version: 66.13
glider: 196
mission: 14
dive: 137
start: 8 22 117 16 36 16
data:
$ID,196
$MISSION,14
$DIVE,137
$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,31
$R_STBD_OVSHOOT,46
$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,387.0
$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
$GPS1,220817,161534,7318.3374,-15006.9580,40,0.8,42,20.7,0.4,221.6,11,8.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.0
$GPS2,220817,163540,7318.2886,-15006.6504,8,0.8,11,20.7,0.0,0.0,10,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,290.8,159981,-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
$MODEM_MSG,CACST,6,1,20170822160405.212655,3,17,12,0121,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170822162018.386349,3,149,-2,0090,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*1B
$GC,47,-0.57,-145.9,185,2180,499,489,0.0,0.0,0,141,0.00,0.00,-91.57,0.000,16386,0.000,0.000,183,2175,2231,2164,2299,0,0,0,0,0,0,14.37,28.83,14.40
$GC,145,-0.57,-145.9,180,2177,2170,2300,4.4,-6.5,9,194,12.65,2.72,-29.73,0.000,18724,0.455,2.148,2375,3582,3966,3950,3982,0,0,0,0,0,0,13.66,12.89,14.05
$GC,419,-0.60,-145.9,2375,3584,3958,3983,65.6,-14.8,63,424,0.00,2.38,0.00,0.000,1158,0.000,0.057,2375,2202,3969,3957,3982,0,0,0,0,0,0,14.06,13.97,14.12
$GC,740,-0.64,-145.9,2377,2201,3959,3982,111.0,-12.3,90,745,0.00,2.45,0.00,0.000,388,0.000,0.087,2365,3590,3970,3958,3982,0,0,0,0,0,0,14.53,14.07,14.54
$GC,862,-0.80,-145.9,2365,3593,3959,3983,123.8,-10.1,114,867,0.15,2.33,0.00,0.000,5254,0.118,0.054,2301,2201,3970,3958,3982,0,0,0,0,0,0,14.27,14.24,14.36
$GC,1192,-0.77,-145.9,2302,2201,3959,3985,177.2,-15.8,130,1197,0.12,2.42,0.00,0.000,2436,0.284,0.084,2322,3586,3969,3958,3980,0,0,0,0,0,0,13.96,14.19,14.11
$GC,1294,-0.87,-145.9,2322,3588,3958,3983,189.4,-11.6,150,1299,0.00,2.33,0.00,0.000,1158,0.000,0.057,2322,2201,3969,3957,3982,0,0,0,0,0,0,14.39,14.28,14.38
$GC,1614,-0.91,-145.9,2323,2200,3959,3982,230.0,-12.2,164,1619,0.12,2.42,0.00,0.000,4484,0.142,0.087,2258,3587,3969,3957,3981,0,0,0,0,0,0,14.35,14.13,14.37
$GC,1714,-0.91,-145.9,2259,3587,3959,3982,244.9,-14.6,184,1719,0.00,2.33,0.00,0.000,1030,0.000,0.058,2258,2203,3970,3958,3982,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2035,-0.86,-145.9,2258,2203,3960,3982,293.6,-14.7,198,2040,0.15,2.42,0.00,0.000,2436,0.288,0.085,2283,3589,3969,3958,3981,0,0,0,0,0,0,13.98,14.19,14.17
$GC,2132,-0.95,-145.9,2284,3591,3959,3982,304.7,-10.8,217,2138,0.00,2.35,0.00,0.000,1158,0.000,0.057,2286,2196,3970,3958,3982,0,0,0,0,0,0,14.40,14.29,14.45
$GC,2458,-0.98,-145.9,2284,2195,3959,3979,342.6,-11.3,232,2463,0.00,2.45,0.00,0.000,388,0.000,0.090,2280,3588,3968,3958,3979,0,0,0,0,0,0,14.65,14.23,14.66
$GC,2533,-1.08,-145.9,2280,3590,3958,3980,350.6,-10.0,247,2538,0.15,2.35,0.00,0.000,5254,0.125,0.057,2225,2189,3968,3958,3979,0,0,0,0,0,0,14.32,14.29,14.40
$GC,2849,-1.00,-145.9,2225,2191,3958,3978,399.0,-15.5,260,2854,0.12,2.45,0.00,0.000,2436,0.294,0.084,2244,3589,3967,3957,3977,0,0,0,0,0,0,13.74,13.69,13.69
$GC,2994,-1.00,-145.9,2244,3590,3958,3977,418.1,-12.5,289,3001,0.00,2.33,0.00,0.000,1030,0.000,0.056,2244,2201,3967,3957,3977,0,0,0,0,0,0,14.38,14.26,14.40
$GC,3299,-0.97,-145.9,2244,2201,3958,3978,459.5,-13.6,300,3304,0.00,2.42,0.00,0.000,388,0.000,0.087,2236,3586,3966,3957,3976,0,0,0,0,0,0,14.66,14.13,14.67
$GC,3414,-0.97,-145.9,2237,3588,3957,3977,474.8,-12.8,323,3420,0.12,2.33,0.00,0.000,3078,0.253,0.056,2260,2202,3967,3957,3977,0,0,0,0,0,0,14.02,14.25,14.26
$STATE,3476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3476,begin apogee
$GC,3482,-0.13,0.0,2261,2061,3958,3977,482.7,-12.3,326,3706,1.05,0.00,220.52,1.434,10246,0.236,0.000,2532,2059,3363,3392,3335,0,0,0,0,0,0,13.99,13.47,12.71
$STATE,3710,end apogee,CONTROL_FINISHED_OK
$STATE,3710,begin climb
$GC,3712,0.57,145.9,2532,2060,3384,3329,493.3,0.0,333,3928,0.73,2.78,202.10,1.389,10500,0.068,0.076,2774,3501,2761,2811,2711,0,0,0,0,0,0,13.55,13.16,12.41
$GC,3963,0.14,145.9,2775,3508,2796,2711,493.2,16.1,377,3968,0.77,2.47,0.00,0.000,5254,0.348,0.057,2632,2131,2755,2800,2711,0,0,0,0,0,0,13.10,13.38,13.44
$GC,4284,0.04,169.3,2633,2131,2800,2707,463.3,8.9,391,4319,0.12,2.60,29.20,1.496,12964,0.295,0.086,2603,694,2671,2720,2622,0,0,0,0,0,0,13.70,13.81,12.97
$GC,4390,0.12,227.4,2604,689,2716,2621,455.0,7.3,412,4485,0.00,2.45,86.20,1.401,9382,0.000,0.079,2604,2075,2430,2496,2364,0,0,0,0,0,0,14.01,13.90,12.79
$GC,4796,0.18,260.2,2604,2076,2491,2358,420.9,8.5,443,4844,0.12,0.00,46.08,1.434,10406,0.132,0.000,2659,2075,2304,2363,2246,0,0,0,0,0,0,14.10,13.84,13.06
$GC,5126,0.13,260.2,2660,2075,2354,2235,380.5,12.3,454,5127,0.15,0.00,0.00,0.000,4230,0.249,0.000,2627,2076,2293,2352,2235,0,0,0,0,0,0,13.98,14.26,14.22
$GC,5426,0.15,263.3,2628,2076,2351,2234,350.7,9.9,464,5431,0.00,2.40,0.00,0.000,676,0.000,0.086,2633,696,2292,2350,2234,0,0,0,0,0,0,14.56,14.23,14.57
$GC,5486,0.23,273.3,2633,696,2350,2234,344.8,9.5,476,5511,0.00,2.42,17.12,1.525,9382,0.000,0.078,2631,2101,2248,2306,2191,0,0,0,0,0,0,14.38,14.25,13.30
$GC,5818,0.26,277.4,2633,2101,2304,2186,311.8,9.8,492,5822,0.00,0.00,3.00,1.319,8358,0.000,0.000,2633,2101,2235,2293,2177,0,0,0,0,0,0,14.57,14.21,12.90
$GC,6116,0.30,291.3,2633,2101,2297,2179,283.3,9.4,502,6148,0.12,2.47,26.00,1.476,10916,0.132,0.083,2698,690,2173,2227,2119,0,0,0,0,0,0,14.38,13.95,13.34
$GC,6184,0.25,291.3,2700,692,2223,2123,275.0,13.0,515,6189,0.15,2.45,0.00,0.000,5254,0.228,0.076,2666,2099,2170,2223,2118,0,0,0,0,0,0,14.02,14.16,14.23
$GC,6509,0.25,292.6,2667,2099,2225,2114,240.5,9.9,530,6515,0.00,2.45,0.00,0.000,548,0.000,0.084,2672,697,2168,2223,2113,0,0,0,0,0,0,14.57,14.19,14.59
$GC,6575,0.29,306.0,2673,697,2224,2113,234.2,9.4,543,6602,0.00,2.42,22.20,1.473,9382,0.000,0.079,2672,2102,2117,2171,2064,0,0,0,0,0,0,14.38,14.26,13.32
$GC,6900,0.30,321.5,2672,2104,2164,2055,202.8,9.3,558,6931,0.00,2.53,23.58,1.444,8740,0.000,0.085,2675,697,2055,2108,2002,0,0,0,0,0,0,14.55,14.12,13.33
$GC,6952,0.37,351.3,2673,697,2106,2002,198.1,8.6,568,7008,0.00,2.45,51.47,1.326,9382,0.000,0.079,2672,2101,1931,1978,1884,0,0,0,0,0,0,14.25,14.13,13.19
$GC,7325,0.46,387.3,2673,2101,1962,1878,165.8,8.3,592,7390,0.15,2.53,57.95,1.288,10916,0.123,0.086,2749,695,1782,1809,1755,0,0,0,0,0,0,14.23,13.94,13.21
$GC,7445,0.46,387.3,2750,695,1806,1754,150.8,12.3,616,7450,0.00,2.50,0.00,0.000,1030,0.000,0.078,2750,2098,1779,1805,1753,0,0,0,0,0,0,14.10,14.01,14.13
$GC,7775,0.42,387.3,2750,2099,1805,1746,109.1,12.2,632,7776,0.15,0.00,0.00,0.000,4230,0.232,0.000,2717,2099,1775,1804,1746,0,0,0,0,0,0,13.98,14.23,14.19
$GC,8077,0.50,422.4,2717,2099,1804,1742,81.8,8.4,654,8099,0.00,2.53,17.45,0.454,8868,0.000,0.085,2725,695,1642,1673,1612,0,0,0,0,0,0,14.53,14.16,13.69
$GC,8181,0.65,474.6,2725,696,1674,1612,73.7,7.6,674,8214,0.20,2.45,27.58,0.425,11430,0.099,0.079,2799,2100,1430,1470,1390,0,0,0,0,0,0,14.26,14.18,13.77
$GC,8510,0.66,507.4,2800,2104,1471,1379,39.3,8.5,710,8530,0.00,0.00,17.10,0.325,8358,0.000,0.000,2799,2103,1295,1348,1242,0,0,0,0,0,0,14.53,14.16,13.83
$GC,8829,0.85,654.1,2800,2104,1349,1235,17.8,3.2,742,8913,0.17,2.50,75.82,0.264,10916,0.109,0.086,2881,694,696,757,635,0,0,0,0,0,0,14.21,14.07,13.91
$GC,8988,0.95,691.8,2877,692,757,629,6.9,8.3,769,9015,0.00,2.47,20.05,0.231,9382,0.000,0.077,2876,2102,541,580,502,0,0,0,0,0,0,14.14,14.03,13.90
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9051,begin surface coast
$FINISH,0.1,1.015958
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9071,begin surface
$SM_CCo,9092,6.50,0.216,0,0,500,702.78
$SM_GC,2.07,8.12,0.17,6.50,0.075,0.129,0.216,202,2213,500,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.25,14.00
$RAFOS_CLK,407
$MODEM,3,1503418818,74.30400,-153.94400,111.386,161228.8
$MODEM,0,1503417845,75.36600,-145.04601,191.213,276775.3
$RAFOS_FIX,7318.078125,-15009.374023,220817,161611,2,255,0.00
$IRIDIUM_FIX,7317.69,-15015.31,220817,163101
$TT8_MAMPS,0.039697,0.844872
$HUMID,46.96
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,15996157952.000000
$PM_FREEKB_00,53932032
$24V_AH,12.41,108.236
$10V_AH,12.43,0.000
$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,25.625,83.775,943.425,6.500,0.000,0.000,0.000,680.025,4.000,0.000,12.577,0.000,6736.979,949.978,2315.903,320.614,0.000,2370.761,0.000,1119.657,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,2148.120,1525.410,216.495,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9101.000,9102.000,9049.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.356,20.000,9.968,0.000
$MEM,323644
$DATA_FILE_SIZE,26726,780
$CAP_FILE_SIZE,113649,0
$CFSIZE,2097872896,2045935616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.6
$CURRENT,0.031,214.37,1
$GPS,220817,190913,7319.245,-15009.024,26,0.7,31,20.7,0.0,103.9,11,9.7