version: 66.13
glider: 196
mission: 14
dive: 94
start: 8 17 117 15 17 2
data:
$ID,196
$MISSION,14
$DIVE,94
$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,25
$R_STBD_OVSHOOT,43
$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,269.0
$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
$GPS1,170817,145644,7236.3027,-14830.5586,17,0.7,22,21.2,0.0,235.7,12,8.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.9
$GPS2,170817,151627,7236.2573,-14830.9775,7,0.7,14,21.2,0.0,245.6,12,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.0,79578,-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,-145.9,198,2227,503,477,0.0,0.0,0,129,0.00,0.00,-81.30,0.000,16386,0.000,0.000,197,2228,2055,1967,2143,0,0,0,0,0,0,14.40,28.83,14.42
$GC,132,-0.57,-145.9,198,2229,1969,2144,3.4,-4.1,8,189,12.65,2.75,-36.25,0.000,18724,0.460,2.150,2377,3598,3965,3954,3977,0,0,0,0,0,0,13.74,12.69,14.16
$GC,369,-0.57,-145.9,2377,3600,3961,3976,56.1,-16.7,55,376,0.00,2.38,0.00,0.000,1030,0.000,0.054,2376,2195,3968,3960,3977,0,0,0,0,0,0,14.23,14.12,14.22
$GC,684,-0.61,-145.9,2376,2196,3962,3978,104.8,-13.2,85,689,0.00,2.45,0.00,0.000,388,0.000,0.088,2367,3588,3969,3962,3976,0,0,0,0,0,0,14.51,14.13,14.50
$GC,799,-0.71,-145.9,2367,3588,3963,3977,118.0,-11.1,108,805,0.00,2.35,0.00,0.000,1158,0.000,0.054,2367,2193,3969,3962,3976,0,0,0,0,0,0,14.31,14.20,14.33
$GC,1105,-0.78,-145.9,2367,2193,3962,3977,153.7,-11.2,119,1110,0.12,2.45,0.00,0.000,4484,0.141,0.086,2305,3590,3968,3962,3974,0,0,0,0,0,0,14.28,14.20,14.33
$GC,1217,-0.82,-145.9,2306,3591,3962,3977,169.7,-14.5,141,1222,0.00,2.35,0.00,0.000,1158,0.000,0.055,2305,2194,3969,3962,3976,0,0,0,0,0,0,14.39,14.28,14.38
$GC,1527,-0.82,-145.9,2306,2193,3963,3977,216.8,-14.4,153,1532,0.00,2.45,0.00,0.000,260,0.000,0.087,2298,3589,3969,3962,3976,0,0,0,0,0,0,14.58,14.21,14.60
$GC,1632,-0.88,-145.9,2298,3590,3962,3977,230.7,-12.8,174,1637,0.00,2.35,0.00,0.000,1158,0.000,0.055,2298,2190,3968,3961,3976,0,0,0,0,0,0,14.37,14.26,14.38
$GC,1947,-0.88,-145.9,2299,2189,3962,3976,271.0,-12.6,187,1953,0.00,2.45,0.00,0.000,260,0.000,0.088,2293,3588,3968,3961,3976,0,0,0,0,0,0,14.59,14.22,14.61
$GC,2053,-0.96,-145.9,2295,3589,3961,3977,283.4,-11.1,208,2058,0.00,2.33,0.00,0.000,1158,0.000,0.055,2293,2199,3968,3960,3976,0,0,0,0,0,0,14.36,14.22,14.38
$GC,2368,-0.98,-145.9,2294,2198,3961,3975,320.1,-11.4,221,2373,0.00,2.45,0.00,0.000,388,0.000,0.088,2288,3592,3967,3959,3975,0,0,0,0,0,0,14.59,14.17,14.64
$GC,2463,-1.07,-145.9,2288,3594,3964,3976,330.6,-10.6,240,2468,0.17,2.35,0.00,0.000,5254,0.112,0.055,2225,2191,3966,3958,3975,0,0,0,0,0,0,14.26,14.23,14.34
$GC,2789,-0.95,-145.9,2225,2194,3957,3976,386.5,-17.5,255,2795,0.17,2.45,0.00,0.000,2436,0.301,0.083,2255,3588,3965,3956,3975,0,0,0,0,0,0,13.84,14.12,14.04
$GC,2995,-0.95,-145.9,2256,3590,3956,3976,414.9,-13.2,296,3001,0.00,2.35,0.00,0.000,1030,0.000,0.055,2260,2202,3966,3958,3974,0,0,0,0,0,0,14.21,14.11,14.24
$GC,3300,-0.91,-145.9,2257,2201,3957,3974,458.0,-14.2,307,3306,0.12,2.45,0.00,0.000,2436,0.305,0.084,2279,3588,3964,3955,3974,0,0,0,0,0,0,13.84,14.09,14.02
$GC,3417,-0.99,-145.9,2280,3588,3956,3977,471.6,-10.9,330,3423,0.00,2.35,0.00,0.000,1158,0.000,0.054,2279,2205,3962,3954,3970,0,0,0,0,0,0,14.21,14.09,14.24
$STATE,3508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3508,begin apogee
$GC,3514,-0.13,0.0,2280,2060,3956,3974,482.8,-11.8,334,3726,0.95,0.00,208.52,1.455,10246,0.232,0.000,2525,2057,3363,3387,3340,0,0,0,0,0,0,13.89,13.39,12.71
$STATE,3730,end apogee,CONTROL_FINISHED_OK
$STATE,3730,begin climb
$GC,3733,0.57,145.9,2526,2057,3382,3333,493.9,0.0,341,3942,0.75,2.53,201.68,1.397,10756,0.063,0.077,2784,726,2763,2809,2718,0,0,0,0,0,0,13.45,13.02,12.49
$GC,3951,0.57,145.9,2785,726,2805,2715,500.4,-2.7,343,3957,0.00,2.55,0.00,0.000,1030,0.000,0.074,2783,2088,2758,2803,2714,0,0,0,0,0,0,13.31,13.22,13.34
$GC,4272,0.19,145.9,2785,2088,2797,2708,451.7,15.3,357,4274,0.65,0.00,0.00,0.000,4230,0.327,0.000,2647,2091,2752,2796,2708,0,0,0,0,0,0,13.52,13.89,13.85
$GC,4572,0.08,171.1,2647,2088,2797,2706,424.2,8.8,367,4608,0.15,2.45,31.40,1.476,12964,0.300,0.080,2614,725,2664,2711,2618,0,0,0,0,0,0,13.81,13.75,13.14
$MODEM_MSG,CACST,6,1,20170817160439.761654,3,21,07,0116,0150,250,00,00,01,01,-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,6,1,20170817161320.799118,3,137,09,0268,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170817162906.557582,3,18,06,0112,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$GC,4703,0.12,225.4,2613,725,2710,2613,414.2,7.5,393,4791,0.00,2.45,78.88,1.390,9254,0.000,0.078,2620,2106,2440,2497,2383,0,0,0,0,0,0,14.05,13.95,12.93
$GC,5085,0.16,253.8,2617,2105,2496,2373,381.7,8.7,419,5128,0.00,0.00,41.25,1.423,8358,0.000,0.000,2616,2106,2331,2388,2275,0,0,0,0,0,0,14.20,13.79,13.07
$GC,5414,0.23,283.0,2616,2106,2376,2260,352.9,8.7,430,5464,0.12,2.47,43.38,1.406,10916,0.129,0.085,2683,729,2205,2258,2153,0,0,0,0,0,0,14.17,13.87,13.15
$GC,5501,0.20,283.0,2683,728,2252,2152,342.2,13.2,447,5509,0.15,2.45,0.00,0.000,5254,0.242,0.077,2652,2107,2200,2251,2150,0,0,0,0,0,0,13.78,13.93,14.03
$GC,5805,0.20,283.0,2653,2108,2252,2142,308.4,10.9,458,5810,0.00,2.42,0.00,0.000,516,0.000,0.083,2658,727,2196,2253,2140,0,0,0,0,0,0,14.42,14.12,14.43
$GC,5840,0.23,283.0,2659,728,2251,2143,304.5,11.1,465,5845,0.00,2.40,0.00,0.000,1158,0.000,0.076,2659,2104,2196,2250,2142,0,0,0,0,0,0,14.27,14.16,14.30
$GC,6165,0.23,283.0,2659,2105,2251,2140,268.3,11.1,480,6170,0.00,2.42,0.00,0.000,516,0.000,0.085,2659,720,2195,2250,2140,0,0,0,0,0,0,14.52,14.21,14.53
$GC,6205,0.27,283.0,2659,721,2248,2142,264.1,10.0,488,6210,0.00,2.40,0.00,0.000,1158,0.000,0.077,2660,2106,2194,2248,2140,0,0,0,0,0,0,14.33,14.21,14.40
$GC,6525,0.28,289.1,2660,2107,2249,2140,231.5,9.7,502,6526,0.00,0.00,0.00,0.000,38,0.000,0.000,2659,2107,2194,2248,2140,0,0,0,0,0,0,14.55,14.57,14.57
$GC,6825,0.30,325.5,2660,2107,2249,2140,205.2,8.3,512,6895,0.00,0.00,68.00,1.315,8742,0.000,0.000,2659,2107,2036,2085,1988,0,0,0,0,0,0,14.57,13.98,13.29
$GC,7185,0.40,371.3,2660,2107,2074,1974,176.5,7.9,529,7270,0.12,2.53,76.20,1.259,10916,0.133,0.083,2725,729,1845,1879,1811,0,0,0,0,0,0,14.15,13.79,13.20
$GC,7370,0.44,371.3,2725,730,1869,1811,156.6,10.7,566,7375,0.00,2.42,0.00,0.000,1158,0.000,0.078,2725,2098,1839,1868,1810,0,0,0,0,0,0,14.06,13.97,14.12
$GC,7695,0.44,371.3,2725,2101,1868,1804,120.5,11.0,581,7700,0.00,2.42,0.00,0.000,516,0.000,0.084,2729,720,1835,1867,1803,0,0,0,0,0,0,14.46,14.16,14.46
$GC,7740,0.49,371.3,2730,720,1866,1804,115.7,10.4,590,7745,0.00,2.42,0.00,0.000,1158,0.000,0.077,2729,2108,1834,1865,1803,0,0,0,0,0,0,14.31,14.19,14.34
$GC,8048,0.50,379.9,2730,2108,1866,1802,84.5,9.6,612,8058,0.00,2.47,2.35,0.400,8740,0.000,0.084,2729,726,1816,1846,1786,0,0,0,0,0,0,14.49,14.16,13.70
$GC,8150,0.60,419.5,2728,726,1852,1790,75.6,8.2,632,8177,0.12,2.40,22.17,0.432,11430,0.130,0.076,2781,2105,1654,1682,1627,0,0,0,0,0,0,14.23,14.19,13.73
$GC,8482,0.60,473.0,2781,2105,1682,1623,43.3,7.5,668,8514,0.00,2.50,27.73,0.334,8868,0.000,0.084,2778,726,1433,1475,1391,0,0,0,0,0,0,14.47,14.11,13.79
$GC,8649,0.73,539.1,2781,725,1475,1392,31.2,7.0,701,8689,0.12,2.42,34.05,0.304,11430,0.139,0.079,2834,2111,1164,1229,1100,0,0,0,0,0,0,14.17,14.14,13.81
$GC,8985,0.92,741.6,2834,2105,1230,1091,12.4,0.7,738,9077,0.12,2.47,83.75,0.246,10916,0.126,0.085,2890,721,497,536,458,0,0,0,0,0,0,14.16,14.06,13.88
$GC,9088,1.03,776.5,2890,722,537,459,6.6,8.4,750,9093,0.00,2.42,0.00,0.000,1190,0.000,0.076,2890,2106,497,536,458,0,0,0,0,0,0,14.12,14.01,14.15
$STATE,9145,end climb,SURFACE_DEPTH_REACHED
$STATE,9145,begin surface coast
$FINISH,-0.0,1.010340
$STATE,9166,end surface coast,CONTROL_FINISHED_OK
$STATE,9166,begin surface
$SM_CCo,9293,0.00,0.000,0,0,494,704.26
$SM_GC,1.10,8.18,0.17,0.00,0.074,0.122,0.000,203,2214,494,-7.37,-0.54,704.26,0,0,0,0,0,0,14.24,14.21,14.31
$RAFOS_CLK,297
$MODEM,4,1502987346,75.71700,-151.21500,245.808,356695.4
$MODEM,2,1502986400,73.18300,-149.96500,53.799,78068.8
$MODEM,0,1502985879,75.36600,-145.04601,225.762,327606.4
$RAFOS_FIX,7235.269531,-14837.536133,170817,161641,3,255,1.15
$IRIDIUM_FIX,7234.92,-14830.14,170817,150855
$TT8_MAMPS,0.039697,0.886816
$HUMID,49.29
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.50
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,56077056
$24V_AH,12.49,87.324
$10V_AH,12.39,0.000
$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,24.700,88.100,919.350,0.000,0.000,0.000,0.000,725.050,3.750,0.000,15.511,0.000,6804.226,826.860,2549.351,308.573,0.000,2402.361,0.000,1088.162,2192.000,0.540,0.000
$DEVICE_MAMPS,459.765,2149.650,1476.450,0.000,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9195.000,9229.000,9189.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.500,20.000,16.602,0.000
$MEM,323548
$DATA_FILE_SIZE,26715,759
$CAP_FILE_SIZE,109337,0
$CFSIZE,2097872896,2059829248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.5
$CURRENT,0.063,242.97,1
$GPS,170817,175302,7237.413,-14832.348,25,0.7,25,21.2,0.0,0.0,12,8.2