version: 66.13
glider: 196
mission: 14
dive: 48
start: 8 12 117 6 36 11
data:
$ID,196
$MISSION,14
$DIVE,48
$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,18
$R_STBD_OVSHOOT,44
$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,145.0
$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
$GPS1,120817,062502,7147.9087,-14731.2354,17,0.8,32,21.4,0.5,19.8,11,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.5
$GPS2,120817,063537,7147.8701,-14731.0889,6,0.8,12,21.4,0.0,114.8,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.8,173050,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,192,2226,508,477,0.0,0.0,0,128,0.00,0.00,-81.25,0.000,16386,0.000,0.000,190,2227,2090,2023,2157,0,0,0,0,0,0,14.31,28.83,14.33
$GC,131,-0.57,-145.9,190,2227,2025,2160,3.5,-4.2,8,184,12.52,2.80,-34.50,0.000,18980,0.453,2.146,2386,788,3963,3945,3982,1,0,0,0,0,0,13.59,12.74,14.07
$GC,205,-0.39,-145.9,2387,788,3949,3984,27.0,-26.4,22,211,0.32,2.47,0.00,0.000,3206,0.293,0.084,2448,2176,3965,3949,3982,0,0,0,0,0,0,13.80,13.95,14.06
$GC,510,-0.49,-145.9,2448,2177,3956,3983,66.8,-10.0,53,514,0.00,2.55,0.00,0.000,388,0.000,0.090,2445,3610,3968,3955,3982,0,0,0,0,0,0,14.37,13.96,14.40
$GC,595,-0.73,-145.9,2445,3611,3957,3983,73.8,-7.6,70,601,0.32,2.42,0.00,0.000,5286,0.083,0.051,2327,2182,3969,3956,3982,0,0,0,0,0,0,14.12,14.03,14.22
$GC,901,-0.66,-145.9,2328,2182,3957,3983,128.2,-17.6,91,907,0.12,2.55,0.00,0.000,2436,0.301,0.085,2349,3620,3969,3956,3982,0,0,0,0,0,0,13.83,14.09,14.01
$GC,978,-0.74,-145.9,2348,3621,3956,3983,139.0,-12.1,106,983,0.00,2.42,0.00,0.000,1158,0.000,0.059,2349,2195,3970,3959,3982,0,0,0,0,0,0,14.26,14.15,14.28
$GC,1293,-0.77,-145.9,2350,2196,3956,3983,179.1,-12.3,119,1299,0.00,2.53,0.00,0.000,388,0.000,0.089,2345,3614,3967,3953,3982,0,0,0,0,0,0,14.46,14.11,14.47
$GC,1374,-0.92,-145.9,2346,3614,3956,3983,187.9,-9.8,135,1380,0.20,2.40,0.00,0.000,5286,0.106,0.057,2268,2198,3970,3958,3982,0,0,0,0,0,0,14.19,14.16,14.20
$GC,1685,-0.81,-145.9,2269,2197,3956,3982,240.7,-16.9,147,1691,0.17,2.50,0.00,0.000,2436,0.290,0.084,2301,3614,3968,3955,3982,0,0,0,0,0,0,13.90,14.12,14.08
$GC,1803,-0.86,-145.9,2301,3616,3955,3983,255.4,-11.7,170,1809,0.00,2.40,0.00,0.000,1158,0.000,0.059,2301,2201,3968,3954,3982,0,0,0,0,0,0,14.27,14.16,14.31
$GC,2106,-0.86,-145.9,2301,2200,3955,3981,293.4,-12.4,181,2111,0.00,2.47,0.00,0.000,260,0.000,0.086,2293,3612,3966,3953,3980,0,0,0,0,0,0,14.51,14.16,14.51
$GC,2166,-0.91,-145.9,2294,3614,3952,3981,300.9,-11.7,193,2171,0.00,2.42,0.00,0.000,1158,0.000,0.059,2293,2189,3966,3953,3980,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2496,-0.91,-145.9,2294,2188,3954,3978,342.5,-12.4,209,2501,0.00,2.50,0.00,0.000,260,0.000,0.088,2290,3613,3965,3953,3978,0,0,0,0,0,0,14.54,14.16,14.54
$GC,2586,-0.97,-145.9,2294,3614,3953,3979,353.0,-10.9,227,2592,0.00,2.40,0.00,0.000,1158,0.000,0.059,2294,2195,3965,3952,3978,0,0,0,0,0,0,14.32,14.20,14.35
$GC,2917,-0.97,-145.9,2293,2196,3953,3978,392.2,-11.8,243,2923,0.00,2.50,0.00,0.000,260,0.000,0.087,2287,3616,3964,3952,3977,0,0,0,0,0,0,14.53,14.12,14.53
$GC,2993,-1.03,-145.9,2288,3617,3954,3977,401.1,-11.2,258,2998,0.12,2.42,0.00,0.000,5254,0.136,0.057,2244,2193,3964,3952,3976,0,0,0,0,0,0,14.16,14.15,14.26
$GC,3308,-0.92,-145.9,2244,2192,3952,3976,451.4,-16.3,271,3314,0.15,2.50,0.00,0.000,2436,0.318,0.083,2267,3613,3963,3951,3976,0,0,0,0,0,0,13.82,14.13,14.02
$GC,3439,-0.92,-145.9,2267,3615,3951,3977,469.1,-12.9,297,3444,0.00,2.42,0.00,0.000,1030,0.000,0.058,2267,2190,3962,3950,3975,0,0,0,0,0,0,14.30,14.19,14.33
$STATE,3547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3547,begin apogee
$GC,3552,-0.13,0.0,2267,2069,3951,3977,484.0,-13.6,304,3761,1.05,0.08,205.15,1.441,10246,0.253,0.184,2529,2113,3364,3390,3338,0,0,0,0,0,0,13.88,13.43,12.88
$STATE,3765,end apogee,CONTROL_FINISHED_OK
$STATE,3765,begin climb
$GC,3768,0.57,145.9,2529,2115,3383,3330,493.5,0.0,311,3977,0.75,2.62,196.88,1.382,10500,0.067,0.074,2781,3497,2759,2802,2716,0,0,0,0,0,0,13.58,13.13,12.63
$GC,4204,0.16,145.9,2782,3497,2787,2715,454.3,18.0,357,4209,0.75,2.40,0.00,0.000,5254,0.344,0.057,2638,2121,2750,2786,2715,0,0,0,0,0,0,13.47,13.76,13.79
$GC,4514,0.09,173.6,2639,2120,2787,2715,425.6,8.7,369,4555,0.00,2.47,34.97,1.452,8612,0.000,0.080,2638,3504,2651,2693,2609,0,0,0,0,0,0,14.26,13.72,13.19
$GC,4780,0.00,173.6,2639,3504,2687,2607,398.2,10.5,422,4787,0.25,2.42,0.00,0.000,5254,0.256,0.060,2589,2093,2648,2690,2606,0,0,0,0,0,0,13.81,14.04,14.05
$GC,5087,0.11,252.1,2590,2093,2687,2604,378.3,6.4,433,5208,0.00,0.00,116.93,1.344,8358,0.000,0.000,2595,2093,2334,2383,2285,0,0,0,0,0,0,14.31,13.66,13.09
$GC,5506,0.28,322.8,2589,2094,2373,2273,350.0,6.7,447,5617,0.22,2.65,104.72,1.303,10916,0.094,0.089,2685,696,2044,2091,1997,0,0,0,0,0,0,13.96,13.54,12.97
$GC,5664,0.31,322.8,2684,696,2081,1992,330.0,12.9,478,5669,0.00,2.55,0.00,0.000,1158,0.000,0.077,2691,2091,2035,2079,1991,0,0,0,0,0,0,13.73,13.64,13.76
$GC,5989,0.31,322.8,2686,2093,2081,1980,286.9,13.1,493,5994,0.00,2.53,0.00,0.000,516,0.000,0.089,2691,694,2030,2080,1980,0,0,0,0,0,0,14.14,13.87,14.20
$GC,6019,0.31,322.8,2686,692,2079,1981,283.0,13.0,499,6024,0.00,2.53,0.00,0.000,1030,0.000,0.077,2685,2108,2028,2076,1980,0,0,0,0,0,0,14.00,13.90,14.04
$GC,6349,0.31,322.8,2685,2110,2078,1978,240.4,12.7,515,6354,0.00,2.53,0.00,0.000,516,0.000,0.088,2685,694,2027,2077,1977,0,0,0,0,0,0,14.27,13.97,14.28
$GC,6399,0.36,322.8,2685,695,2076,1978,234.3,11.6,525,6404,0.00,2.50,0.00,0.000,1158,0.000,0.078,2685,2109,2026,2076,1977,0,0,0,0,0,0,14.12,14.01,14.15
$GC,6709,0.36,322.8,2686,2111,2077,1977,198.2,11.2,537,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2110,2029,2075,1984,0,0,0,0,0,0,14.29,14.32,14.32
$GC,7009,0.39,336.7,2685,2112,2075,1977,168.5,9.4,547,7029,0.00,2.53,15.52,1.444,8868,0.000,0.085,2685,685,1989,2039,1940,0,0,0,0,0,0,14.32,13.89,13.31
$GC,7111,0.52,371.9,2685,686,2032,1939,159.6,8.4,567,7180,0.20,2.50,59.60,1.287,11430,0.107,0.078,2766,2103,1843,1878,1809,0,0,0,0,0,0,14.07,14.00,13.20
$MODEM_MSG,CACST,6,1,20170812080228.321587,3,24,-4,0100,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*23
$MODEM_MSG,CACST,6,1,20170812080243.874083,3,80,-11,0129,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*10
$MODEM_MSG,CACST,6,1,20170812081426.462871,3,306,24,0119,0150,250,00,00,00,00,-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,6,1,20170812082228.422073,3,485,26,0563,0150,250,00,00,00,00,-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,6,1,20170812083012.858543,3,535,21,0685,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$GC,7491,0.44,371.9,2765,2103,1872,1801,105.1,14.0,593,7496,0.15,2.47,0.00,0.000,4740,0.272,0.081,2742,692,1837,1873,1801,0,0,0,0,0,0,13.70,13.93,13.85
$GC,7531,0.46,371.9,2743,691,1872,1801,100.3,11.1,601,7536,0.00,2.45,0.00,0.000,1158,0.000,0.080,2742,2099,1837,1874,1801,0,0,0,0,0,0,14.07,13.97,14.10
$GC,7841,0.47,384.3,2742,2099,1871,1800,68.6,9.4,634,7852,0.00,0.00,5.43,0.406,8742,0.000,0.000,2742,2099,1795,1830,1761,0,0,0,0,0,0,14.33,13.96,13.71
$GC,8151,0.56,456.3,2742,2099,1833,1763,42.7,6.7,666,8194,0.00,0.00,38.58,0.330,8870,0.000,0.000,2742,2096,1503,1545,1462,0,0,0,0,0,0,14.37,14.04,13.72
$GC,8491,0.77,564.7,2742,2099,1546,1448,22.8,5.0,704,8553,0.28,0.00,57.05,0.273,10662,0.095,0.000,2845,2098,1058,1130,987,0,0,0,0,0,0,14.14,14.11,13.84
$GC,8852,0.93,713.2,2846,2099,1133,973,5.6,3.1,741,8929,0.00,2.50,72.53,0.220,8868,0.000,0.086,2849,694,499,536,462,0,0,0,0,0,0,14.38,13.95,13.83
$STATE,8937,end climb,SURFACE_DEPTH_REACHED
$STATE,8937,begin surface coast
$FINISH,0.2,1.019996
$STATE,8967,end surface coast,CONTROL_FINISHED_OK
$STATE,8967,begin surface
$SM_CCo,9050,0.00,0.000,0,0,494,704.26
$SM_GC,1.04,8.05,2.70,0.00,0.068,0.073,0.000,205,2210,494,-7.38,-0.54,704.26,0,0,0,0,0,0,14.14,14.10,14.22
$RAFOS_CLK,190
$MODEM,4,1502526612,75.71700,-151.21500,312.109,451574.2
$MODEM,3,1502526148,74.30400,-153.94400,241.422,349301.5
$MODEM,2,1502525666,73.18300,-149.96500,119.463,172844.8
$MODEM,0,1502524948,75.36600,-145.04601,94.322,136469.2
$RAFOS_FIX,7325.362305,-14308.439453,120817,080823,4,255,37.31
$IRIDIUM_FIX,7148.85,-14731.20,120817,034438
$TT8_MAMPS,0.038948,0.850864
$HUMID,49.37
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.90
$XPDR_PINGS,10
$CP_FREE,16011264000.000000
$PM_FREEKB_00,59435328
$24V_AH,12.63,65.615
$10V_AH,12.57,0.000
$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,25.650,85.275,907.350,0.000,0.000,0.000,0.000,368.300,2.500,0.000,12.602,0.000,6430.900,819.222,2176.563,272.152,0.000,2031.650,0.000,1095.180,2196.000,0.540,0.000
$DEVICE_MAMPS,452.880,2145.825,1451.970,0.000,0.000,0.000,0.000,187.425,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8995.000,8987.000,8945.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.091,20.000,16.597,0.000
$MEM,323628
$DATA_FILE_SIZE,26668,764
$CAP_FILE_SIZE,104736,0
$CFSIZE,2097872896,2073559040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,9943.44,0x213afc,7,24
$SOUNDSPEED,1452.1
$CURRENT,0.080,175.36,1
$GPS,120817,090825,7148.627,-14731.667,20,0.8,40,21.4,0.0,146.0,10,6.3