version: 66.13
glider: 196
mission: 14
dive: 78
start: 8 15 117 18 33 27
data:
$ID,196
$MISSION,14
$DIVE,78
$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,58
$R_STBD_OVSHOOT,41
$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,226.0
$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
$GPS1,150817,181936,7220.8794,-14813.7490,28,0.7,32,21.3,1.2,11.6,12,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-77.3
$GPS2,150817,183254,7220.9478,-14813.8584,7,0.8,9,21.3,0.6,304.7,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,321.8,108324,-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,-145.9,176,2226,509,463,0.0,0.0,0,129,0.00,0.00,-81.03,0.000,16386,0.000,0.000,172,2226,2045,1968,2122,0,0,0,0,0,0,14.38,28.83,14.40
$GC,132,-0.57,-145.9,173,2227,1970,2125,3.4,-4.6,8,189,12.55,2.70,-36.92,0.000,18724,0.451,2.147,2375,3588,3965,3953,3978,0,0,0,0,0,0,13.72,12.66,14.13
$GC,415,-0.60,-145.9,2375,3589,3962,3981,59.6,-14.9,64,419,0.00,2.30,0.00,0.000,1158,0.000,0.054,2375,2229,3971,3963,3979,0,0,0,0,0,0,14.22,14.12,14.25
$GC,744,-0.60,-145.9,2376,2226,3964,3981,109.1,-13.4,94,749,0.00,2.38,0.00,0.000,260,0.000,0.086,2365,3589,3971,3963,3979,0,0,0,0,0,0,14.47,14.15,14.48
$GC,881,-0.70,-145.9,2366,3591,3964,3979,125.2,-11.5,121,886,0.00,2.35,0.00,0.000,1158,0.000,0.054,2364,2201,3971,3963,3979,0,0,0,0,0,0,14.28,14.18,14.31
$GC,1197,-0.76,-145.9,2362,2200,3964,3980,163.6,-11.7,134,1201,0.00,2.45,0.00,0.000,388,0.000,0.088,2356,3591,3972,3963,3981,0,0,0,0,0,0,14.53,14.16,14.54
$GC,1241,-0.89,-145.9,2356,3593,3963,3980,168.7,-11.2,143,1248,0.20,2.35,0.00,0.000,5254,0.103,0.055,2279,2196,3971,3963,3979,0,0,0,0,0,0,14.23,14.21,14.33
$GC,1558,-0.81,-145.9,2279,2198,3964,3979,224.4,-17.1,156,1563,0.15,2.45,0.00,0.000,2436,0.281,0.083,2305,3592,3971,3963,3979,0,0,0,0,0,0,13.97,14.13,14.09
$GC,1643,-0.86,-145.9,2306,3592,3963,3979,235.3,-11.8,173,1649,0.00,2.35,0.00,0.000,1158,0.000,0.055,2305,2200,3970,3962,3979,0,0,0,0,0,0,14.31,14.23,14.34
$GC,1948,-0.86,-145.9,2306,2200,3963,3978,272.0,-11.8,184,1953,0.00,2.45,0.00,0.000,260,0.000,0.089,2297,3592,3969,3962,3977,0,0,0,0,0,0,14.55,14.16,14.57
$GC,2053,-0.92,-145.9,2298,3594,3962,3978,284.1,-11.2,205,2058,0.00,2.35,0.00,0.000,1158,0.000,0.057,2297,2200,3969,3962,3977,0,0,0,0,0,0,14.35,14.25,14.38
$GC,2368,-0.92,-145.9,2298,2200,3962,3975,321.5,-11.7,218,2373,0.00,2.45,0.00,0.000,260,0.000,0.089,2293,3596,3967,3960,3975,0,0,0,0,0,0,14.56,14.19,14.58
$GC,2433,-0.99,-145.9,2294,3598,3962,3974,328.8,-10.7,231,2439,0.00,2.38,0.00,0.000,1158,0.000,0.057,2293,2193,3968,3961,3975,0,0,0,0,0,0,14.31,14.19,14.34
$GC,2759,-0.99,-145.9,2294,2192,3962,3974,366.0,-11.4,246,2764,0.00,2.45,0.00,0.000,260,0.000,0.088,2286,3589,3967,3961,3973,0,0,0,0,0,0,14.57,14.21,14.58
$GC,2844,-1.06,-145.9,2287,3592,3961,3976,375.5,-10.8,263,2851,0.15,2.35,0.00,0.000,5254,0.125,0.056,2234,2193,3967,3960,3974,0,0,0,0,0,0,14.23,14.22,14.33
$GC,3150,-0.95,-145.9,2234,2193,3961,3973,425.1,-16.6,274,3155,0.12,2.45,0.00,0.000,2436,0.318,0.083,2251,3594,3966,3960,3973,0,0,0,0,0,0,13.94,14.21,14.11
$GC,3285,-0.92,-145.9,2252,3594,3960,3973,444.8,-13.9,301,3290,0.12,2.35,0.00,0.000,3206,0.281,0.056,2274,2198,3966,3959,3973,0,0,0,0,0,0,13.99,14.24,14.26
$STATE,3568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3568,begin apogee
$GC,3574,-0.13,0.0,2275,2070,3960,3972,481.0,-12.5,313,3802,1.00,0.00,225.00,1.385,10246,0.249,0.000,2529,2069,3365,3395,3336,0,0,0,0,0,0,13.95,13.48,12.81
$STATE,3806,end apogee,CONTROL_FINISHED_OK
$STATE,3806,begin climb
$GC,3808,0.57,145.9,2529,2070,3388,3325,491.3,0.0,320,4018,0.75,2.67,201.98,1.352,10500,0.068,0.073,2781,3491,2763,2817,2709,0,0,0,0,0,0,13.56,13.08,12.56
$GC,4245,0.15,145.9,2781,3491,2787,2707,455.5,17.4,366,4250,0.75,2.38,0.00,0.000,5254,0.346,0.057,2637,2129,2746,2786,2707,0,0,0,0,0,0,13.46,13.77,13.80
$GC,4556,0.09,176.3,2637,2127,2787,2705,427.1,8.6,378,4600,0.00,0.00,40.55,1.403,8614,0.000,0.000,2637,2128,2641,2691,2592,0,0,0,0,0,0,14.31,13.70,13.15
$GC,4917,0.04,191.7,2638,2126,2681,2576,393.8,9.3,400,4938,0.17,0.00,19.20,1.489,12454,0.272,0.000,2599,2127,2582,2641,2524,0,0,0,0,0,0,13.90,14.04,13.28
$GC,5217,0.13,255.7,2600,2128,2631,2504,372.3,7.0,410,5325,0.00,2.62,100.80,1.330,8868,0.000,0.085,2603,691,2317,2374,2260,0,0,0,0,0,0,14.35,13.71,13.07
$GC,5360,0.33,314.0,2603,691,2363,2254,361.9,7.3,439,5462,0.25,2.53,90.97,1.284,11430,0.086,0.079,2693,2087,2078,2134,2022,0,0,0,0,0,0,13.78,13.74,12.87
$GC,5756,0.28,314.0,2694,2087,2121,2007,307.8,14.0,468,5760,0.00,2.50,0.00,0.000,644,0.000,0.086,2698,696,2063,2120,2006,0,0,0,0,0,0,14.11,13.83,14.12
$GC,5786,0.25,314.0,2699,696,2118,2007,303.5,14.2,474,5791,0.15,2.53,0.00,0.000,5254,0.226,0.077,2666,2108,2063,2116,2011,0,0,0,0,0,0,13.77,13.88,13.97
$GC,6116,0.28,314.0,2667,2115,2118,2005,265.4,11.3,490,6121,0.00,2.53,0.00,0.000,644,0.000,0.087,2671,693,2060,2117,2004,0,0,0,0,0,0,14.30,14.02,14.32
$GC,6161,0.34,314.0,2672,693,2116,2005,260.4,11.0,499,6166,0.00,2.50,0.00,0.000,1158,0.000,0.078,2674,2111,2059,2115,2004,0,0,0,0,0,0,14.16,14.05,14.19
$GC,6476,0.37,314.0,2672,2113,2113,2005,225.9,10.7,512,6481,0.00,2.53,0.00,0.000,644,0.000,0.087,2672,689,2059,2114,2004,0,0,0,0,0,0,14.35,14.04,14.38
$GC,6501,0.42,314.0,2673,691,2114,2004,223.3,10.1,517,6509,0.15,2.50,0.00,0.000,3206,0.129,0.079,2734,2103,2058,2113,2004,0,0,0,0,0,0,14.12,14.06,14.22
$GC,6806,0.32,314.0,2736,2104,2114,2004,182.1,13.0,528,6811,0.17,2.47,0.00,0.000,4740,0.236,0.082,2699,694,2058,2113,2003,0,0,0,0,0,0,13.94,14.09,14.08
$GC,6882,0.39,331.1,2699,695,2112,2005,174.6,9.2,543,6908,0.00,2.47,19.73,1.393,9382,0.000,0.077,2699,2109,2012,2065,1960,0,0,0,0,0,0,14.22,14.11,13.35
$GC,7230,0.40,346.0,2699,2109,2056,1956,141.7,9.3,562,7259,0.00,2.55,21.48,1.396,8740,0.000,0.085,2700,703,1950,2000,1900,0,0,0,0,0,0,14.35,13.98,13.31
$GC,7311,0.51,376.6,2699,703,1997,1900,134.5,8.6,578,7370,0.15,2.47,51.42,1.275,11430,0.120,0.077,2763,2105,1828,1862,1795,0,0,0,0,0,0,14.06,14.01,13.17
$MODEM_MSG,CACST,6,1,20170815200455.343089,3,71,06,0129,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170815201339.108389,3,149,21,0150,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*06
$MODEM_MSG,CACST,6,1,20170815202926.127251,3,558,27,0446,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$GC,7671,0.46,376.6,2763,2107,1855,1784,87.3,12.5,607,7676,0.12,2.47,0.00,0.000,4740,0.269,0.082,2742,691,1819,1855,1783,0,0,0,0,0,0,13.74,13.94,13.88
$GC,7718,0.51,377.4,2744,691,1851,1783,82.3,10.0,616,7724,0.00,2.50,0.00,0.000,1190,0.000,0.077,2742,2103,1817,1852,1783,0,0,0,0,0,0,14.02,13.91,14.04
$GC,8021,0.53,410.0,2743,2104,1853,1781,54.1,8.5,647,8044,0.00,2.47,17.02,0.369,8484,0.000,0.082,2739,3511,1690,1722,1659,0,0,0,0,0,0,14.40,13.99,13.75
$GC,8154,0.62,460.3,2743,3511,1723,1660,42.9,7.7,673,8187,0.00,2.42,27.35,0.330,9382,0.000,0.065,2750,2102,1486,1528,1444,0,0,0,0,0,0,14.14,14.04,13.78
$GC,8484,0.79,547.2,2746,2104,1528,1434,22.8,6.0,709,8538,0.22,2.50,46.05,0.271,10916,0.103,0.090,2850,691,1131,1198,1064,0,0,0,0,0,0,14.16,14.06,13.83
$GC,8763,0.96,712.2,2851,690,1195,1054,9.3,2.4,764,8853,0.12,2.47,82.80,0.228,11430,0.132,0.078,2896,2108,499,533,465,0,0,0,0,0,0,14.09,14.04,13.92
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,-0.1,1.020166
$STATE,8886,end surface coast,CONTROL_FINISHED_OK
$STATE,8886,begin surface
$SM_CCo,8967,0.00,0.000,0,0,497,703.52
$SM_GC,0.90,8.25,0.17,0.00,0.076,0.111,0.000,204,2232,497,-7.38,-0.48,703.52,0,0,0,0,0,0,14.16,14.18,14.25
$RAFOS_CLK,175
$MODEM,4,1502828966,75.71700,-151.21500,265.377,384959.0
$MODEM,2,1502828019,73.18300,-149.96500,72.108,104601.2
$MODEM,0,1502827495,75.36600,-145.04601,241.343,350094.8
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7221.25,-14814.72,150817,182405
$TT8_MAMPS,0.038948,0.854609
$HUMID,47.32
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,12
$CP_FREE,16006184960.000000
$PM_FREEKB_00,57209792
$24V_AH,12.56,79.567
$10V_AH,12.48,0.000
$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,25.575,88.975,944.350,0.000,0.000,0.000,0.000,468.225,3.000,0.000,9.996,0.000,6362.116,823.047,2292.862,298.828,0.000,2173.832,0.000,1124.665,2200.000,0.540,0.000
$DEVICE_MAMPS,450.585,2146.590,1488.690,0.000,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8913.000,8903.000,8862.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.820,20.000,16.575,0.000
$MEM,323720
$DATA_FILE_SIZE,26721,785
$CAP_FILE_SIZE,108761,0
$CFSIZE,2097872896,2064842752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5450.35,0x2341e8,1,24
$INTR,1,6165.03,0x213afc,1,24
$SOUNDSPEED,1450.5
$CURRENT,0.051,264.78,1
$GPS,150817,210402,7222.079,-14814.882,23,0.7,23,21.3,0.0,0.0,10,7.8