version: 66.13
glider: 196
mission: 14
dive: 131
start: 8 21 117 23 43 25
data:
$ID,196
$MISSION,14
$DIVE,131
$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,27
$R_STBD_OVSHOOT,45
$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,372.0
$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
$GPS1,210817,231925,7312.0786,-14957.0381,14,0.7,23,20.8,0.0,316.4,12,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.6
$GPS2,210817,234255,7312.1514,-14957.4170,5,0.7,37,20.8,0.4,293.0,11,7.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.7,171262,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,197,2227,502,497,0.0,0.0,0,130,0.00,0.00,-80.97,0.000,16386,0.000,0.000,198,2227,1971,1887,2055,0,0,0,0,0,0,14.45,28.83,14.47
$GC,133,-0.57,-145.9,198,2227,1887,2057,3.0,-3.1,8,197,12.52,2.67,-42.20,0.000,18724,0.454,2.156,2375,3581,3962,3949,3976,0,0,0,0,0,0,13.69,12.59,14.13
$GC,422,-0.57,-145.9,2376,3585,3955,3979,67.1,-22.8,65,428,0.00,2.42,0.00,0.000,1030,0.000,0.079,2376,2210,3966,3954,3979,0,0,0,0,0,0,14.23,14.09,14.27
$GC,739,-0.61,-145.9,2375,2208,3956,3980,112.1,-13.0,91,744,0.00,2.45,0.00,0.000,388,0.000,0.088,2368,3595,3967,3955,3979,0,0,0,0,0,0,14.53,14.16,14.54
$GC,960,-0.78,-145.9,2365,3594,3957,3980,134.5,-9.4,135,966,0.12,2.38,0.00,0.000,5286,0.132,0.055,2318,2185,3967,3955,3979,0,0,0,0,0,0,14.15,14.20,14.23
$GC,1283,-0.78,-145.9,2318,2184,3956,3979,181.3,-14.3,149,1288,0.00,2.47,0.00,0.000,260,0.000,0.088,2308,3586,3965,3952,3979,0,0,0,0,0,0,14.48,14.07,14.47
$GC,1373,-0.85,-145.9,2310,3586,3956,3979,193.3,-12.3,167,1379,0.00,2.38,0.00,0.000,1158,0.000,0.057,2308,2197,3966,3954,3978,0,0,0,0,0,0,14.18,14.07,14.21
$GC,1704,-0.87,-145.9,2309,2195,3955,3979,237.9,-13.0,183,1710,0.00,2.47,0.00,0.000,388,0.000,0.088,2306,3592,3967,3955,3979,0,0,0,0,0,0,14.44,14.09,14.46
$GC,1817,-0.98,-145.9,2306,3593,3956,3979,250.2,-10.6,205,1822,0.15,2.38,0.00,0.000,5254,0.117,0.056,2250,2202,3967,3955,3979,0,0,0,0,0,0,14.15,14.11,14.26
$GC,2127,-0.92,-145.9,2251,2199,3956,3978,298.3,-15.1,217,2132,0.12,2.45,0.00,0.000,2436,0.302,0.084,2268,3586,3966,3955,3978,0,0,0,0,0,0,13.83,14.08,14.02
$GC,2298,-0.97,-145.9,2266,3589,3955,3979,319.2,-11.7,251,2304,0.00,2.38,0.00,0.000,1158,0.000,0.057,2268,2197,3966,3954,3978,0,0,0,0,0,0,14.21,14.11,14.27
$GC,2609,-0.97,-145.9,2267,2197,3951,3978,358.2,-12.5,263,2614,0.00,2.45,0.00,0.000,260,0.000,0.089,2260,3586,3969,3961,3977,0,0,0,0,0,0,14.43,14.08,14.47
$GC,2714,-1.02,-145.9,2260,3587,3955,3977,370.9,-11.5,284,2719,0.00,2.35,0.00,0.000,1158,0.000,0.055,2260,2199,3965,3954,3977,0,0,0,0,0,0,14.19,14.08,14.21
$GC,3029,-1.02,-145.9,2260,2199,3956,3977,410.3,-12.5,297,3034,0.00,2.47,0.00,0.000,260,0.000,0.087,2246,3594,3965,3954,3976,0,0,0,0,0,0,14.45,14.02,14.47
$GC,3141,-1.06,-145.9,2249,3592,3953,3977,424.1,-12.1,319,3147,0.00,2.38,0.00,0.000,1158,0.000,0.056,2249,2201,3965,3954,3976,0,0,0,0,0,0,14.19,14.09,14.22
$MODEM_MSG,CACST,6,1,20170822000410.269702,3,947,23,0397,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170822001228.294924,3,32767,45,0771,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$MODEM_MSG,CACST,6,1,20170822002027.846063,3,7221,38,0818,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$MODEM_MSG,CACST,6,1,20170822002816.319283,3,17,06,0094,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,3452,-1.04,-145.9,2250,2199,3955,3977,465.7,-13.3,331,3458,0.00,2.42,0.00,0.000,388,0.000,0.087,2242,3588,3965,3954,3976,0,0,0,0,0,0,14.45,14.02,14.45
$GC,3558,-1.04,-145.9,2241,3587,3954,3976,479.7,-12.9,352,3563,0.00,2.38,0.00,0.000,1030,0.000,0.056,2242,2194,3964,3953,3976,0,0,0,0,0,0,14.21,14.10,14.23
$STATE,3565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3565,begin apogee
$GC,3571,-0.13,0.0,2243,2070,3955,3975,480.9,-13.2,354,3801,1.17,0.00,226.38,1.421,10246,0.259,0.000,2530,2068,3362,3386,3339,0,0,0,0,0,0,13.75,13.38,12.62
$STATE,3850,end apogee,CONTROL_FINISHED_OK
$STATE,3850,begin climb
$GC,3853,0.57,145.9,2531,2069,3377,3328,492.2,0.0,361,4070,0.73,2.60,204.93,1.405,11012,0.066,0.082,2778,720,2763,2806,2720,0,0,0,0,0,0,13.59,13.13,12.39
$GC,4080,0.18,145.9,2779,721,2802,2717,500.0,11.1,369,4085,0.65,2.55,0.00,0.000,5254,0.324,0.075,2649,2082,2757,2801,2714,0,0,0,0,0,0,13.03,13.24,13.33
$GC,4401,0.05,160.4,2650,2082,2800,2706,469.5,9.3,383,4418,0.20,0.00,15.40,1.589,12454,0.272,0.000,2605,2082,2713,2760,2667,0,0,0,0,0,0,13.59,13.82,12.95
$GC,4701,0.05,210.0,2606,2084,2754,2657,446.2,7.7,393,4781,0.00,2.47,73.65,1.439,8868,0.000,0.085,2605,714,2505,2565,2445,0,0,0,0,0,0,14.42,13.79,13.02
$GC,4836,0.15,253.1,2606,714,2562,2443,435.4,8.0,420,4906,0.00,2.47,63.33,1.414,9382,0.000,0.079,2606,2103,2331,2390,2273,0,0,0,0,0,0,14.00,13.89,12.88
$GC,5213,0.22,278.9,2606,2103,2381,2260,402.4,8.8,445,5253,0.12,0.00,38.10,1.450,10918,0.130,0.000,2668,2102,2226,2282,2171,0,0,0,0,0,0,14.12,13.89,13.09
$GC,5543,0.17,278.9,2671,2103,2271,2158,358.2,13.6,461,5548,0.12,2.45,0.00,0.000,4740,0.273,0.083,2647,705,2214,2270,2158,0,0,0,0,0,0,13.99,14.14,14.12
$GC,5628,0.22,278.9,2648,706,2268,2159,348.2,10.7,478,5635,0.00,2.45,0.00,0.000,1158,0.000,0.078,2648,2099,2212,2267,2158,0,0,0,0,0,0,14.18,14.05,14.21
$GC,5933,0.22,278.9,2648,2101,2267,2157,314.3,11.0,489,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2100,2211,2267,2156,0,0,0,0,0,0,14.58,14.59,14.59
$GC,6233,0.22,278.9,2648,2101,2267,2156,282.0,10.6,499,6239,0.00,2.40,0.00,0.000,516,0.000,0.084,2655,713,2211,2267,2155,0,0,0,0,0,0,14.62,14.26,14.64
$GC,6284,0.26,278.9,2656,711,2267,2155,276.8,10.7,509,6289,0.00,2.38,0.00,0.000,1158,0.000,0.077,2655,2100,2210,2267,2154,0,0,0,0,0,0,14.42,14.29,14.45
$GC,6594,0.27,284.4,2655,2101,2265,2156,245.3,9.7,521,6595,0.00,0.00,0.00,0.000,38,0.000,0.000,2655,2101,2210,2266,2155,0,0,0,0,0,0,14.64,14.64,14.65
$GC,6894,0.29,318.0,2656,2101,2268,2155,218.8,8.4,531,6961,0.00,2.45,61.12,1.343,8740,0.000,0.083,2660,713,2065,2115,2016,0,0,0,0,0,0,14.64,13.87,13.31
$GC,7013,0.42,362.9,2659,713,2107,2017,208.9,7.9,554,7092,0.17,2.45,74.03,1.283,11430,0.112,0.079,2726,2106,1886,1922,1850,0,0,0,0,0,0,14.09,14.00,13.09
$GC,7408,0.38,362.9,2727,2106,1906,1835,160.7,12.0,583,7413,0.00,2.45,0.00,0.000,644,0.000,0.085,2729,713,1870,1905,1836,0,0,0,0,0,0,14.44,14.07,14.46
$GC,7438,0.38,362.9,2730,713,1904,1836,157.1,11.8,589,7443,0.00,2.42,0.00,0.000,1030,0.000,0.077,2729,2102,1869,1903,1836,0,0,0,0,0,0,14.23,14.10,14.27
$GC,7769,0.35,362.9,2730,2099,1903,1833,119.7,11.2,605,7774,0.12,2.42,0.00,0.000,4740,0.247,0.083,2699,708,1867,1901,1833,0,0,0,0,0,0,14.09,14.23,14.21
$GC,7794,0.41,379.5,2699,708,1901,1833,117.3,9.2,610,7819,0.00,2.42,18.67,1.375,9382,0.000,0.078,2699,2099,1814,1844,1785,0,0,0,0,0,0,14.33,14.20,13.35
$GC,8119,0.51,435.7,2703,2099,1838,1777,91.4,7.4,634,8153,0.12,2.50,28.70,0.485,10916,0.135,0.085,2766,710,1589,1617,1561,0,0,0,0,0,0,14.27,14.07,13.69
$GC,8278,0.52,446.2,2769,705,1615,1558,74.9,9.5,665,8289,0.00,2.45,5.88,0.418,9254,0.000,0.079,2768,2101,1546,1577,1515,0,0,0,0,0,0,14.17,14.07,13.73
$GC,8594,0.58,537.2,2768,2102,1577,1512,49.6,5.8,698,8649,0.00,2.45,47.33,0.353,8740,0.000,0.083,2768,708,1171,1233,1109,0,0,0,0,0,0,14.54,14.00,13.77
$GC,8874,0.80,613.6,2769,707,1234,1101,31.3,6.5,753,8922,0.22,2.45,39.38,0.296,11430,0.102,0.079,2858,2104,860,929,791,0,0,0,0,0,0,14.23,14.16,13.83
$STATE,9217,end climb,SURFACE_DEPTH_REACHED
$STATE,9217,begin surface coast
$FINISH,0.4,1.020495
$STATE,9237,end surface coast,CONTROL_FINISHED_OK
$STATE,9237,begin surface
$SM_CCo,9257,47.80,0.215,0,0,498,703.03
$SM_GC,1.27,8.05,0.17,47.80,0.073,0.115,0.215,200,2233,498,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.32,14.04
$RAFOS_CLK,375
$MODEM,4,1503361696,75.71700,-151.21500,195.569,283041.3
$MODEM,3,1503361227,74.30400,-153.94400,120.846,174896.7
$MODEM,2,1503360748,73.18300,-149.96500,1.295,1874.1
$MODEM,0,1503360250,75.36600,-145.04601,196.270,284055.0
$RAFOS_FIX,7311.293457,-14956.324219,220817,000020,4,255,0.85
$IRIDIUM_FIX,7314.61,-14955.88,210817,233256
$TT8_MAMPS,0.040446,0.842625
$HUMID,46.53
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,11
$CP_FREE,15997108224.000000
$PM_FREEKB_00,54117184
$24V_AH,12.39,105.370
$10V_AH,12.30,0.000
$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,24.625,83.500,896.875,47.800,0.000,0.000,0.000,917.400,2.750,0.000,38.579,0.000,6756.268,851.150,2768.015,352.907,0.000,2632.386,0.000,1137.557,2147.000,0.540,0.000
$DEVICE_MAMPS,453.645,2155.770,1588.905,214.965,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9220.000,9262.000,9213.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.493,20.000,10.010,0.000
$MEM,323332
$DATA_FILE_SIZE,26765,794
$CAP_FILE_SIZE,112837,0
$CFSIZE,2097872896,2047967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.021,46.50,1
$GPS,220817,021955,7313.257,-14958.427,22,0.6,38,20.8,0.5,74.6,12,9.9