version: 66.13
glider: 196
mission: 14
dive: 134
start: 8 22 117 8 10 21
data:
$ID,196
$MISSION,14
$DIVE,134
$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,23
$R_STBD_OVSHOOT,22
$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,48
$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,379.0
$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
$GPS1,220817,074627,7315.1733,-15001.5625,18,0.8,23,20.8,0.0,0.0,10,8.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.3
$GPS2,220817,080953,7315.0742,-15001.4365,6,0.7,35,20.8,0.0,161.4,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.4,166006,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,191,2206,503,489,0.0,0.0,0,126,0.00,0.00,-77.45,0.000,16386,0.000,0.000,190,2207,1878,1805,1951,0,0,0,0,0,0,14.52,28.83,14.54
$GC,129,-0.57,-145.9,190,2207,1811,1959,3.0,-3.1,8,196,12.62,2.80,-46.45,0.000,18724,0.456,2.153,2376,3600,3962,3943,3981,0,0,0,0,0,0,13.68,12.66,14.13
$GC,421,-0.57,-145.9,2376,3602,3950,3983,64.4,-17.7,66,427,0.00,2.42,0.00,0.000,1030,0.000,0.057,2375,2191,3968,3954,3982,0,0,0,0,0,0,14.14,14.03,14.17
$GC,744,-0.61,-145.9,2375,2192,3956,3982,112.0,-12.9,93,749,0.00,2.53,0.00,0.000,388,0.000,0.087,2366,3612,3966,3954,3978,0,0,0,0,0,0,14.40,14.03,14.41
$GC,914,-0.78,-145.9,2366,3613,3956,3982,130.3,-9.6,127,919,0.12,2.40,0.00,0.000,5286,0.132,0.054,2314,2196,3971,3954,3988,0,0,0,0,0,0,14.08,14.09,14.19
$GC,1224,-0.78,-145.9,2315,2196,3956,3984,178.2,-15.3,139,1229,0.00,2.50,0.00,0.000,260,0.000,0.087,2308,3609,3967,3954,3981,0,0,0,0,0,0,14.42,14.05,14.43
$GC,1309,-0.88,-145.9,2304,3610,3955,3983,189.8,-12.3,156,1316,0.00,2.40,0.00,0.000,1158,0.000,0.055,2307,2202,3967,3954,3981,0,0,0,0,0,0,14.21,14.10,14.24
$MODEM_MSG,CACST,6,1,20170822081231.935180,3,328,25,0160,0150,250,00,00,00,00,-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,6,1,20170822082024.342199,3,7258,38,0682,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170822082812.477520,3,1002,30,0385,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,1614,-0.88,-145.9,2308,2202,3956,3982,232.3,-13.4,167,1619,0.00,2.47,0.00,0.000,260,0.000,0.089,2301,3620,3967,3954,3981,0,0,0,0,0,0,14.42,14.07,14.45
$GC,1735,-0.99,-145.9,2301,3621,3955,3980,246.0,-10.4,191,1740,0.12,2.40,0.00,0.000,5254,0.129,0.057,2252,2187,3967,3954,3981,0,0,0,0,0,0,14.12,14.09,14.21
$GC,2065,-0.94,-145.9,2252,2185,3955,3982,296.6,-15.0,207,2070,0.00,2.50,0.00,0.000,388,0.000,0.087,2242,3609,3968,3955,3981,0,0,0,0,0,0,14.57,14.16,14.58
$GC,2220,-0.94,-145.9,2243,3609,3954,3982,319.2,-14.4,238,2226,0.15,2.40,0.00,0.000,3078,0.260,0.059,2272,2190,3967,3954,3981,0,0,0,0,0,0,13.95,14.19,14.21
$GC,2546,-0.94,-145.9,2272,2190,3955,3980,359.8,-12.1,253,2551,0.00,2.50,0.00,0.000,260,0.000,0.088,2267,3613,3967,3954,3980,0,0,0,0,0,0,14.61,14.18,14.62
$GC,2646,-1.01,-145.9,2267,3614,3955,3980,371.2,-11.0,273,2651,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2196,3967,3954,3980,0,0,0,0,0,0,14.38,14.28,14.42
$GC,2967,-1.01,-145.9,2267,2196,3954,3981,410.0,-12.0,287,2971,0.00,2.47,0.00,0.000,260,0.000,0.088,2258,3608,3966,3953,3980,0,0,0,0,0,0,14.62,14.19,14.63
$GC,3057,-1.07,-145.9,2258,3610,3953,3981,420.6,-11.7,305,3061,0.00,2.38,0.00,0.000,1158,0.000,0.056,2258,2194,3963,3953,3974,0,0,0,0,0,0,14.38,14.26,14.41
$GC,3387,-1.07,-145.9,2259,2192,3954,3979,461.6,-12.5,321,3391,0.00,2.47,0.00,0.000,260,0.000,0.088,2250,3608,3966,3953,3979,0,0,0,0,0,0,14.63,14.19,14.64
$GC,3482,-1.11,-145.9,2250,3609,3954,3979,473.2,-12.0,340,3486,0.00,2.38,0.00,0.000,1158,0.000,0.055,2249,2198,3966,3953,3979,0,0,0,0,0,0,14.29,14.19,14.34
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3534,begin apogee
$GC,3540,-0.13,0.0,2250,2068,3953,3984,480.3,-13.2,346,3767,1.10,0.05,224.00,1.431,10246,0.245,0.218,2529,2101,3365,3386,3345,0,0,0,0,0,0,13.95,13.38,12.69
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3773,0.57,145.9,2530,2102,3379,3334,491.0,0.0,353,3988,0.75,2.67,204.50,1.386,11012,0.067,0.075,2781,3524,2762,2805,2720,0,0,0,0,0,0,13.54,13.15,12.42
$GC,4020,0.12,145.9,2782,3519,2790,2719,493.1,15.3,387,4026,0.85,2.50,0.00,0.000,5254,0.351,0.054,2626,2133,2754,2789,2719,0,0,0,0,0,0,13.09,13.35,13.39
$GC,4353,0.05,182.0,2626,2132,2790,2715,463.9,8.3,403,4406,0.00,2.60,48.55,1.443,8868,0.000,0.082,2636,693,2624,2668,2580,0,0,0,0,0,0,14.21,13.55,12.94
$GC,4501,0.03,196.4,2636,693,2665,2567,450.3,9.3,433,4527,0.20,2.53,18.58,1.541,13478,0.246,0.079,2592,2107,2563,2621,2505,0,0,0,0,0,0,13.70,13.87,12.94
$GC,4834,0.10,250.9,2592,2109,2618,2494,425.2,7.5,449,4923,0.00,0.00,82.97,1.405,8358,0.000,0.000,2593,2108,2332,2386,2278,0,0,0,0,0,0,14.41,13.70,13.02
$GC,5222,0.21,297.3,2593,2108,2386,2271,394.7,7.9,462,5298,0.15,2.58,68.62,1.385,10916,0.120,0.088,2668,688,2148,2199,2098,0,0,0,0,0,0,14.18,13.85,13.08
$GC,5332,0.21,297.3,2668,689,2192,2097,381.1,12.9,484,5338,0.00,2.53,0.00,0.000,1030,0.000,0.078,2668,2108,2143,2191,2095,0,0,0,0,0,0,14.00,13.89,14.02
$GC,5643,0.17,297.3,2669,2104,2191,2090,340.8,12.8,496,5648,0.12,2.47,0.00,0.000,4740,0.275,0.083,2647,694,2137,2189,2086,0,0,0,0,0,0,13.96,14.13,14.11
$GC,5688,0.23,297.3,2647,695,2188,2088,335.7,10.7,505,5693,0.00,2.45,0.00,0.000,1158,0.000,0.078,2647,2098,2137,2188,2087,0,0,0,0,0,0,14.26,14.19,14.32
$GC,6003,0.23,297.3,2647,2100,2187,2087,301.9,10.5,518,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2136,2187,2085,0,0,0,0,0,0,14.62,14.60,14.60
$GC,6303,0.26,299.4,2645,2100,2188,2085,271.5,9.9,528,6308,0.00,2.47,0.00,0.000,676,0.000,0.086,2647,685,2136,2188,2084,0,0,0,0,0,0,14.62,14.26,14.64
$GC,6353,0.35,313.0,2647,684,2188,2084,266.7,9.4,538,6380,0.15,2.45,20.73,1.474,11430,0.119,0.078,2705,2107,2087,2136,2038,0,0,0,0,0,0,14.36,14.30,13.36
$GC,6697,0.28,313.0,2706,2107,2133,2031,222.0,12.5,556,6699,0.15,0.00,0.00,0.000,4230,0.228,0.000,2671,2108,2080,2131,2030,0,0,0,0,0,0,14.12,14.37,14.31
$GC,6996,0.30,343.1,2672,2109,2132,2030,194.7,8.6,566,7051,0.00,2.50,49.72,1.358,8740,0.000,0.086,2672,695,1963,2010,1917,0,0,0,0,0,0,14.64,13.88,13.31
$GC,7113,0.44,390.1,2672,694,2003,1916,185.3,7.8,589,7202,0.15,2.47,79.47,1.263,11430,0.124,0.078,2735,2100,1769,1798,1741,0,0,0,0,0,0,14.11,14.07,13.10
$GC,7507,0.41,390.1,2736,2100,1795,1729,136.9,12.0,618,7513,0.00,2.47,0.00,0.000,644,0.000,0.086,2742,692,1761,1794,1728,0,0,0,0,0,0,14.45,14.12,14.45
$GC,7613,0.41,390.1,2742,692,1789,1729,124.4,11.3,639,7618,0.00,2.45,0.00,0.000,1030,0.000,0.077,2742,2099,1758,1788,1728,0,0,0,0,0,0,14.31,14.19,14.34
$GC,7918,0.41,390.1,2746,2097,1788,1728,90.1,10.4,657,7923,0.00,2.45,0.00,0.000,516,0.000,0.085,2746,693,1756,1787,1726,0,0,0,0,0,0,14.54,14.13,14.55
$GC,7953,0.41,393.0,2747,694,1787,1728,86.6,9.9,664,7959,0.12,2.45,0.00,0.000,5158,0.236,0.079,2719,2099,1755,1786,1724,0,0,0,0,0,0,13.97,14.15,14.17
$GC,8258,0.54,471.5,2719,2101,1786,1727,64.7,6.4,695,8306,0.00,2.53,40.33,0.399,8612,0.000,0.083,2720,3507,1441,1483,1400,0,0,0,0,0,0,14.54,14.04,13.78
$GC,8353,0.71,532.2,2720,3507,1484,1400,58.4,7.2,713,8391,0.25,2.40,31.70,0.379,11430,0.086,0.063,2816,2100,1193,1255,1132,0,0,0,0,0,0,14.16,14.08,13.76
$GC,8696,0.71,541.3,2816,2101,1256,1123,24.7,9.6,751,8707,0.00,2.53,4.22,0.298,8740,0.000,0.088,2822,685,1158,1226,1090,0,0,0,0,0,0,14.51,14.13,13.85
$GC,8794,0.86,595.0,2822,684,1226,1091,16.4,7.5,770,8833,0.12,2.47,29.00,0.262,11430,0.130,0.076,2876,2106,934,1002,866,0,0,0,0,0,0,14.19,14.16,13.87
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9016,begin surface coast
$FINISH,0.1,1.009717
$STATE,9046,end surface coast,CONTROL_FINISHED_OK
$STATE,9046,begin surface
$SM_CCo,9067,57.03,0.214,0,0,502,702.78
$SM_GC,0.98,8.15,0.17,57.03,0.080,0.121,0.214,200,2216,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.30,14.01
$RAFOS_CLK,416
$MODEM,4,1503390492,75.71700,-151.21500,191.728,277563.6
$MODEM,3,1503390024,74.30400,-153.94400,117.342,169876.1
$MODEM,2,1503389551,73.18300,-149.96500,4.935,7144.7
$RAFOS_FIX,7314.153320,-15000.886719,220817,080822,3,255,2.76
$IRIDIUM_FIX,7315.64,-15002.34,220817,080340
$TT8_MAMPS,0.039697,0.864346
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15996649472.000000
$PM_FREEKB_00,54021760
$24V_AH,12.42,106.813
$10V_AH,12.44,0.000
$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,25.300,89.750,902.400,57.025,0.000,0.000,0.000,849.475,3.250,0.000,36.194,0.000,6690.183,935.038,2561.088,358.358,0.000,2580.302,0.000,1144.775,1482.000,0.540,0.000
$DEVICE_MAMPS,455.940,2152.710,1541.475,214.200,0.000,0.000,0.000,162.180,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9074.000,9073.000,9022.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.282,20.000,10.155,0.000
$MEM,323472
$DATA_FILE_SIZE,26680,799
$CAP_FILE_SIZE,115502,0
$CFSIZE,2097872896,2046885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.015,286.14,1
$GPS,220817,104350,7316.175,-15003.397,39,0.8,39,20.7,0.0,0.0,10,8.9