version: 66.13
glider: 196
mission: 14
dive: 128
start: 8 21 117 14 50 26
data:
$ID,196
$MISSION,14
$DIVE,128
$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,23
$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,364.0
$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
$GPS1,210817,143520,7310.3862,-14948.9814,37,0.7,38,20.8,0.3,49.7,11,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.4
$GPS2,210817,144951,7310.4385,-14948.7529,8,0.7,9,20.8,0.0,86.8,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,255.5,5214,-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,-145.9,205,2208,502,482,0.0,0.0,0,130,0.00,0.00,-81.15,0.000,16386,0.000,0.000,204,2207,1968,1895,2042,0,0,0,0,0,0,14.45,28.83,14.47
$GC,133,-0.57,-145.9,206,2207,1898,2044,3.1,-3.0,8,196,12.48,2.80,-41.05,0.000,19236,0.455,2.140,2384,793,3964,3948,3980,0,0,0,0,0,0,13.71,12.59,14.14
$GC,357,-0.64,-145.9,2385,788,3955,3980,52.2,-16.3,52,361,0.00,2.50,0.00,0.000,1158,0.000,0.088,2380,2196,3967,3954,3980,0,0,0,0,0,0,14.20,14.06,14.23
$GC,667,-0.68,-145.9,2381,2197,3955,3980,101.1,-12.5,84,672,0.00,2.53,0.00,0.000,388,0.000,0.093,2381,3615,3967,3955,3980,0,0,0,0,0,0,14.53,14.14,14.54
$GC,817,-0.85,-145.9,2377,3617,3956,3980,116.6,-9.7,114,822,0.22,2.40,0.00,0.000,5286,0.100,0.054,2288,2192,3967,3955,3980,0,0,0,0,0,0,14.31,14.24,14.37
$GC,1148,-0.79,-145.9,2289,2191,3957,3980,177.3,-18.1,130,1153,0.15,2.50,0.00,0.000,2436,0.280,0.086,2315,3611,3967,3955,3980,0,0,0,0,0,0,13.90,14.15,14.09
$GC,1308,-0.89,-145.9,2316,3613,3956,3981,197.8,-11.5,162,1313,0.00,2.38,0.00,0.000,1158,0.000,0.056,2315,2201,3967,3955,3980,0,0,0,0,0,0,14.38,14.23,14.37
$GC,1628,-0.92,-145.9,2316,2200,3956,3981,238.6,-12.3,176,1633,0.00,2.47,0.00,0.000,388,0.000,0.090,2307,3612,3967,3955,3980,0,0,0,0,0,0,14.62,14.21,14.63
$GC,1718,-1.02,-145.9,2308,3613,3957,3980,248.8,-10.6,194,1724,0.17,2.38,0.00,0.000,5254,0.111,0.056,2243,2195,3967,3955,3980,0,0,0,0,0,0,14.34,14.26,14.42
$GC,2049,-0.95,-145.9,2243,2194,3953,3981,302.5,-15.9,210,2054,0.12,2.50,0.00,0.000,2436,0.293,0.085,2268,3620,3968,3955,3981,0,0,0,0,0,0,13.99,14.22,14.16
$GC,2174,-0.99,-145.9,2262,3620,3956,3980,319.0,-12.1,235,2180,0.00,2.40,0.00,0.000,1158,0.000,0.057,2262,2199,3967,3954,3980,0,0,0,0,0,0,14.40,14.25,14.41
$GC,2500,-0.99,-145.9,2262,2198,3956,3980,361.6,-12.9,250,2505,0.00,2.47,0.00,0.000,260,0.000,0.089,2255,3613,3966,3954,3979,0,0,0,0,0,0,14.63,14.21,14.65
$GC,2605,-1.03,-145.9,2255,3613,3955,3979,375.0,-12.3,271,2611,0.00,2.38,0.00,0.000,1158,0.000,0.056,2255,2198,3966,3954,3979,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2921,-1.03,-145.9,2255,2197,3954,3980,417.1,-13.3,284,2926,0.00,2.47,0.00,0.000,260,0.000,0.088,2241,3613,3967,3954,3980,0,0,0,0,0,0,14.64,14.21,14.66
$GC,3047,-1.05,-145.9,2246,3611,3954,3979,433.7,-12.8,309,3052,0.00,2.38,0.00,0.000,1158,0.000,0.056,2245,2196,3966,3954,3978,0,0,0,0,0,0,14.39,14.28,14.42
$GC,3373,-1.02,-145.9,2245,2197,3954,3979,478.4,-13.6,324,3377,0.00,2.50,0.00,0.000,388,0.000,0.088,2237,3621,3966,3954,3978,0,0,0,0,0,0,14.64,14.21,14.66
$STATE,3385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3385,begin apogee
$GC,3393,-0.13,0.0,2237,2097,3954,3979,480.4,-13.3,327,3611,1.17,0.00,214.65,1.437,10246,0.257,0.000,2527,2095,3364,3386,3343,0,0,0,0,0,0,13.95,13.49,12.74
$STATE,3615,end apogee,CONTROL_FINISHED_OK
$STATE,3615,begin climb
$GC,3617,0.57,145.9,2528,2095,3380,3335,491.1,0.0,334,3832,0.75,2.65,203.50,1.384,11012,0.067,0.082,2781,682,2764,2808,2721,0,0,0,0,0,0,13.56,13.16,12.43
$GC,4057,0.22,145.9,2781,684,2797,2719,463.4,15.0,416,4062,0.57,2.55,0.00,0.000,5254,0.324,0.076,2661,2105,2756,2795,2718,0,0,0,0,0,0,13.45,13.75,13.82
$GC,4370,0.07,150.9,2662,2103,2797,2714,431.8,9.8,428,4375,0.22,2.50,0.00,0.000,4772,0.287,0.077,2614,689,2752,2795,2710,0,0,0,0,0,0,13.76,13.97,13.93
$GC,4600,0.11,209.3,2616,689,2797,2714,414.5,7.3,474,4701,0.00,2.47,92.30,1.372,9254,0.000,0.079,2616,2101,2506,2565,2448,0,0,0,0,0,0,14.20,14.09,13.00
$GC,5000,0.12,231.1,2616,2101,2561,2435,380.0,9.0,504,5036,0.00,2.53,29.62,1.459,8740,0.000,0.084,2616,691,2420,2480,2360,0,0,0,0,0,0,14.28,13.91,13.11
$GC,5093,0.23,260.8,2616,691,2473,2361,371.9,8.6,522,5142,0.12,2.53,44.53,1.405,11430,0.127,0.079,2670,2107,2302,2356,2249,0,0,0,0,0,0,13.93,13.89,13.01
$GC,5453,0.16,260.8,2671,2108,2345,2236,324.9,13.2,544,5458,0.12,2.53,0.00,0.000,4740,0.274,0.082,2647,685,2289,2344,2235,0,0,0,0,0,0,13.86,13.96,14.02
$GC,5508,0.19,260.8,2648,685,2343,2235,318.8,10.5,555,5515,0.00,2.50,0.00,0.000,1158,0.000,0.078,2648,2105,2288,2342,2235,0,0,0,0,0,0,14.14,14.04,14.19
$GC,5813,0.19,260.8,2645,2106,2343,2234,285.8,10.7,566,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,2289,2342,2237,0,0,0,0,0,0,14.41,14.45,14.44
$GC,6113,0.20,262.3,2646,2105,2342,2232,255.3,9.9,576,6118,0.00,2.50,0.00,0.000,548,0.000,0.084,2652,689,2286,2341,2232,0,0,0,0,0,0,14.46,14.07,14.50
$GC,6183,0.25,287.8,2652,690,2341,2233,248.9,8.8,590,6228,0.00,2.47,40.58,1.379,9382,0.000,0.077,2652,2106,2192,2244,2140,0,0,0,0,0,0,14.28,14.16,13.26
$MODEM_MSG,CACST,6,1,20170821160407.315369,3,37,09,0137,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170821161228.084917,3,4079,36,0096,0150,250,00,00,00,00,-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,6,1,20170821162028.552721,3,402,26,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170821162817.813811,3,33,09,0173,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,6533,0.31,325.2,2652,2107,2236,2130,218.1,8.3,610,6596,0.00,0.00,61.53,1.316,8358,0.000,0.000,2652,2106,2040,2089,1992,0,0,0,0,0,0,14.38,13.85,13.14
$GC,6895,0.42,377.1,2652,2106,2080,1977,189.4,7.6,622,6991,0.17,2.62,86.57,1.250,10916,0.111,0.086,2728,688,1822,1852,1793,0,0,0,0,0,0,14.10,13.75,13.10
$GC,7061,0.42,377.1,2729,688,1845,1792,170.0,11.3,655,7067,0.00,2.50,0.00,0.000,1030,0.000,0.076,2729,2100,1817,1843,1791,0,0,0,0,0,0,14.04,13.93,14.07
$GC,7377,0.40,377.1,2729,2101,1844,1783,132.4,11.6,668,7382,0.00,2.50,0.00,0.000,644,0.000,0.086,2729,685,1813,1842,1784,0,0,0,0,0,0,14.50,14.13,14.49
$GC,7422,0.43,377.1,2729,685,1841,1783,127.4,10.8,677,7427,0.00,2.47,0.00,0.000,1158,0.000,0.079,2729,2103,1811,1840,1783,0,0,0,0,0,0,14.28,14.16,14.32
$GC,7728,0.43,385.3,2730,2103,1840,1781,95.8,9.6,691,7731,0.00,0.00,2.58,0.438,8230,0.000,0.000,2729,2102,1792,1820,1764,0,0,0,0,0,0,14.55,14.14,13.67
$GC,8027,0.49,461.4,2730,2103,1827,1766,69.5,6.5,721,8070,0.00,0.00,40.25,0.415,8742,0.000,0.000,2729,2103,1483,1520,1446,0,0,0,0,0,0,14.56,14.18,13.78
$GC,8368,0.70,580.1,2729,2103,1522,1438,50.9,4.5,759,8437,0.20,2.50,60.70,0.355,10660,0.106,0.083,2809,3517,1003,1080,927,0,0,0,0,0,0,14.25,14.08,13.74
$GC,8547,0.79,585.6,2809,3518,1073,927,33.7,9.7,794,8554,0.00,2.45,3.03,0.311,9382,0.000,0.069,2811,2094,978,1054,903,0,0,0,0,0,0,14.16,14.06,13.79
$GC,8852,1.04,716.4,2811,2094,1054,903,12.7,4.0,825,8926,0.30,2.50,67.57,0.239,10916,0.089,0.090,2933,681,500,524,476,0,0,0,0,0,0,14.19,14.04,13.88
$STATE,8955,end climb,SURFACE_DEPTH_REACHED
$STATE,8956,begin surface coast
$FINISH,0.2,1.020530
$STATE,8964,end surface coast,CONTROL_FINISHED_OK
$STATE,8964,begin surface
$SM_CCo,8987,0.95,0.262,0,0,499,703.03
$SM_GC,1.87,8.23,2.70,0.95,0.067,0.073,0.262,206,2204,499,-7.37,-0.57,703.03,0,0,0,0,0,0,14.23,14.19,14.04
$RAFOS_CLK,226
$MODEM,4,1503332897,75.71700,-151.21500,197.064,285264.6
$MODEM,3,1503332428,74.30400,-153.94400,121.553,175956.7
$MODEM,2,1503331948,73.18300,-149.96500,1.085,1570.5
$MODEM,0,1503331447,75.36600,-145.04601,193.315,279838.5
$RAFOS_FIX,7310.928711,-14949.879883,210817,161620,4,255,0.21
$IRIDIUM_FIX,7311.92,-14943.01,210817,143956
$TT8_MAMPS,0.040446,0.866593
$HUMID,46.45
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.00
$XPDR_PINGS,11
$CP_FREE,15997665280.000000
$PM_FREEKB_00,54209408
$24V_AH,12.43,103.809
$10V_AH,12.33,0.000
$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,25.025,85.150,947.400,0.950,0.000,0.000,0.000,534.225,2.750,0.000,10.587,0.000,6352.033,935.902,2278.426,310.277,0.000,2248.071,0.000,1212.415,2209.000,0.539,0.000
$DEVICE_MAMPS,455.175,2139.705,1458.855,261.630,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8993.000,8992.000,8941.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.904,20.000,10.006,0.000
$MEM,323512
$DATA_FILE_SIZE,30050,847
$CAP_FILE_SIZE,107436,0
$CFSIZE,2097872896,2048950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.8
$CURRENT,0.015,136.35,1
$GPS,210817,172120,7310.821,-14951.896,14,0.7,19,20.8,0.0,0.0,12,9.1