version: 66.13
glider: 196
mission: 14
dive: 140
start: 8 23 117 0 58 54
data:
$ID,196
$MISSION,14
$DIVE,140
$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,27
$R_STBD_OVSHOOT,36
$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,395.0
$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
$GPS1,230817,003724,7321.4316,-15013.2197,19,1.1,32,20.7,0.0,94.2,9,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.2
$GPS2,230817,005820,7321.4883,-15013.2676,7,0.8,25,20.7,0.6,345.2,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,292.6,153498,-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
$MODEM_MSG,CACST,6,1,20170823000403.396602,3,7194,32,1068,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,47,-0.57,-145.9,192,2219,497,487,0.0,0.0,0,140,0.00,0.00,-91.35,0.000,16386,0.000,0.000,190,2219,2200,2132,2269,0,0,0,0,0,0,14.33,28.83,14.35
$GC,143,-0.57,-145.9,192,2219,2134,2269,4.2,-5.8,9,196,12.52,2.72,-32.55,0.000,18724,0.454,2.152,2375,3592,3964,3946,3983,0,0,0,0,0,0,13.68,12.57,14.14
$GC,421,-0.61,-145.9,2375,3595,3954,3985,65.2,-15.9,64,428,0.00,2.38,0.00,0.000,1158,0.000,0.058,2375,2203,3968,3953,3984,0,0,0,0,0,0,14.23,14.11,14.25
$GC,748,-0.66,-145.9,2375,2203,3955,3985,111.8,-12.6,91,753,0.00,2.45,0.00,0.000,388,0.000,0.087,2365,3596,3968,3954,3983,0,0,0,0,0,0,14.52,14.18,14.57
$GC,885,-0.81,-145.9,2365,3598,3955,3984,126.0,-10.1,118,890,0.15,2.38,0.00,0.000,5254,0.119,0.055,2305,2188,3969,3955,3984,0,0,0,0,0,0,14.23,14.20,14.33
$GC,1200,-0.78,-145.9,2305,2187,3956,3983,176.6,-15.7,131,1205,0.00,2.47,0.00,0.000,388,0.000,0.086,2295,3600,3968,3954,3983,0,0,0,0,0,0,14.61,14.17,14.63
$GC,1290,-0.83,-145.9,2295,3602,3955,3985,189.4,-13.6,149,1295,0.00,2.35,0.00,0.000,1158,0.000,0.055,2295,2199,3968,3954,3983,0,0,0,0,0,0,14.35,14.24,14.38
$GC,1620,-0.83,-145.9,2296,2199,3955,3984,237.2,-14.1,165,1625,0.00,2.45,0.00,0.000,260,0.000,0.088,2287,3598,3968,3954,3983,0,0,0,0,0,0,14.63,14.19,14.65
$GC,1757,-0.89,-145.9,2288,3600,3955,3983,253.7,-11.7,192,1762,0.00,2.38,0.00,0.000,1158,0.000,0.057,2287,2193,3968,3953,3983,0,0,0,0,0,0,14.38,14.26,14.39
$GC,2073,-0.89,-145.9,2288,2192,3955,3983,292.7,-12.0,205,2078,0.00,2.45,0.00,0.000,260,0.000,0.088,2280,3595,3968,3954,3983,0,0,0,0,0,0,14.64,14.22,14.65
$GC,2178,-0.98,-145.9,2281,3596,3955,3984,304.5,-10.8,226,2182,0.00,2.35,0.00,0.000,1158,0.000,0.057,2280,2195,3968,3954,3983,0,0,0,0,0,0,14.40,14.29,14.44
$GC,2493,-1.00,-145.9,2281,2195,3955,3989,340.8,-11.3,239,2498,0.00,2.47,0.00,0.000,388,0.000,0.090,2279,3603,3968,3954,3982,0,0,0,0,0,0,14.64,14.21,14.66
$GC,2568,-1.11,-145.9,2279,3603,3954,3990,348.7,-9.9,254,2573,0.17,2.38,0.00,0.000,5286,0.116,0.057,2215,2190,3967,3953,3982,0,0,0,0,0,0,14.33,14.28,14.45
$GC,2883,-1.01,-145.9,2215,2190,3954,3982,399.5,-16.4,267,2888,0.12,2.47,0.00,0.000,2436,0.306,0.084,2236,3602,3966,3951,3981,0,0,0,0,0,0,13.95,14.20,14.14
$GC,3043,-1.01,-145.9,2236,3602,3953,3982,421.8,-13.3,299,3048,0.00,2.35,0.00,0.000,1030,0.000,0.056,2242,2201,3966,3952,3981,0,0,0,0,0,0,14.41,14.30,14.45
$GC,3364,-0.97,-145.9,2237,2200,3953,3982,467.0,-14.0,313,3369,0.12,2.42,0.00,0.000,2436,0.309,0.084,2255,3592,3967,3953,3981,0,0,0,0,0,0,14.00,14.19,14.17
$GC,3471,-1.03,-145.9,2259,3593,3952,3981,479.5,-11.1,334,3475,0.00,2.33,0.00,0.000,1158,0.000,0.055,2255,2200,3966,3953,3980,0,0,0,0,0,0,14.39,14.26,14.41
$STATE,3478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3478,begin apogee
$GC,3483,-0.13,0.0,2255,2069,3953,3981,480.8,-10.8,336,3701,1.05,0.00,214.35,1.443,10246,0.241,0.000,2527,2070,3364,3387,3342,0,0,0,0,0,0,14.00,13.48,12.71
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3705,begin climb
$GC,3707,0.57,145.9,2528,2071,3382,3334,491.3,0.0,343,3922,0.75,2.72,203.48,1.392,11012,0.064,0.074,2780,3490,2762,2808,2716,0,0,0,0,0,0,13.57,13.14,12.40
$GC,3942,0.13,145.9,2780,3490,2804,2716,492.7,14.6,373,3947,0.82,2.50,0.00,0.000,5254,0.350,0.057,2626,2111,2758,2800,2716,0,0,0,0,0,0,13.05,13.28,13.35
$GC,4263,0.05,167.9,2629,2110,2797,2711,462.7,9.0,387,4296,0.12,2.62,27.60,1.496,12964,0.292,0.084,2602,690,2679,2724,2634,0,0,0,0,0,0,13.69,13.79,12.96
$GC,4368,0.12,218.6,2603,690,2721,2631,454.7,7.7,407,4448,0.00,2.50,74.93,1.411,9382,0.000,0.078,2602,2092,2474,2536,2413,0,0,0,0,0,0,14.02,13.90,12.87
$GC,4746,0.17,250.5,2602,2093,2526,2397,422.6,8.5,433,4794,0.12,0.00,46.35,1.438,10406,0.133,0.000,2661,2092,2343,2398,2288,0,0,0,0,0,0,14.08,13.84,13.04
$GC,5076,0.11,250.5,2661,2092,2387,2276,381.7,12.6,444,5082,0.15,2.45,0.00,0.000,4740,0.257,0.081,2633,693,2331,2386,2276,0,0,0,0,0,0,13.96,14.12,14.10
$GC,5137,0.18,254.9,2633,691,2386,2276,375.3,9.8,456,5143,0.00,2.47,0.00,0.000,1190,0.000,0.078,2632,2109,2330,2384,2276,0,0,0,0,0,0,14.28,14.16,14.31
$GC,5468,0.18,254.9,2633,2108,2385,2275,341.5,10.2,472,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2107,2329,2384,2274,0,0,0,0,0,0,14.59,14.60,14.59
$GC,5769,0.18,258.8,2633,2107,2384,2275,311.6,9.8,482,5778,0.00,2.47,4.22,1.644,8740,0.000,0.085,2641,684,2312,2366,2259,0,0,0,0,0,0,14.61,14.28,13.15
$GC,5829,0.25,269.2,2640,685,2368,2265,305.7,9.5,494,5854,0.00,2.45,20.52,1.503,9382,0.000,0.080,2641,2099,2269,2321,2217,0,0,0,0,0,0,14.38,14.26,13.32
$GC,6159,0.26,278.6,2641,2099,2317,2208,273.2,9.6,510,6175,0.00,0.00,14.00,1.548,8742,0.000,0.000,2641,2099,2228,2280,2176,0,0,0,0,0,0,14.57,14.18,13.33
$GC,6490,0.31,312.3,2641,2100,2276,2169,243.7,8.4,526,6552,0.12,2.50,55.78,1.364,10916,0.129,0.084,2696,690,2086,2135,2038,0,0,0,0,0,0,14.26,13.83,13.24
$GC,6617,0.31,312.3,2700,691,2128,2039,229.1,10.9,551,6622,0.00,2.50,0.00,0.000,1030,0.000,0.078,2700,2107,2082,2127,2038,0,0,0,0,0,0,14.14,14.02,14.19
$GC,6943,0.27,312.3,2700,2109,2128,2032,193.7,10.6,566,6948,0.12,2.47,0.00,0.000,4740,0.228,0.082,2672,691,2079,2127,2031,0,0,0,0,0,0,14.09,14.18,14.20
$GC,6983,0.36,342.8,2672,692,2126,2032,189.9,8.6,574,7040,0.00,2.45,48.45,1.331,9382,0.000,0.078,2670,2101,1964,2010,1918,0,0,0,0,0,0,14.35,14.23,13.27
$GC,7365,0.45,376.4,2673,2101,2005,1907,157.1,8.5,600,7427,0.15,2.58,55.85,1.298,10916,0.124,0.086,2752,692,1826,1857,1796,0,0,0,0,0,0,14.24,13.95,13.26
$GC,7463,0.42,376.4,2754,694,1852,1796,145.1,13.1,619,7469,0.15,2.50,0.00,0.000,5254,0.246,0.079,2721,2103,1822,1850,1795,0,0,0,0,0,0,13.88,14.02,14.04
$GC,7789,0.42,376.4,2721,2106,1850,1788,109.6,10.2,634,7793,0.00,2.50,0.00,0.000,516,0.000,0.085,2728,687,1818,1849,1787,0,0,0,0,0,0,14.51,14.17,14.52
$GC,7829,0.46,376.4,2729,687,1848,1787,105.6,10.2,642,7834,0.00,2.47,0.00,0.000,1158,0.000,0.079,2728,2100,1817,1847,1787,0,0,0,0,0,0,14.33,14.22,14.38
$GC,8139,0.49,407.4,2729,2101,1854,1785,76.6,8.6,671,8161,0.00,0.00,15.32,0.438,8230,0.000,0.000,2728,2101,1703,1729,1677,0,0,0,0,0,0,14.55,13.98,13.70
$GC,8459,0.64,511.4,2728,2101,1729,1673,53.9,5.2,703,8518,0.15,2.50,53.67,0.364,10916,0.116,0.086,2794,687,1277,1334,1221,0,0,0,0,0,0,14.23,14.00,13.76
$GC,8593,0.74,541.0,2795,686,1333,1218,42.4,8.6,729,8616,0.00,2.47,15.50,0.333,9382,0.000,0.078,2794,2100,1156,1223,1090,0,0,0,0,0,0,14.26,14.12,13.78
$GC,8913,0.94,659.1,2795,2101,1224,1083,18.0,4.5,763,8982,0.22,2.53,61.08,0.264,10916,0.101,0.089,2890,701,674,732,616,0,0,0,0,0,0,14.21,14.08,13.85
$GC,9042,1.01,683.0,2890,702,733,614,7.2,8.9,788,9060,0.00,2.47,12.80,0.233,9382,0.000,0.079,2890,2102,578,620,536,0,0,0,0,0,0,14.12,13.97,13.91
$STATE,9095,end climb,SURFACE_DEPTH_REACHED
$STATE,9095,begin surface coast
$FINISH,0.1,1.017193
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9137,10.93,0.220,0,0,498,703.03
$SM_GC,2.12,8.00,0.17,10.93,0.059,0.121,0.220,205,2216,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.27,14.26,14.00
$RAFOS_CLK,404
$MODEM,0,1503446643,75.36600,-145.04601,189.397,274141.9
$RAFOS_FIX,7318.028320,-15010.394531,220817,202021,2,255,0.86
$IRIDIUM_FIX,7321.88,-15007.86,230817,005030
$TT8_MAMPS,0.040446,0.826896
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,15995666432.000000
$PM_FREEKB_00,53852544
$24V_AH,12.40,109.680
$10V_AH,12.45,0.000
$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,25.050,89.300,923.900,10.925,0.000,0.000,0.000,778.300,3.500,0.000,26.235,0.000,6701.247,954.371,2427.857,335.973,0.000,2475.207,0.000,1143.418,0.000,0.540,0.000
$DEVICE_MAMPS,453.645,2151.945,1643.985,219.555,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9145.000,9144.000,9092.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.424,20.000,9.958,0.000
$MEM,323348
$DATA_FILE_SIZE,26741,797
$CAP_FILE_SIZE,112242,0
$CFSIZE,2097872896,2045116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.2
$CURRENT,0.020,284.87,1
$GPS,230817,033233,7322.604,-15015.499,24,0.8,25,20.7,0.0,0.0,10,8.6