version: 66.13
glider: 196
mission: 14
dive: 368
start: 9 18 117 12 26 53
data:
$ID,196
$MISSION,14
$DIVE,368
$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,62
$R_STBD_OVSHOOT,55
$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,1.4
$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,1025.0
$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
$GPS1,180917,122000,7436.1626,-15213.2305,17,0.7,38,20.0,0.0,250.0,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.8
$GPS2,180917,122621,7436.1650,-15213.2715,16,0.8,16,20.0,0.0,0.0,9,7.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,211.9,57665,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,195,2244,505,487,0.0,0.0,0,144,0.00,0.00,-91.38,0.000,16386,0.000,0.000,195,2245,2216,2156,2277,0,0,0,0,0,0,14.38,28.83,14.40
$GC,148,-0.57,-145.9,196,2245,2158,2277,4.9,-7.9,9,200,12.93,2.85,-29.95,0.000,18980,0.454,2.166,2384,836,3962,3942,3982,0,0,0,0,0,0,13.56,12.58,14.02
$GC,380,-0.73,-145.9,2384,836,3953,3982,52.9,-12.3,55,385,0.12,2.38,0.00,0.000,5254,0.124,0.085,2335,2169,3967,3952,3982,0,0,0,0,0,0,14.14,14.06,14.23
$MODEM_MSG,CACST,6,1,20170918122911.883288,3,47,-7,0092,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F
$GC,691,-0.79,-145.9,2335,2170,3953,3983,100.5,-12.9,87,696,0.00,2.58,0.00,0.000,388,0.000,0.088,2333,3614,3967,3953,3982,0,0,0,0,0,0,14.47,13.98,14.49
$GC,782,-0.96,-145.9,2333,3614,3954,3982,110.2,-10.2,105,788,0.20,2.35,0.00,0.000,5254,0.099,0.054,2253,2225,3968,3953,3983,0,0,0,0,0,0,14.12,13.97,14.19
$GC,1113,-0.93,-145.9,2253,2225,3953,3983,168.1,-16.9,121,1114,0.00,0.00,0.00,0.000,134,0.000,0.000,2252,2224,3967,3953,3982,0,0,0,0,0,0,14.64,14.66,14.65
$GC,1413,-0.93,-145.9,2253,2224,3954,3982,214.8,-14.8,131,1418,0.00,2.47,0.00,0.000,260,0.000,0.086,2244,3617,3967,3953,3982,0,0,0,0,0,0,14.69,14.04,14.70
$GC,1474,-1.03,-145.9,2244,3619,3954,3983,223.0,-12.4,143,1478,0.00,2.42,0.00,0.000,1158,0.000,0.057,2244,2202,3967,3953,3982,0,0,0,0,0,0,14.21,14.08,14.24
$GC,1804,-1.03,-145.9,2245,2201,3954,3982,267.7,-12.5,159,1809,0.00,2.50,0.00,0.000,260,0.000,0.086,2237,3613,3967,3953,3982,0,0,0,0,0,0,14.70,14.01,14.71
$GC,1854,-1.15,-145.9,2237,3615,3953,3984,273.8,-11.4,169,1859,0.00,2.40,0.00,0.000,1158,0.000,0.058,2237,2200,3967,3953,3982,0,0,0,0,0,0,14.28,14.15,14.33
$GC,2165,-1.18,-145.9,2237,2199,3954,3982,311.4,-11.8,181,2166,0.12,0.00,0.00,0.000,4230,0.145,0.000,2183,2199,3967,3953,3982,0,0,0,0,0,0,14.31,14.40,14.40
$GC,2465,-1.12,-145.9,2185,2199,3954,3982,358.6,-15.8,191,2470,0.12,2.53,0.00,0.000,2436,0.279,0.086,2209,3614,3969,3953,3986,0,0,0,0,0,0,13.90,14.02,14.04
$GC,2625,-1.20,-145.9,2209,3615,3953,3983,378.4,-11.2,223,2630,0.00,2.40,0.00,0.000,1158,0.000,0.056,2209,2198,3967,3953,3982,0,0,0,0,0,0,14.26,14.12,14.31
$GC,2946,-1.20,-145.9,2210,2198,3954,3982,419.3,-12.8,237,2950,0.00,2.53,0.00,0.000,260,0.000,0.087,2209,3613,3966,3952,3981,0,0,0,0,0,0,14.70,14.04,14.69
$GC,3026,-1.30,-145.9,2210,3614,3952,3981,428.8,-11.0,253,3031,0.15,2.42,0.00,0.000,5254,0.119,0.056,2152,2190,3967,3952,3982,0,0,0,0,0,0,14.19,14.14,14.29
$STATE,3334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3334,begin apogee
$GC,3341,-0.13,0.0,2153,2059,3953,3982,484.1,-18.2,265,3638,1.58,0.08,290.85,1.301,10246,0.272,0.181,2526,2112,3363,3373,3353,0,0,0,0,0,0,13.68,13.48,12.69
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3642,begin climb
$GC,3647,0.57,145.9,2528,2111,3370,3346,502.5,0.0,275,3877,0.75,2.65,216.23,1.317,10500,0.061,0.073,2781,3497,2758,2787,2729,0,0,0,0,0,0,13.70,13.14,12.26
$GC,4103,0.07,145.9,2782,3497,2770,2721,484.2,15.3,360,4109,0.88,2.38,0.00,0.000,5254,0.343,0.059,2612,2131,2744,2768,2720,0,0,0,0,0,0,13.47,13.78,13.88
$GC,4430,-0.02,196.1,2612,2131,2770,2719,457.6,7.7,375,4509,0.12,2.50,71.93,1.348,12708,0.287,0.084,2584,3498,2558,2602,2514,0,0,0,0,0,0,13.82,13.93,13.07
$GC,4655,-0.04,217.9,2584,3499,2585,2505,438.4,9.0,420,4690,0.00,2.40,28.52,1.407,9382,0.000,0.060,2589,2097,2473,2516,2430,0,0,0,0,0,0,14.23,14.12,13.13
$GC,5002,-0.03,242.4,2589,2097,2503,2410,408.2,8.9,439,5041,0.00,2.58,34.90,1.393,8740,0.000,0.090,2589,688,2371,2413,2329,0,0,0,0,0,0,14.54,14.08,13.19
$GC,5067,0.05,271.4,2589,688,2402,2321,402.3,8.7,447,5118,0.00,2.47,43.65,1.336,9382,0.000,0.079,2589,2098,2254,2299,2210,0,0,0,0,0,0,14.26,14.13,13.12
$GC,5426,0.11,298.6,2589,2099,2288,2187,370.6,8.7,468,5467,0.00,0.00,39.78,1.340,8358,0.000,0.000,2589,2099,2146,2190,2102,0,0,0,0,0,0,14.56,14.02,13.19
$GC,5753,0.20,330.2,2589,2098,2174,2081,342.0,8.5,479,5804,0.17,0.00,49.05,1.314,10406,0.103,0.000,2667,2098,2018,2059,1977,0,0,0,0,0,0,14.03,14.02,13.18
$GC,6084,0.15,330.2,2668,2098,2042,1954,296.9,13.7,490,6089,0.12,2.50,0.00,0.000,4740,0.256,0.084,2644,688,1997,2041,1954,0,0,0,0,0,0,13.99,14.08,14.13
$GC,6144,0.20,330.2,2645,687,2041,1952,289.6,11.2,502,6149,0.00,2.50,0.00,0.000,1158,0.000,0.077,2644,2101,1995,2037,1954,0,0,0,0,0,0,14.31,14.16,14.35
$GC,6474,0.20,330.2,2642,2104,2040,1953,253.2,10.7,518,6479,0.00,2.53,0.00,0.000,516,0.000,0.087,2644,685,1995,2039,1952,0,0,0,0,0,0,14.64,14.07,14.66
$GC,6530,0.27,334.1,2645,685,2038,1951,247.9,9.8,529,6536,0.00,2.47,0.00,0.000,1190,0.000,0.077,2650,2101,1997,2037,1958,0,0,0,0,0,0,14.26,14.12,14.32
$GC,6835,0.31,360.9,2644,2102,2038,1952,220.2,8.8,540,6890,0.12,2.50,48.88,1.274,10916,0.124,0.086,2706,691,1888,1919,1858,0,0,0,0,0,0,14.19,13.81,13.22
$GC,6956,0.28,360.9,2706,692,1903,1855,205.8,11.8,564,6962,0.15,2.47,0.00,0.000,5254,0.212,0.077,2673,2103,1876,1901,1852,0,0,0,0,0,0,14.00,14.12,14.24
$GC,7287,0.29,372.7,2673,2104,1902,1847,173.1,9.5,580,7296,0.00,0.00,7.55,1.444,8230,0.000,0.000,2673,2104,1848,1874,1823,0,0,0,0,0,0,14.59,14.15,13.26
$GC,7588,0.34,399.0,2673,2104,1873,1822,146.2,8.8,590,7642,0.00,0.00,52.70,1.251,8870,0.000,0.000,2672,2104,1739,1759,1719,0,0,0,0,0,0,14.62,14.03,13.24
$GC,7918,0.42,438.7,2673,2104,1745,1698,118.2,8.2,606,7994,0.12,2.62,69.95,1.187,10916,0.126,0.089,2736,685,1571,1597,1546,0,0,0,0,0,0,14.25,13.54,13.24
$GC,8094,0.46,438.7,2736,686,1582,1538,99.5,10.2,641,8101,0.00,2.53,0.00,0.000,1158,0.000,0.078,2736,2107,1558,1581,1536,0,0,0,0,0,0,14.17,14.05,14.22
$GC,8399,0.49,477.3,2737,2108,1582,1531,68.1,8.2,672,8426,0.00,2.50,20.60,0.388,8740,0.000,0.086,2737,692,1416,1453,1380,0,0,0,0,0,0,14.54,13.89,13.62
$GC,8504,0.62,542.4,2737,692,1461,1387,60.4,7.0,692,8552,0.15,2.50,40.47,0.373,11430,0.111,0.078,2795,2105,1150,1209,1092,0,0,0,0,0,0,14.18,14.12,13.70
$GC,8857,0.64,579.6,2796,2105,1211,1101,28.0,8.3,732,8885,0.00,2.60,22.83,0.280,8740,0.000,0.088,2803,688,1001,1063,939,0,0,0,0,0,0,14.56,14.05,13.74
$GC,9040,0.82,671.6,2804,688,1066,951,15.7,5.8,768,9104,0.12,2.50,57.65,0.242,11430,0.129,0.080,2861,2103,622,669,575,0,0,0,0,0,0,14.17,14.11,13.80
$STATE,9197,end climb,SURFACE_DEPTH_REACHED
$STATE,9197,begin surface coast
$FINISH,0.3,1.020949
$STATE,9208,end surface coast,CONTROL_FINISHED_OK
$STATE,9208,begin surface
$SM_CCo,9230,20.85,0.209,0,0,499,703.03
$SM_GC,1.04,8.27,0.17,20.85,0.080,0.103,0.209,202,2240,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.26,14.30,13.89
$RAFOS_CLK,420
$MODEM,4,1505737751,75.71700,-151.21500,251.133,363400.7
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7436.14,-15220.90,180917,094104
$TT8_MAMPS,0.039697,0.954226
$HUMID,47.28
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,15913713664.000000
$PM_FREEKB_00,45779584
$24V_AH,12.26,221.331
$10V_AH,12.14,0.000
$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,26.225,75.425,1095.525,20.850,0.000,0.000,0.000,163.550,4.000,0.000,18.020,0.000,6480.551,1090.580,1795.580,277.877,0.000,2002.567,0.000,1132.055,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2166.480,1444.320,208.845,0.000,0.000,0.000,137.700,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5568.000,9208.000,9184.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.196,20.000,11.302,0.000
$MEM,323480
$DATA_FILE_SIZE,26753,791
$CAP_FILE_SIZE,100937,0
$CFSIZE,2097872896,1983479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.047,3.04,1
$GPS,180917,150232,7435.805,-15217.278,40,0.7,40,20.0,0.0,0.0,11,7.6