version: 66.13
glider: 196
mission: 14
dive: 156
start: 8 24 117 22 14 59
data:
$ID,196
$MISSION,14
$DIVE,156
$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,31
$R_STBD_OVSHOOT,32
$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,438.0
$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
$GPS1,240817,220318,7338.6587,-15103.1914,17,0.7,19,20.4,0.0,0.0,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.6
$GPS2,240817,221431,7338.6333,-15103.4277,17,1.0,40,20.4,0.0,225.1,6,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.0,113611,-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,-145.9,185,2211,497,493,0.0,0.0,0,130,0.00,0.00,-81.05,0.000,16386,0.000,0.000,182,2212,1942,1870,2014,0,0,0,0,0,0,14.49,28.83,14.51
$GC,133,-0.57,-145.9,183,2213,1874,2016,3.0,-3.1,8,196,12.68,2.75,-43.12,0.000,18724,0.457,2.150,2377,3597,3964,3949,3980,0,0,0,0,0,0,13.71,12.90,14.15
$GC,337,-0.66,-145.9,2378,3601,3956,3980,47.5,-16.1,48,342,0.00,2.40,0.00,0.000,1158,0.000,0.060,2377,2201,3967,3954,3980,0,0,0,0,0,0,14.22,14.11,14.26
$GC,647,-0.71,-145.9,2378,2201,3959,3981,98.6,-12.7,80,652,0.00,2.47,0.00,0.000,388,0.000,0.086,2369,3600,3968,3956,3980,0,0,0,0,0,0,14.54,14.12,14.56
$GC,722,-0.87,-145.9,2370,3601,3957,3979,107.0,-10.5,95,728,0.22,2.38,0.00,0.000,5254,0.096,0.057,2277,2198,3968,3956,3980,0,0,0,0,0,0,14.29,14.23,14.35
$GC,1038,-0.79,-145.9,2278,2197,3957,3981,168.1,-19.1,108,1044,0.17,2.47,0.00,0.000,2436,0.276,0.084,2311,3601,3968,3956,3980,0,0,0,0,0,0,13.97,14.19,14.14
$GC,1135,-0.90,-145.9,2307,3602,3965,3981,180.9,-11.7,127,1141,0.00,2.38,0.00,0.000,1158,0.000,0.059,2311,2194,3967,3956,3979,0,0,0,0,0,0,14.40,14.27,14.42
$GC,1461,-0.93,-145.9,2311,2192,3957,3980,223.5,-12.8,142,1466,0.00,2.47,0.00,0.000,388,0.000,0.088,2304,3602,3968,3956,3980,0,0,0,0,0,0,14.63,14.20,14.65
$GC,1511,-1.06,-145.9,2305,3604,3957,3986,229.4,-10.6,152,1516,0.20,2.38,0.00,0.000,5254,0.107,0.058,2232,2193,3968,3956,3980,0,0,0,0,0,0,14.30,14.25,14.40
$GC,1822,-0.97,-145.9,2234,2192,3957,3980,284.5,-17.0,164,1827,0.12,2.47,0.00,0.000,2436,0.298,0.083,2252,3607,3968,3956,3980,0,0,0,0,0,0,13.96,14.21,14.14
$GC,1939,-1.00,-145.9,2253,3608,3957,3980,300.7,-12.9,187,1945,0.00,2.38,0.00,0.000,1158,0.000,0.056,2248,2195,3966,3956,3976,0,0,0,0,0,0,14.39,14.26,14.40
$GC,2242,-1.00,-145.9,2252,2194,3957,3978,342.4,-13.4,198,2247,0.00,2.45,0.00,0.000,260,0.000,0.087,2243,3600,3967,3956,3979,0,0,0,0,0,0,14.64,14.23,14.67
$GC,2337,-1.00,-145.9,2243,3601,3956,3979,354.8,-12.2,217,2342,0.00,2.38,0.00,0.000,1030,0.000,0.058,2242,2192,3967,3956,3979,0,0,0,0,0,0,14.38,14.26,14.41
$GC,2662,-0.97,-145.9,2242,2192,3956,3979,398.5,-13.4,232,2667,0.00,2.47,0.00,0.000,388,0.000,0.087,2236,3604,3970,3962,3978,0,0,0,0,0,0,14.70,14.20,14.68
$GC,2747,-1.00,-145.9,2236,3606,3956,3979,409.7,-12.6,249,2753,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2201,3966,3955,3978,0,0,0,0,0,0,14.39,14.25,14.40
$GC,3052,-0.97,-145.9,2237,2199,3957,3977,451.3,-13.6,260,3058,0.12,2.45,0.00,0.000,2436,0.290,0.084,2256,3606,3966,3955,3977,0,0,0,0,0,0,14.01,14.23,14.17
$GC,3133,-1.06,-145.9,2256,3607,3957,3977,460.5,-10.5,276,3137,0.00,2.38,0.00,0.000,1158,0.000,0.057,2256,2194,3966,3955,3977,0,0,0,0,0,0,14.41,14.26,14.43
$STATE,3320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3320,begin apogee
$GC,3326,-0.13,0.0,2257,2066,3956,3976,482.3,-11.5,284,3546,1.05,0.00,216.57,1.424,10246,0.230,0.000,2527,2065,3365,3391,3339,0,0,0,0,0,0,13.97,13.49,12.72
$STATE,3550,end apogee,CONTROL_FINISHED_OK
$STATE,3550,begin climb
$GC,3552,0.57,145.9,2530,2065,3386,3332,492.8,0.0,291,3775,0.75,1.98,207.82,1.376,10500,0.064,0.074,2782,3507,2758,2803,2713,0,0,0,0,0,0,13.58,13.16,12.40
$GC,4000,0.12,145.9,2783,3507,2790,2713,458.6,17.7,338,4007,0.80,2.42,0.00,0.000,5254,0.358,0.060,2627,2128,2749,2789,2710,0,0,0,0,0,0,13.41,13.74,13.77
$GC,4305,0.04,175.2,2627,2127,2791,2711,430.6,8.6,349,4351,0.12,2.50,38.72,1.431,12708,0.293,0.083,2598,3501,2643,2689,2598,0,0,0,0,0,0,13.88,13.92,13.13
$GC,4511,0.04,199.6,2598,3503,2684,2596,412.8,8.9,390,4553,0.00,2.40,35.03,1.446,9382,0.000,0.060,2602,2098,2547,2602,2492,0,0,0,0,0,0,14.21,14.12,13.14
$GC,4880,0.06,234.4,2603,2098,2598,2480,382.1,8.4,413,4940,0.00,2.55,50.95,1.409,8740,0.000,0.089,2602,697,2399,2451,2348,0,0,0,0,0,0,14.51,13.94,13.19
$GC,5021,0.18,273.8,2603,697,2452,2347,370.2,8.2,441,5086,0.12,2.45,59.22,1.370,11430,0.135,0.080,2659,2092,2247,2302,2193,0,0,0,0,0,0,14.11,14.06,13.07
$GC,5392,0.15,273.8,2659,2092,2295,2178,325.5,12.3,465,5396,0.00,2.47,0.00,0.000,644,0.000,0.086,2659,689,2237,2295,2179,0,0,0,0,0,0,14.47,14.11,14.49
$GC,5421,0.15,273.8,2660,688,2293,2179,321.9,12.0,471,5426,0.00,2.47,0.00,0.000,1030,0.000,0.079,2660,2101,2235,2292,2178,0,0,0,0,0,0,14.27,14.14,14.31
$GC,5752,0.12,273.8,2659,2104,2293,2177,284.7,11.0,487,5757,0.12,2.45,0.00,0.000,4740,0.259,0.082,2637,692,2234,2292,2176,0,0,0,0,0,0,14.07,14.22,14.20
$GC,5797,0.22,298.8,2638,692,2291,2177,280.4,8.8,496,5843,0.00,2.45,36.33,1.382,9382,0.000,0.079,2637,2105,2141,2197,2086,0,0,0,0,0,0,13.97,13.99,13.33
$GC,6144,0.29,329.0,2637,2106,2195,2080,249.8,8.6,515,6199,0.12,2.50,48.45,1.339,10916,0.129,0.083,2699,693,2019,2068,1970,0,0,0,0,0,0,14.33,13.84,13.26
$GC,6224,0.29,329.0,2699,693,2063,1970,240.6,12.4,526,6229,0.00,2.50,0.00,0.000,1030,0.000,0.078,2699,2108,2015,2062,1969,0,0,0,0,0,0,14.16,14.04,14.19
$GC,6536,0.26,329.0,2699,2108,2062,1960,204.3,11.4,538,6541,0.12,2.50,0.00,0.000,4740,0.229,0.083,2672,685,2009,2056,1962,0,0,0,0,0,0,14.00,14.11,14.14
$GC,6611,0.36,359.1,2672,688,2059,1961,197.0,8.6,553,6666,0.00,2.47,48.55,1.314,9382,0.000,0.078,2672,2104,1897,1937,1857,0,0,0,0,0,0,14.26,14.14,13.21
$GC,6988,0.46,394.7,2674,2104,1926,1850,164.6,8.4,578,7053,0.15,2.53,59.22,1.271,10916,0.123,0.086,2753,694,1752,1780,1725,0,0,0,0,0,0,14.16,13.74,13.19
$GC,7089,0.46,394.7,2753,692,1774,1725,151.6,13.5,598,7094,0.00,2.50,0.00,0.000,1030,0.000,0.078,2753,2098,1751,1773,1729,0,0,0,0,0,0,14.04,13.93,14.07
$GC,7409,0.41,394.7,2753,2101,1773,1718,109.3,12.6,612,7415,0.12,2.50,0.00,0.000,4740,0.246,0.083,2726,689,1744,1772,1716,0,0,0,0,0,0,13.93,14.06,14.07
$GC,7465,0.49,400.8,2730,689,1770,1717,103.3,9.7,623,7472,0.00,2.47,1.83,0.431,9382,0.000,0.079,2736,2100,1730,1757,1703,0,0,0,0,0,0,14.19,14.07,13.50
$GC,7771,0.55,443.1,2730,2102,1762,1705,75.8,8.0,652,7803,0.00,2.58,23.38,0.435,8868,0.000,0.086,2730,687,1556,1587,1526,0,0,0,0,0,0,14.41,14.05,13.67
$GC,7895,0.70,509.8,2730,688,1589,1527,66.5,6.9,676,7937,0.22,2.50,34.83,0.403,11430,0.095,0.081,2812,2106,1287,1340,1234,0,0,0,0,0,0,14.12,14.07,13.67
$GC,8233,0.71,530.3,2811,2107,1340,1227,33.7,9.1,714,8245,0.00,0.00,10.52,0.312,8230,0.000,0.000,2811,2106,1208,1274,1143,0,0,0,0,0,0,14.38,14.06,13.74
$MODEM_MSG,CACST,6,1,20170825000355.660299,3,26,08,0123,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170825001310.808026,3,21619,43,1395,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170825001945.445272,3,1067,30,0390,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170825002739.978465,3,239,17,0268,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$GC,8545,0.92,698.0,2811,2107,1268,1141,13.6,2.3,745,8649,0.20,2.55,91.22,0.244,10660,0.098,0.082,2890,3509,520,546,495,0,0,0,0,0,0,14.09,13.88,13.82
$GC,8654,0.92,698.0,2892,3509,548,496,5.7,10.4,762,8660,0.00,2.47,0.00,0.000,1030,0.000,0.067,2895,2094,521,548,495,0,0,0,0,0,0,14.12,14.00,14.15
$STATE,8687,end climb,SURFACE_DEPTH_REACHED
$STATE,8687,begin surface coast
$FINISH,0.5,1.020682
$STATE,8697,end surface coast,CONTROL_FINISHED_OK
$STATE,8697,begin surface
$SM_CCo,8763,5.88,0.200,0,0,497,702.78
$SM_GC,1.86,8.20,0.20,5.88,0.070,0.115,0.200,200,2215,497,-7.38,-0.57,702.78,0,0,0,0,0,0,14.14,14.14,13.91
$RAFOS_CLK,116
$MODEM,4,1503620859,75.71700,-151.21500,159.228,230500.0
$MODEM,3,1503620385,74.30400,-153.94400,78.445,113557.8
$MODEM,2,1503619990,73.18300,-149.96500,43.808,63416.7
$MODEM,0,1503619435,75.36600,-145.04601,181.660,262972.5
$RAFOS_FIX,7338.549805,-15105.124023,250817,000007,4,255,0.12
$IRIDIUM_FIX,7339.62,-15109.34,240817,192407
$TT8_MAMPS,0.084637,0.919023
$HUMID,43.46
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,0.000000
$PM_FREEKB_00,53366720
$24V_AH,12.40,117.373
$10V_AH,12.24,0.000
$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,25.650,93.600,962.650,5.875,0.000,0.000,0.000,366.375,3.250,0.000,41.660,0.000,6051.564,861.734,2245.704,294.342,0.000,2111.428,0.000,1099.277,2140.000,0.540,0.000
$DEVICE_MAMPS,456.705,2150.415,1445.850,199.665,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8726.000,8759.000,8718.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.611,20.000,9.917,0.000
$MEM,323692
$DATA_FILE_SIZE,26717,767
$CAP_FILE_SIZE,107162,0
$CFSIZE,2097872896,2040037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.046,272.37,1
$GPS,250817,004212,7339.631,-15106.396,14,0.9,17,20.3,0.5,200.2,10,8.9