version: 66.13
glider: 196
mission: 14
dive: 64
start: 8 14 117 3 30 24
data:
$ID,196
$MISSION,14
$DIVE,64
$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,23
$R_STBD_OVSHOOT,42
$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,186.0
$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
$GPS1,140817,030919,7204.9526,-14752.2207,22,0.7,59,21.3,0.3,328.1,11,5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.6
$GPS2,140817,032950,7204.9985,-14752.7705,14,0.7,14,21.3,0.8,297.9,11,7.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.3,139574,-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,-145.9,140,2223,514,459,0.0,0.0,0,129,0.00,0.00,-81.43,0.000,16386,0.000,0.000,136,2225,2237,2165,2309,0,0,0,0,0,0,14.36,28.83,14.38
$GC,132,-0.57,-145.9,137,2226,2170,2310,4.2,-5.6,8,180,12.98,2.67,-29.75,0.000,18724,0.457,2.140,2376,3594,3962,3953,3972,1,0,0,0,0,0,13.50,12.97,14.09
$GC,405,-0.57,-145.9,2376,3595,3964,3973,64.4,-14.9,62,410,0.00,2.38,0.00,0.000,1030,0.000,0.055,2375,2197,3967,3963,3972,0,0,0,0,0,0,14.13,14.02,14.16
$GC,725,-0.57,-145.9,2376,2197,3965,3973,112.4,-13.6,89,730,0.00,2.42,0.00,0.000,260,0.000,0.081,2365,3588,3969,3964,3975,0,0,0,0,0,0,14.45,14.00,14.47
$GC,852,-0.67,-145.9,2366,3590,3965,3972,127.2,-11.4,114,856,0.00,2.35,0.00,0.000,1158,0.000,0.055,2366,2196,3968,3964,3972,0,0,0,0,0,0,14.28,14.18,14.31
$GC,1177,-0.72,-145.9,2366,2196,3964,3974,166.7,-11.7,129,1181,0.00,2.45,0.00,0.000,388,0.000,0.085,2361,3589,3967,3964,3971,0,0,0,0,0,0,14.50,14.14,14.52
$GC,1237,-0.86,-145.9,2360,3591,3965,3975,173.1,-9.9,141,1242,0.17,2.35,0.00,0.000,5286,0.109,0.054,2291,2201,3968,3964,3972,0,0,0,0,0,0,14.23,14.21,14.31
$GC,1567,-0.79,-145.9,2291,2201,3965,3971,226.9,-15.7,157,1572,0.12,2.45,0.00,0.000,2436,0.295,0.080,2310,3595,3966,3964,3969,0,0,0,0,0,0,13.89,14.12,14.04
$GC,1622,-0.84,-145.9,2310,3596,3964,3971,234.0,-11.8,168,1628,0.00,2.38,0.00,0.000,1158,0.000,0.059,2310,2196,3966,3963,3970,0,0,0,0,0,0,14.29,14.18,14.32
$GC,1927,-0.84,-145.9,2310,2197,3964,3968,271.7,-12.3,179,1933,0.00,2.45,0.00,0.000,260,0.000,0.085,2305,3589,3964,3963,3966,0,0,0,0,0,0,14.42,14.09,14.44
$GC,1993,-0.90,-145.9,2306,3590,3964,3967,279.4,-11.4,192,1998,0.00,2.38,0.00,0.000,1158,0.000,0.060,2306,2199,3964,3962,3966,0,0,0,0,0,0,14.22,14.12,14.25
$GC,2318,-0.90,-145.9,2305,2198,3963,3964,317.4,-11.6,207,2324,0.00,2.45,0.00,0.000,260,0.000,0.085,2300,3588,3962,3962,3963,0,0,0,0,0,0,14.38,14.01,14.40
$GC,2399,-0.99,-145.9,2301,3588,3962,3960,326.5,-10.7,223,2405,0.12,2.38,0.00,0.000,5254,0.132,0.057,2253,2199,3962,3961,3964,0,0,0,0,0,0,14.12,14.09,14.21
$GC,2710,-0.89,-145.9,2254,2198,3962,3962,374.5,-15.8,235,2716,0.15,2.47,0.00,0.000,2436,0.314,0.080,2276,3591,3961,3960,3962,0,0,0,0,0,0,13.78,13.45,13.97
$GC,2811,-0.89,-145.9,2276,3593,3961,3962,387.9,-12.3,255,2817,0.00,2.40,0.00,0.000,1030,0.000,0.059,2276,2194,3960,3960,3961,0,0,0,0,0,0,14.18,14.07,14.21
$GC,3132,-0.86,-145.9,2276,2195,3960,3960,430.4,-13.2,269,3137,0.00,2.47,0.00,0.000,388,0.000,0.084,2266,3587,3960,3960,3960,0,0,0,0,0,0,14.35,13.99,14.36
$GC,3207,-0.86,-145.9,2273,3586,3955,3962,440.4,-13.1,284,3212,0.15,2.38,0.00,0.000,3078,0.262,0.057,2297,2200,3959,3959,3960,0,0,0,0,0,0,13.83,14.05,14.11
$GC,3522,-0.88,-145.9,2298,2199,3960,3959,475.5,-10.9,297,3527,0.00,2.50,0.00,0.000,388,0.000,0.085,2293,3594,3958,3957,3959,0,0,0,0,0,0,14.33,14.00,14.36
$STATE,3565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3565,begin apogee
$GC,3573,-0.13,0.0,2294,2098,3959,3960,480.5,-10.7,306,3779,0.93,0.00,201.52,1.450,10246,0.226,0.000,2530,2097,3359,3395,3324,0,0,0,0,0,0,13.83,13.43,12.78
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$MODEM_MSG,CACST,6,1,20170814041403.366226,3,359,13,0317,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170814042331.859362,3,3,-1,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*14
$GC,3785,0.57,145.9,2531,2097,3394,3321,490.1,0.0,313,3999,0.73,2.70,194.75,1.396,10756,0.067,0.080,2782,687,2760,2816,2705,0,0,0,0,0,0,13.49,13.08,12.57
$GC,4229,0.24,145.9,2783,687,2807,2705,454.9,15.8,359,4236,0.52,2.53,0.00,0.000,5254,0.311,0.076,2664,2089,2754,2806,2703,0,0,0,0,0,0,13.44,13.67,13.74
$GC,4543,0.10,145.9,2664,2091,2806,2701,421.7,10.3,371,4549,0.17,2.47,0.00,0.000,4740,0.305,0.077,2632,686,2752,2806,2699,0,0,0,0,0,0,13.71,13.95,13.87
$GC,4661,0.13,188.4,2632,688,2806,2700,411.7,8.0,394,4725,0.00,2.50,56.70,1.404,9254,0.000,0.080,2632,2106,2594,2660,2528,0,0,0,0,0,0,14.08,13.95,13.14
$GC,5026,0.11,205.1,2633,2107,2657,2517,378.4,9.2,417,5054,0.00,0.00,22.42,1.492,8358,0.000,0.000,2632,2106,2523,2594,2452,0,0,0,0,0,0,14.33,14.00,13.26
$GC,5354,0.13,219.7,2632,2107,2590,2447,347.5,9.3,428,5375,0.00,0.00,19.62,1.502,8230,0.000,0.000,2628,2106,2468,2538,2398,0,0,0,0,0,0,14.38,14.06,13.31
$GC,5654,0.14,237.2,2632,2106,2529,2390,319.5,9.2,438,5685,0.00,0.00,25.38,1.461,8230,0.000,0.000,2630,2106,2392,2457,2328,0,0,0,0,0,0,14.42,13.88,13.33
$GC,5984,0.17,254.1,2633,2107,2451,2323,289.4,9.2,449,6009,0.00,0.00,23.70,1.467,8358,0.000,0.000,2632,2106,2330,2390,2270,0,0,0,0,0,0,14.43,14.07,13.34
$GC,6284,0.22,281.5,2632,2107,2381,2260,262.8,8.7,459,6329,0.00,0.00,43.20,1.377,8358,0.000,0.000,2631,2106,2216,2276,2156,0,0,0,0,0,0,14.42,13.97,13.27
$GC,6614,0.32,313.9,2631,2106,2268,2142,234.1,8.5,470,6670,0.12,2.55,49.30,1.324,10916,0.131,0.085,2699,688,2080,2135,2026,0,0,0,0,0,0,14.18,13.90,13.26
$GC,6716,0.34,313.9,2699,688,2128,2025,222.2,11.9,490,6721,0.00,2.50,0.00,0.000,1158,0.000,0.077,2699,2099,2075,2126,2025,0,0,0,0,0,0,14.07,13.96,14.09
$GC,7036,0.34,313.9,2698,2099,2127,2018,185.3,10.9,504,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2099,2071,2125,2018,0,0,0,0,0,0,14.40,14.43,14.42
$GC,7336,0.34,313.9,2699,2099,2126,2016,154.1,10.0,514,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2099,2070,2125,2016,0,0,0,0,0,0,14.48,14.50,14.50
$GC,7636,0.35,335.4,2699,2099,2125,2015,126.4,9.0,524,7672,0.00,2.53,28.55,1.356,8740,0.000,0.084,2698,691,1992,2043,1942,0,0,0,0,0,0,14.52,14.07,13.43
$GC,7719,0.47,369.2,2699,691,2038,1942,119.5,8.4,540,7779,0.10,2.47,52.38,1.261,11430,0.159,0.079,2747,2100,1858,1894,1822,0,0,0,0,0,0,14.12,14.10,13.28
$GC,8079,0.45,369.2,2746,2103,1889,1811,79.4,10.6,575,8085,0.00,2.50,0.00,0.000,644,0.000,0.084,2754,690,1846,1882,1810,0,0,0,0,0,0,14.33,14.04,14.35
$GC,8140,0.48,371.3,2755,690,1880,1810,73.3,9.9,587,8146,0.00,2.50,0.00,0.000,1190,0.000,0.080,2754,2108,1844,1879,1810,0,0,0,0,0,0,14.12,14.01,14.14
$GC,8451,0.52,437.8,2755,2109,1880,1808,44.9,6.9,619,8493,0.00,2.50,35.12,0.339,8484,0.000,0.086,2755,3516,1578,1617,1540,0,0,0,0,0,0,14.42,14.07,13.85
$GC,8545,0.62,482.1,2755,3520,1617,1542,37.7,8.0,637,8577,0.00,2.45,23.88,0.323,9382,0.000,0.066,2757,2099,1396,1451,1341,0,0,0,0,0,0,14.11,14.01,13.78
$GC,8874,0.83,581.5,2757,2100,1453,1335,16.8,5.4,673,8928,0.25,0.00,52.50,0.254,10918,0.096,0.000,2857,2099,994,1073,915,0,0,0,0,0,0,14.12,14.14,13.86
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,0.6,1.020034
$STATE,9252,end surface coast,CONTROL_FINISHED_OK
$STATE,9252,begin surface
$SM_CCo,9272,69.53,0.206,0,0,498,702.78
$SM_GC,1.23,8.05,0.20,69.53,0.073,0.119,0.206,204,2217,498,-7.36,-0.42,702.78,0,0,0,0,0,0,14.25,14.22,13.99
$RAFOS_CLK,334
$MODEM,3,1502684611,74.30400,-153.94400,304.859,442328.4
$MODEM,2,1502684043,73.18300,-149.96500,96.366,139820.2
$RAFOS_FIX,7228.703125,-14627.398438,130817,202006,2,255,13.68
$IRIDIUM_FIX,7207.12,-14744.08,140817,032150
$TT8_MAMPS,0.038199,0.87633
$HUMID,50.19
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,10
$CP_FREE,16008478720.000000
$PM_FREEKB_00,58251840
$24V_AH,12.57,73.028
$10V_AH,12.49,0.000
$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,24.575,74.375,829.025,69.525,0.000,0.000,0.000,783.525,2.500,0.000,14.598,0.000,6976.484,827.360,2487.802,301.594,0.000,2411.885,0.000,1034.771,2191.000,0.540,0.000
$DEVICE_MAMPS,456.705,2139.705,1501.695,205.785,0.000,0.000,0.000,159.885,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9279.000,9266.000,9228.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.695,20.000,16.594,0.000
$MEM,323628
$DATA_FILE_SIZE,23474,716
$CAP_FILE_SIZE,107371,0
$CFSIZE,2097872896,2068938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
$SOUNDSPEED,1446.7
$CURRENT,0.056,293.12,1
$GPS,140817,060718,7206.318,-14753.566,15,0.7,24,21.3,1.2,41.0,12,9.5