version: 66.13
glider: 196
mission: 14
dive: 132
start: 8 22 117 2 31 59
data:
$ID,196
$MISSION,14
$DIVE,132
$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,45
$R_STBD_OVSHOOT,49
$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,374.0
$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
$GPS1,220817,021955,7313.2568,-14958.4268,22,0.6,38,20.8,0.5,74.6,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.4
$GPS2,220817,023123,7313.3340,-14958.1934,8,0.7,8,20.8,0.0,87.6,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,289.7,169431,-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,-145.9,194,2235,495,490,0.0,0.0,0,130,0.00,0.00,-80.97,0.000,16386,0.000,0.000,192,2235,1953,1880,2027,0,0,0,0,0,0,14.45,28.83,14.49
$GC,133,-0.57,-145.9,193,2236,1882,2030,3.1,-3.3,8,197,12.48,2.80,-42.15,0.000,19236,0.451,2.147,2384,807,3964,3951,3978,0,0,0,0,0,0,13.67,12.58,14.11
$GC,392,-0.63,-145.9,2384,807,3953,3979,59.5,-15.6,59,399,0.00,2.42,0.00,0.000,1158,0.000,0.085,2378,2171,3965,3953,3978,0,0,0,0,0,0,14.27,14.12,14.28
$GC,717,-0.68,-145.9,2379,2176,3954,3979,108.1,-13.0,88,722,0.00,2.55,0.00,0.000,388,0.000,0.093,2376,3611,3966,3954,3978,0,0,0,0,0,0,14.54,14.16,14.57
$GC,907,-0.86,-145.9,2377,3613,3954,3978,127.0,-9.0,126,913,0.22,2.35,0.00,0.000,5286,0.099,0.054,2285,2217,3966,3954,3978,0,0,0,0,0,0,14.27,14.23,14.32
$GC,1228,-0.79,-145.9,2285,2216,3955,3978,184.2,-17.6,140,1233,0.12,2.45,0.00,0.000,2436,0.288,0.084,2305,3613,3966,3954,3978,0,0,0,0,0,0,13.94,14.19,14.09
$GC,1378,-0.87,-145.9,2306,3615,3954,3979,204.1,-12.4,170,1383,0.00,2.38,0.00,0.000,1158,0.000,0.056,2305,2199,3966,3954,3978,0,0,0,0,0,0,14.39,14.27,14.42
$GC,1709,-0.89,-145.9,2301,2204,3949,3979,247.6,-12.4,186,1714,0.00,2.47,0.00,0.000,388,0.000,0.090,2299,3610,3965,3954,3977,0,0,0,0,0,0,14.60,14.23,14.64
$GC,1794,-0.99,-145.9,2300,3611,3955,3978,257.4,-10.8,203,1801,0.12,2.38,0.00,0.000,5254,0.133,0.055,2251,2201,3965,3953,3978,0,0,0,0,0,0,14.28,14.24,14.38
$GC,2099,-0.93,-145.9,2252,2199,3955,3977,303.5,-15.0,214,2104,0.00,2.47,0.00,0.000,388,0.000,0.088,2242,3614,3965,3953,3977,0,0,0,0,0,0,14.63,14.24,14.65
$GC,2230,-0.93,-145.9,2242,3614,3954,3977,322.4,-13.9,240,2235,0.15,2.38,0.00,0.000,3078,0.249,0.057,2272,2197,3965,3954,3976,0,0,0,0,0,0,14.03,14.30,14.30
$GC,2551,-0.93,-145.9,2273,2196,3955,3975,361.9,-12.0,254,2555,0.00,2.47,0.00,0.000,260,0.000,0.089,2267,3610,3967,3960,3975,0,0,0,0,0,0,14.64,14.23,14.65
$GC,2626,-1.00,-145.9,2267,3610,3955,3975,370.4,-10.8,269,2631,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2196,3964,3953,3975,0,0,0,0,0,0,14.40,14.29,14.44
$GC,2941,-1.00,-145.9,2267,2196,3954,3974,408.0,-11.9,282,2945,0.00,2.47,0.00,0.000,260,0.000,0.088,2258,3611,3964,3954,3974,0,0,0,0,0,0,14.64,14.23,14.64
$GC,3036,-1.06,-145.9,2257,3613,3954,3975,419.1,-11.3,301,3044,0.00,2.38,0.00,0.000,1158,0.000,0.057,2258,2190,3964,3954,3974,0,0,0,0,0,0,14.37,14.26,14.40
$GC,3364,-1.06,-145.9,2258,2190,3954,3975,459.9,-12.4,316,3369,0.00,2.50,0.00,0.000,260,0.000,0.088,2249,3616,3963,3953,3974,0,0,0,0,0,0,14.62,14.13,14.64
$GC,3476,-1.11,-145.9,2250,3617,3954,3975,473.3,-11.8,338,3480,0.00,2.38,0.00,0.000,1158,0.000,0.054,2250,2205,3964,3954,3974,0,0,0,0,0,0,14.24,14.14,14.26
$STATE,3543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3543,begin apogee
$GC,3549,-0.13,0.0,2250,2062,3954,3974,482.4,-12.9,342,3766,1.10,0.08,213.90,1.453,10246,0.243,0.181,2530,2109,3366,3395,3338,0,0,0,0,0,0,13.91,13.43,12.71
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3774,0.57,145.9,2531,2110,3391,3330,493.1,0.0,349,3994,0.75,2.70,205.68,1.395,10756,0.064,0.080,2790,725,2762,2812,2713,0,0,0,0,0,0,13.57,13.08,12.42
$GC,4126,0.20,145.9,2791,725,2803,2712,479.4,15.7,412,4131,0.65,2.50,0.00,0.000,5254,0.321,0.075,2654,2101,2755,2802,2708,0,0,0,0,0,0,13.31,13.59,13.64
$GC,4442,0.06,147.6,2655,2102,2803,2706,446.5,9.9,425,4447,0.20,2.42,0.00,0.000,4772,0.291,0.077,2615,729,2754,2802,2706,0,0,0,0,0,0,13.66,13.93,13.83
$GC,4539,0.07,201.7,2616,729,2803,2706,438.9,7.5,444,4624,0.00,2.42,79.57,1.404,9382,0.000,0.080,2615,2107,2541,2608,2475,0,0,0,0,0,0,14.17,14.05,12.97
$GC,4922,0.09,222.6,2616,2107,2601,2459,404.6,9.0,471,4954,0.00,0.00,28.65,1.476,8230,0.000,0.000,2615,2107,2453,2522,2385,0,0,0,0,0,0,14.40,13.97,13.16
$GC,5269,0.10,247.7,2621,2108,2515,2379,375.0,8.8,482,5310,0.00,2.45,37.03,1.449,8740,0.000,0.083,2614,726,2352,2411,2293,0,0,0,0,0,0,14.41,13.80,13.19
$GC,5367,0.22,283.7,2616,729,2404,2291,365.3,8.3,502,5427,0.12,2.42,54.55,1.392,11430,0.128,0.078,2671,2098,2211,2270,2152,0,0,0,0,0,0,14.04,14.00,13.05
$GC,5747,0.17,283.7,2672,2098,2258,2135,317.1,12.7,528,5752,0.12,2.42,0.00,0.000,4740,0.269,0.081,2647,726,2196,2257,2135,0,0,0,0,0,0,13.88,14.03,14.00
$GC,5777,0.19,283.7,2647,725,2254,2136,313.6,10.7,534,5782,0.00,2.42,0.00,0.000,1158,0.000,0.077,2647,2106,2195,2255,2135,0,0,0,0,0,0,14.18,14.07,14.21
$GC,6107,0.19,283.7,2647,2107,2257,2134,278.8,10.4,550,6112,0.00,2.42,0.00,0.000,516,0.000,0.084,2647,730,2194,2255,2134,0,0,0,0,0,0,14.42,14.14,14.47
$GC,6147,0.26,283.7,2647,730,2254,2134,274.7,10.2,558,6152,0.00,2.40,0.00,0.000,1158,0.000,0.079,2647,2101,2193,2254,2133,0,0,0,0,0,0,14.25,14.10,14.26
$GC,6467,0.27,305.7,2647,2104,2255,2134,244.3,9.0,572,6508,0.00,2.47,32.47,1.417,8740,0.000,0.084,2649,732,2112,2168,2056,0,0,0,0,0,0,14.45,14.02,13.28
$GC,6533,0.38,338.2,2647,732,2164,2057,238.4,8.5,585,6591,0.17,2.42,52.17,1.337,11430,0.109,0.078,2713,2109,1986,2037,1935,0,0,0,0,0,0,14.09,14.02,13.12
$GC,6888,0.33,338.2,2713,2109,2028,1923,193.8,12.2,606,6893,0.00,2.45,0.00,0.000,644,0.000,0.084,2717,723,1974,2027,1922,0,0,0,0,0,0,14.33,14.06,14.35
$GC,6973,0.33,338.2,2718,723,2025,1921,184.3,10.8,623,6980,0.00,2.42,0.00,0.000,1030,0.000,0.076,2718,2106,1972,2023,1922,0,0,0,0,0,0,14.18,14.07,14.21
$GC,7278,0.29,338.2,2718,2107,2024,1919,149.4,11.3,634,7283,0.15,2.42,0.00,0.000,4740,0.233,0.082,2685,724,1971,2023,1919,0,0,0,0,0,0,14.00,14.13,14.12
$GC,7323,0.41,374.8,2685,724,2021,1921,145.3,8.3,643,7390,0.00,2.40,60.62,1.289,9382,0.000,0.077,2686,2102,1837,1874,1801,0,0,0,0,0,0,14.26,14.15,13.21
$MODEM_MSG,CACST,6,1,20170822040408.698031,3,162,10,0188,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170822041230.291525,3,32767,45,0796,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170822042025.304531,3,171,22,0106,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$MODEM_MSG,CACST,6,1,20170822042813.967307,3,1591,32,0807,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,7702,0.52,423.9,2685,2103,1865,1790,114.9,7.7,668,7793,0.17,2.50,81.00,1.222,10916,0.111,0.087,2768,731,1627,1658,1597,0,0,0,0,0,0,14.02,13.74,13.13
$GC,7834,0.52,423.9,2769,730,1658,1596,97.5,12.8,694,7839,0.00,2.47,0.00,0.000,1030,0.000,0.080,2768,2109,1626,1657,1596,0,0,0,0,0,0,13.93,13.79,13.95
$GC,8144,0.52,459.4,2769,2111,1658,1588,62.9,8.4,726,8167,0.00,2.55,17.33,0.395,8612,0.000,0.082,2768,3514,1490,1531,1449,0,0,0,0,0,0,14.40,14.04,13.66
$GC,8347,0.58,515.5,2769,3516,1533,1449,45.8,7.4,766,8381,0.00,2.38,29.27,0.342,9382,0.000,0.066,2773,2129,1264,1321,1207,0,0,0,0,0,0,14.24,14.14,13.82
$GC,8677,0.75,595.0,2773,2130,1322,1200,24.1,6.3,802,8725,0.12,2.53,41.17,0.285,10916,0.135,0.089,2834,694,936,1007,866,0,0,0,0,0,0,14.16,14.04,13.92
$GC,8950,0.95,697.6,2833,694,1006,863,6.6,5.3,856,9014,0.15,2.47,54.45,0.223,11430,0.117,0.077,2894,2114,515,545,485,0,0,0,0,0,0,14.22,14.10,13.93
$STATE,9017,end climb,SURFACE_DEPTH_REACHED
$STATE,9017,begin surface coast
$FINISH,0.1,1.010379
$STATE,9040,end surface coast,CONTROL_FINISHED_OK
$STATE,9040,begin surface
$SM_CCo,9060,2.80,0.222,0,0,501,702.78
$SM_GC,2.13,8.20,0.15,2.80,0.076,0.121,0.222,205,2234,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,14.03
$RAFOS_CLK,175
$MODEM,4,1503376093,75.71700,-151.21500,193.217,279670.0
$MODEM,3,1503375625,74.30400,-153.94400,118.305,171238.4
$MODEM,2,1503375150,73.18300,-149.96500,3.292,4764.3
$MODEM,0,1503374648,75.36600,-145.04601,194.698,281813.2
$RAFOS_FIX,7312.612305,-15000.722656,220817,040419,4,255,0.30
$IRIDIUM_FIX,7312.21,-14959.61,210817,233602
$TT8_MAMPS,0.040446,0.874832
$HUMID,45.15
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,10
$CP_FREE,15996977152.000000
$PM_FREEKB_00,54083264
$24V_AH,12.42,105.867
$10V_AH,12.34,0.000
$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,25.025,93.725,987.875,2.800,0.000,0.000,0.000,410.875,2.500,0.000,9.593,0.000,6272.563,970.109,2218.178,308.337,0.000,2201.257,0.000,1246.271,2192.000,0.539,0.000
$DEVICE_MAMPS,451.350,2146.590,1476.450,221.850,0.000,0.000,0.000,185.895,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9067.000,9069.000,9014.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.495,20.000,10.066,0.000
$MEM,323528
$DATA_FILE_SIZE,30033,871
$CAP_FILE_SIZE,113613,0
$CFSIZE,2097872896,2047639552
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3035.93,0x2341ea,0,24
$INTR,1,3788.32,0x2341ea,1,24
$SOUNDSPEED,1448.1
$CURRENT,0.027,135.63,1
$GPS,220817,050407,7314.231,-14959.939,16,0.7,18,20.8,0.5,68.1,12,9.3