version: 66.13
glider: 196
mission: 14
dive: 135
start: 8 22 117 10 57 4
data:
$ID,196
$MISSION,14
$DIVE,135
$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,26
$R_STBD_OVSHOOT,32
$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,381.0
$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
$GPS1,220817,104350,7316.1748,-15003.3975,39,0.8,39,20.7,0.0,0.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.3
$GPS2,220817,105628,7316.2266,-15003.7021,8,0.7,9,20.7,0.0,282.2,12,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.3,163700,-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,-145.9,193,2218,492,493,0.0,0.0,0,129,0.00,0.00,-81.05,0.000,16386,0.000,0.000,192,2219,1977,1910,2045,0,0,0,0,0,0,14.42,28.83,14.45
$GC,132,-0.57,-145.9,193,2219,1912,2048,3.3,-3.7,8,196,12.60,2.75,-41.03,0.000,18724,0.455,2.148,2377,3601,3962,3943,3981,0,0,0,0,0,0,13.67,12.57,14.12
$GC,421,-0.66,-145.9,2377,3596,3952,3981,63.6,-15.3,65,427,0.00,2.40,0.00,0.000,1158,0.000,0.063,2377,2205,3966,3951,3981,0,0,0,0,0,0,14.28,14.15,14.28
$GC,728,-0.70,-145.9,2377,2205,3953,3981,108.1,-12.9,92,733,0.00,2.45,0.00,0.000,388,0.000,0.087,2367,3600,3966,3951,3981,0,0,0,0,0,0,14.52,14.18,14.54
$GC,898,-0.85,-145.9,2368,3600,3953,3981,125.8,-10.2,126,903,0.20,2.38,0.00,0.000,5254,0.103,0.055,2284,2193,3965,3950,3981,0,0,0,0,0,0,14.33,14.23,14.38
$GC,1208,-0.79,-145.9,2284,2192,3952,3982,182.1,-18.0,138,1213,0.15,2.47,0.00,0.000,2436,0.275,0.086,2313,3601,3969,3951,3988,0,0,0,0,0,0,14.00,14.19,14.16
$GC,1293,-0.88,-145.9,2314,3601,3953,3981,193.8,-11.9,155,1300,0.00,2.38,0.00,0.000,1158,0.000,0.057,2313,2196,3966,3951,3981,0,0,0,0,0,0,14.34,14.22,14.38
$GC,1598,-0.91,-145.9,2314,2195,3953,3981,233.6,-12.8,166,1603,0.00,2.47,0.00,0.000,388,0.000,0.090,2308,3601,3966,3951,3981,0,0,0,0,0,0,14.62,14.20,14.63
$GC,1689,-1.01,-145.9,2304,3604,3962,3982,243.7,-10.6,184,1694,0.15,2.38,0.00,0.000,5254,0.122,0.057,2248,2192,3966,3951,3981,0,0,0,0,0,0,14.29,14.28,14.38
$GC,2019,-0.94,-145.9,2248,2192,3952,3981,296.3,-16.0,200,2024,0.12,2.47,0.00,0.000,2436,0.297,0.084,2266,3603,3967,3954,3980,0,0,0,0,0,0,13.94,13.94,13.80
$GC,2194,-1.00,-145.9,2266,3604,3952,3981,318.3,-11.4,235,2201,0.00,2.38,0.00,0.000,1158,0.000,0.057,2266,2195,3966,3952,3980,0,0,0,0,0,0,14.24,14.14,14.27
$GC,2500,-1.00,-145.9,2267,2193,3952,3979,356.0,-12.3,246,2504,0.00,2.45,0.00,0.000,260,0.000,0.087,2259,3600,3965,3951,3979,0,0,0,0,0,0,14.65,14.24,14.67
$GC,2594,-1.05,-145.9,2257,3601,3952,3980,367.6,-11.6,265,2600,0.00,2.38,0.00,0.000,1158,0.000,0.057,2257,2199,3964,3951,3978,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2920,-1.05,-145.9,2257,2199,3952,3978,408.5,-12.5,280,2924,0.00,2.45,0.00,0.000,260,0.000,0.088,2248,3598,3964,3951,3977,0,0,0,0,0,0,14.66,14.20,14.67
$GC,3025,-1.09,-145.9,2249,3602,3951,3978,421.6,-12.0,301,3030,0.00,2.38,0.00,0.000,1158,0.000,0.057,2248,2192,3964,3951,3977,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3340,-1.06,-145.9,2249,2191,3952,3977,463.0,-13.2,314,3345,0.00,2.45,0.00,0.000,388,0.000,0.087,2239,3601,3965,3951,3980,0,0,0,0,0,0,14.65,14.23,14.67
$GC,3460,-1.06,-145.9,2240,3602,3952,3978,478.6,-12.6,338,3465,0.00,2.35,0.00,0.000,1030,0.000,0.056,2239,2199,3963,3951,3976,0,0,0,0,0,0,14.41,14.29,14.45
$STATE,3473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3473,begin apogee
$GC,3478,-0.13,0.0,2239,2065,3952,3978,480.6,-12.8,341,3696,1.15,0.00,214.85,1.440,10246,0.256,0.000,2527,2063,3364,3389,3339,0,0,0,0,0,0,13.93,13.47,12.72
$STATE,3700,end apogee,CONTROL_FINISHED_OK
$STATE,3700,begin climb
$GC,3702,0.57,145.9,2527,2064,3383,3332,491.3,0.0,348,3915,0.75,2.58,206.15,1.388,10756,0.078,0.078,2779,728,2763,2814,2712,0,0,0,0,0,0,13.53,12.95,12.38
$GC,4140,0.22,145.9,2778,727,2800,2713,463.8,15.1,439,4146,0.57,2.47,0.00,0.000,5254,0.318,0.075,2658,2094,2755,2800,2711,0,0,0,0,0,0,13.38,13.66,13.71
$GC,4461,0.07,148.3,2659,2094,2797,2707,431.0,9.9,453,4467,0.20,2.42,0.00,0.000,4772,0.282,0.076,2618,717,2753,2800,2707,0,0,0,0,0,0,13.76,13.98,13.93
$GC,4564,0.08,199.4,2618,718,2801,2709,423.0,7.6,473,4648,0.00,2.42,75.65,1.398,9382,0.000,0.079,2622,2098,2549,2609,2489,0,0,0,0,0,0,14.15,14.04,12.98
$GC,4973,0.09,212.7,2621,2097,2606,2472,385.7,9.4,505,4991,0.00,0.00,16.48,1.538,8230,0.000,0.000,2618,2097,2499,2564,2434,0,0,0,0,0,0,14.32,13.97,13.14
$GC,5273,0.10,233.3,2618,2098,2556,2424,358.1,9.0,515,5310,0.00,2.47,30.27,1.467,8740,0.000,0.085,2619,710,2409,2470,2348,0,0,0,0,0,0,14.38,13.97,13.19
$GC,5346,0.19,258.3,2619,710,2465,2349,351.7,8.8,529,5391,0.00,2.47,38.33,1.421,9382,0.000,0.078,2622,2110,2307,2365,2249,0,0,0,0,0,0,14.09,13.98,13.08
$GC,5698,0.24,276.9,2620,2109,2360,2240,319.4,9.1,549,5729,0.12,0.00,26.38,1.449,10406,0.132,0.000,2678,2115,2233,2290,2176,0,0,0,0,0,0,14.14,13.95,13.19
$MODEM_MSG,CACST,6,1,20170822120404.364647,3,113,14,0168,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170822121233.291910,3,153,21,0268,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170822122019.768044,3,332,19,0191,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170822122808.888738,3,15,11,0093,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$GC,6026,0.18,276.9,2679,2110,2285,2170,277.4,12.9,560,6032,0.15,2.40,0.00,0.000,4740,0.254,0.081,2647,720,2226,2284,2168,0,0,0,0,0,0,13.92,14.05,14.07
$GC,6117,0.26,297.0,2647,720,2282,2169,268.6,9.1,578,6153,0.00,2.40,29.08,1.421,9382,0.000,0.078,2647,2100,2153,2208,2099,0,0,0,0,0,0,14.19,14.04,13.23
$GC,6478,0.32,322.2,2647,2100,2203,2092,235.6,8.8,600,6524,0.12,0.00,41.42,1.373,10662,0.128,0.000,2698,2101,2049,2100,1998,0,0,0,0,0,0,14.24,13.98,13.22
$GC,6839,0.28,322.2,2698,2101,2093,1989,194.9,11.0,617,6844,0.00,2.42,0.00,0.000,644,0.000,0.085,2699,714,2040,2091,1989,0,0,0,0,0,0,14.51,14.17,14.52
$GC,6910,0.32,330.9,2699,716,2090,1989,187.8,9.6,631,6926,0.00,2.42,10.07,1.522,9382,0.000,0.077,2699,2112,2016,2067,1965,0,0,0,0,0,0,14.33,14.21,13.31
$GC,7231,0.33,334.6,2699,2112,2062,1959,155.4,9.8,645,7232,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,2112,2009,2060,1959,0,0,0,0,0,0,14.57,14.59,14.58
$GC,7531,0.34,352.1,2699,2112,2060,1958,127.3,9.2,655,7568,0.00,2.53,32.10,1.379,8740,0.000,0.085,2699,717,1926,1970,1882,0,0,0,0,0,0,14.62,14.14,13.37
$GC,7688,0.45,398.7,2699,716,1961,1882,114.2,7.8,686,7774,0.00,2.42,77.25,1.239,9382,0.000,0.079,2699,2101,1733,1766,1701,0,0,0,0,0,0,14.22,14.10,13.16
$GC,8073,0.58,462.7,2699,2101,1765,1689,84.2,7.0,727,8112,0.17,2.45,32.28,0.461,10916,0.109,0.086,2781,716,1475,1516,1434,0,0,0,0,0,0,14.17,13.96,13.67
$GC,8179,0.60,462.7,2781,716,1516,1432,72.8,10.8,747,8184,0.00,2.42,0.00,0.000,1158,0.000,0.078,2781,2101,1473,1514,1432,0,0,0,0,0,0,14.25,14.12,14.27
$GC,8489,0.64,520.7,2782,2101,1516,1423,43.9,7.3,779,8526,0.00,2.50,29.52,0.338,8740,0.000,0.086,2781,715,1241,1300,1182,0,0,0,0,0,0,14.51,14.12,13.82
$GC,8556,0.80,586.4,2782,719,1301,1182,39.1,7.0,791,8595,0.17,2.42,34.55,0.320,11430,0.114,0.078,2854,2103,972,1044,901,0,0,0,0,0,0,14.18,14.16,13.85
$GC,8891,0.89,673.9,2854,2104,1044,893,8.4,6.0,828,8945,0.00,2.45,45.35,0.233,8868,0.000,0.085,2867,717,615,667,564,0,0,0,0,0,0,14.51,14.07,13.93
$STATE,8983,end climb,SURFACE_DEPTH_REACHED
$STATE,8983,begin surface coast
$FINISH,0.2,1.020509
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9003,begin surface
$SM_CCo,9070,15.40,0.220,0,0,499,703.28
$SM_GC,1.74,8.18,2.62,15.40,0.085,0.074,0.220,201,2203,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.31,14.22,14.02
$RAFOS_CLK,242
$MODEM,4,1503404888,75.71700,-151.21500,188.139,272512.7
$MODEM,3,1503404419,74.30400,-153.94400,112.768,163340.8
$MODEM,2,1503403953,73.18300,-149.96500,6.292,9113.6
$MODEM,0,1503403444,75.36600,-145.04601,190.365,275736.8
$RAFOS_FIX,7316.027344,-15002.902344,220817,121216,4,255,0.12
$IRIDIUM_FIX,7313.85,-15006.07,220817,080854
$TT8_MAMPS,0.038948,0.881573
$HUMID,46.37
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,0.000000
$PM_FREEKB_00,53989376
$24V_AH,12.38,107.301
$10V_AH,12.30,0.000
$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,24.825,83.475,939.725,15.400,0.000,0.000,0.000,474.550,2.750,0.000,10.691,0.000,6346.840,846.824,2357.779,309.622,0.000,2208.516,0.000,1216.607,2193.000,0.539,0.000
$DEVICE_MAMPS,455.175,2148.120,1538.415,219.555,0.000,0.000,0.000,188.190,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9033.000,9076.000,9024.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.404,20.000,10.042,0.000
$MEM,323380
$DATA_FILE_SIZE,30016,850
$CAP_FILE_SIZE,109967,0
$CFSIZE,2097872896,2046689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.1
$CURRENT,0.006,53.66,1
$GPS,220817,132947,7317.334,-15005.340,17,0.7,31,20.7,0.0,29.2,11,9.9