version: 66.13
glider: 196
mission: 14
dive: 57
start: 8 13 117 7 43 23
data:
$ID,196
$MISSION,14
$DIVE,57
$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,19
$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,169.0
$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
$GPS1,130817,072826,7157.2603,-14742.0488,18,0.8,22,21.4,0.4,111.7,10,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.4
$GPS2,130817,074250,7157.2612,-14742.1592,5,0.8,41,21.4,0.0,252.8,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,322.7,154885,-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
$GC,47,-0.57,-145.9,183,2213,510,477,0.0,0.0,0,130,0.00,0.00,-81.47,0.000,16386,0.000,0.000,181,2213,2158,2080,2236,0,0,0,0,0,0,14.35,28.83,14.38
$GC,133,-0.57,-145.9,182,2214,2082,2239,3.9,-5.4,8,186,12.65,2.78,-31.38,0.000,18724,0.455,2.145,2375,3602,3965,3953,3978,1,0,0,0,0,0,13.51,12.75,14.09
$GC,412,-0.57,-145.9,2375,3604,3963,3979,67.3,-16.3,63,419,0.00,2.40,0.00,0.000,1030,0.000,0.054,2375,2200,3970,3962,3978,0,0,0,0,0,0,14.18,14.08,14.23
$GC,728,-0.57,-145.9,2375,2202,3973,3979,117.4,-14.0,87,733,0.00,2.50,0.00,0.000,260,0.000,0.083,2365,3620,3972,3967,3978,0,0,0,0,0,0,14.43,14.12,14.45
$GC,774,-0.68,-145.9,2365,3622,3964,3979,123.5,-11.8,96,778,0.00,2.42,0.00,0.000,1158,0.000,0.054,2365,2192,3971,3964,3978,0,0,0,0,0,0,14.27,14.15,14.28
$GC,1091,-0.73,-145.9,2365,2191,3965,3974,160.2,-11.0,109,1095,0.00,2.53,0.00,0.000,388,0.000,0.086,2362,3616,3971,3964,3979,0,0,0,0,0,0,14.37,14.05,14.38
$GC,1246,-0.88,-145.9,2362,3616,3965,3978,175.5,-8.8,140,1251,0.22,2.42,0.00,0.000,5286,0.099,0.054,2270,2196,3971,3964,3978,0,0,0,0,0,0,14.12,14.09,14.19
$GC,1571,-0.80,-145.9,2270,2193,3963,3976,228.5,-16.4,155,1577,0.17,2.53,0.00,0.000,2436,0.285,0.083,2316,3614,3970,3964,3977,0,0,0,0,0,0,13.83,14.00,13.98
$GC,1702,-0.86,-145.9,2306,3615,3964,3973,244.2,-11.2,181,1707,0.00,2.40,0.00,0.000,1158,0.000,0.055,2306,2201,3969,3963,3976,0,0,0,0,0,0,14.07,14.00,14.12
$GC,2022,-0.86,-145.9,2306,2200,3964,3973,282.5,-11.6,195,2027,0.00,2.50,0.00,0.000,260,0.000,0.086,2304,3614,3968,3963,3973,0,0,0,0,0,0,14.35,14.04,14.37
$GC,2134,-0.94,-145.9,2305,3614,3963,3973,294.4,-10.5,217,2139,0.00,2.42,0.00,0.000,1158,0.000,0.055,2304,2190,3967,3962,3973,0,0,0,0,0,0,14.18,14.07,14.21
$GC,2444,-0.94,-145.9,2304,2190,3963,3971,329.8,-11.4,229,2449,0.00,2.53,0.00,0.000,260,0.000,0.086,2295,3610,3966,3962,3971,0,0,0,0,0,0,14.34,14.00,14.36
$GC,2499,-1.02,-145.9,2298,3611,3970,3972,335.9,-10.7,240,2505,0.15,2.42,0.00,0.000,5254,0.121,0.056,2242,2194,3966,3961,3971,0,0,0,0,0,0,14.05,14.04,14.15
$GC,2804,-0.92,-145.9,2246,2195,3962,3970,383.9,-16.2,251,2810,0.15,2.53,0.00,0.000,2436,0.314,0.080,2267,3617,3963,3957,3969,0,0,0,0,0,0,13.71,13.99,13.92
$GC,2900,-0.92,-145.9,2268,3619,3962,3970,397.4,-13.2,270,2905,0.00,2.42,0.00,0.000,1030,0.000,0.057,2267,2199,3965,3961,3970,0,0,0,0,0,0,14.17,14.05,14.18
$MODEM_MSG,CACST,6,1,20170813080524.043311,3,104,14,0192,0150,250,00,00,01,01,-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,6,1,20170813081414.077555,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,3226,-0.87,-145.9,2268,2198,3961,3970,442.8,-13.8,285,3231,0.12,2.47,0.00,0.000,2436,0.330,0.081,2284,3618,3964,3961,3967,0,0,0,0,0,0,13.73,13.98,13.92
$GC,3346,-0.93,-145.9,2283,3621,3961,3969,456.9,-10.9,309,3351,0.00,2.40,0.00,0.000,1158,0.000,0.056,2283,2193,3963,3959,3968,0,0,0,0,0,0,14.12,14.01,14.15
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3560,-0.13,0.0,2284,2070,3968,3969,482.3,-12.2,321,3768,0.98,0.05,201.98,1.466,10246,0.239,0.219,2530,2105,3361,3394,3329,0,0,0,0,0,0,13.79,13.38,12.78
$STATE,3774,end apogee,CONTROL_FINISHED_OK
$STATE,3774,begin climb
$GC,3776,0.57,145.9,2531,2107,3393,3326,491.9,0.0,328,3985,0.73,2.65,195.27,1.403,10500,0.065,0.074,2777,3504,2760,2812,2709,0,0,0,0,0,0,13.54,13.12,12.61
$GC,3994,0.57,145.9,2778,3505,2808,2709,491.8,0.4,330,3999,0.00,2.47,0.00,0.000,1030,0.000,0.054,2786,2129,2758,2808,2709,0,0,0,0,0,0,13.42,13.34,13.44
$GC,4315,0.19,145.9,2787,2128,2802,2707,437.6,16.7,344,4320,0.60,2.55,0.00,0.000,4740,0.315,0.078,2661,691,2754,2801,2708,0,0,0,0,0,0,13.59,13.86,13.78
$GC,4545,0.12,161.8,2661,692,2802,2709,414.9,9.3,390,4570,0.15,2.47,17.67,1.524,13478,0.287,0.081,2637,2096,2703,2752,2654,0,0,0,0,0,0,13.81,14.02,13.23
$GC,4887,0.11,200.5,2628,2097,2748,2649,386.5,8.2,408,4951,0.00,2.55,56.03,1.421,8868,0.000,0.082,2637,691,2544,2605,2483,0,0,0,0,0,0,14.38,13.85,13.20
$GC,5178,0.16,224.4,2636,691,2603,2477,361.1,8.9,466,5219,0.00,2.50,32.95,1.429,9382,0.000,0.080,2636,2112,2445,2507,2383,0,0,0,0,0,0,14.19,14.05,13.21
$GC,5518,0.17,242.9,2636,2113,2507,2376,329.6,9.1,484,5547,0.00,0.00,26.90,1.454,8230,0.000,0.000,2636,2112,2376,2441,2311,0,0,0,0,0,0,14.36,13.99,13.28
$GC,5846,0.18,256.6,2636,2112,2426,2304,298.6,9.4,495,5871,0.00,2.53,19.08,1.490,8740,0.000,0.083,2644,688,2314,2372,2256,0,0,0,0,0,0,14.40,14.03,13.33
$GC,5896,0.23,258.9,2644,689,2368,2257,293.8,9.9,505,5902,0.00,2.50,0.00,0.000,1190,0.000,0.080,2644,2101,2311,2367,2255,0,0,0,0,0,0,14.17,14.04,14.21
$GC,6208,0.24,262.5,2644,2103,2367,2252,262.5,9.8,517,6213,0.00,0.00,3.78,1.528,8230,0.000,0.000,2644,2102,2290,2345,2236,0,0,0,0,0,0,14.45,14.14,13.00
$GC,6508,0.27,275.0,2645,2102,2356,2240,234.0,9.4,527,6532,0.00,0.00,23.15,1.458,8358,0.000,0.000,2644,2102,2244,2303,2186,0,0,0,0,0,0,14.47,14.10,13.38
$GC,6808,0.32,301.2,2645,2102,2298,2180,206.4,8.8,537,6853,0.12,0.00,41.85,1.366,10662,0.125,0.000,2694,2102,2133,2188,2078,0,0,0,0,0,0,14.20,13.98,13.33
$GC,7168,0.30,301.2,2695,2102,2182,2069,165.8,10.5,554,7173,0.00,2.47,0.00,0.000,388,0.000,0.084,2689,3510,2126,2181,2071,0,0,0,0,0,0,14.38,14.08,14.40
$GC,7238,0.25,301.2,2694,3512,2179,2070,158.1,11.0,568,7244,0.15,2.42,0.00,0.000,5254,0.265,0.061,2664,2097,2124,2179,2069,0,0,0,0,0,0,13.99,14.14,14.21
$GC,7559,0.35,361.2,2668,2098,2180,2066,133.4,7.2,582,7662,0.00,0.00,100.93,1.236,8358,0.000,0.000,2668,2097,1893,1937,1849,0,0,0,0,0,0,14.45,13.82,13.23
$GC,7949,0.53,444.7,2668,2097,1925,1833,107.1,6.1,595,8099,0.25,2.60,139.77,1.145,10916,0.092,0.089,2774,699,1546,1593,1499,0,0,0,0,0,0,14.01,13.59,13.09
$GC,8256,0.58,444.7,2769,699,1582,1494,70.5,10.8,655,8261,0.00,2.53,0.00,0.000,1158,0.000,0.078,2769,2105,1537,1581,1493,0,0,0,0,0,0,13.89,13.78,13.92
$GC,8566,0.66,499.8,2769,2107,1582,1487,40.4,7.5,687,8598,0.00,2.53,25.75,0.337,8868,0.000,0.086,2769,691,1327,1385,1269,0,0,0,0,0,0,14.30,13.93,13.73
$GC,8695,0.86,561.0,2769,692,1390,1269,30.9,7.2,712,8734,0.28,2.50,31.60,0.308,11430,0.093,0.080,2871,2108,1075,1145,1005,0,0,0,0,0,0,14.00,13.95,13.76
$GC,9029,0.96,707.0,2872,2109,1147,1000,6.6,3.3,749,9102,0.00,0.00,70.18,0.224,8486,0.000,0.000,2872,2109,499,533,465,0,0,0,0,0,0,14.37,14.10,13.90
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.3,1.019958
$STATE,9127,end surface coast,CONTROL_FINISHED_OK
$STATE,9127,begin surface
$SM_CCo,9209,0.00,0.000,0,0,496,703.77
$SM_GC,1.37,8.05,0.17,0.00,0.061,0.125,0.000,195,2217,496,-7.39,-0.51,703.77,0,0,0,0,0,0,14.16,14.13,14.23
$RAFOS_CLK,361
$MODEM,2,1502612054,73.18300,-149.96500,107.078,155288.7
$MODEM,0,1502611524,75.36600,-145.04601,270.043,391628.9
$RAFOS_FIX,7155.339844,-14750.280273,130817,080849,2,255,3.63
$IRIDIUM_FIX,7157.98,-14737.59,130817,073252
$TT8_MAMPS,0.038948,0.885318
$HUMID,50.31
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,4
$CP_FREE,16009658368.000000
$PM_FREEKB_00,58793536
$24V_AH,12.61,69.758
$10V_AH,12.55,0.000
$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,24.775,75.325,986.875,0.000,0.000,0.000,0.000,505.950,1.000,0.000,42.837,0.000,6579.887,880.700,2341.352,283.072,0.000,2232.138,0.000,1110.554,2191.000,0.540,0.000
$DEVICE_MAMPS,455.175,2145.060,1527.705,0.000,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9152.000,9146.000,9102.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.255,20.000,16.591,0.000
$MEM,323924
$DATA_FILE_SIZE,26686,765
$CAP_FILE_SIZE,104619,0
$CFSIZE,2097872896,2071003136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1451.8
$CURRENT,0.119,263.91,1
$GPS,130817,101803,7158.242,-14743.721,17,0.7,28,21.4,0.6,233.8,11,7.7