version: 66.13
glider: 196
mission: 14
dive: 38
start: 8 11 117 0 27 28
data:
$ID,196
$MISSION,14
$DIVE,38
$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,23
$R_STBD_OVSHOOT,42
$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,48
$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,122.0
$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
$GPS1,100817,234603,7141.6157,-14727.1162,32,0.7,33,21.4,0.0,128.6,11,7.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.7
$GPS2,110817,002653,7141.3457,-14726.6348,8,0.7,13,21.4,0.0,178.1,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,332.6,184928,-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,-145.9,148,2226,505,485,0.0,0.0,0,125,0.00,0.00,-77.65,0.000,16386,0.000,0.000,147,2225,2131,2057,2205,0,0,0,0,0,0,14.36,28.83,14.39
$GC,128,-0.57,-145.9,146,2230,2061,2206,3.5,-4.9,8,181,12.73,2.85,-34.85,0.000,18980,0.451,2.132,2387,783,3964,3953,3975,0,0,0,0,0,0,13.74,12.83,14.08
$GC,336,-0.54,-145.9,2387,782,3960,3975,51.2,-17.5,49,342,0.00,2.50,0.00,0.000,1158,0.000,0.086,2386,2179,3968,3961,3975,0,0,0,0,0,0,14.00,13.90,14.04
$MODEM_MSG,CACST,6,1,20170811003021.670502,3,247,23,0449,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$GC,641,-0.54,-145.9,2387,2180,3964,3975,97.9,-13.4,80,646,0.00,2.55,0.00,0.000,260,0.000,0.088,2386,3614,3968,3963,3974,0,0,0,0,0,0,14.31,14.00,14.32
$GC,786,-0.67,-145.9,2388,3614,3964,3975,114.1,-10.5,109,792,0.00,2.42,0.00,0.000,1158,0.000,0.053,2386,2187,3969,3963,3975,0,0,0,0,0,0,14.12,14.02,14.14
$GC,1091,-0.75,-145.9,2387,2191,3963,3976,147.8,-10.7,120,1097,0.12,2.55,0.00,0.000,4484,0.130,0.084,2329,3621,3968,3962,3975,0,0,0,0,0,0,14.16,14.10,14.19
$GC,1132,-0.77,-145.9,2330,3622,3963,3976,153.2,-13.7,128,1137,0.00,2.42,0.00,0.000,1158,0.000,0.057,2329,2201,3968,3963,3974,0,0,0,0,0,0,14.21,14.12,14.25
$GC,1452,-0.77,-145.9,2329,2201,3962,3975,198.2,-13.1,142,1457,0.00,2.50,0.00,0.000,260,0.000,0.085,2319,3616,3967,3961,3974,0,0,0,0,0,0,14.48,14.12,14.50
$GC,1537,-0.84,-145.9,2320,3617,3962,3974,208.6,-10.9,159,1544,0.00,2.40,0.00,0.000,1158,0.000,0.057,2319,2198,3969,3960,3978,0,0,0,0,0,0,14.23,14.13,14.27
$GC,1842,-0.84,-145.9,2319,2197,3971,3973,245.2,-11.6,170,1847,0.00,2.53,0.00,0.000,260,0.000,0.089,2319,3617,3966,3960,3972,0,0,0,0,0,0,14.50,14.12,14.52
$GC,1979,-0.94,-145.9,2319,3619,3959,3972,259.5,-10.1,197,1984,0.12,2.40,0.00,0.000,5254,0.132,0.057,2267,2201,3965,3959,3971,0,0,0,0,0,0,14.22,14.19,14.30
$GC,2295,-0.85,-145.9,2266,2200,3956,3970,307.3,-15.3,210,2300,0.12,2.50,0.00,0.000,2436,0.312,0.082,2285,3620,3962,3956,3969,0,0,0,0,0,0,13.90,14.13,14.07
$GC,2370,-0.85,-145.9,2286,3622,3956,3969,317.5,-12.6,225,2375,0.00,2.42,0.00,0.000,1030,0.000,0.060,2285,2198,3962,3955,3969,0,0,0,0,0,0,14.30,14.17,14.33
$GC,2685,-0.81,-145.9,2285,2195,3955,3966,359.9,-13.6,238,2690,0.12,2.50,0.00,0.000,2436,0.305,0.084,2307,3617,3960,3955,3966,0,0,0,0,0,0,13.96,14.15,14.11
$GC,2765,-0.90,-145.9,2308,3619,3955,3966,369.1,-10.5,254,2770,0.00,2.42,0.00,0.000,1158,0.000,0.058,2307,2195,3960,3954,3966,0,0,0,0,0,0,14.31,14.19,14.33
$GC,3075,-0.93,-145.9,2308,2193,3955,3964,404.4,-11.4,266,3080,0.00,2.50,0.00,0.000,388,0.000,0.088,2305,3614,3959,3954,3964,0,0,0,0,0,0,14.53,14.15,14.53
$GC,3161,-1.02,-145.9,2306,3616,3954,3965,413.7,-10.4,283,3168,0.17,2.42,0.00,0.000,5254,0.113,0.057,2244,2193,3958,3953,3964,0,0,0,0,0,0,14.11,14.07,14.19
$GC,3466,-0.90,-145.9,2244,2193,3953,3964,464.1,-16.9,294,3471,0.17,2.50,0.00,0.000,2436,0.311,0.084,2279,3614,3957,3952,3963,0,0,0,0,0,0,13.85,14.12,14.06
$STATE,3585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3585,begin apogee
$GC,3593,-0.13,0.0,2281,2096,3952,3963,480.3,-12.5,318,3858,0.98,0.00,259.85,1.323,10246,0.244,0.000,2527,2095,3366,3394,3338,0,0,0,0,0,0,13.93,13.50,12.91
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3864,0.57,145.9,2528,2096,3391,3331,495.0,0.0,327,4067,0.75,2.70,191.20,1.369,11012,0.065,0.077,2780,3513,2759,2804,2714,0,0,0,0,0,0,13.57,13.26,12.69
$GC,4214,0.16,145.9,2780,3514,2787,2716,471.8,17.6,388,4221,0.73,2.50,0.00,0.000,5254,0.347,0.058,2643,2100,2750,2786,2714,0,0,0,0,0,0,13.40,13.66,13.71
$GC,4520,0.09,175.9,2644,2098,2787,2711,443.6,8.6,399,4565,0.12,2.55,38.88,1.420,12964,0.299,0.086,2616,686,2641,2686,2596,0,0,0,0,0,0,13.74,13.75,13.17
$GC,4607,0.18,232.6,2616,688,2682,2589,437.2,7.4,416,4696,0.00,2.53,80.25,1.353,9382,0.000,0.080,2615,2101,2411,2470,2352,0,0,0,0,0,0,13.94,13.84,13.01
$GC,5001,0.25,267.8,2616,2102,2455,2339,404.7,8.4,445,5052,0.15,0.00,49.10,1.377,10406,0.116,0.000,2679,2101,2273,2324,2222,0,0,0,0,0,0,14.02,13.78,13.16
$GC,5331,0.20,267.8,2680,2101,2308,2200,362.4,13.0,456,5337,0.12,2.50,0.00,0.000,4740,0.262,0.085,2659,691,2254,2308,2200,0,0,0,0,0,0,13.88,14.00,14.05
$GC,5367,0.24,267.8,2660,691,2306,2199,358.1,11.4,463,5372,0.00,2.50,0.00,0.000,1158,0.000,0.080,2660,2101,2252,2305,2200,0,0,0,0,0,0,14.08,13.80,14.13
$GC,5692,0.24,267.8,2660,2103,2305,2198,321.0,11.4,478,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2102,2251,2305,2197,0,0,0,0,0,0,14.41,14.46,14.43
$GC,5992,0.24,267.8,2660,2101,2305,2195,288.0,10.9,488,5998,0.00,2.47,0.00,0.000,516,0.000,0.086,2660,691,2249,2304,2195,0,0,0,0,0,0,14.47,14.16,14.49
$GC,6028,0.28,267.8,2660,692,2303,2197,284.1,10.5,495,6033,0.00,2.47,0.00,0.000,1158,0.000,0.080,2660,2106,2248,2302,2195,0,0,0,0,0,0,14.28,14.16,14.35
$GC,6353,0.28,267.8,2660,2107,2303,2194,248.9,10.8,510,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2107,2248,2302,2195,0,0,0,0,0,0,14.50,14.52,14.51
$GC,6653,0.28,267.8,2660,2106,2303,2193,217.7,10.1,520,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2107,2249,2302,2197,0,0,0,0,0,0,14.50,14.52,14.52
$GC,6953,0.32,293.0,2660,2108,2302,2195,189.5,8.8,530,6994,0.00,2.53,34.53,1.333,8868,0.000,0.086,2660,695,2167,2216,2118,0,0,0,0,0,0,14.50,14.07,13.49
$GC,7066,0.47,341.0,2660,694,2207,2116,180.4,7.8,552,7155,0.22,2.50,82.18,1.230,11430,0.100,0.081,2749,2109,1974,2018,1930,0,0,0,0,0,0,14.10,14.06,13.24
$GC,7465,0.39,341.0,2749,2110,2008,1910,126.8,13.0,582,7470,0.15,2.53,0.00,0.000,4740,0.244,0.084,2712,690,1957,2004,1910,0,0,0,0,0,0,13.86,13.99,14.00
$GC,7510,0.47,345.0,2714,688,2003,1910,122.1,9.8,591,7515,0.00,2.50,0.00,0.000,1190,0.000,0.079,2713,2106,1956,2002,1910,0,0,0,0,0,0,14.13,14.02,14.16
$GC,7816,0.51,369.5,2713,2108,2003,1906,93.5,8.9,607,7830,0.00,0.00,13.00,0.473,8358,0.000,0.000,2713,2107,1857,1895,1819,0,0,0,0,0,0,14.38,14.10,13.69
$GC,8126,0.60,421.9,2713,2107,1903,1822,68.1,7.6,638,8159,0.17,2.58,27.80,0.404,10916,0.108,0.086,2794,689,1644,1678,1611,0,0,0,0,0,0,14.16,13.98,13.78
$GC,8204,0.60,421.9,2793,694,1681,1612,58.7,12.4,653,8210,0.00,2.47,0.00,0.000,1030,0.000,0.082,2794,2100,1646,1681,1611,0,0,0,0,0,0,14.12,14.05,14.13
$GC,8509,0.61,477.6,2794,2102,1682,1610,28.8,7.4,684,8545,0.00,2.55,28.85,0.298,8868,0.000,0.086,2794,693,1416,1462,1370,0,0,0,0,0,0,14.37,14.03,13.81
$GC,8607,0.74,528.2,2795,693,1464,1372,21.4,7.7,703,8640,0.00,2.50,26.95,0.274,9382,0.000,0.080,2794,2100,1208,1274,1142,0,0,0,0,0,0,14.17,14.05,13.80
$GC,8945,1.04,703.5,2795,2104,1275,1140,9.6,1.9,740,9041,0.35,2.58,89.43,0.229,10660,0.088,0.080,2923,3516,495,530,461,0,0,0,0,0,0,14.11,14.00,13.79
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$FINISH,0.5,1.019970
$STATE,9058,end surface coast,CONTROL_FINISHED_OK
$STATE,9059,begin surface
$SM_CCo,9141,0.00,0.000,0,0,495,703.03
$SM_GC,1.10,8.52,2.33,0.00,0.090,0.057,0.000,199,2189,495,-7.38,0.71,703.03,0,0,0,0,0,0,14.12,14.08,14.19
$RAFOS_CLK,378
$MODEM,4,1502411421,75.71700,-151.21500,320.921,465639.8
$RAFOS_FIX,7144.114746,-14721.083008,100817,202026,3,255,0.94
$IRIDIUM_FIX,7143.15,-14717.53,110817,002009
$TT8_MAMPS,0.040446,0.914529
$HUMID,49.17
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.40
$XPDR_PINGS,67
$CP_FREE,16013033472.000000
$PM_FREEKB_00,60159040
$24V_AH,12.69,60.638
$10V_AH,12.74,0.000
$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,25.850,90.325,922.000,0.000,0.000,0.000,0.000,1681.125,16.750,0.000,14.792,0.000,6840.751,877.620,3243.440,643.294,0.000,3333.094,0.000,1093.847,456.000,0.541,0.000
$DEVICE_MAMPS,450.585,2132.055,1419.840,0.000,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9090.000,9088.000,9035.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.832,111.000,16.603,0.000
$MEM,324016
$DATA_FILE_SIZE,26721,762
$CAP_FILE_SIZE,114964,0
$CFSIZE,2097872896,2071953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1451.4
$CURRENT,0.107,219.29,1
$GPS,110817,030104,7142.165,-14727.466,30,0.7,31,21.4,0.0,0.0,11,7.7