version: 66.13
glider: 196
mission: 14
dive: 98
start: 8 18 117 2 17 58
data:
$ID,196
$MISSION,14
$DIVE,98
$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,24
$R_STBD_OVSHOOT,20
$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,280.0
$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
$GPS1,180817,020649,7240.7031,-14836.1064,29,0.8,39,21.2,0.0,247.8,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.3
$GPS2,180817,021730,7240.6475,-14836.2910,6,0.7,8,21.2,0.0,0.0,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,314.7,71361,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,205,2198,508,461,0.0,0.0,0,130,0.00,0.00,-81.70,0.000,16386,0.000,0.000,204,2198,2041,1956,2126,0,0,0,0,0,0,14.40,28.83,14.42
$GC,133,-0.57,-145.9,204,2199,1958,2128,3.3,-3.6,8,190,12.48,2.80,-36.67,0.000,18724,0.454,2.147,2376,3611,3964,3951,3978,0,0,0,0,0,0,13.68,12.64,14.10
$GC,305,-0.57,-145.9,2376,3607,3959,3979,44.7,-18.6,42,310,0.00,2.40,0.00,0.000,1030,0.000,0.057,2376,2196,3968,3959,3977,0,0,0,0,0,0,14.10,14.00,14.13
$GC,617,-0.57,-145.9,2377,2196,3963,3978,96.9,-13.6,74,622,0.00,2.50,0.00,0.000,260,0.000,0.087,2366,3610,3970,3962,3978,0,0,0,0,0,0,14.47,14.12,14.49
$GC,797,-0.70,-145.9,2366,3611,3961,3979,118.2,-10.6,110,802,0.00,2.40,0.00,0.000,1158,0.000,0.054,2366,2193,3967,3958,3977,0,0,0,0,0,0,14.30,14.19,14.33
$GC,1127,-0.78,-145.9,2365,2193,3962,3979,155.9,-11.0,126,1132,0.12,2.50,0.00,0.000,4484,0.144,0.086,2306,3612,3969,3961,3977,0,0,0,0,0,0,14.28,14.21,14.33
$GC,1244,-0.82,-145.9,2306,3613,3963,3978,172.1,-13.7,149,1249,0.00,2.38,0.00,0.000,1158,0.000,0.055,2305,2201,3969,3961,3977,0,0,0,0,0,0,14.31,14.20,14.35
$GC,1547,-0.82,-145.9,2306,2200,3962,3978,218.0,-14.4,160,1552,0.00,2.47,0.00,0.000,260,0.000,0.089,2305,3610,3972,3967,3977,0,0,0,0,0,0,14.57,14.22,14.59
$GC,1642,-0.88,-145.9,2306,3610,3962,3977,230.4,-12.4,179,1648,0.00,2.38,0.00,0.000,1158,0.000,0.054,2305,2199,3969,3961,3977,0,0,0,0,0,0,14.38,14.27,14.41
$GC,1969,-0.90,-145.9,2305,2198,3962,3977,269.2,-11.3,194,1973,0.00,2.47,0.00,0.000,388,0.000,0.088,2299,3611,3969,3961,3977,0,0,0,0,0,0,14.58,14.19,14.59
$GC,2080,-0.99,-145.9,2299,3614,3960,3978,281.1,-10.5,216,2085,0.12,2.38,0.00,0.000,5254,0.134,0.054,2251,2193,3968,3960,3977,0,0,0,0,0,0,14.30,14.28,14.39
$GC,2391,-0.92,-145.9,2251,2193,3959,3977,329.0,-15.3,228,2396,0.12,2.50,0.00,0.000,2436,0.308,0.085,2269,3610,3967,3958,3977,0,0,0,0,0,0,13.95,14.19,14.12
$GC,2513,-0.95,-145.9,2269,3613,3957,3977,344.6,-12.1,252,2518,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2198,3966,3956,3977,0,0,0,0,0,0,14.33,14.21,14.36
$GC,2843,-0.95,-145.9,2268,2197,3955,3977,388.2,-13.1,268,2848,0.00,2.50,0.00,0.000,260,0.000,0.088,2261,3620,3966,3956,3976,0,0,0,0,0,0,14.59,14.14,14.60
$GC,2969,-0.98,-145.9,2260,3621,3955,3977,404.2,-12.5,293,2974,0.00,2.40,0.00,0.000,1158,0.000,0.056,2261,2190,3965,3954,3976,0,0,0,0,0,0,14.38,14.26,14.40
$GC,3295,-0.95,-145.9,2260,2189,3956,3975,447.7,-13.2,308,3299,0.00,2.50,0.00,0.000,388,0.000,0.088,2253,3610,3965,3955,3975,0,0,0,0,0,0,14.59,14.16,14.61
$GC,3426,-0.95,-145.9,2253,3611,3955,3975,464.6,-12.6,334,3431,0.00,2.38,0.00,0.000,1030,0.000,0.056,2253,2196,3964,3954,3975,0,0,0,0,0,0,14.38,14.26,14.40
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3570,-0.13,0.0,2253,2070,3954,3976,483.7,-13.6,342,3784,1.10,0.00,211.10,1.435,10246,0.256,0.000,2528,2068,3363,3387,3339,0,0,0,0,0,0,13.97,13.50,12.78
$STATE,3788,end apogee,CONTROL_FINISHED_OK
$STATE,3788,begin climb
$GC,3791,0.57,145.9,2529,2069,3381,3335,494.1,0.0,349,4001,0.75,2.72,201.95,1.389,10500,0.066,0.073,2781,3513,2762,2808,2717,0,0,0,0,0,0,13.59,13.05,12.49
$GC,4228,0.14,145.9,2782,3513,2787,2716,460.1,17.4,395,4234,0.75,2.42,0.00,0.000,5254,0.344,0.057,2636,2129,2750,2786,2715,0,0,0,0,0,0,13.46,13.78,13.80
$GC,4539,0.06,173.3,2636,2129,2786,2716,431.3,8.7,407,4580,0.12,2.47,34.60,1.458,12708,0.299,0.082,2607,3511,2653,2695,2612,0,0,0,0,0,0,13.87,13.92,13.15
$GC,4805,0.05,199.3,2607,3512,2688,2607,408.1,8.8,460,4847,0.00,2.42,36.15,1.460,9382,0.000,0.061,2607,2098,2550,2600,2501,0,0,0,0,0,0,14.20,14.02,13.15
$GC,5174,0.10,248.4,2607,2100,2596,2486,379.8,7.7,483,5253,0.00,2.53,72.90,1.387,8868,0.000,0.086,2607,692,2346,2394,2298,0,0,0,0,0,0,14.42,13.66,13.12
$GC,5290,0.25,289.2,2607,692,2389,2298,370.6,8.1,506,5355,0.17,2.53,59.47,1.360,11430,0.105,0.078,2679,2116,2189,2237,2142,0,0,0,0,0,0,13.59,13.88,12.98
$GC,5653,0.22,289.2,2675,2112,2224,2120,324.9,12.6,529,5658,0.00,2.53,0.00,0.000,644,0.000,0.086,2682,693,2171,2223,2119,0,0,0,0,0,0,14.32,13.99,14.33
$GC,5708,0.22,289.2,2683,693,2223,2119,317.9,12.7,540,5714,0.00,2.47,0.00,0.000,1030,0.000,0.077,2682,2099,2170,2221,2119,0,0,0,0,0,0,14.18,14.06,14.21
$GC,6013,0.17,289.2,2683,2100,2221,2118,278.9,12.6,551,6019,0.17,2.47,0.00,0.000,4740,0.252,0.082,2648,684,2168,2220,2117,0,0,0,0,0,0,13.98,14.16,14.14
$GC,6064,0.26,303.0,2648,684,2220,2118,273.7,9.4,561,6086,0.00,2.47,17.23,1.467,9382,0.000,0.077,2647,2103,2129,2181,2078,0,0,0,0,0,0,14.29,14.18,13.32
$GC,6393,0.31,311.1,2648,2103,2172,2070,241.9,9.6,573,6407,0.00,2.55,9.95,1.580,8868,0.000,0.085,2649,691,2094,2144,2044,0,0,0,0,0,0,14.40,14.11,13.31
$GC,6453,0.44,340.6,2649,692,2140,2044,236.4,8.6,585,6509,0.22,2.47,48.25,1.354,11430,0.098,0.078,2738,2098,1973,2018,1929,0,0,0,0,0,0,14.12,14.07,13.19
$GC,6814,0.35,340.6,2738,2099,2013,1918,184.7,13.9,607,6815,0.17,0.00,0.00,0.000,4230,0.233,0.000,2699,2099,1965,2013,1918,0,0,0,0,0,0,13.85,14.09,14.07
$GC,7114,0.36,345.6,2699,2100,2013,1916,154.5,9.8,617,7123,0.00,2.55,1.73,0.478,8740,0.000,0.086,2696,691,1957,2006,1909,0,0,0,0,0,0,14.38,14.10,13.52
$GC,7211,0.45,367.9,2700,691,2007,1912,145.8,9.0,636,7259,0.00,2.47,43.35,1.324,9382,0.000,0.077,2699,2104,1866,1904,1828,0,0,0,0,0,0,14.21,14.09,13.26
$GC,7566,0.52,399.7,2700,2105,1895,1817,114.1,8.5,657,7621,0.12,2.62,49.30,1.263,10916,0.136,0.087,2768,685,1732,1762,1703,0,0,0,0,0,0,14.13,13.81,13.22
$GC,7681,0.52,399.7,2769,685,1753,1702,99.8,12.4,680,7687,0.00,2.53,0.00,0.000,1030,0.000,0.079,2768,2099,1726,1751,1701,0,0,0,0,0,0,13.93,13.87,13.95
$GC,7986,0.48,399.7,2769,2101,1753,1695,63.7,10.3,711,7992,0.12,2.50,0.00,0.000,4740,0.278,0.081,2746,688,1723,1751,1695,0,0,0,0,0,0,13.85,13.96,14.06
$GC,8079,0.58,453.8,2751,687,1751,1696,56.2,7.5,729,8115,0.00,2.53,28.90,0.372,9382,0.000,0.078,2750,2112,1512,1548,1477,0,0,0,0,0,0,14.12,14.01,13.69
$MODEM_MSG,CACST,6,1,20170818040434.786625,3,4,06,0133,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170818041315.111364,3,32767,45,0899,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170818042117.359561,3,66,06,0091,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$MODEM_MSG,CACST,6,1,20170818042900.549841,3,1323,25,0443,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$GC,8421,0.73,547.5,2750,2115,1548,1470,33.6,5.7,767,8477,0.20,2.50,50.53,0.301,10660,0.101,0.080,2824,3512,1130,1194,1066,0,0,0,0,0,0,14.07,13.95,13.77
$GC,8493,0.71,547.5,2826,3513,1196,1066,26.7,10.9,779,8500,0.00,2.45,0.00,0.000,1158,0.000,0.064,2835,2100,1131,1195,1067,0,0,0,0,0,0,14.08,13.99,14.10
$GC,8798,0.88,710.7,2835,2101,1196,1056,7.7,2.5,810,8888,0.00,2.50,84.53,0.223,8612,0.000,0.080,2836,3515,494,530,459,0,0,0,0,0,0,14.44,14.03,13.81
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8918,begin surface coast
$FINISH,1.4,1.020086
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,9004,0.00,0.000,0,0,492,704.75
$SM_GC,0.98,8.40,2.33,0.00,0.107,0.062,0.000,204,2192,492,-7.38,0.57,704.75,0,0,0,0,0,0,14.16,14.13,14.24
$RAFOS_CLK,139
$MODEM,4,1503030540,75.71700,-151.21500,239.800,347823.5
$MODEM,3,1503030077,74.30400,-153.94400,170.360,247102.2
$MODEM,2,1503029595,73.18300,-149.96500,48.111,69784.3
$MODEM,0,1503029074,75.36600,-145.04601,220.787,320245.3
$RAFOS_FIX,7240.064453,-14838.027344,180817,040401,4,255,0.20
$IRIDIUM_FIX,7243.63,-14821.18,170817,233009
$TT8_MAMPS,0.039697,1.00066
$HUMID,45.94
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,9
$CP_FREE,16002777088.000000
$PM_FREEKB_00,55815488
$24V_AH,12.49,89.248
$10V_AH,12.37,0.000
$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,25.175,94.525,949.925,0.000,0.000,0.000,0.000,369.325,2.250,0.000,9.979,0.000,6268.466,804.010,2281.182,296.597,0.000,2104.124,0.000,1193.650,2215.000,0.540,0.000
$DEVICE_MAMPS,454.410,2147.355,1580.490,0.000,0.000,0.000,0.000,183.600,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8949.000,8938.000,8898.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.611,20.000,16.584,0.000
$MEM,323896
$DATA_FILE_SIZE,30045,834
$CAP_FILE_SIZE,109787,0
$CFSIZE,2097872896,2058584064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.7
$CURRENT,0.073,245.29,1
$GPS,180817,044920,7241.625,-14838.218,35,0.9,35,21.2,0.7,263.8,10,9.0