version: 66.13
glider: 196
mission: 14
dive: 172
start: 8 26 117 23 0 7
data:
$ID,196
$MISSION,14
$DIVE,172
$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,27
$R_STBD_OVSHOOT,35
$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,484.0
$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
$GPS1,260817,224724,7354.4873,-15153.0537,16,0.7,30,20.0,0.3,302.5,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.9
$GPS2,260817,225932,7354.4917,-15153.1143,5,0.7,29,20.0,0.0,303.8,11,7.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,288.0,75931,-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,-145.9,192,2219,514,472,0.0,0.0,0,140,0.00,0.00,-91.57,0.000,16386,0.000,0.000,191,2219,2201,2130,2273,0,0,0,0,0,0,14.47,28.83,14.49
$GC,143,-0.57,-145.9,192,2219,2134,2269,4.6,-6.7,9,196,12.73,2.78,-31.75,0.000,18724,0.460,2.149,2375,3595,3966,3949,3983,0,0,0,0,0,0,13.66,12.57,14.14
$GC,397,-0.67,-145.9,2375,3596,3950,3985,60.8,-14.0,59,401,0.00,2.40,0.00,0.000,1158,0.000,0.060,2376,2196,3966,3950,3983,0,0,0,0,0,0,14.21,14.12,14.23
$GC,707,-0.74,-145.9,2375,2195,3952,3983,104.6,-12.0,89,712,0.00,2.45,0.00,0.000,388,0.000,0.089,2365,3602,3966,3950,3983,0,0,0,0,0,0,14.56,14.16,14.57
$GC,762,-0.91,-145.9,2366,3604,3952,3982,110.6,-10.1,100,769,0.25,2.40,0.00,0.000,5254,0.094,0.057,2266,2190,3967,3950,3984,0,0,0,0,0,0,14.22,14.19,14.28
$GC,1067,-0.83,-145.9,2266,2190,3951,3984,170.5,-19.5,111,1072,0.15,2.47,0.00,0.000,2436,0.297,0.084,2291,3596,3966,3950,3983,0,0,0,0,0,0,13.84,14.12,14.02
$GC,1164,-0.91,-145.9,2291,3598,3951,3985,184.3,-12.6,130,1169,0.00,2.38,0.00,0.000,1158,0.000,0.059,2291,2192,3966,3950,3983,0,0,0,0,0,0,14.38,14.25,14.40
$GC,1489,-0.91,-145.9,2292,2191,3952,3983,230.6,-13.7,145,1494,0.00,2.47,0.00,0.000,260,0.000,0.088,2281,3600,3966,3950,3983,0,0,0,0,0,0,14.62,14.16,14.64
$GC,1574,-1.00,-145.9,2282,3597,3952,3984,241.0,-11.5,162,1580,0.00,2.38,0.00,0.000,1158,0.000,0.057,2281,2199,3966,3950,3983,0,0,0,0,0,0,14.21,14.09,14.23
$GC,1880,-1.03,-145.9,2281,2199,3951,3984,278.1,-11.8,173,1885,0.00,2.47,0.00,0.000,388,0.000,0.091,2279,3595,3966,3950,3983,0,0,0,0,0,0,14.66,14.21,14.67
$GC,1940,-1.13,-145.9,2280,3595,3951,3983,284.8,-10.4,185,1945,0.20,2.35,0.00,0.000,5254,0.109,0.058,2207,2197,3967,3950,3984,0,0,0,0,0,0,14.31,14.28,14.41
$GC,2271,-1.04,-145.9,2207,2196,3951,3984,341.2,-17.1,201,2276,0.12,2.45,0.00,0.000,2436,0.311,0.086,2227,3595,3966,3950,3983,0,0,0,0,0,0,13.97,14.23,14.14
$GC,2416,-1.04,-145.9,2229,3596,3952,3983,362.1,-13.6,230,2422,0.00,2.38,0.00,0.000,1030,0.000,0.057,2227,2197,3966,3950,3983,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2721,-1.00,-145.9,2228,2195,3952,3982,406.1,-14.2,241,2726,0.12,2.45,0.00,0.000,2436,0.313,0.086,2246,3595,3966,3950,3982,0,0,0,0,0,0,13.96,14.19,14.12
$GC,2791,-1.06,-145.9,2245,3596,3952,3984,414.6,-11.4,255,2796,0.00,2.38,0.00,0.000,1158,0.000,0.057,2246,2197,3966,3950,3982,0,0,0,0,0,0,13.97,13.98,13.97
$GC,3112,-1.06,-145.9,2247,2196,3951,3983,454.6,-12.4,269,3116,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3595,3966,3950,3982,0,0,0,0,0,0,14.65,14.21,14.66
$GC,3187,-1.11,-145.9,2237,3596,3952,3982,463.7,-11.6,284,3193,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2196,3967,3952,3982,0,0,0,0,0,0,14.39,14.28,14.41
$STATE,3320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3320,begin apogee
$GC,3326,-0.13,0.0,2237,2066,3951,3982,481.3,-13.1,291,3594,1.15,0.00,262.02,1.334,10246,0.242,0.000,2531,2065,3360,3382,3338,0,0,0,0,0,0,13.96,13.39,12.65
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3598,begin climb
$GC,3600,0.57,145.9,2532,2065,3379,3333,496.1,0.0,300,3827,0.73,2.60,214.00,1.324,10756,0.064,0.081,2782,727,2758,2803,2713,0,0,0,0,0,0,13.52,12.98,12.36
$GC,3838,0.57,145.9,2781,727,2799,2706,502.9,-2.7,302,3843,0.00,2.55,0.00,0.000,1030,0.000,0.076,2782,2086,2750,2797,2704,0,0,0,0,0,0,13.32,13.22,13.34
$GC,4158,0.17,145.9,2782,2083,2791,2696,452.9,15.6,316,4160,0.65,0.00,0.00,0.000,4230,0.320,0.000,2643,2086,2742,2788,2696,0,0,0,0,0,0,13.49,13.91,13.85
$GC,4458,0.04,168.6,2643,2087,2789,2696,424.7,9.0,326,4490,0.15,2.47,27.23,1.408,12964,0.300,0.083,2612,729,2674,2722,2626,0,0,0,0,0,0,13.82,13.99,13.18
$GC,4547,0.08,218.1,2612,729,2713,2611,418.0,7.7,343,4631,0.00,2.45,78.20,1.288,9254,0.000,0.080,2612,2106,2476,2538,2415,0,0,0,0,0,0,14.09,13.98,12.98
$GC,4941,0.10,246.6,2612,2106,2518,2390,384.0,8.7,372,4985,0.00,0.00,41.55,1.334,8742,0.000,0.000,2612,2107,2356,2413,2299,0,0,0,0,0,0,14.33,13.90,13.16
$GC,5301,0.13,265.4,2612,2107,2395,2283,351.3,9.1,389,5332,0.00,2.45,24.77,1.381,8868,0.000,0.083,2613,725,2274,2331,2218,0,0,0,0,0,0,14.40,13.83,13.23
$GC,5384,0.26,309.1,2613,725,2322,2216,344.3,8.0,405,5458,0.17,2.42,69.53,1.275,11430,0.109,0.080,2685,2100,2108,2158,2059,0,0,0,0,0,0,14.09,14.02,13.07
$MODEM_MSG,CACST,6,1,20170827001337.316608,3,147,15,0190,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170827001918.567434,3,1524,25,0828,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20170827002720.164393,3,271,18,0347,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$GC,5784,0.20,309.1,2685,2100,2141,2033,289.0,13.7,435,5793,0.15,2.40,0.00,0.000,4740,0.242,0.080,2658,726,2085,2139,2032,0,0,0,0,0,0,13.64,14.04,13.92
$GC,5810,0.20,309.1,2658,726,2137,2034,285.7,12.3,439,5815,0.00,2.42,0.00,0.000,1030,0.000,0.079,2657,2103,2085,2137,2033,0,0,0,0,0,0,14.16,14.06,14.22
$GC,6120,0.20,309.1,2658,2106,2137,2030,252.2,10.2,451,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2105,2083,2137,2030,0,0,0,0,0,0,14.47,14.46,14.46
$GC,6420,0.21,325.8,2658,2105,2137,2030,223.9,9.2,461,6447,0.00,2.50,21.27,1.366,8740,0.000,0.085,2658,724,2032,2083,1981,0,0,0,0,0,0,14.59,14.17,13.35
$GC,6524,0.34,369.4,2658,723,2068,1972,215.2,8.0,481,6608,0.00,2.40,76.50,1.226,9382,0.000,0.080,2658,2102,1856,1891,1821,0,0,0,0,0,0,14.29,14.16,13.18
$GC,6934,0.45,416.2,2659,2101,1873,1805,181.0,7.8,513,7025,0.17,2.53,82.50,1.196,10916,0.112,0.087,2747,726,1659,1687,1631,0,0,0,0,0,0,14.24,13.88,13.17
$GC,7060,0.45,416.2,2742,726,1678,1625,164.6,13.5,538,7065,0.00,2.45,0.00,0.000,1030,0.000,0.078,2742,2102,1650,1678,1623,0,0,0,0,0,0,14.04,13.93,14.07
$GC,7386,0.42,416.2,2743,2103,1678,1614,121.7,12.6,553,7391,0.00,2.42,0.00,0.000,644,0.000,0.086,2744,729,1645,1677,1614,0,0,0,0,0,0,14.51,14.07,14.52
$GC,7452,0.45,416.2,2744,729,1675,1615,114.0,11.4,566,7457,0.00,2.40,0.00,0.000,1158,0.000,0.079,2743,2099,1644,1674,1614,0,0,0,0,0,0,14.33,14.19,14.36
$GC,7759,0.45,419.8,2743,2101,1675,1612,80.9,9.8,591,7763,0.00,2.40,0.00,0.000,548,0.000,0.085,2744,726,1642,1674,1611,0,0,0,0,0,0,14.57,14.22,14.60
$GC,7819,0.54,451.7,2744,726,1674,1611,75.2,8.5,603,7841,0.00,2.40,17.30,0.408,9382,0.000,0.079,2743,2105,1522,1556,1488,0,0,0,0,0,0,14.33,14.20,13.68
$GC,8139,0.69,551.0,2744,2105,1567,1494,52.3,5.4,637,8202,0.15,2.42,56.75,0.352,10916,0.119,0.083,2808,730,1115,1176,1054,0,0,0,0,0,0,14.20,14.00,13.74
$GC,8263,0.76,569.2,2808,731,1182,1063,41.9,9.2,661,8279,0.00,2.42,11.68,0.317,9382,0.000,0.077,2808,2108,1042,1112,973,0,0,0,0,0,0,14.27,14.14,13.80
$GC,8585,0.94,681.0,2807,2109,1113,992,15.6,4.8,695,8658,0.20,2.47,66.78,0.243,10916,0.101,0.088,2899,725,585,626,544,0,0,0,0,0,0,14.23,14.02,13.84
$GC,8724,0.97,681.0,2900,727,627,538,2.1,10.6,722,8730,0.00,2.40,0.00,0.000,1158,0.000,0.078,2900,2101,582,625,539,0,0,0,0,0,0,14.18,14.09,14.22
$STATE,8736,end climb,SURFACE_DEPTH_REACHED
$STATE,8736,begin surface coast
$FINISH,0.1,1.019869
$STATE,8746,end surface coast,CONTROL_FINISHED_OK
$STATE,8746,begin surface
$SM_CCo,8767,11.95,0.216,0,0,499,702.78
$SM_GC,2.06,8.15,0.17,11.95,0.072,0.124,0.216,204,2213,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.25,13.99
$RAFOS_CLK,229
$MODEM,4,1503793640,75.71700,-151.21500,139.414,201844.8
$MODEM,3,1503793158,74.30400,-153.94400,51.567,74659.6
$MODEM,2,1503792817,73.18300,-149.96500,70.317,101804.7
$RAFOS_FIX,7354.074707,-15153.484375,270817,000005,3,255,0.16
$IRIDIUM_FIX,7353.18,-15145.63,260817,201100
$TT8_MAMPS,0.040446,0.917525
$HUMID,46.06
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15990456320.000000
$PM_FREEKB_00,52908928
$24V_AH,12.36,125.357
$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,25.250,88.325,1050.075,11.950,0.000,0.000,0.000,427.475,3.750,0.000,30.539,0.000,6130.553,912.838,2181.424,299.021,0.000,2219.377,0.000,1044.093,1947.000,0.539,0.000
$DEVICE_MAMPS,459.765,2148.885,1408.365,215.730,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8778.000,8750.000,8723.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.582,20.000,12.840,0.000
$MEM,323696
$DATA_FILE_SIZE,26681,725
$CAP_FILE_SIZE,103254,0
$CFSIZE,2097872896,2034892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.1
$CURRENT,0.023,271.90,1
$GPS,270817,012739,7355.529,-15156.204,21,0.8,27,20.0,0.0,0.0,10,9.7