version: 66.13
glider: 196
mission: 14
dive: 118
start: 8 20 117 10 45 26
data:
$ID,196
$MISSION,14
$DIVE,118
$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,60
$R_STBD_OVSHOOT,60
$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,334.0
$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
$GPS1,200817,102835,7302.1074,-14919.8740,32,0.8,34,21.0,0.0,0.0,11,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.2
$GPS2,200817,104454,7302.1675,-14920.0137,11,0.8,11,21.0,0.0,131.7,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,292.8,26054,-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,-145.9,205,2247,503,484,0.0,0.0,0,129,0.00,0.00,-81.72,0.000,16386,0.000,0.000,211,2248,2008,1931,2085,0,0,0,0,0,0,14.43,28.83,14.42
$GC,132,-0.57,-145.9,205,2248,1933,2086,3.2,-3.3,8,190,12.43,2.80,-39.20,0.000,18980,0.451,2.145,2382,820,3964,3946,3982,0,0,0,0,0,0,13.68,12.61,14.09
$GC,211,-0.39,-145.9,2383,820,3951,3984,29.0,-32.0,23,219,0.32,2.40,0.00,0.000,3206,0.282,0.088,2450,2167,3966,3950,3983,0,0,0,0,0,0,13.85,14.09,14.12
$GC,515,-0.52,-145.9,2450,2167,3956,3982,72.9,-10.1,54,520,0.12,2.58,0.00,0.000,4484,0.134,0.088,2391,3618,3971,3961,3982,0,0,0,0,0,0,14.20,14.04,14.26
$GC,700,-0.68,-145.9,2391,3619,3956,3983,92.6,-9.9,91,707,0.00,2.35,0.00,0.000,1190,0.000,0.052,2391,2220,3969,3955,3983,0,0,0,0,0,0,14.16,14.06,14.19
$GC,1015,-0.78,-145.9,2391,2223,3956,3983,125.6,-10.0,107,1021,0.17,2.45,0.00,0.000,4516,0.112,0.086,2311,3613,3967,3954,3981,0,0,0,0,0,0,14.22,14.14,14.28
$GC,1123,-0.83,-145.9,2311,3613,3956,3983,140.5,-13.8,128,1128,0.00,2.38,0.00,0.000,1158,0.000,0.054,2311,2202,3968,3955,3982,0,0,0,0,0,0,14.31,14.21,14.33
$GC,1438,-0.83,-145.9,2311,2199,3955,3984,189.7,-15.0,141,1443,0.00,2.47,0.00,0.000,260,0.000,0.090,2310,3614,3968,3954,3982,0,0,0,0,0,0,14.60,14.20,14.62
$GC,1555,-0.89,-145.9,2306,3619,3955,3984,204.9,-12.4,164,1561,0.00,2.40,0.00,0.000,1158,0.000,0.057,2305,2193,3969,3956,3983,0,0,0,0,0,0,14.22,14.10,14.25
$GC,1858,-0.89,-145.9,2306,2192,3956,3982,245.2,-12.7,175,1864,0.00,2.47,0.00,0.000,260,0.000,0.090,2298,3621,3968,3954,3982,0,0,0,0,0,0,14.62,14.22,14.63
$GC,1939,-1.01,-145.9,2300,3615,3955,3983,254.7,-11.0,191,1945,0.15,2.40,0.00,0.000,5254,0.119,0.057,2244,2189,3968,3954,3982,0,0,0,0,0,0,14.32,14.28,14.38
$GC,2250,-0.92,-145.9,2244,2188,3956,3980,306.0,-16.3,203,2256,0.12,2.50,0.00,0.000,2436,0.295,0.084,2263,3616,3967,3954,3980,0,0,0,0,0,0,13.93,14.22,14.12
$GC,2426,-0.95,-145.9,2263,3617,3955,3981,328.9,-12.0,238,2432,0.00,2.40,0.00,0.000,1158,0.000,0.055,2263,2194,3966,3954,3979,0,0,0,0,0,0,14.35,14.24,14.41
$GC,2732,-0.95,-145.9,2263,2193,3955,3977,368.7,-12.9,249,2737,0.00,2.50,0.00,0.000,260,0.000,0.089,2255,3616,3966,3955,3978,0,0,0,0,0,0,14.62,14.19,14.64
$GC,2827,-0.98,-145.9,2255,3618,3955,3979,380.5,-12.1,268,2832,0.00,2.40,0.00,0.000,1158,0.000,0.055,2255,2196,3966,3954,3978,0,0,0,0,0,0,14.39,14.28,14.42
$GC,3152,-0.96,-145.9,2255,2195,3956,3977,422.8,-12.9,283,3158,0.00,2.50,0.00,0.000,388,0.000,0.088,2246,3613,3965,3954,3977,0,0,0,0,0,0,14.60,14.19,14.62
$GC,3268,-0.96,-145.9,2246,3614,3955,3978,437.9,-12.7,306,3274,0.00,2.38,0.00,0.000,1030,0.000,0.054,2245,2202,3962,3949,3976,0,0,0,0,0,0,14.36,14.25,14.39
$GC,3573,-0.92,-145.9,2246,2201,3955,3977,479.8,-13.8,317,3578,0.12,2.47,0.00,0.000,2436,0.295,0.085,2267,3615,3965,3954,3976,0,0,0,0,0,0,13.97,14.22,14.15
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3589,-0.13,0.0,2267,2097,3955,3977,481.2,-13.8,319,3805,1.02,0.00,213.12,1.433,10246,0.243,0.000,2528,2094,3366,3394,3339,0,0,0,0,0,0,13.99,13.49,12.74
$STATE,3808,end apogee,CONTROL_FINISHED_OK
$STATE,3808,begin climb
$GC,3811,0.57,145.9,2529,2095,3389,3332,492.0,0.0,326,4033,0.75,2.70,205.38,1.372,10500,0.066,0.075,2782,3520,2760,2808,2713,0,0,0,0,0,0,13.57,13.19,12.45
$GC,4104,0.13,145.9,2781,3521,2801,2713,485.4,17.0,342,4109,0.82,2.55,0.00,0.000,5254,0.354,0.057,2628,2099,2756,2801,2712,0,0,0,0,0,0,13.23,13.47,13.54
$GC,4414,0.06,180.1,2629,2098,2801,2710,457.6,8.4,354,4467,0.00,2.58,47.55,1.434,8868,0.000,0.083,2636,698,2628,2681,2575,0,0,0,0,0,0,14.26,13.54,12.95
$GC,4529,0.05,195.4,2636,697,2677,2570,447.3,9.3,377,4554,0.15,2.53,19.77,1.511,13478,0.252,0.079,2605,2102,2570,2634,2506,0,0,0,0,0,0,13.62,13.77,12.93
$GC,4866,0.08,232.9,2605,2102,2630,2494,419.5,8.3,394,4926,0.00,2.62,55.35,1.427,8740,0.000,0.084,2606,686,2412,2478,2347,0,0,0,0,0,0,14.26,13.76,13.03
$GC,4953,0.18,271.2,2606,690,2472,2348,412.2,8.2,411,5019,0.10,2.53,57.67,1.388,11430,0.151,0.079,2644,2100,2256,2319,2194,0,0,0,0,0,0,13.81,13.79,12.84
$GC,5316,0.18,271.2,2653,2100,2307,2183,369.8,11.6,434,5321,0.00,2.55,0.00,0.000,516,0.000,0.086,2660,680,2246,2310,2182,0,0,0,0,0,0,14.23,13.87,14.22
$GC,5356,0.18,271.2,2659,680,2309,2184,365.1,11.5,442,5361,0.00,2.53,0.00,0.000,1030,0.000,0.078,2658,2098,2246,2309,2183,0,0,0,0,0,0,14.02,13.92,14.05
$GC,5677,0.15,271.2,2659,2100,2308,2181,327.6,11.6,456,5682,0.00,2.50,0.00,0.000,644,0.000,0.086,2659,686,2243,2307,2180,0,0,0,0,0,0,14.38,14.03,14.40
$GC,5732,0.17,271.2,2660,686,2306,2182,321.4,10.8,467,5739,0.00,2.50,0.00,0.000,1158,0.000,0.078,2659,2110,2244,2307,2181,0,0,0,0,0,0,14.19,14.07,14.22
$GC,6037,0.15,271.2,2659,2109,2306,2178,286.7,11.3,478,6042,0.00,2.50,0.00,0.000,644,0.000,0.085,2659,692,2242,2305,2179,0,0,0,0,0,0,14.45,14.12,14.46
$GC,6067,0.15,271.2,2660,692,2306,2182,283.4,11.2,484,6072,0.00,2.47,0.00,0.000,1030,0.000,0.078,2660,2107,2241,2304,2179,0,0,0,0,0,0,14.27,14.14,14.31
$GC,6397,0.15,272.1,2660,2107,2306,2180,248.4,10.0,500,6402,0.00,2.50,0.00,0.000,548,0.000,0.085,2660,693,2240,2302,2179,0,0,0,0,0,0,14.45,14.14,14.47
$GC,6432,0.20,293.0,2660,693,2304,2180,245.2,9.0,507,6468,0.00,2.45,30.45,1.405,9382,0.000,0.078,2659,2101,2168,2226,2111,0,0,0,0,0,0,14.28,14.16,13.30
$MODEM_MSG,CACST,6,1,20170820121241.350426,3,9118,39,0327,0150,250,00,00,00,00,-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,6,1,20170820122043.607160,3,436,14,0147,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170820122828.421172,3,283,18,0126,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,6789,0.25,325.2,2660,2101,2221,2102,213.6,8.5,528,6843,0.00,0.00,52.95,1.335,8358,0.000,0.000,2660,2107,2040,2094,1986,0,0,0,0,0,0,14.38,13.92,13.21
$GC,7120,0.33,363.3,2660,2102,2084,1976,186.5,8.2,539,7190,0.00,2.55,62.72,1.285,8868,0.000,0.086,2659,689,1880,1921,1840,0,0,0,0,0,0,14.31,13.86,13.17
$GC,7245,0.53,421.5,2660,690,1913,1840,176.8,7.3,564,7350,0.28,2.53,98.07,1.209,11430,0.090,0.080,2766,2104,1645,1681,1610,0,0,0,0,0,0,14.02,13.95,12.98
$GC,7662,0.47,421.5,2767,2108,1678,1590,116.7,14.0,597,7667,0.12,2.53,0.00,0.000,4740,0.265,0.084,2746,685,1635,1680,1590,0,0,0,0,0,0,13.85,14.02,14.01
$GC,7743,0.53,421.5,2747,684,1673,1590,107.5,10.5,613,7748,0.00,2.50,0.00,0.000,1158,0.000,0.076,2746,2106,1631,1672,1590,0,0,0,0,0,0,14.18,14.08,14.18
$GC,8053,0.55,423.2,2746,2109,1673,1587,74.4,9.9,641,8058,0.00,2.50,0.00,0.000,676,0.000,0.086,2747,688,1629,1672,1587,0,0,0,0,0,0,14.49,14.12,14.51
$GC,8093,0.65,443.8,2747,688,1671,1588,70.7,9.0,649,8110,0.12,2.47,10.45,0.411,11430,0.135,0.076,2796,2109,1553,1594,1512,0,0,0,0,0,0,14.22,14.17,13.79
$GC,8415,0.65,509.2,2797,2110,1595,1513,41.7,7.0,683,8458,0.00,2.50,33.67,0.329,8612,0.000,0.082,2798,3511,1289,1344,1235,0,0,0,0,0,0,14.52,14.12,13.86
$GC,8493,0.69,525.5,2797,3512,1345,1234,35.3,9.2,698,8511,0.00,2.42,9.57,0.308,9382,0.000,0.066,2804,2100,1217,1277,1158,0,0,0,0,0,0,14.24,14.13,13.82
$GC,8808,0.89,676.2,2805,2101,1281,1156,13.9,3.0,731,8890,0.20,0.00,77.85,0.247,10406,0.103,0.000,2883,2100,606,656,557,0,0,0,0,0,0,14.19,14.16,13.90
$STATE,8976,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$FINISH,0.2,1.008035
$STATE,8998,end surface coast,CONTROL_FINISHED_OK
$STATE,8998,begin surface
$SM_CCo,9064,14.20,0.216,0,0,498,703.03
$SM_GC,1.90,8.25,0.17,14.20,0.083,0.110,0.216,209,2225,498,-7.36,-0.71,703.03,0,0,0,0,0,0,14.28,14.29,14.02
$RAFOS_CLK,218
$MODEM,4,1503232108,75.71700,-151.21500,207.671,301082.8
$MODEM,3,1503231643,74.30400,-153.94400,136.607,198053.8
$MODEM,2,1503231161,73.18300,-149.96500,14.350,20805.3
$RAFOS_FIX,7301.546875,-14927.672852,200817,121237,3,255,0.75
$IRIDIUM_FIX,7301.80,-14928.71,200817,103315
$TT8_MAMPS,0.040446,0.909286
$HUMID,46.45
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,0.000000
$PM_FREEKB_00,54505728
$24V_AH,12.45,99.020
$10V_AH,12.37,0.000
$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,25.275,100.125,974.600,14.200,0.000,0.000,0.000,637.350,3.250,0.000,11.770,0.000,6432.505,857.408,2458.715,324.291,0.000,2397.100,0.000,1075.566,2217.000,0.539,0.000
$DEVICE_MAMPS,451.350,2145.060,1510.875,216.495,0.000,0.000,0.000,183.600,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9028.000,9063.000,9020.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.846,20.000,12.496,0.000
$MEM,323676
$DATA_FILE_SIZE,26706,750
$CAP_FILE_SIZE,110737,0
$CFSIZE,2097872896,2052194304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.016,288.40,1
$GPS,200817,131801,7303.282,-14922.396,19,0.7,29,21.0,0.0,0.0,10,7.4