version: 66.13
glider: 196
mission: 14
dive: 71
start: 8 14 117 23 3 30
data:
$ID,196
$MISSION,14
$DIVE,71
$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,31
$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,206.0
$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
$GPS1,140817,225229,7212.9180,-14801.2139,40,0.8,43,21.3,0.0,61.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.9
$GPS2,140817,230255,7212.9116,-14801.2959,10,0.8,10,21.3,0.0,244.5,11,8.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.3,124563,-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,-145.9,174,2215,520,453,0.0,0.0,0,129,0.00,0.00,-81.12,0.000,16386,0.000,0.000,172,2215,2069,1986,2152,0,0,0,0,0,0,14.35,28.83,14.38
$GC,132,-0.57,-145.9,173,2215,1992,2153,3.6,-4.1,8,185,12.52,2.78,-35.22,0.000,18724,0.450,2.148,2380,3601,3964,3950,3979,0,0,0,0,0,0,13.71,12.67,14.12
$GC,410,-0.57,-145.9,2381,3602,3961,3979,63.3,-15.1,63,417,0.00,2.40,0.00,0.000,1030,0.000,0.057,2380,2196,3969,3960,3979,0,0,0,0,0,0,14.12,13.95,14.14
$GC,717,-0.57,-145.9,2380,2195,3963,3980,108.2,-13.3,90,722,0.00,2.47,0.00,0.000,260,0.000,0.085,2376,3601,3970,3962,3979,0,0,0,0,0,0,14.46,14.14,14.47
$GC,782,-0.72,-145.9,2382,3601,3965,3979,115.9,-10.1,103,788,0.00,2.38,0.00,0.000,1158,0.000,0.055,2376,2198,3970,3962,3979,0,0,0,0,0,0,14.28,14.18,14.31
$GC,1108,-0.78,-145.9,2377,2199,3963,3980,153.4,-11.5,118,1113,0.15,2.47,0.00,0.000,4484,0.133,0.083,2305,3607,3971,3962,3980,0,0,0,0,0,0,14.14,14.14,14.21
$GC,1173,-0.78,-145.9,2306,3608,3962,3980,163.1,-15.2,131,1179,0.00,2.40,0.00,0.000,1030,0.000,0.058,2305,2193,3970,3962,3979,0,0,0,0,0,0,14.29,14.15,14.33
$GC,1500,-0.73,-145.9,2306,2193,3962,3980,216.0,-15.5,146,1505,0.12,2.47,0.00,0.000,2436,0.283,0.082,2326,3609,3970,3962,3979,0,0,0,0,0,0,13.97,14.19,14.14
$GC,1592,-0.83,-145.9,2326,3610,3961,3980,226.4,-10.3,164,1596,0.00,2.38,0.00,0.000,1158,0.000,0.056,2325,2198,3971,3962,3981,0,0,0,0,0,0,14.33,14.23,14.37
$GC,1922,-0.86,-145.9,2326,2196,3963,3977,264.1,-11.2,180,1926,0.00,2.47,0.00,0.000,388,0.000,0.086,2319,3604,3969,3962,3977,0,0,0,0,0,0,14.57,14.16,14.57
$GC,1977,-0.97,-145.9,2319,3606,3962,3978,270.0,-10.3,191,1984,0.15,2.38,0.00,0.000,5254,0.123,0.058,2259,2201,3967,3957,3978,0,0,0,0,0,0,14.24,14.18,14.33
$GC,2282,-0.88,-145.9,2259,2200,3965,3976,318.5,-15.9,202,2287,0.15,2.45,0.00,0.000,2436,0.314,0.081,2282,3603,3967,3961,3973,0,0,0,0,0,0,13.93,14.20,14.12
$GC,2384,-0.91,-145.9,2283,3603,3962,3974,331.6,-12.1,222,2388,0.00,2.38,0.00,0.000,1158,0.000,0.059,2282,2200,3967,3961,3974,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2704,-0.88,-145.9,2283,2200,3962,3973,373.1,-12.9,236,2709,0.00,2.45,0.00,0.000,388,0.000,0.086,2280,3601,3967,3961,3973,0,0,0,0,0,0,14.55,14.16,14.57
$GC,2784,-0.91,-145.9,2280,3602,3961,3973,383.0,-11.9,252,2789,0.00,2.38,0.00,0.000,1158,0.000,0.060,2280,2199,3966,3959,3973,0,0,0,0,0,0,14.35,14.23,14.37
$GC,3094,-0.88,-145.9,2281,2198,3962,3971,422.8,-12.8,264,3099,0.00,2.47,0.00,0.000,388,0.000,0.085,2274,3610,3966,3961,3971,0,0,0,0,0,0,14.56,14.19,14.57
$GC,3164,-0.91,-145.9,2274,3611,3961,3968,431.6,-12.1,278,3169,0.00,2.40,0.00,0.000,1158,0.000,0.058,2271,2194,3965,3960,3971,0,0,0,0,0,0,14.34,14.22,14.37
$GC,3486,-0.88,-145.9,2273,2195,3961,3971,473.5,-13.1,292,3491,0.00,2.50,0.00,0.000,388,0.000,0.085,2267,3605,3964,3959,3970,0,0,0,0,0,0,14.44,14.07,14.45
$STATE,3533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3533,begin apogee
$GC,3541,-0.13,0.0,2267,2103,3961,3972,480.4,-12.8,302,3767,1.05,0.00,222.45,1.394,10246,0.251,0.000,2529,2101,3363,3395,3331,0,0,0,0,0,0,13.88,13.43,12.77
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3773,0.57,145.9,2529,2102,3391,3322,490.8,0.0,309,3983,0.75,2.67,201.90,1.365,10756,0.066,0.077,2791,689,2762,2820,2705,0,0,0,0,0,0,13.49,13.06,12.54
$GC,4125,0.23,145.9,2791,689,2804,2701,470.8,16.2,338,4131,0.62,2.58,0.00,0.000,5254,0.315,0.075,2662,2099,2751,2803,2699,0,0,0,0,0,0,13.30,13.54,13.59
$GC,4430,0.09,145.9,2660,2100,2802,2695,439.1,10.0,349,4435,0.17,2.53,0.00,0.000,4740,0.308,0.076,2631,683,2747,2801,2694,0,0,0,0,0,0,13.64,13.85,13.81
$GC,4475,0.13,189.5,2631,684,2802,2694,435.3,8.0,358,4540,0.00,2.53,60.78,1.372,9254,0.000,0.079,2630,2097,2593,2659,2527,0,0,0,0,0,0,14.00,13.90,13.01
$GC,4851,0.11,201.5,2630,2097,2648,2503,400.0,9.4,383,4864,0.00,0.00,11.85,1.601,8358,0.000,0.000,2631,2101,2544,2617,2472,0,0,0,0,0,0,14.19,13.95,13.16
$GC,5151,0.11,210.6,2631,2097,2607,2460,371.3,9.6,393,5161,0.00,0.00,8.90,1.670,8230,0.000,0.000,2631,2097,2508,2581,2436,0,0,0,0,0,0,14.28,14.02,13.19
$GC,5450,0.12,220.3,2631,2103,2572,2429,342.6,9.6,403,5465,0.00,0.00,13.10,1.587,8230,0.000,0.000,2631,2097,2467,2537,2397,0,0,0,0,0,0,14.33,14.03,13.24
$MODEM_MSG,CACST,6,1,20170815001348.525036,3,17,06,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,5752,0.13,233.3,2631,2097,2529,2389,314.1,9.4,413,5772,0.00,0.00,18.23,1.540,8230,0.000,0.000,2630,2097,2418,2482,2355,0,0,0,0,0,0,14.33,14.01,13.26
$GC,6051,0.14,251.0,2631,2097,2472,2341,286.3,9.2,423,6083,0.00,0.00,27.30,1.461,8230,0.000,0.000,2636,2097,2336,2398,2275,0,0,0,0,0,0,14.34,14.02,13.26
$GC,6381,0.20,277.9,2631,2098,2392,2270,257.0,8.8,434,6424,0.00,0.00,41.70,1.385,8358,0.000,0.000,2631,2097,2232,2294,2171,0,0,0,0,0,0,14.42,13.97,13.28
$GC,6711,0.29,324.6,2631,2098,2284,2159,230.0,7.8,445,6791,0.12,2.55,73.47,1.290,10916,0.129,0.085,2699,690,2037,2090,1984,0,0,0,0,0,0,14.14,13.81,13.19
$GC,6826,0.33,324.6,2699,689,2082,1991,217.2,11.0,468,6832,0.00,2.53,0.00,0.000,1158,0.000,0.076,2699,2103,2032,2082,1982,0,0,0,0,0,0,13.97,13.87,13.97
$GC,7131,0.33,324.6,2699,2105,2080,1974,183.5,10.7,479,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2105,2027,2080,1975,0,0,0,0,0,0,14.37,14.38,14.38
$GC,7431,0.33,331.5,2699,2105,2084,1972,153.5,9.7,489,7435,0.00,0.00,2.62,1.032,8230,0.000,0.000,2699,2104,2013,2066,1960,0,0,0,0,0,0,14.46,14.16,12.95
$GC,7731,0.35,348.7,2698,2105,2073,1967,125.4,9.2,499,7768,0.00,2.50,31.62,1.342,8740,0.000,0.084,2699,691,1939,1989,1890,0,0,0,0,0,0,14.48,13.93,13.38
$GC,7778,0.40,370.7,2700,691,1986,1890,121.2,9.0,503,7818,0.00,2.47,33.15,1.288,9382,0.000,0.077,2694,2103,1850,1889,1811,0,0,0,0,0,0,14.16,14.08,13.29
$GC,8124,0.51,413.6,2699,2104,1881,1802,92.2,8.0,528,8148,0.12,0.00,22.30,0.487,10918,0.134,0.000,2763,2099,1677,1712,1642,0,0,0,0,0,0,14.13,14.00,13.62
$GC,8443,0.51,413.6,2758,2104,1712,1641,55.2,10.5,562,8448,0.00,2.50,0.00,0.000,516,0.000,0.086,2768,684,1677,1715,1639,0,0,0,0,0,0,14.41,14.04,14.42
$GC,8544,0.57,439.9,2768,684,1709,1639,45.6,8.8,582,8566,0.00,2.47,14.40,0.344,9382,0.000,0.079,2768,2099,1569,1606,1532,0,0,0,0,0,0,14.16,14.05,13.75
$GC,8864,0.68,513.5,2768,2100,1607,1529,20.0,6.6,616,8905,0.00,0.00,39.83,0.269,8870,0.000,0.000,2768,2099,1272,1338,1207,0,0,0,0,0,0,14.44,14.17,13.90
$FREEZE,13.91,5.990,-1.382,0,1,0
$STATE,9133,end climb,NO_VERTICAL_VELOCITY
$STATE,9133,begin surface
$SM_CCo,9140,102.60,0.249,0,0,500,702.78
$SM_GC,1.20,7.82,0.17,0.00,0.075,0.120,0.000,201,2213,496,-7.38,-0.74,703.77,0,0,0,0,0,0,14.23,14.23,14.31
$RAFOS_CLK,275
$MODEM,2,1502756028,73.18300,-149.96500,81.525,117692.3
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7211.05,-14801.91,140817,201349
$TT8_MAMPS,0.038948,0.89131
$HUMID,48.26
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.30
$XPDR_PINGS,10
$CP_FREE,16007331840.000000
$PM_FREEKB_00,57725312
$24V_AH,12.54,76.260
$10V_AH,12.47,0.000
$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,23.775,69.750,823.600,102.600,0.000,0.000,0.000,356.525,2.500,0.000,11.202,0.000,6980.817,856.139,1962.259,273.005,0.000,1951.928,0.000,925.867,2159.000,0.540,0.000
$DEVICE_MAMPS,449.820,2148.120,1669.995,248.625,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9161.000,9154.000,9109.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.434,20.000,16.595,0.000
$MEM,323888
$DATA_FILE_SIZE,23375,644
$CAP_FILE_SIZE,96716,0
$CFSIZE,2097872896,2066939904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.2
$CURRENT,0.070,252.73,1
$GPS,150817,014148,7214.042,-14803.011,18,0.7,21,21.3,0.4,204.6,12,9.4