7151.04,-14742.85,120817,115514
$TT8_MAMPS,0.041195,0.88382
$HUMID,49.56
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,15
$CP_FREE,16010936320.000000
$PM_FREEKB_00,59299136
$24V_AH,12.62,66.521
$10V_AH,12.69,0.000
$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,24.600,84.400,860.350,12.775,0.000,0.000,0.000,486.675,3.750,0.000,41.966,0.000,6679.458,851.288,2184.035,286.722,0.000,2100.441,0.000,1100.800,1782.000,0.539,0.000
$DEVICE_MAMPS,452.115,2145.825,1647.810,221.850,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9139.000,9137.000,9088.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.602,20.000,16.568,0.000
$MEM,323564
$DATA_FILE_SIZE,26731,768
$CAP_FILE_SIZE,106423,0
$CFSIZE,2097872896,2072969216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1452.1
$CURRENT,0.050,192.25,1
$GPS,120817,143855,7150.279,-14733.312,17,0.7,20,21.4,0.0,343.9,11,9.6