version: 66.13
glider: 196
mission: 14
dive: 206
start: 8 30 117 22 27 48
data:
$ID,196
$MISSION,14
$DIVE,206
$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,30
$R_STBD_OVSHOOT,46
$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,1.4
$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,581.0
$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
$GPS1,300817,221519,7419.1475,-15351.9561,5,0.7,15,19.2,0.0,0.0,11,6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.2
$GPS2,300817,222714,7419.1255,-15352.0078,7,0.7,16,19.2,0.0,241.5,11,8.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.7,172118,-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,46,begin dive
$GC,49,-0.57,-145.9,203,2227,573,501,0.0,0.0,0,141,0.00,0.00,-91.25,0.000,16386,0.000,0.000,201,2226,2181,2133,2230,0,0,0,0,0,0,14.53,28.83,14.55
$GC,144,-0.57,-145.9,202,2226,2138,2231,3.3,-4.0,9,200,12.65,0.00,-36.58,0.000,18982,0.457,0.000,2384,2227,3964,3937,3991,0,0,0,0,0,0,13.59,12.58,14.04
$GC,499,-0.63,-145.9,2384,2228,3939,3992,75.8,-13.4,46,504,0.00,2.40,0.00,0.000,388,0.000,0.089,2378,3588,3965,3939,3991,0,0,0,0,0,0,14.54,14.15,14.56
$GC,564,-0.82,-145.9,2379,3590,3939,3992,82.6,-9.4,59,571,0.20,2.35,0.00,0.000,5286,0.102,0.054,2301,2203,3964,3938,3991,0,0,0,0,0,0,14.19,14.20,14.21
$GC,881,-0.80,-145.9,2301,2202,3940,3990,136.8,-16.3,77,886,0.00,2.42,0.00,0.000,388,0.000,0.088,2294,3586,3964,3938,3990,0,0,0,0,0,0,14.62,14.20,14.64
$GC,946,-0.87,-145.9,2294,3587,3939,3991,146.7,-13.1,90,951,0.00,2.35,0.00,0.000,1158,0.000,0.060,2293,2196,3964,3938,3990,0,0,0,0,0,0,14.38,14.25,14.40
$GC,1271,-0.87,-145.9,2294,2195,3940,3990,194.9,-14.4,105,1276,0.00,2.45,0.00,0.000,260,0.000,0.086,2286,3591,3964,3939,3990,0,0,0,0,0,0,14.64,14.21,14.66
$GC,1336,-0.97,-145.9,2287,3592,3939,3990,203.5,-12.2,118,1341,0.00,2.35,0.00,0.000,1158,0.000,0.057,2286,2198,3964,3939,3990,0,0,0,0,0,0,14.40,14.31,14.43
$GC,1662,-0.99,-145.9,2286,2197,3940,3990,247.2,-13.0,133,1667,0.00,2.45,0.00,0.000,388,0.000,0.088,2281,3586,3964,3939,3990,0,0,0,0,0,0,14.65,14.16,14.67
$GC,1732,-1.11,-145.9,2281,3588,3940,3990,255.2,-10.8,147,1737,0.17,2.35,0.00,0.000,5254,0.112,0.057,2218,2196,3964,3939,3990,0,0,0,0,0,0,14.30,14.26,14.40
$GC,2052,-1.03,-145.9,2217,2196,3939,3989,309.6,-16.6,161,2057,0.12,2.45,0.00,0.000,2436,0.303,0.086,2238,3586,3963,3939,3988,0,0,0,0,0,0,13.90,14.16,14.08
$GC,2150,-1.06,-145.9,2237,3587,3939,3987,322.8,-12.7,180,2155,0.00,2.33,0.00,0.000,1158,0.000,0.056,2236,2201,3963,3939,3988,0,0,0,0,0,0,14.21,14.12,14.25
$GC,2475,-1.06,-145.9,2236,2201,3939,3987,367.5,-13.4,195,2480,0.00,2.45,0.00,0.000,260,0.000,0.090,2235,3594,3962,3939,3986,0,0,0,0,0,0,14.69,14.21,14.71
$GC,2586,-1.11,-145.9,2236,3595,3940,3986,381.3,-12.0,217,2590,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2195,3962,3939,3985,0,0,0,0,0,0,14.40,14.28,14.42
$GC,2895,-1.11,-145.9,2237,2195,3940,3986,421.5,-13.0,229,2900,0.00,2.45,0.00,0.000,260,0.000,0.090,2235,3589,3962,3939,3985,0,0,0,0,0,0,14.69,14.21,14.71
$GC,2986,-1.17,-145.9,2235,3589,3940,3985,432.5,-11.6,247,2990,0.00,2.33,0.00,0.000,1158,0.000,0.056,2236,2199,3962,3939,3985,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3315,-1.17,-145.9,2236,2199,3939,3985,473.8,-12.5,263,3320,0.00,2.42,0.00,0.000,260,0.000,0.090,2236,3587,3962,3940,3984,0,0,0,0,0,0,14.69,14.20,14.71
$STATE,3368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3368,begin apogee
$GC,3376,-0.13,0.0,2234,2095,3943,3984,480.5,-11.3,274,3552,1.15,0.00,168.32,2.075,10246,0.238,0.000,2529,2093,3366,3395,3338,0,0,0,0,1,0,13.94,13.26,12.11
$STATE,3556,end apogee,CONTROL_FINISHED_OK
$STATE,3556,begin climb
$GC,3559,0.57,145.9,2530,2094,3401,3338,490.9,0.0,280,3794,0.75,2.70,229.20,1.370,10756,0.063,0.080,2782,696,2762,2812,2713,0,0,0,0,0,0,13.38,12.91,12.32
$GC,3924,0.19,145.9,2781,696,2800,2700,488.2,14.0,313,3931,0.65,2.53,0.00,0.000,5254,0.326,0.076,2649,2073,2750,2800,2701,0,0,0,0,0,0,13.24,13.56,13.60
$GC,4241,0.04,174.3,2650,2074,2801,2696,459.2,8.7,326,4280,0.20,0.00,37.17,1.440,12966,0.274,0.000,2601,2074,2655,2711,2600,0,0,0,0,0,0,13.79,13.91,13.09
$GC,4573,0.04,227.3,2602,2074,2698,2577,434.5,7.6,342,4662,0.00,2.53,80.00,1.347,8868,0.000,0.085,2603,695,2431,2493,2370,0,0,0,0,0,0,14.51,13.84,13.03
$GC,4694,0.12,260.4,2603,696,2485,2367,424.7,8.5,366,4754,0.00,2.53,50.33,1.368,9382,0.000,0.079,2602,2107,2295,2358,2233,0,0,0,0,0,0,14.06,13.95,12.96
$GC,5054,0.17,282.8,2602,2108,2347,2217,392.4,9.0,388,5085,0.10,0.00,29.65,1.432,10406,0.152,0.000,2653,2108,2214,2275,2154,0,0,0,0,0,0,14.20,14.00,13.19
$GC,5382,0.13,282.8,2653,2109,2257,2135,352.9,12.1,399,5387,0.00,2.47,0.00,0.000,644,0.000,0.087,2654,691,2195,2256,2134,0,0,0,0,0,0,14.56,14.19,14.57
$GC,5437,0.13,282.8,2655,691,2255,2134,346.5,11.3,410,5443,0.12,2.47,0.00,0.000,5126,0.245,0.079,2629,2110,2194,2254,2134,0,0,0,0,0,0,13.91,13.94,14.27
$GC,5744,0.13,282.8,2629,2112,2255,2133,315.6,10.0,421,5750,0.00,2.50,0.00,0.000,516,0.000,0.086,2630,691,2193,2254,2133,0,0,0,0,0,0,14.50,14.15,14.52
$GC,5780,0.18,286.4,2631,692,2253,2139,311.9,9.8,428,5785,0.00,2.47,0.00,0.000,1190,0.000,0.080,2630,2110,2192,2252,2133,0,0,0,0,0,0,14.25,14.17,14.28
$GC,6105,0.19,305.1,2630,2111,2253,2133,281.1,9.1,443,6145,0.00,2.58,32.75,1.395,8740,0.000,0.086,2630,689,2115,2169,2062,0,0,0,0,0,0,14.50,14.09,13.27
$GC,6202,0.32,340.1,2631,691,2158,2064,272.7,8.4,462,6266,0.17,2.50,57.90,1.299,11430,0.105,0.078,2706,2112,1979,2028,1930,0,0,0,0,0,0,14.13,14.06,13.12
$GC,6587,0.26,340.1,2697,2108,2011,1911,223.5,12.1,489,6593,0.12,2.50,0.00,0.000,4740,0.229,0.083,2672,691,1959,2008,1910,0,0,0,0,0,0,13.97,13.96,14.09
$GC,6623,0.31,342.3,2673,691,2009,1909,219.8,9.9,496,6628,0.00,2.47,0.00,0.000,1190,0.000,0.079,2672,2103,1959,2008,1910,0,0,0,0,0,0,14.23,14.10,14.26
$GC,6948,0.32,352.8,2675,2105,2009,1907,188.4,9.5,511,6968,0.00,2.55,13.48,1.423,8740,0.000,0.087,2672,689,1921,1965,1878,0,0,0,0,0,0,14.50,14.05,13.30
$GC,7055,0.41,378.4,2672,690,1954,1879,178.7,8.8,532,7105,0.12,2.47,44.72,1.278,11430,0.139,0.080,2727,2101,1821,1855,1787,0,0,0,0,0,0,14.15,14.11,13.23
$GC,7430,0.37,378.4,2726,2101,1840,1772,133.7,11.5,557,7431,0.00,0.00,0.00,0.000,134,0.000,0.000,2726,2101,1805,1838,1772,0,0,0,0,0,0,14.42,14.45,14.46
$MODEM_MSG,CACST,6,1,20170831000409.501264,3,122,14,0182,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170831001428.438062,3,1259,31,0412,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$MODEM_MSG,CACST,6,1,20170831001829.837896,3,4647,36,0112,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$MODEM_MSG,CACST,6,1,20170831002659.827334,3,2818,34,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,7738,0.34,378.4,2727,2101,1839,1770,100.2,11.3,567,7743,0.12,2.45,0.00,0.000,4740,0.240,0.083,2699,688,1803,1837,1769,0,0,0,0,0,0,14.00,14.02,14.11
$GC,7848,0.45,425.0,2698,689,1833,1771,90.4,7.9,589,7882,0.00,2.45,25.42,0.461,9382,0.000,0.080,2699,2106,1635,1671,1600,0,0,0,0,0,0,14.23,14.11,13.61
$GC,8180,0.59,493.5,2699,2107,1674,1602,66.0,6.8,625,8231,0.22,2.53,40.85,0.392,10660,0.094,0.083,2787,3511,1352,1401,1303,0,0,0,0,0,0,14.27,13.99,13.69
$GC,8256,0.54,493.5,2788,3513,1401,1308,57.1,13.8,636,8262,0.17,2.45,0.00,0.000,5254,0.264,0.067,2755,2093,1354,1401,1307,0,0,0,0,0,0,13.88,14.12,14.15
$GC,8561,0.66,578.4,2758,2094,1402,1307,34.8,6.1,667,8615,0.12,2.55,48.83,0.298,10916,0.125,0.090,2818,688,1006,1080,932,0,0,0,0,0,0,14.26,14.06,13.82
$GC,8765,0.83,663.7,2812,692,1081,946,18.7,6.1,707,8824,0.12,2.47,52.20,0.246,11430,0.131,0.079,2868,2106,655,716,595,0,0,0,0,0,0,14.20,14.14,13.90
$STATE,8929,end climb,SURFACE_DEPTH_REACHED
$STATE,8929,begin surface coast
$FINISH,0.4,1.021399
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8957,22.65,0.210,0,0,500,703.03
$SM_GC,0.87,8.00,0.17,22.65,0.060,0.117,0.210,200,2227,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.27,14.00
$RAFOS_CLK,159
$MODEM,4,1504139219,75.71700,-151.21500,119.077,171770.7
$MODEM,3,1504138709,74.30400,-153.94400,2.838,4093.7
$MODEM,2,1504138468,73.18300,-149.96500,121.438,175176.0
$MODEM,0,1504137849,75.36600,-145.04601,195.501,282013.2
$RAFOS_FIX,7418.881836,-15350.428711,310817,000001,4,255,0.14
$IRIDIUM_FIX,7416.23,-15544.53,300817,221845
$TT8_MAMPS,0.039697,0.867342
$HUMID,45.27
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.00
$XPDR_PINGS,12
$CP_FREE,15981903872.000000
$PM_FREEKB_00,51834880
$24V_AH,12.11,141.949
$10V_AH,12.20,0.000
$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,25.325,88.825,910.825,22.650,0.000,0.000,0.000,437.825,3.000,0.000,17.744,0.000,6455.955,811.556,2158.109,292.998,0.000,2117.697,0.000,1047.251,2133.000,0.539,0.000
$DEVICE_MAMPS,456.705,117.045,2074.680,209.610,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8731.000,8911.000,8910.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.549,20.000,9.930,0.000
$MEM,323248
$DATA_FILE_SIZE,26714,730
$CAP_FILE_SIZE,105935,0
$CFSIZE,2097872896,2024275968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.049,232.32,1
$GPS,310817,005852,7419.927,-15349.209,36,0.7,37,19.2,0.4,163.8,11,7.5