version: 66.13
glider: 196
mission: 14
dive: 181
start: 8 28 117 0 12 34
data:
$ID,196
$MISSION,14
$DIVE,181
$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,28
$R_STBD_OVSHOOT,39
$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,512.0
$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
$GPS1,280817,000053,7403.1792,-15224.8457,18,0.8,19,19.8,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.1
$GPS2,280817,001201,7403.1973,-15224.9297,6,0.8,40,19.8,0.0,252.7,11,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,289.2,53761,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,200,2225,499,497,0.0,0.0,0,138,0.00,0.00,-88.47,0.000,16386,0.000,0.000,198,2224,2089,2019,2159,0,0,0,0,0,0,14.50,28.83,14.52
$GC,141,-0.57,-145.9,199,2223,2021,2163,4.0,-5.4,9,197,12.65,2.72,-37.97,0.000,18724,0.454,2.144,2376,3592,3961,3941,3982,0,0,0,0,0,0,13.55,12.88,13.99
$GC,387,-0.71,-145.9,2376,3593,3948,3982,56.2,-13.7,58,393,0.00,2.42,0.00,0.000,1158,0.000,0.062,2375,2206,3964,3947,3982,0,0,0,0,0,0,14.12,14.00,14.13
$GC,692,-0.78,-145.9,2376,2206,3949,3981,100.0,-11.7,89,694,0.15,0.00,0.00,0.000,4230,0.134,0.000,2322,2205,3965,3948,3982,0,0,0,0,0,0,14.02,14.13,14.09
$GC,992,-0.78,-145.9,2322,2206,3948,3983,144.1,-14.1,99,997,0.00,2.47,0.00,0.000,260,0.000,0.089,2319,3592,3964,3948,3981,0,0,0,0,0,0,14.45,14.02,14.46
$GC,1092,-0.90,-145.9,2319,3595,3948,3985,156.1,-11.0,119,1097,0.00,2.38,0.00,0.000,1158,0.000,0.056,2319,2197,3967,3953,3982,0,0,0,0,0,0,14.17,14.04,14.17
$GC,1412,-0.96,-145.9,2320,2196,3948,3982,196.2,-12.4,133,1417,0.12,2.47,0.00,0.000,4484,0.138,0.086,2253,3596,3965,3948,3982,0,0,0,0,0,0,14.09,14.04,14.12
$MODEM_MSG,CACST,6,1,20170828001352.115845,3,81,07,0158,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170828001904.165966,3,32767,45,0904,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170828002711.382605,3,412,20,1004,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$GC,1471,-0.96,-145.9,2253,3593,3949,3983,205.4,-15.3,144,1478,0.00,2.40,0.00,0.000,1030,0.000,0.057,2258,2195,3965,3948,3982,0,0,0,0,0,0,14.18,14.02,14.21
$GC,1776,-0.91,-145.9,2253,2193,3949,3982,256.8,-16.1,155,1781,0.12,2.47,0.00,0.000,2436,0.301,0.085,2271,3600,3965,3948,3982,0,0,0,0,0,0,13.91,14.19,14.09
$GC,1883,-0.99,-145.9,2271,3602,3949,3983,270.3,-12.3,176,1889,0.00,2.38,0.00,0.000,1158,0.000,0.057,2271,2199,3965,3948,3982,0,0,0,0,0,0,14.33,14.21,14.37
$GC,2199,-1.01,-145.9,2271,2199,3949,3983,309.6,-12.2,189,2204,0.00,2.47,0.00,0.000,388,0.000,0.090,2266,3602,3965,3948,3982,0,0,0,0,0,0,14.63,14.16,14.62
$GC,2254,-1.11,-145.9,2266,3602,3949,3982,315.9,-11.1,200,2261,0.15,2.40,0.00,0.000,5254,0.123,0.058,2210,2191,3965,3948,3982,0,0,0,0,0,0,14.22,14.18,14.32
$GC,2559,-1.03,-145.9,2211,2189,3949,3981,365.6,-16.4,211,2564,0.12,2.47,0.00,0.000,2436,0.300,0.087,2235,3594,3964,3948,3981,0,0,0,0,0,0,13.94,14.17,14.10
$GC,2666,-1.07,-145.9,2236,3595,3949,3981,379.7,-12.3,232,2671,0.00,2.35,0.00,0.000,1158,0.000,0.056,2235,2199,3964,3948,3981,0,0,0,0,0,0,14.33,14.21,14.35
$GC,2982,-1.07,-145.9,2235,2199,3948,3982,422.2,-13.3,245,2987,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3588,3964,3947,3981,0,0,0,0,0,0,14.67,13.58,14.69
$GC,3087,-1.12,-145.9,2236,3588,3948,3981,435.2,-12.1,266,3092,0.00,2.35,0.00,0.000,1158,0.000,0.056,2235,2196,3964,3947,3981,0,0,0,0,0,0,14.20,13.79,14.32
$GC,3402,-1.12,-145.9,2235,2195,3948,3981,475.6,-12.8,279,3407,0.00,2.47,0.00,0.000,260,0.000,0.089,2235,3598,3967,3954,3980,0,0,0,0,0,0,14.66,13.52,14.69
$STATE,3435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3435,begin apogee
$GC,3443,-0.13,0.0,2236,2097,3948,3980,480.0,-12.6,286,3677,1.15,0.00,226.38,1.424,10246,0.240,0.000,2529,2097,3357,3375,3340,0,0,0,0,0,0,13.96,13.45,12.65
$STATE,3681,end apogee,CONTROL_FINISHED_OK
$STATE,3681,begin climb
$GC,3683,0.57,145.9,2530,2098,3373,3338,492.6,0.0,294,3903,0.75,2.72,210.25,1.375,10756,0.065,0.080,2784,688,2764,2805,2724,0,0,0,0,0,0,13.57,13.14,12.35
$GC,3928,0.19,145.9,2782,692,2794,2716,497.1,13.2,333,3934,0.65,2.60,0.00,0.000,5254,0.326,0.074,2651,2086,2754,2794,2714,0,0,0,0,0,0,13.02,13.28,13.35
$GC,4249,0.03,148.9,2652,2086,2793,2703,465.0,9.9,347,4254,0.20,2.50,0.00,0.000,4772,0.265,0.081,2602,690,2748,2792,2705,0,0,0,0,0,0,13.69,13.91,13.85
$GC,4299,0.06,196.0,2603,690,2794,2705,460.9,7.8,357,4380,0.00,2.50,71.95,1.395,9254,0.000,0.080,2602,2101,2559,2616,2502,0,0,0,0,0,0,14.07,13.95,12.93
$GC,4701,0.08,223.5,2602,2102,2607,2487,426.4,8.7,387,4746,0.00,2.58,38.35,1.442,8740,0.000,0.085,2602,687,2446,2502,2390,0,0,0,0,0,0,14.46,13.94,13.15
$GC,4756,0.13,252.6,2602,688,2498,2388,421.6,8.7,393,4806,0.00,2.50,44.10,1.397,9382,0.000,0.079,2602,2101,2332,2387,2277,0,0,0,0,0,0,14.11,13.97,13.03
$GC,5123,0.19,278.8,2601,2102,2372,2260,389.2,8.8,416,5167,0.12,2.53,37.12,1.426,10916,0.132,0.087,2672,687,2224,2274,2174,0,0,0,0,0,0,14.21,14.00,13.20
$GC,5183,0.12,278.8,2672,688,2267,2171,381.6,13.4,428,5189,0.20,2.50,0.00,0.000,5254,0.239,0.079,2626,2103,2217,2266,2169,0,0,0,0,0,0,13.89,14.04,14.12
$GC,5514,0.15,278.8,2626,2104,2267,2161,347.6,10.0,444,5520,0.00,2.47,0.00,0.000,644,0.000,0.085,2633,693,2213,2266,2160,0,0,0,0,0,0,14.54,14.17,14.56
$GC,5555,0.21,278.8,2634,691,2265,2160,343.3,10.1,452,5561,0.00,2.45,0.00,0.000,1158,0.000,0.079,2634,2102,2212,2264,2160,0,0,0,0,0,0,14.35,14.23,14.40
$GC,5876,0.21,278.8,2633,2103,2264,2159,309.8,10.4,466,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2102,2211,2264,2158,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6176,0.24,290.8,2634,2102,2264,2157,281.2,9.4,476,6196,0.00,2.50,12.70,1.574,8868,0.000,0.085,2633,692,2175,2224,2126,0,0,0,0,0,0,14.66,14.26,13.33
$GC,6268,0.35,320.6,2634,693,2217,2125,273.1,8.6,494,6328,0.20,2.45,50.95,1.375,11430,0.101,0.079,2708,2101,2052,2097,2008,0,0,0,0,0,0,14.33,14.25,13.23
$GC,6626,0.28,320.6,2708,2100,2089,1996,226.4,12.2,516,6627,0.15,0.00,0.00,0.000,4230,0.230,0.000,2676,2106,2042,2088,1996,0,0,0,0,0,0,14.03,14.33,14.27
$GC,6926,0.29,337.2,2675,2101,2089,1993,198.0,9.2,526,6957,0.00,2.53,22.48,1.432,8740,0.000,0.088,2675,696,1982,2030,1935,0,0,0,0,0,0,14.62,14.16,13.36
$GC,7009,0.39,367.5,2676,690,2024,1937,190.7,8.6,542,7068,0.00,2.47,53.60,1.305,9382,0.000,0.078,2675,2107,1867,1901,1833,0,0,0,0,0,0,14.31,14.18,13.21
$GC,7380,0.48,399.3,2675,2106,1884,1819,158.2,8.5,566,7441,0.15,2.60,54.38,1.276,10916,0.123,0.086,2753,685,1732,1756,1708,0,0,0,0,0,0,14.23,13.97,13.24
$GC,7511,0.48,399.3,2754,686,1746,1705,141.5,12.7,592,7517,0.00,2.50,0.00,0.000,1030,0.000,0.079,2754,2106,1724,1745,1703,0,0,0,0,0,0,14.19,14.06,14.22
$GC,7832,0.43,399.3,2755,2107,1746,1696,100.4,12.3,606,7834,0.15,0.00,0.00,0.000,4230,0.232,0.000,2721,2107,1720,1745,1696,0,0,0,0,0,0,14.08,14.34,14.30
$GC,8132,0.51,456.0,2721,2108,1745,1694,75.5,7.4,634,8169,0.00,2.53,28.25,0.426,8868,0.000,0.085,2725,697,1503,1536,1470,0,0,0,0,0,0,14.57,13.88,13.69
$GC,8241,0.68,521.0,2726,696,1540,1472,67.8,7.0,655,8284,0.22,2.45,34.85,0.402,11430,0.093,0.080,2808,2100,1242,1295,1189,0,0,0,0,0,0,14.25,14.16,13.71
$GC,8589,0.70,556.7,2808,2101,1296,1187,33.7,8.4,694,8615,0.00,2.55,19.58,0.306,8740,0.000,0.088,2809,688,1093,1156,1030,0,0,0,0,0,0,14.54,14.07,13.83
$GC,8718,0.82,597.5,2809,688,1159,1038,23.2,8.1,719,8746,0.12,2.47,22.60,0.281,11430,0.129,0.078,2867,2108,928,993,863,0,0,0,0,0,0,14.08,14.02,13.88
$STATE,8959,end climb,SURFACE_DEPTH_REACHED
$STATE,8959,begin surface coast
$FINISH,0.1,1.008349
$STATE,8979,end surface coast,CONTROL_FINISHED_OK
$STATE,8979,begin surface
$SM_CCo,8999,57.85,0.212,0,0,500,702.78
$SM_GC,1.46,8.02,0.17,57.85,0.068,0.118,0.212,201,2217,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.34,14.32,14.01
$RAFOS_CLK,419
$MODEM,4,1503880031,75.71700,-151.21500,130.633,189079.9
$MODEM,3,1503879544,74.30400,-153.94400,37.166,53794.7
$MODEM,2,1503879232,73.18300,-149.96500,85.116,123198.2
$RAFOS_FIX,7402.301270,-15224.319336,280817,000002,3,255,3.53
$IRIDIUM_FIX,7402.36,-15230.15,270817,212051
$TT8_MAMPS,0.038948,0.871836
$HUMID,46.77
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,10
$CP_FREE,15988359168.000000
$PM_FREEKB_00,52573824
$24V_AH,12.35,129.740
$10V_AH,12.34,0.000
$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,25.425,89.875,927.525,57.850,0.000,0.000,0.000,362.425,2.500,0.000,41.855,0.000,6466.886,935.912,2046.257,296.127,0.000,2087.713,0.000,1075.809,1348.000,0.539,0.000
$DEVICE_MAMPS,453.645,2144.295,1574.370,211.905,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8989.000,8987.000,8935.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.275,20.000,10.335,0.000
$MEM,323488
$DATA_FILE_SIZE,26682,748
$CAP_FILE_SIZE,104625,0
$CFSIZE,2097872896,2032140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.061,220.13,1
$GPS,280817,024439,7404.092,-15228.389,16,0.7,22,19.8,0.3,320.4,12,8.6