version: 66.13
glider: 196
mission: 14
dive: 121
start: 8 20 117 19 9 27
data:
$ID,196
$MISSION,14
$DIVE,121
$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,30
$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,343.0
$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
$GPS1,200817,184435,7304.9277,-14927.7051,16,0.9,18,20.9,0.4,170.9,9,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.2
$GPS2,200817,190859,7304.7573,-14927.8848,5,0.8,21,20.9,0.0,151.1,10,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.9,19816,-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,-145.9,205,2210,514,483,0.0,0.0,0,130,0.00,0.00,-81.43,0.000,16386,0.000,0.000,204,2209,2011,1932,2091,0,0,0,0,0,0,14.43,28.83,14.45
$GC,133,-0.57,-145.9,206,2209,1934,2092,3.1,-3.0,8,190,12.48,2.75,-39.75,0.000,18980,0.453,2.141,2385,792,3961,3943,3980,0,0,0,0,0,0,13.69,12.93,14.12
$GC,301,-0.62,-145.9,2385,792,3951,3981,45.1,-16.3,41,307,0.00,2.50,0.00,0.000,1158,0.000,0.088,2379,2199,3964,3950,3979,0,0,0,0,0,0,14.10,14.02,14.14
$GC,607,-0.62,-145.9,2379,2200,3953,3978,97.4,-14.1,72,612,0.00,2.53,0.00,0.000,260,0.000,0.093,2376,3616,3966,3953,3980,0,0,0,0,0,0,14.51,14.13,14.52
$GC,813,-0.77,-145.9,2376,3617,3954,3980,119.7,-9.7,113,819,0.15,2.38,0.00,0.000,5286,0.120,0.054,2318,2203,3966,3952,3980,0,0,0,0,0,0,14.19,14.21,14.28
$GC,1117,-0.75,-145.9,2319,2202,3954,3980,167.1,-15.4,124,1122,0.00,2.50,0.00,0.000,388,0.000,0.090,2309,3617,3966,3952,3980,0,0,0,0,0,0,14.59,14.20,14.61
$GC,1162,-0.79,-145.9,2310,3619,3953,3980,173.8,-14.3,133,1167,0.00,2.40,0.00,0.000,1158,0.000,0.057,2309,2200,3965,3951,3980,0,0,0,0,0,0,14.39,14.27,14.43
$GC,1477,-0.79,-145.9,2308,2200,3953,3981,220.0,-14.2,146,1482,0.00,2.50,0.00,0.000,260,0.000,0.090,2306,3619,3968,3957,3980,0,0,0,0,0,0,14.61,14.23,14.63
$GC,1594,-0.88,-145.9,2306,3620,3953,3980,233.9,-10.7,169,1600,0.00,2.40,0.00,0.000,1158,0.000,0.057,2305,2193,3966,3952,3980,0,0,0,0,0,0,14.33,14.23,14.35
$GC,1897,-0.90,-145.9,2306,2192,3954,3975,269.8,-11.4,180,1902,0.00,2.50,0.00,0.000,388,0.000,0.090,2305,3612,3965,3952,3979,0,0,0,0,0,0,14.63,14.22,14.65
$GC,1958,-1.02,-145.9,2306,3614,3953,3980,276.2,-9.8,192,1963,0.17,2.38,0.00,0.000,5286,0.114,0.055,2242,2196,3965,3952,3979,0,0,0,0,0,0,14.31,14.27,14.39
$GC,2288,-0.94,-145.9,2242,2199,3954,3976,328.1,-15.6,208,2293,0.12,2.47,0.00,0.000,2436,0.291,0.085,2261,3617,3964,3952,3976,0,0,0,0,0,0,13.97,14.26,14.17
$GC,2418,-0.97,-145.9,2261,3618,3954,3977,345.0,-12.2,234,2424,0.00,2.40,0.00,0.000,1158,0.000,0.056,2261,2201,3964,3952,3977,0,0,0,0,0,0,14.37,14.26,14.41
$GC,2739,-0.95,-145.9,2261,2201,3953,3975,386.7,-12.9,248,2744,0.00,2.47,0.00,0.000,388,0.000,0.089,2252,3614,3964,3953,3975,0,0,0,0,0,0,14.66,14.23,14.68
$GC,2851,-0.97,-145.9,2252,3615,3953,3976,400.8,-12.3,270,2855,0.00,2.38,0.00,0.000,1158,0.000,0.056,2252,2198,3963,3952,3975,0,0,0,0,0,0,14.42,14.29,14.43
$GC,3162,-0.94,-145.9,2252,2197,3953,3975,442.8,-13.5,282,3167,0.00,2.53,0.00,0.000,388,0.000,0.088,2243,3620,3961,3952,3970,0,0,0,0,0,0,14.50,14.06,14.52
$GC,3272,-0.94,-145.9,2243,3622,3952,3975,457.9,-12.6,304,3278,0.15,2.42,0.00,0.000,3078,0.254,0.056,2271,2195,3961,3948,3974,0,0,0,0,0,0,13.90,14.16,14.17
$STATE,3460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3460,begin apogee
$GC,3466,-0.13,0.0,2273,2070,3959,3972,480.0,-11.4,312,3764,1.00,0.00,289.88,1.287,10246,0.233,0.000,2530,2068,3359,3385,3333,0,0,0,0,0,0,13.88,13.26,12.59
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin climb
$GC,3770,0.57,145.9,2531,2069,3382,3331,495.3,0.0,322,4312,0.75,2.20,208.65,1.326,11012,0.067,0.082,2781,723,2747,2791,2703,0,0,0,0,0,0,13.38,13.11,12.44
$GC,4361,0.23,145.9,2781,725,2791,2704,442.6,14.9,333,4368,0.57,2.50,0.00,0.000,5254,0.317,0.076,2659,2108,2746,2791,2702,0,0,0,0,0,0,13.51,13.79,13.84
$GC,4666,0.08,153.5,2660,2110,2792,2698,412.3,9.7,344,4671,0.20,2.45,0.00,0.000,4772,0.300,0.077,2620,720,2743,2790,2697,0,0,0,0,0,0,13.76,14.01,13.93
$GC,4742,0.11,217.4,2620,721,2790,2698,406.5,7.1,359,4857,0.00,2.42,108.28,1.283,9382,0.000,0.079,2620,2100,2475,2538,2412,0,0,0,0,0,0,14.17,14.06,12.99
$GC,5177,0.12,236.5,2621,2100,2522,2389,367.6,9.1,396,5208,0.00,0.00,25.35,1.336,8230,0.000,0.000,2620,2100,2397,2460,2335,0,0,0,0,0,0,14.28,13.74,13.20
$MODEM_MSG,CACST,6,1,20170820200412.661001,3,20,13,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170820202040.510444,3,216,17,0237,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$GC,5508,0.16,261.5,2620,2101,2449,2326,338.1,8.8,407,5553,0.00,2.47,38.10,1.347,8868,0.000,0.083,2629,717,2290,2345,2236,0,0,0,0,0,0,14.35,13.93,13.21
$GC,5599,0.27,284.2,2630,714,2336,2232,329.9,9.0,425,5636,0.12,2.42,31.98,1.329,11430,0.127,0.077,2683,2110,2207,2263,2152,0,0,0,0,0,0,13.97,13.98,13.13
$GC,5962,0.21,284.2,2683,2111,2244,2129,282.0,13.1,447,5967,0.12,2.42,0.00,0.000,4740,0.256,0.081,2660,723,2185,2243,2128,0,0,0,0,0,0,14.00,14.13,14.12
$GC,5998,0.24,284.2,2660,724,2242,2129,277.7,11.1,454,6003,0.00,2.38,0.00,0.000,1158,0.000,0.078,2660,2095,2185,2241,2129,0,0,0,0,0,0,14.21,14.14,14.25
$GC,6323,0.24,284.2,2661,2096,2242,2126,243.8,10.1,469,6328,0.00,2.40,0.00,0.000,516,0.000,0.084,2660,717,2184,2241,2127,0,0,0,0,0,0,14.57,14.20,14.59
$GC,6373,0.31,305.1,2661,717,2239,2127,239.2,9.0,479,6408,0.00,2.40,28.52,1.338,9382,0.000,0.078,2660,2105,2118,2172,2064,0,0,0,0,0,0,14.39,14.27,13.36
$GC,6715,0.37,335.9,2661,2106,2160,2049,209.3,8.6,497,6775,0.12,2.50,51.78,1.273,10916,0.135,0.085,2725,727,1988,2037,1940,0,0,0,0,0,0,14.29,13.99,13.28
$GC,6807,0.34,335.9,2726,727,2030,1938,198.7,11.8,515,6813,0.15,2.42,0.00,0.000,5254,0.237,0.076,2694,2102,1982,2029,1936,0,0,0,0,0,0,13.90,14.02,14.12
$GC,7138,0.35,352.2,2694,2103,2029,1929,166.5,9.2,531,7164,0.00,0.00,22.60,1.350,8742,0.000,0.000,2694,2102,1925,1970,1881,0,0,0,0,0,0,14.51,14.11,13.34
$GC,7469,0.41,387.7,2695,2104,1955,1874,137.5,8.4,547,7536,0.00,2.53,61.80,1.253,8868,0.000,0.086,2699,724,1781,1812,1751,0,0,0,0,0,0,14.53,13.97,13.26
$GC,7637,0.55,437.2,2699,724,1798,1745,124.2,7.7,580,7732,0.20,2.42,87.97,1.174,11430,0.105,0.078,2776,2105,1579,1616,1543,0,0,0,0,0,0,14.13,14.06,13.12
$GC,8032,0.52,437.2,2777,2105,1610,1518,72.3,11.6,624,8037,0.00,2.45,0.00,0.000,644,0.000,0.086,2777,724,1562,1608,1517,0,0,0,0,0,0,14.36,14.06,14.38
$GC,8077,0.55,437.2,2778,727,1605,1517,67.2,10.7,633,8083,0.00,2.42,0.00,0.000,1158,0.000,0.080,2777,2100,1561,1605,1518,0,0,0,0,0,0,14.21,14.09,14.23
$GC,8382,0.59,499.8,2777,2101,1606,1516,41.6,7.1,664,8414,0.00,0.00,30.15,0.324,8230,0.000,0.000,2777,2100,1325,1378,1273,0,0,0,0,0,0,14.50,14.12,13.81
$GC,8713,0.75,593.6,2777,2101,1379,1275,19.7,5.7,697,8767,0.12,2.55,49.12,0.265,10660,0.138,0.082,2842,3512,942,1013,871,0,0,0,0,0,0,14.18,14.12,13.83
$GC,8907,0.90,683.2,2837,3515,1013,877,7.2,5.9,735,8960,0.00,2.38,47.33,0.224,9382,0.000,0.065,2844,2126,577,624,531,0,0,0,0,0,0,14.29,14.18,13.88
$STATE,8995,end climb,SURFACE_DEPTH_REACHED
$STATE,8995,begin surface coast
$FINISH,0.4,1.002190
$STATE,9027,end surface coast,CONTROL_FINISHED_OK
$STATE,9027,begin surface
$SM_CCo,9047,11.15,0.215,0,0,499,703.28
$SM_GC,2.64,8.12,0.15,11.15,0.081,0.121,0.215,202,2241,499,-7.38,-0.42,703.28,0,0,0,0,0,0,14.25,14.24,14.00
$RAFOS_CLK,262
$MODEM,3,1503260440,74.30400,-153.94400,133.510,193326.0
$MODEM,0,1503259452,75.36600,-145.04601,198.661,287665.5
$RAFOS_FIX,7304.318359,-14929.333984,200817,202026,2,255,0.30
$IRIDIUM_FIX,7304.62,-14931.32,200817,190134
$TT8_MAMPS,0.040446,0.990178
$HUMID,46.22
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15998844928.000000
$PM_FREEKB_00,54413440
$24V_AH,12.44,100.483
$10V_AH,12.28,0.000
$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,24.575,83.550,1081.500,11.150,0.000,0.000,0.000,933.250,2.250,0.000,22.604,0.000,6245.645,949.045,2985.797,352.807,0.000,3080.082,0.000,1078.147,2215.000,0.540,0.000
$DEVICE_MAMPS,452.880,2141.235,1350.225,214.965,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9056.000,9036.000,9003.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.401,20.000,10.262,0.000
$MEM,323448
$DATA_FILE_SIZE,26715,752
$CAP_FILE_SIZE,113336,0
$CFSIZE,2097872896,2051244032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.056,242.42,1
$GPS,200817,214151,7305.662,-14930.729,39,0.8,40,20.9,0.0,0.0,10,8.2