version: 66.13
glider: 196
mission: 14
dive: 158
start: 8 25 117 3 51 25
data:
$ID,196
$MISSION,14
$DIVE,158
$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,28
$R_STBD_OVSHOOT,32
$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,444.0
$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
$GPS1,250817,033604,7340.7295,-15109.7441,33,1.7,35,20.3,0.4,119.3,4,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.4
$GPS2,250817,035050,7340.7607,-15109.8564,5,0.8,14,20.3,0.0,0.0,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.2,108614,-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,-145.9,176,2216,514,479,0.0,0.0,0,140,0.00,0.00,-91.60,0.000,16386,0.000,0.000,173,2216,2203,2132,2274,0,0,0,0,0,0,14.46,28.83,14.48
$GC,143,-0.57,-145.9,174,2216,2134,2273,4.3,-6.5,9,196,12.80,2.75,-31.80,0.000,18724,0.460,2.150,2374,3598,3964,3948,3980,1,0,0,0,0,0,13.57,12.59,14.14
$GC,421,-0.67,-145.9,2375,3600,3955,3981,65.1,-14.0,64,428,0.00,2.40,0.00,0.000,1158,0.000,0.058,2374,2200,3967,3954,3980,0,0,0,0,0,0,14.26,14.15,14.29
$GC,745,-0.73,-145.9,2374,2197,3955,3982,111.0,-12.3,90,750,0.00,2.50,0.00,0.000,388,0.000,0.086,2365,3604,3971,3955,3987,0,0,0,0,0,0,14.42,13.95,14.44
$GC,815,-0.90,-145.9,2372,3605,3956,3981,118.5,-9.7,104,821,0.25,2.40,0.00,0.000,5286,0.091,0.055,2266,2197,3967,3954,3980,0,0,0,0,0,0,14.09,14.00,14.20
$GC,1136,-0.82,-145.9,2266,2197,3956,3981,180.3,-19.0,118,1141,0.17,2.50,0.00,0.000,2436,0.294,0.084,2299,3601,3965,3952,3979,0,0,0,0,0,0,13.83,14.06,14.00
$GC,1233,-0.91,-145.9,2299,3601,3956,3981,194.1,-12.8,137,1238,0.00,2.40,0.00,0.000,1158,0.000,0.058,2299,2196,3967,3955,3980,0,0,0,0,0,0,14.24,14.14,14.28
$GC,1558,-0.93,-145.9,2299,2195,3956,3980,238.8,-13.2,152,1564,0.00,2.50,0.00,0.000,388,0.000,0.087,2293,3607,3967,3954,3980,0,0,0,0,0,0,14.45,14.09,14.47
$GC,1634,-1.03,-145.9,2292,3609,3955,3981,247.9,-11.2,167,1639,0.15,2.40,0.00,0.000,5254,0.123,0.057,2239,2197,3967,3955,3979,0,0,0,0,0,0,14.12,14.14,14.24
$GC,1949,-0.96,-145.9,2240,2197,3955,3980,299.0,-15.6,180,1955,0.12,2.47,0.00,0.000,2436,0.295,0.084,2257,3602,3967,3955,3980,0,0,0,0,0,0,13.83,14.04,14.02
$GC,2042,-1.01,-145.9,2257,3602,3955,3981,310.9,-12.3,198,2047,0.00,2.40,0.00,0.000,1158,0.000,0.057,2257,2201,3967,3954,3980,0,0,0,0,0,0,14.23,14.11,14.26
$GC,2372,-1.01,-145.9,2256,2200,3955,3984,353.9,-12.7,214,2377,0.00,2.50,0.00,0.000,260,0.000,0.088,2249,3607,3966,3954,3979,0,0,0,0,0,0,14.45,14.06,14.47
$GC,2442,-1.07,-145.9,2249,3609,3956,3979,362.7,-12.0,228,2448,0.00,2.42,0.00,0.000,1158,0.000,0.057,2249,2192,3967,3955,3979,0,0,0,0,0,0,14.23,14.12,14.26
$MODEM_MSG,CACST,6,1,20170825040355.617323,3,164,16,0200,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$MODEM_MSG,CACST,6,1,20170825041312.851423,3,513,27,0209,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170825041942.902606,3,3832,35,0771,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$MODEM_MSG,CACST,6,1,20170825042737.535173,3,60,11,0193,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,2763,-1.07,-145.9,2249,2191,3956,3977,404.5,-12.9,242,2768,0.00,2.47,0.00,0.000,260,0.000,0.086,2240,3607,3965,3954,3977,0,0,0,0,0,0,14.42,14.04,14.46
$GC,2884,-1.11,-145.9,2241,3609,3955,3978,419.6,-12.1,266,2889,0.00,2.38,0.00,0.000,1158,0.000,0.055,2241,2204,3965,3954,3977,0,0,0,0,0,0,14.23,14.08,14.25
$GC,3214,-1.11,-145.9,2241,2202,3954,3977,462.9,-13.0,282,3218,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3600,3965,3954,3977,0,0,0,0,0,0,14.57,14.16,14.58
$GC,3284,-1.14,-145.9,2237,3601,3954,3977,471.9,-12.4,296,3290,0.00,2.38,0.00,0.000,1158,0.000,0.056,2236,2203,3965,3954,3977,0,0,0,0,0,0,14.33,14.22,14.38
$STATE,3362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3362,begin apogee
$GC,3368,-0.13,0.0,2237,2055,3955,3978,482.7,-13.4,302,3650,1.15,0.08,277.70,1.320,10246,0.242,0.182,2527,2099,3364,3391,3337,0,0,0,0,0,0,13.91,13.29,12.58
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3658,0.57,145.9,2528,2099,3379,3322,497.4,0.0,311,3881,0.75,1.88,208.85,1.331,11012,0.065,0.076,2779,3501,2754,2798,2711,0,0,0,0,0,0,13.46,13.15,12.40
$GC,4066,0.12,145.9,2780,3501,2780,2705,472.9,17.0,350,4072,0.80,2.40,0.00,0.000,5254,0.352,0.057,2630,2131,2742,2780,2704,0,0,0,0,0,0,13.38,13.71,13.74
$GC,4382,0.05,185.5,2627,2130,2783,2703,445.5,8.2,363,4444,0.00,2.58,55.20,1.343,8868,0.000,0.082,2636,687,2604,2657,2551,0,0,0,0,0,0,14.40,13.69,13.10
$GC,4509,0.03,201.9,2636,687,2646,2539,434.2,9.2,388,4535,0.17,2.50,19.17,1.428,13478,0.254,0.080,2599,2099,2540,2604,2476,0,0,0,0,0,0,13.80,13.97,13.09
$GC,4836,0.07,251.8,2599,2100,2592,2456,408.9,7.7,403,4916,0.00,0.00,79.00,1.298,8230,0.000,0.000,2599,2102,2340,2400,2281,0,0,0,0,0,0,14.47,13.86,13.13
$GC,5194,0.16,293.9,2599,2099,2379,2258,380.3,8.1,415,5265,0.12,2.60,65.72,1.291,10916,0.132,0.086,2672,688,2163,2220,2107,0,0,0,0,0,0,14.23,13.90,13.14
$GC,5292,0.14,293.9,2674,687,2205,2101,368.8,12.9,434,5297,0.17,2.50,0.00,0.000,5254,0.239,0.079,2633,2100,2151,2203,2099,0,0,0,0,0,0,13.80,13.94,14.03
$GC,5617,0.17,293.9,2633,2099,2204,2087,334.0,10.5,449,5623,0.00,2.47,0.00,0.000,644,0.000,0.086,2633,689,2144,2202,2087,0,0,0,0,0,0,14.52,14.19,14.53
$GC,5668,0.28,301.1,2633,690,2201,2088,328.8,9.7,459,5673,0.12,2.45,0.00,0.000,3238,0.131,0.078,2686,2099,2143,2200,2087,0,0,0,0,0,0,14.27,14.21,14.35
$GC,5979,0.21,301.1,2687,2099,2202,2086,287.3,13.4,471,5980,0.15,0.00,0.00,0.000,4230,0.244,0.000,2654,2100,2143,2200,2086,0,0,0,0,0,0,14.12,14.40,14.34
$GC,6279,0.21,301.1,2654,2100,2201,2085,255.6,10.2,481,6284,0.00,2.42,0.00,0.000,516,0.000,0.086,2659,695,2142,2200,2085,0,0,0,0,0,0,14.65,14.28,14.66
$GC,6374,0.29,332.3,2659,696,2198,2086,246.8,8.6,500,6440,0.00,2.42,61.28,1.266,9382,0.000,0.080,2659,2100,2013,2064,1962,0,0,0,0,0,0,14.42,14.30,13.32
$GC,6760,0.36,361.8,2660,2100,2046,1939,212.1,8.6,527,6816,0.12,2.53,47.12,1.257,10916,0.136,0.086,2724,701,1884,1921,1847,0,0,0,0,0,0,14.25,14.02,13.28
$GC,6871,0.36,361.8,2725,701,1909,1845,198.9,12.0,549,6878,0.00,2.47,0.00,0.000,1030,0.000,0.076,2725,2103,1876,1908,1844,0,0,0,0,0,0,14.20,14.09,14.23
$GC,7183,0.31,361.8,2725,2104,1906,1838,160.8,11.8,561,7189,0.15,2.47,0.00,0.000,4740,0.236,0.085,2687,690,1871,1905,1838,0,0,0,0,0,0,14.06,14.17,14.20
$GC,7254,0.44,399.2,2688,689,1904,1837,154.6,8.3,575,7324,0.12,2.47,64.00,1.210,11430,0.139,0.079,2742,2099,1742,1773,1711,0,0,0,0,0,0,14.26,14.23,13.28
$GC,7634,0.41,399.2,2742,2100,1751,1690,109.4,11.5,601,7635,0.00,0.00,0.00,0.000,134,0.000,0.000,2742,2099,1720,1751,1690,0,0,0,0,0,0,14.50,14.52,14.52
$GC,7936,0.42,413.3,2742,2100,1751,1687,78.2,9.3,625,7948,0.00,2.47,5.28,0.364,8740,0.000,0.084,2751,687,1682,1714,1650,0,0,0,0,0,0,14.54,14.19,13.75
$GC,8019,0.51,455.2,2751,688,1722,1659,71.2,8.1,641,8051,0.00,2.47,24.62,0.412,9382,0.000,0.080,2751,2102,1513,1546,1481,0,0,0,0,0,0,14.28,14.15,13.74
$GC,8348,0.67,574.3,2751,2103,1550,1479,50.1,4.5,677,8419,0.15,0.00,64.12,0.347,10406,0.116,0.000,2810,2102,1021,1094,949,0,0,0,0,0,0,14.31,14.12,13.77
$GC,8718,0.79,627.5,2810,2102,1095,960,18.2,7.5,714,8755,0.00,2.55,29.40,0.265,8868,0.000,0.087,2811,697,804,876,732,0,0,0,0,0,0,14.54,14.00,13.90
$GC,8910,1.06,708.0,2812,696,878,744,8.0,6.3,752,8958,0.35,2.45,42.22,0.225,11430,0.086,0.078,2942,2100,498,523,474,0,0,0,0,0,0,14.20,14.15,13.87
$STATE,8961,end climb,SURFACE_DEPTH_REACHED
$STATE,8961,begin surface coast
$FINISH,0.2,1.020760
$STATE,8971,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,9054,0.00,0.000,0,0,497,703.52
$SM_GC,1.27,8.45,0.17,0.00,0.086,0.119,0.000,201,2216,497,-7.39,-0.71,703.52,0,0,0,0,0,0,14.25,14.27,14.34
$RAFOS_CLK,390
$MODEM,4,1503635257,75.71700,-151.21500,156.785,227112.8
$MODEM,3,1503634782,74.30400,-153.94400,75.903,109949.5
$MODEM,2,1503634392,73.18300,-149.96500,45.851,66418.6
$MODEM,0,1503633835,75.36600,-145.04601,181.617,263083.7
$RAFOS_FIX,7339.553223,-15110.039062,250817,040406,4,255,1.48
$IRIDIUM_FIX,7344.32,-15153.39,250817,034100
$TT8_MAMPS,0.040446,0.892808
$HUMID,46.61
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15992717312.000000
$PM_FREEKB_00,53309696
$24V_AH,12.40,118.357
$10V_AH,12.26,0.000
$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,26.300,83.875,1043.700,0.000,0.000,0.000,0.000,542.100,3.750,0.000,16.393,0.000,6372.527,929.935,2341.453,309.861,0.000,2343.967,0.000,1094.051,2212.000,0.540,0.000
$DEVICE_MAMPS,459.765,2150.415,1428.255,0.000,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8998.000,8990.000,8947.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.538,20.000,9.956,0.000
$MEM,323612
$DATA_FILE_SIZE,26725,763
$CAP_FILE_SIZE,108439,0
$CFSIZE,2097872896,2039382016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,9854.14,0x213afc,7,24
$SOUNDSPEED,1447.9
$CURRENT,0.021,269.49,1
$GPS,250817,062403,7341.863,-15112.468,59,0.7,60,20.3,0.0,191.9,11,9.8