version: 66.13
glider: 196
mission: 8
dive: 4
start: 7 29 116 18 36 35
data:
$ID,196
$MISSION,8
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,190
$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,60
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53460
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$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,676.83997
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2980
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2975
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.39859
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$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
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,290716,182221,4743.1675,-12225.1064,12,1.0,36,16.3,0.0,0.0,8,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.5
$GPS2,290716,183612,4743.0635,-12225.2461,4,1.2,11,16.3,0.0,280.9,7,9.7
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,4.5,865,-19.8,-10.000,-22.61,2215
$D_GRID,186
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$MODEM_MSG,CACST,6,1,20160729182108.717808,3,9,-2,0180,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*1D
$MODEM_MSG,CACST,6,1,20160729182311.511353,3,73,-5,0101,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*21
$GC,13,-0.62,-144.7,207,2303,536,474,0.0,0.0,0,148,0.00,0.00,-130.90,0.000,16386,0.000,0.000,206,2302,3545,3490,3601,0,0,0,0,0,0,14.71,28.83,14.73
$GC,151,-0.62,-146.6,206,2303,3492,3602,3.4,-6.9,22,169,11.88,0.00,-0.55,0.000,18982,0.386,0.000,2771,2303,3573,3530,3616,0,0,0,0,0,0,14.39,13.97,14.62
$GC,229,-0.62,-146.6,2771,2303,3532,3617,22.4,-15.3,37,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2302,3573,3531,3616,0,0,0,0,0,0,14.73,14.75,14.74
$GC,295,-0.62,-146.6,2772,2303,3532,3616,31.4,-13.0,50,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2303,3573,3532,3615,0,0,0,0,0,0,14.75,14.78,14.76
$GC,361,-0.62,-146.6,2771,2303,3533,3617,40.1,-13.3,63,367,0.00,2.42,0.00,0.000,260,0.000,0.103,2763,3712,3573,3531,3615,0,0,0,0,0,0,14.77,14.57,14.78
$GC,494,-0.62,-146.6,2763,3713,3532,3616,58.0,-13.6,89,500,0.00,2.28,0.00,0.000,1030,0.000,0.052,2763,2300,3574,3532,3616,0,0,0,0,0,0,14.66,14.59,14.67
$GC,620,-0.62,-146.6,2763,2300,3532,3616,74.5,-14.1,114,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2300,3573,3532,3615,0,0,0,0,0,0,14.81,14.83,14.83
$GC,746,-0.62,-146.6,2762,2300,3534,3616,92.3,-15.9,139,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2300,3571,3528,3615,0,0,0,0,0,0,14.82,14.84,14.83
$GC,872,-0.65,-146.6,2763,2306,3532,3616,108.1,-12.4,164,877,0.00,0.00,0.00,0.000,134,0.000,0.000,2763,2299,3573,3532,3614,0,0,0,0,0,0,14.82,14.85,14.84
$GC,998,-0.68,-146.6,2762,2300,3534,3616,122.7,-11.6,189,1003,0.00,0.00,0.00,0.000,134,0.000,0.000,2763,2303,3574,3532,3616,0,0,0,0,0,0,14.85,14.87,14.86
$GC,1124,-0.71,-146.6,2762,2300,3533,3616,138.9,-12.4,214,1129,0.00,0.00,0.00,0.000,134,0.000,0.000,2762,2299,3573,3532,3615,0,0,0,0,0,0,14.87,14.90,14.90
$GC,1250,-0.75,-146.6,2763,2299,3532,3616,155.3,-12.9,239,1256,0.00,2.42,0.00,0.000,388,0.000,0.102,2759,3714,3572,3530,3614,0,0,0,0,0,0,14.89,14.68,14.90
$GC,1402,-0.79,-146.6,2759,3714,3529,3616,175.2,-13.5,267,1408,0.00,2.28,0.00,0.000,1158,0.000,0.051,2759,2297,3573,3532,3615,0,0,0,0,0,0,14.76,14.70,14.78
$STATE,1440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1440,begin apogee
$GC,1446,-0.13,0.0,2759,2415,3533,3615,180.5,-12.7,275,1573,0.60,0.00,114.50,1.571,10246,0.209,0.000,2930,2414,2976,2996,2957,0,0,0,0,1,0,14.54,14.02,13.53
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,0.62,146.6,2930,2415,3003,2955,185.5,0.0,298,1703,0.77,0.00,114.00,1.619,10758,0.120,0.000,3178,2412,2375,2410,2341,0,0,0,0,1,0,14.14,14.04,13.47
$GC,1825,0.63,153.2,3179,2416,2417,2342,169.8,9.7,343,1836,0.00,0.00,8.82,1.171,8230,0.000,0.000,3178,2413,2344,2379,2310,0,0,0,0,0,0,14.56,14.39,13.97
$GC,1958,0.63,156.9,3179,2416,2376,2310,156.9,9.8,369,1964,0.00,0.00,0.00,0.000,38,0.000,0.000,3178,2415,2341,2375,2307,0,0,0,0,0,0,14.64,14.67,14.65
$GC,2084,0.65,179.6,3179,2416,2374,2310,145.1,9.0,394,2112,0.00,0.00,24.75,1.069,8230,0.000,0.000,3178,2420,2235,2267,2204,0,0,0,0,0,0,14.71,14.47,14.07
$GC,2234,0.69,206.6,3179,2416,2263,2196,131.9,8.8,423,2262,0.00,2.42,23.98,1.041,8612,0.000,0.094,3178,3773,2125,2156,2094,0,0,0,0,0,0,14.69,14.40,14.05
$GC,2307,0.69,206.6,3178,3773,2149,2092,124.1,11.6,437,2313,0.00,2.25,0.00,0.000,1030,0.000,0.051,3190,2394,2119,2148,2090,0,0,0,0,0,0,14.54,14.47,14.56
$GC,2435,0.69,206.6,3185,2395,2150,2088,110.3,11.5,462,2441,0.00,2.38,0.00,0.000,516,0.000,0.081,3191,996,2117,2148,2087,0,0,0,0,0,0,14.71,14.47,14.69
$GC,2521,0.74,206.6,3191,998,2148,2088,101.7,11.0,479,2527,0.00,2.35,0.00,0.000,1158,0.000,0.078,3190,2394,2120,2154,2087,0,0,0,0,0,0,14.59,14.51,14.61
$GC,2649,0.76,206.6,3190,2395,2148,2087,87.5,10.4,504,2655,0.00,0.00,0.00,0.000,134,0.000,0.000,3191,2395,2116,2147,2086,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2775,0.80,230.5,3190,2395,2154,2087,75.0,8.9,529,2787,0.12,0.00,10.30,0.360,10406,0.131,0.000,3260,2394,2033,2059,2007,0,0,0,0,0,0,14.57,14.58,14.37
$GC,2907,0.71,230.5,3259,2395,2069,2008,55.6,16.9,555,2913,0.17,0.00,0.00,0.000,4230,0.243,0.000,3215,2395,2037,2067,2007,0,0,0,0,0,0,14.44,14.58,14.54
$GC,3035,0.71,230.5,3215,2395,2069,2007,37.2,13.5,580,3040,0.00,2.33,0.00,0.000,516,0.000,0.070,3221,995,2036,2065,2007,0,0,0,0,0,0,14.73,14.52,14.75
$GC,3106,0.73,230.5,3221,994,2065,2008,26.7,14.6,594,3112,0.00,2.38,0.00,0.000,1158,0.000,0.080,3221,2400,2037,2068,2007,0,0,0,0,0,0,14.64,14.54,14.65
$GC,3172,0.73,230.5,3221,2400,2069,2008,17.2,14.3,607,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2400,2037,2068,2007,0,0,0,0,0,0,14.73,14.74,14.74
$MODEM_MSG,CACST,6,1,20160729192314.943168,3,82,07,0117,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,3237,0.73,230.5,3221,2400,2069,2008,7.8,13.9,620,3246,0.00,2.35,0.00,0.000,260,0.000,0.090,3221,3779,2036,2067,2006,0,0,0,0,0,0,14.73,14.52,14.74
$STATE,3274,end climb,SURFACE_DEPTH_REACHED
$STATE,3274,begin surface coast
$FINISH,0.5,1.021988
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3305,180.25,0.159,0,0,497,607.12
$SM_CCo,3489,-0.20,0.000,0,0,501,607.12
$SM_CCo,3492,0.15,0.750,0,0,497,607.12
$SM_GC,1.04,8.73,2.47,0.15,0.063,0.053,0.750,203,2296,497,-8.62,0.82,607.12,0,0,0,0,0,0,14.60,14.59,14.46
$RAFOS_CLK,34
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12225.08,290716,182950
$TT8_MAMPS,0.08988,1.02763
$HUMID,54.56
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,19.10
$XPDR_PINGS,3
$SC_FREEKB,4015952
$PM_FREEKB,62247808
$24V_AH,13.47,1.298
$10V_AH,13.55,0.000
$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,22.275,28.525,296.350,180.400,0.000,0.000,0.000,486.925,0.750,0.000,11.727,0.000,1722.248,612.363,1767.481,222.176,0.000,1635.809,0.000,907.268,1857.000,0.547,0.000
$DEVICE_MAMPS,386.325,125.460,1618.740,749.700,0.000,0.000,0.000,149.940,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3333.000,3286.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.628,18.593,0.000,0.000
$MEM,310512
$DATA_FILE_SIZE,20056,629
$CAP_FILE_SIZE,77573,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1493.1
$GPS,290716,193540,4743.097,-12225.153,11,1.2,16,16.3,0.0,0.0,6,9.8