version: 66.13
glider: 196
mission: 14
dive: 77
start: 8 15 117 15 49 29
data:
$ID,196
$MISSION,14
$DIVE,77
$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,24
$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,223.0
$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
$GPS1,150817,153303,7219.6069,-14812.0684,29,0.7,35,21.3,0.5,275.9,12,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.2
$GPS2,150817,154856,7219.6694,-14812.7305,59,0.8,62,21.3,1.6,265.4,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.1,110667,-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,-145.9,157,2212,518,476,0.0,0.0,0,129,0.00,0.00,-81.30,0.000,16386,0.000,0.000,153,2212,2093,2019,2167,0,0,0,0,0,0,14.38,28.83,14.40
$GC,132,-0.57,-145.9,154,2212,2026,2168,3.4,-4.3,8,185,12.80,2.80,-34.88,0.000,18724,0.455,2.149,2375,3613,3966,3951,3981,0,0,0,0,0,0,13.71,12.69,14.12
$GC,410,-0.57,-145.9,2375,3615,3960,3984,64.4,-15.8,63,417,0.00,2.42,0.00,0.000,1030,0.000,0.060,2373,2201,3970,3960,3981,0,0,0,0,0,0,14.13,14.04,14.15
$GC,735,-0.57,-145.9,2375,2199,3962,3988,113.9,-14.1,89,740,0.00,2.50,0.00,0.000,260,0.000,0.083,2365,3609,3972,3961,3984,0,0,0,0,0,0,14.37,13.97,14.38
$GC,862,-0.67,-145.9,2365,3610,3962,3978,129.2,-11.6,114,866,0.00,2.40,0.00,0.000,1158,0.000,0.054,2364,2196,3971,3961,3981,0,0,0,0,0,0,14.20,14.10,14.23
$GC,1186,-0.71,-145.9,2365,2195,3961,3980,169.3,-11.9,129,1191,0.00,2.50,0.00,0.000,388,0.000,0.086,2363,3607,3970,3961,3980,0,0,0,0,0,0,14.37,14.04,14.38
$GC,1256,-0.86,-145.9,2363,3608,3961,3981,176.7,-9.9,143,1262,0.20,2.40,0.00,0.000,5286,0.104,0.054,2283,2197,3970,3960,3980,0,0,0,0,0,0,14.14,14.10,14.21
$GC,1578,-0.78,-145.9,2283,2196,3962,3978,232.4,-17.0,157,1583,0.15,2.50,0.00,0.000,2436,0.279,0.082,2309,3609,3969,3961,3978,0,0,0,0,0,0,13.83,14.01,14.00
$GC,1663,-0.83,-145.9,2310,3611,3962,3978,243.7,-11.9,174,1669,0.00,2.42,0.00,0.000,1158,0.000,0.056,2309,2201,3972,3961,3984,0,0,0,0,0,0,14.16,14.06,14.19
$GC,1968,-0.83,-145.9,2310,2195,3962,3974,281.2,-12.2,185,1973,0.00,2.53,0.00,0.000,260,0.000,0.086,2305,3616,3967,3961,3974,0,0,0,0,0,0,14.38,14.00,14.40
$GC,2033,-0.92,-145.9,2305,3617,3961,3971,288.6,-10.6,198,2038,0.00,2.42,0.00,0.000,1158,0.000,0.057,2305,2193,3968,3961,3975,0,0,0,0,0,0,14.14,14.08,14.18
$GC,2358,-0.92,-145.9,2305,2196,3961,3973,326.3,-11.6,213,2363,0.00,2.50,0.00,0.000,260,0.000,0.086,2305,3608,3966,3961,3972,0,0,0,0,0,0,14.38,14.04,14.39
$GC,2423,-1.02,-145.9,2305,3609,3962,3971,333.2,-10.0,226,2428,0.17,2.40,0.00,0.000,5286,0.112,0.055,2242,2197,3966,3961,3972,0,0,0,0,0,0,14.09,14.06,14.20
$GC,2748,-0.92,-145.9,2243,2197,3962,3970,385.3,-16.2,241,2753,0.15,2.50,0.00,0.000,2436,0.310,0.081,2267,3610,3965,3961,3969,0,0,0,0,0,0,13.75,14.04,13.95
$MODEM_MSG,CACST,6,1,20170815160458.556365,3,253,11,0266,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$MODEM_MSG,CACST,6,1,20170815161343.427474,3,1218,30,0454,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$MODEM_MSG,CACST,6,1,20170815162929.899488,3,31,14,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$GC,2867,-0.92,-145.9,2267,3611,3962,3969,401.3,-12.5,264,2874,0.00,2.42,0.00,0.000,1030,0.000,0.057,2267,2201,3965,3961,3969,0,0,0,0,0,0,14.15,14.07,14.17
$GC,3174,-0.87,-145.9,2267,2201,3962,3968,443.2,-13.7,275,3180,0.00,2.45,0.00,0.000,388,0.000,0.083,2258,3608,3963,3961,3966,0,0,0,0,0,0,14.35,14.02,14.38
$GC,3255,-0.87,-145.9,2254,3609,3961,3968,454.5,-13.3,291,3261,0.17,2.42,0.00,0.000,3078,0.264,0.058,2298,2196,3963,3960,3967,0,0,0,0,0,0,13.78,14.03,14.03
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3509,-0.13,0.0,2294,2070,3961,3967,482.8,-11.1,301,3729,0.93,0.03,215.70,1.413,10246,0.239,0.307,2530,2098,3365,3409,3321,0,0,0,0,0,0,13.90,13.39,12.77
$STATE,3732,end apogee,CONTROL_FINISHED_OK
$STATE,3732,begin climb
$GC,3737,0.57,145.9,2531,2099,3401,3310,492.5,0.0,308,3946,0.73,2.60,201.50,1.358,10756,0.065,0.078,2781,726,2764,2828,2700,0,0,0,0,0,0,13.54,13.08,12.56
$GC,4173,0.25,145.9,2784,726,2804,2699,459.8,15.4,354,4178,0.55,2.47,0.00,0.000,5254,0.315,0.075,2665,2106,2749,2801,2698,0,0,0,0,0,0,13.50,13.76,13.81
$GC,4484,0.10,145.9,2665,2108,2802,2693,426.9,10.3,366,4489,0.17,2.42,0.00,0.000,4740,0.303,0.077,2633,724,2747,2802,2693,0,0,0,0,0,0,13.77,14.03,13.95
$GC,4581,0.10,179.0,2634,725,2804,2693,418.8,8.5,385,4629,0.00,2.42,43.88,1.395,9382,0.000,0.079,2633,2108,2636,2696,2576,0,0,0,0,0,0,14.20,14.09,13.18
$GC,4936,0.07,192.8,2633,2108,2686,2554,386.0,9.4,406,4955,0.00,0.00,17.10,1.522,8358,0.000,0.000,2633,2108,2578,2647,2510,0,0,0,0,0,0,14.38,14.05,13.30
$GC,5235,0.05,204.0,2633,2110,2636,2495,357.6,9.5,416,5249,0.15,0.00,12.55,1.603,12454,0.256,0.000,2602,2109,2534,2605,2463,0,0,0,0,0,0,14.00,14.12,13.33
$GC,5535,0.14,258.5,2602,2110,2594,2451,334.7,7.5,426,5625,0.00,0.00,83.90,1.351,8358,0.000,0.000,2602,2109,2303,2369,2238,0,0,0,0,0,0,14.48,13.84,13.18
$GC,5925,0.29,317.4,2602,2109,2360,2228,305.5,7.3,439,6022,0.20,2.55,87.50,1.296,10916,0.098,0.087,2686,732,2065,2123,2007,0,0,0,0,0,0,14.16,13.74,13.12
$GC,6056,0.29,317.4,2687,732,2120,2006,289.3,12.4,465,6063,0.00,2.45,0.00,0.000,1030,0.000,0.077,2686,2100,2060,2114,2006,0,0,0,0,0,0,13.94,13.84,13.97
$GC,6378,0.29,317.4,2687,2101,2113,1998,248.8,12.4,479,6382,0.00,2.42,0.00,0.000,516,0.000,0.086,2686,726,2053,2112,1994,0,0,0,0,0,0,14.38,14.09,14.40
$GC,6408,0.29,317.4,2687,726,2111,1998,245.2,12.1,485,6414,0.00,2.42,0.00,0.000,1030,0.000,0.079,2686,2106,2053,2109,1998,0,0,0,0,0,0,14.22,14.12,14.27
$GC,6739,0.29,317.4,2687,2107,2109,1997,208.1,10.6,501,6744,0.00,2.45,0.00,0.000,516,0.000,0.086,2685,717,2053,2110,1997,0,0,0,0,0,0,14.47,14.16,14.50
$GC,6774,0.33,321.1,2686,718,2107,1998,204.6,9.8,508,6779,0.00,2.40,0.00,0.000,1190,0.000,0.079,2686,2102,2051,2106,1997,0,0,0,0,0,0,14.31,14.21,14.35
$GC,7100,0.34,336.0,2686,2104,2107,1998,173.3,9.3,523,7131,0.00,2.42,25.25,1.373,8740,0.000,0.084,2686,727,1993,2043,1943,0,0,0,0,0,0,14.52,13.97,13.40
$GC,7151,0.43,370.3,2686,727,2039,1936,168.7,8.4,533,7212,0.00,2.40,56.08,1.275,9382,0.000,0.079,2686,2104,1858,1897,1819,0,0,0,0,0,0,14.23,14.14,13.25
$GC,7522,0.52,395.6,2686,2102,1887,1804,135.9,8.8,557,7569,0.17,2.53,41.00,1.288,10916,0.112,0.086,2769,729,1753,1789,1717,0,0,0,0,0,0,14.12,13.93,13.29
$GC,7611,0.49,395.6,2769,728,1776,1716,124.3,14.1,574,7617,0.00,2.42,0.00,0.000,1158,0.000,0.077,2769,2100,1745,1775,1715,0,0,0,0,0,0,14.07,13.97,14.09
$GC,7916,0.44,395.6,2769,2100,1776,1707,83.2,13.3,593,7917,0.20,0.00,0.00,0.000,4230,0.269,0.000,2726,2101,1739,1774,1705,0,0,0,0,0,0,13.88,14.19,14.14
$GC,8214,0.54,449.3,2727,2101,1776,1706,57.3,7.5,623,8247,0.00,2.50,28.48,0.375,8868,0.000,0.086,2726,726,1534,1572,1497,0,0,0,0,0,0,14.45,14.11,13.81
$GC,8302,0.77,526.0,2727,725,1573,1491,51.0,6.5,639,8351,0.32,2.42,41.88,0.351,11430,0.084,0.077,2848,2101,1219,1286,1153,0,0,0,0,0,0,14.11,14.04,13.78
$GC,8647,0.94,735.3,2849,2101,1286,1143,12.7,0.3,678,8752,0.10,2.45,96.20,0.242,10916,0.151,0.084,2901,720,496,535,457,0,0,0,0,0,0,14.18,14.03,13.85
$GC,8793,1.01,763.4,2902,720,537,457,5.0,8.7,706,8798,0.00,2.45,0.00,0.000,1190,0.000,0.080,2902,2105,496,535,457,0,0,0,0,0,0,14.16,14.04,14.19
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$FINISH,0.2,1.020261
$STATE,8850,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8931,0.00,0.000,0,0,493,704.26
$SM_GC,1.06,8.25,0.17,0.00,0.074,0.115,0.000,201,2225,493,-7.38,-0.54,704.26,0,0,0,0,0,0,14.17,14.17,14.26
$RAFOS_CLK,365
$MODEM,4,1502814569,75.71700,-151.21500,269.149,390420.3
$MODEM,2,1502813623,73.18300,-149.96500,76.427,110863.4
$MODEM,0,1502813098,75.36600,-145.04601,244.556,354746.2
$RAFOS_FIX,7217.887207,-14818.396484,150817,161603,3,255,2.83
$IRIDIUM_FIX,7220.17,-14808.69,150817,153727
$TT8_MAMPS,0.040446,0.851613
$HUMID,48.46
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.30
$XPDR_PINGS,8
$CP_FREE,16006348800.000000
$PM_FREEKB_00,57279808
$24V_AH,12.56,79.088
$10V_AH,12.49,0.000
$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,25.425,84.175,951.000,0.000,0.000,0.000,0.000,572.775,2.000,0.000,63.664,0.000,6433.905,847.140,2331.540,286.737,0.000,2237.637,0.000,1023.125,2218.000,0.540,0.000
$DEVICE_MAMPS,455.175,2148.885,1602.675,0.000,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8876.000,8867.000,8825.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.147,20.000,16.607,0.000
$MEM,323660
$DATA_FILE_SIZE,23381,713
$CAP_FILE_SIZE,103858,0
$CFSIZE,2097872896,2065137664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.075,272.91,1
$GPS,150817,181936,7220.879,-14813.749,28,0.7,32,21.3,1.2,11.6,12,9.3