version: 66.13
glider: 196
mission: 14
dive: 45
start: 8 11 117 22 14 38
data:
$ID,196
$MISSION,14
$DIVE,45
$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,28
$R_STBD_OVSHOOT,21
$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,138.0
$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
$GPS1,110817,215930,7145.5864,-14729.3096,54,0.8,58,21.4,0.0,243.0,10,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.0
$GPS2,110817,221358,7145.4570,-14729.4414,5,0.8,11,21.4,0.5,150.0,10,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.3,177437,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,182,2191,507,479,0.0,0.0,0,128,0.00,0.00,-80.88,0.000,16386,0.000,0.000,182,2191,2099,2018,2180,0,0,0,0,0,0,14.38,28.83,14.38
$GC,131,-0.57,-145.9,183,2192,2021,2181,3.4,-4.9,8,184,12.77,2.70,-34.25,0.000,18980,0.461,2.150,2384,799,3964,3950,3978,0,0,0,0,0,0,13.71,13.00,14.12
$GC,241,-0.52,-145.9,2385,799,3957,3978,34.5,-19.3,29,248,0.15,2.50,0.00,0.000,3206,0.307,0.084,2404,2197,3970,3956,3985,0,0,0,0,0,0,13.80,14.03,14.07
$GC,545,-0.56,-145.9,2405,2200,3962,3978,82.5,-12.7,60,549,0.00,2.53,0.00,0.000,388,0.000,0.087,2402,3620,3969,3961,3978,0,0,0,0,0,0,14.37,13.96,14.37
$GC,676,-0.69,-145.9,2402,3622,3962,3978,96.4,-10.1,86,681,0.15,2.42,0.00,0.000,5254,0.116,0.054,2342,2201,3969,3961,3978,0,0,0,0,0,0,14.10,14.06,14.18
$GC,1007,-0.69,-145.9,2342,2199,3962,3978,146.0,-14.1,100,1011,0.00,2.50,0.00,0.000,260,0.000,0.086,2333,3614,3969,3961,3978,0,0,0,0,0,0,14.45,14.14,14.47
$GC,1071,-0.75,-145.9,2333,3616,3962,3978,155.1,-13.1,113,1077,0.00,2.42,0.00,0.000,1158,0.000,0.057,2333,2192,3969,3961,3978,0,0,0,0,0,0,14.27,14.16,14.29
$GC,1397,-0.75,-145.9,2333,2191,3960,3977,198.0,-12.5,128,1402,0.00,2.53,0.00,0.000,260,0.000,0.088,2332,3615,3969,3961,3977,0,0,0,0,0,0,14.48,14.11,14.50
$GC,1467,-0.85,-145.9,2333,3616,3962,3977,206.0,-10.2,142,1472,0.00,2.40,0.00,0.000,1158,0.000,0.056,2332,2199,3969,3961,3977,0,0,0,0,0,0,14.29,14.19,14.32
$GC,1787,-0.89,-145.9,2333,2198,3962,3974,240.8,-10.4,156,1792,0.12,2.50,0.00,0.000,4484,0.141,0.086,2267,3614,3967,3961,3974,0,0,0,0,0,0,14.12,14.10,14.16
$GC,1904,-0.84,-145.9,2267,3614,3961,3974,257.5,-14.5,179,1911,0.17,2.40,0.00,0.000,3206,0.272,0.057,2302,2201,3967,3961,3974,0,0,0,0,0,0,13.82,14.14,14.08
$GC,2207,-0.84,-145.9,2303,2200,3962,3972,294.5,-11.8,190,2212,0.00,2.47,0.00,0.000,260,0.000,0.086,2293,3614,3966,3960,3972,0,0,0,0,0,0,14.51,14.14,14.53
$GC,2252,-0.88,-145.9,2295,3616,3961,3972,300.0,-12.0,199,2258,0.00,2.40,0.00,0.000,1158,0.000,0.059,2295,2201,3965,3960,3971,0,0,0,0,0,0,14.26,14.14,14.28
$GC,2569,-0.88,-145.9,2296,2200,3960,3971,339.4,-12.5,212,2573,0.00,2.50,0.00,0.000,260,0.000,0.086,2287,3616,3964,3960,3969,0,0,0,0,0,0,14.52,14.11,14.52
$GC,2654,-0.92,-145.9,2287,3618,3960,3970,349.9,-12.0,229,2660,0.00,2.42,0.00,0.000,1158,0.000,0.058,2287,2193,3964,3959,3970,0,0,0,0,0,0,14.26,14.14,14.28
$GC,2959,-0.92,-145.9,2287,2193,3960,3970,388.1,-12.4,240,2963,0.00,2.53,0.00,0.000,260,0.000,0.086,2280,3621,3964,3960,3968,0,0,0,0,0,0,14.50,14.09,14.52
$GC,3028,-0.94,-145.9,2281,3621,3960,3968,396.9,-12.1,254,3033,0.00,2.42,0.00,0.000,1158,0.000,0.059,2280,2198,3963,3958,3968,0,0,0,0,0,0,14.27,14.19,14.31
$GC,3349,-0.92,-145.9,2280,2197,3959,3968,437.8,-12.7,268,3354,0.00,2.50,0.00,0.000,388,0.000,0.087,2279,3614,3962,3958,3967,0,0,0,0,0,0,14.50,14.09,14.52
$GC,3439,-0.94,-145.9,2280,3617,3958,3968,448.8,-11.9,286,3444,0.00,2.42,0.00,0.000,1158,0.000,0.058,2279,2195,3962,3958,3967,0,0,0,0,0,0,14.26,14.14,14.28
$STATE,3707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3707,begin apogee
$GC,3712,-0.13,0.0,2280,2069,3958,3967,482.7,-12.5,300,3920,1.00,0.08,203.00,1.445,10246,0.246,0.188,2530,2114,3362,3394,3330,0,0,0,0,0,0,13.88,13.44,12.87
$STATE,3924,end apogee,CONTROL_FINISHED_OK
$STATE,3924,begin climb
$GC,3927,0.57,145.9,2533,2114,3395,3325,491.7,0.0,307,4133,0.73,2.65,198.27,1.390,10500,0.067,0.074,2777,3506,2762,2815,2709,0,0,0,0,0,0,13.59,13.14,12.64
$GC,4365,0.16,145.9,2777,3506,2795,2708,449.9,18.3,353,4370,0.70,2.40,0.00,0.000,5254,0.343,0.058,2642,2129,2751,2794,2708,0,0,0,0,0,0,13.46,13.76,13.80
$GC,4676,0.09,165.5,2642,2128,2796,2706,419.9,9.1,365,4707,0.12,2.53,23.02,1.479,12708,0.295,0.083,2613,3508,2684,2732,2637,0,0,0,0,0,0,13.81,13.90,13.24
$GC,4867,0.08,187.1,2613,3509,2725,2636,402.8,9.0,403,4902,0.00,2.42,29.38,1.474,9382,0.000,0.060,2616,2102,2601,2656,2547,0,0,0,0,0,0,14.07,13.97,13.20
$GC,5219,0.11,228.8,2616,2102,2653,2535,374.1,8.1,423,5288,0.00,2.62,59.72,1.395,8740,0.000,0.089,2616,691,2429,2486,2372,0,0,0,0,0,0,14.34,13.79,13.16
$GC,5343,0.26,275.6,2616,692,2481,2373,363.9,7.8,448,5419,0.15,2.53,69.53,1.351,11430,0.116,0.080,2678,2100,2241,2299,2184,0,0,0,0,0,0,13.93,13.88,13.06
$GC,5729,0.22,275.6,2679,2100,2289,2168,316.1,12.7,475,5730,0.00,0.00,0.00,0.000,134,0.000,0.000,2678,2100,2227,2288,2167,0,0,0,0,0,0,14.25,14.26,14.26
$GC,6029,0.18,275.6,2678,2101,2288,2167,278.6,12.3,485,6034,0.12,2.47,0.00,0.000,4740,0.266,0.082,2657,691,2228,2286,2170,0,0,0,0,0,0,13.85,14.06,14.00
$GC,6100,0.27,290.7,2658,691,2285,2166,271.3,9.3,499,6125,0.00,2.47,18.52,1.454,9382,0.000,0.080,2658,2099,2177,2236,2119,0,0,0,0,0,0,14.23,14.12,13.38
$GC,6450,0.30,290.7,2658,2100,2232,2112,234.6,10.5,519,6451,0.00,0.00,0.00,0.000,134,0.000,0.000,2658,2099,2171,2230,2113,0,0,0,0,0,0,14.33,14.34,14.35
$GC,6750,0.33,296.3,2658,2100,2230,2111,204.4,9.7,529,6760,0.00,2.55,3.35,1.424,8868,0.000,0.086,2659,688,2159,2217,2102,0,0,0,0,0,0,14.33,14.04,12.97
$GC,6785,0.44,321.3,2659,690,2213,2106,201.2,8.8,536,6841,0.20,2.47,46.15,1.348,11430,0.107,0.080,2739,2099,2050,2101,1999,0,0,0,0,0,0,14.12,14.07,13.28
$GC,7142,0.36,321.3,2739,2099,2095,1993,153.0,12.8,557,7144,0.17,0.00,0.00,0.000,4230,0.239,0.000,2701,2100,2044,2095,1993,0,0,0,0,0,0,13.84,14.11,14.07
$GC,7440,0.37,339.0,2700,2101,2095,1990,124.3,9.2,567,7466,0.00,2.53,20.75,1.382,8740,0.000,0.085,2701,687,1981,2032,1931,0,0,0,0,0,0,14.30,13.86,13.33
$GC,7528,0.49,375.7,2702,689,2025,1930,117.0,8.3,584,7594,0.12,2.53,58.97,1.243,11430,0.134,0.080,2754,2105,1831,1866,1796,0,0,0,0,0,0,13.93,13.88,13.16
$GC,7891,0.47,375.7,2755,2104,1859,1783,74.2,11.3,621,7892,0.00,0.00,0.00,0.000,134,0.000,0.000,2754,2105,1820,1857,1783,0,0,0,0,0,0,14.14,14.16,14.16
$GC,8193,0.50,422.2,2755,2105,1858,1780,46.0,7.9,651,8224,0.00,2.58,22.75,0.346,8740,0.000,0.086,2760,695,1638,1671,1605,0,0,0,0,0,0,14.22,13.91,13.66
$GC,8306,0.66,496.4,2755,695,1675,1605,38.5,6.6,673,8349,0.12,2.50,37.92,0.316,11430,0.132,0.080,2803,2103,1340,1398,1283,0,0,0,0,0,0,14.00,13.96,13.71
$MODEM_MSG,CACST,6,1,20170812000534.041976,3,13,05,0108,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170812001426.066027,3,16296,42,1218,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$MODEM_MSG,CACST,6,1,20170812002227.231294,3,125,20,0158,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170812003012.004718,3,37,15,0154,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$GC,8645,0.89,675.7,2804,2104,1397,1269,13.6,1.7,711,8746,0.17,2.53,90.05,0.246,11172,0.112,0.082,2880,3511,608,666,550,0,0,0,0,0,0,13.94,13.81,13.74
$GC,8787,0.94,679.3,2879,3512,667,550,4.5,9.8,737,8793,0.00,2.47,1.33,0.275,9382,0.000,0.070,2888,2103,594,649,539,0,0,0,0,0,0,14.00,13.89,13.70
$STATE,8819,end climb,SURFACE_DEPTH_REACHED
$STATE,8819,begin surface coast
$FINISH,0.1,1.019992
$STATE,8839,end surface coast,CONTROL_FINISHED_OK
$STATE,8839,begin surface
$SM_CCo,8907,14.32,0.206,0,0,501,702.78
$SM_GC,1.77,8.18,0.17,14.32,0.062,0.114,0.206,203,2229,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.03,14.03,13.84
$RAFOS_CLK,122
$MODEM,4,1502497812,75.71700,-151.21500,311.255,454327.6
$MODEM,3,1502497347,74.30400,-153.94400,240.231,350657.2
$MODEM,2,1502496866,73.18300,-149.96500,119.066,173796.5
$MODEM,0,1502496334,75.36600,-145.04601,280.042,408767.4
$RAFOS_FIX,7145.260742,-14733.255859,120817,000009,4,255,0.30
$IRIDIUM_FIX,7147.12,-14734.89,110817,220839
$TT8_MAMPS,0.094374,0.892059
$HUMID,45.66
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.40
$XPDR_PINGS,13
$CP_FREE,0.000000
$PM_FREEKB_00,59644224
$24V_AH,12.64,64.237
$10V_AH,12.59,0.000
$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,25.175,85.225,882.725,14.325,0.000,0.000,0.000,511.175,3.250,0.000,12.580,0.000,6448.983,774.194,2319.790,273.243,0.000,2137.834,0.000,1066.738,2155.000,0.540,0.000
$DEVICE_MAMPS,461.295,2150.415,1478.745,205.785,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8652.000,8903.000,8862.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.835,20.000,16.589,0.000
$MEM,323732
$DATA_FILE_SIZE,26692,743
$CAP_FILE_SIZE,108432,0
$CFSIZE,2097872896,2074443776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.7
$CURRENT,0.106,202.72,1
$GPS,120817,004451,7146.138,-14730.274,40,0.8,42,21.4,0.3,243.4,10,7.6