version: 66.13
glider: 196
mission: 14
dive: 161
start: 8 25 117 12 21 40
data:
$ID,196
$MISSION,14
$DIVE,161
$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,20
$R_STBD_OVSHOOT,18
$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,453.0
$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
$GPS1,250817,120703,7343.8286,-15118.6318,37,0.8,38,20.3,0.0,0.0,11,7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.9
$GPS2,250817,122107,7343.8037,-15118.8516,9,0.7,12,20.3,0.0,0.0,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.9,101561,-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,-145.9,172,2205,514,482,0.0,0.0,0,141,0.00,0.00,-91.90,0.000,16386,0.000,0.000,171,2208,2205,2135,2276,0,0,0,0,0,0,14.33,28.83,14.35
$GC,144,-0.57,-145.9,172,2208,2140,2277,4.6,-7.3,9,196,12.73,2.80,-31.98,0.000,18724,0.454,2.147,2375,3611,3961,3941,3982,1,0,0,0,0,0,13.50,12.57,13.98
$GC,367,-0.65,-145.9,2378,3614,3945,3983,55.1,-15.8,53,371,0.00,2.45,0.00,0.000,1158,0.000,0.062,2375,2197,3964,3947,3982,0,0,0,0,0,0,14.12,14.00,14.14
$GC,687,-0.70,-145.9,2375,2195,3948,3982,104.4,-12.2,84,692,0.00,2.53,0.00,0.000,388,0.000,0.086,2360,3614,3964,3947,3982,0,0,0,0,0,0,14.44,14.04,14.43
$GC,742,-0.89,-145.9,2365,3612,3955,3983,110.6,-10.1,95,749,0.22,2.42,0.00,0.000,5254,0.105,0.056,2274,2196,3964,3947,3982,0,0,0,0,0,0,14.13,14.06,14.23
$MODEM_MSG,CACST,6,1,20170825121320.937843,3,106,08,0132,0150,250,00,00,02,02,-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,6,1,20170825122734.374792,3,243,17,0289,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$GC,1048,-0.81,-145.9,2277,2195,3949,3982,168.0,-18.3,106,1053,0.15,2.47,0.00,0.000,2436,0.291,0.083,2301,3614,3964,3947,3982,0,0,0,0,0,0,13.76,14.03,13.93
$GC,1138,-0.90,-145.9,2301,3615,3947,3982,180.8,-12.5,124,1144,0.00,2.40,0.00,0.000,1158,0.000,0.057,2301,2185,3964,3947,3982,0,0,0,0,0,0,14.19,14.07,14.22
$GC,1469,-0.92,-145.9,2301,2183,3948,3982,226.6,-13.3,140,1475,0.00,2.53,0.00,0.000,388,0.000,0.088,2293,3620,3964,3947,3982,0,0,0,0,0,0,14.56,14.19,14.58
$GC,1535,-1.02,-145.9,2293,3620,3949,3982,234.7,-11.1,153,1540,0.15,2.42,0.00,0.000,5254,0.122,0.059,2239,2189,3964,3947,3982,0,0,0,0,0,0,14.27,14.22,14.36
$GC,1861,-0.96,-145.9,2240,2188,3951,3982,287.7,-16.0,168,1867,0.12,2.53,0.00,0.000,2436,0.295,0.086,2258,3616,3964,3947,3982,0,0,0,0,0,0,13.95,14.18,14.12
$GC,1974,-1.01,-145.9,2258,3617,3949,3985,302.1,-12.1,190,1979,0.00,2.40,0.00,0.000,1158,0.000,0.057,2257,2197,3964,3947,3982,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2284,-1.01,-145.9,2257,2199,3948,3983,342.1,-12.7,202,2289,0.00,2.47,0.00,0.000,260,0.000,0.088,2249,3614,3964,3947,3982,0,0,0,0,0,0,14.65,14.24,14.67
$GC,2339,-1.06,-145.9,2250,3614,3948,3982,349.1,-12.3,213,2345,0.00,2.40,0.00,0.000,1158,0.000,0.058,2249,2195,3964,3947,3982,0,0,0,0,0,0,14.38,14.25,14.40
$GC,2644,-1.06,-145.9,2250,2194,3948,3981,388.9,-12.9,224,2650,0.00,2.50,0.00,0.000,260,0.000,0.087,2241,3619,3964,3947,3982,0,0,0,0,0,0,14.66,14.24,14.68
$GC,2685,-1.09,-145.9,2241,3620,3948,3983,394.3,-12.8,232,2691,0.00,2.40,0.00,0.000,1158,0.000,0.059,2241,2192,3964,3947,3982,0,0,0,0,0,0,14.41,14.28,14.42
$GC,3006,-1.07,-145.9,2241,2192,3948,3983,436.8,-13.2,246,3011,0.00,2.50,0.00,0.000,388,0.000,0.088,2236,3620,3964,3947,3981,0,0,0,0,0,0,14.66,14.24,14.71
$GC,3076,-1.11,-145.9,2237,3621,3948,3981,446.0,-12.8,260,3082,0.00,2.40,0.00,0.000,1158,0.000,0.058,2236,2195,3964,3947,3981,0,0,0,0,0,0,14.39,14.23,14.44
$STATE,3334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3334,begin apogee
$GC,3340,-0.13,0.0,2237,2067,3948,3981,481.2,-13.6,272,3564,1.15,0.08,219.35,1.425,10246,0.242,0.181,2532,2111,3363,3383,3344,0,0,0,0,0,0,14.00,13.43,12.69
$STATE,3567,end apogee,CONTROL_FINISHED_OK
$STATE,3567,begin climb
$GC,3572,0.57,145.9,2532,2112,3376,3335,492.6,0.0,279,3794,0.73,0.00,208.60,1.388,10502,0.064,0.000,2780,2111,2759,2802,2717,0,0,0,0,0,0,13.58,13.21,12.39
$GC,4114,0.17,145.9,2780,2112,2792,2714,452.2,15.2,295,4119,0.62,2.47,0.00,0.000,4740,0.330,0.078,2653,721,2753,2794,2712,0,0,0,0,0,0,13.50,13.87,13.76
$GC,4190,0.07,166.0,2654,721,2793,2713,444.5,9.1,310,4226,0.20,2.42,26.40,1.483,13478,0.283,0.080,2612,2093,2680,2725,2636,0,0,0,0,0,0,13.75,13.98,13.05
$GC,4538,0.05,216.2,2612,2093,2722,2626,417.6,7.7,329,4617,0.00,2.45,73.35,1.404,8868,0.000,0.083,2616,724,2477,2534,2421,0,0,0,0,0,0,14.50,13.68,13.07
$GC,4649,0.12,248.9,2616,726,2529,2418,408.6,8.5,351,4703,0.00,2.45,47.62,1.401,9382,0.000,0.079,2615,2103,2347,2401,2293,0,0,0,0,0,0,14.03,13.92,12.95
$GC,5020,0.15,267.9,2617,2105,2392,2281,375.0,9.1,375,5051,0.00,2.53,25.80,1.476,8868,0.000,0.086,2616,721,2268,2322,2215,0,0,0,0,0,0,14.43,13.95,13.17
$GC,5096,0.27,295.4,2617,721,2318,2215,367.9,8.7,390,5143,0.17,2.42,41.20,1.410,11430,0.104,0.079,2685,2099,2160,2210,2110,0,0,0,0,0,0,14.00,14.01,13.10
$GC,5443,0.19,295.4,2686,2099,2202,2097,319.9,13.9,409,5448,0.15,2.40,0.00,0.000,4740,0.256,0.082,2656,724,2148,2200,2097,0,0,0,0,0,0,13.97,14.17,14.11
$GC,5488,0.23,295.4,2656,723,2198,2097,314.2,11.5,418,5493,0.00,2.40,0.00,0.000,1158,0.000,0.080,2656,2099,2146,2196,2097,0,0,0,0,0,0,14.32,14.19,14.33
$GC,5803,0.23,295.4,2656,2101,2195,2099,278.8,11.0,431,5808,0.00,2.40,0.00,0.000,516,0.000,0.086,2659,721,2146,2196,2096,0,0,0,0,0,0,14.60,14.25,14.62
$GC,5843,0.27,295.4,2659,722,2196,2097,274.5,10.3,439,5848,0.00,2.38,0.00,0.000,1158,0.000,0.079,2659,2099,2145,2196,2095,0,0,0,0,0,0,14.40,14.28,14.44
$GC,6163,0.27,295.8,2660,2101,2196,2096,241.6,10.0,453,6168,0.00,2.40,0.00,0.000,548,0.000,0.085,2660,724,2144,2195,2094,0,0,0,0,0,0,14.62,14.26,14.65
$GC,6198,0.32,307.3,2660,724,2196,2095,238.2,9.5,460,6218,0.00,2.38,14.27,1.511,9382,0.000,0.078,2659,2101,2111,2160,2063,0,0,0,0,0,0,14.42,14.28,13.36
$GC,6523,0.34,342.4,2660,2101,2158,2056,209.6,8.4,475,6589,0.00,2.45,59.40,1.339,8740,0.000,0.085,2660,722,1965,2012,1919,0,0,0,0,0,0,14.61,14.02,13.26
$GC,6626,0.49,384.3,2661,723,2006,1919,201.2,8.1,495,6706,0.25,2.42,70.50,1.269,11430,0.097,0.079,2759,2099,1796,1819,1774,0,0,0,0,0,0,14.09,14.01,13.07
$GC,7005,0.40,384.3,2759,2100,1813,1756,145.6,14.2,521,7010,0.17,2.42,0.00,0.000,4740,0.262,0.080,2726,717,1783,1811,1755,0,0,0,0,0,0,13.90,14.10,14.07
$GC,7045,0.42,384.3,2726,718,1809,1756,140.8,11.0,529,7050,0.00,2.42,0.00,0.000,1158,0.000,0.078,2727,2104,1782,1809,1755,0,0,0,0,0,0,14.24,14.11,14.29
$GC,7365,0.42,384.3,2727,2106,1809,1753,106.3,10.4,543,7370,0.00,2.42,0.00,0.000,516,0.000,0.085,2729,717,1780,1808,1752,0,0,0,0,0,0,14.58,14.24,14.59
$GC,7472,0.50,410.8,2729,718,1806,1753,96.4,8.8,564,7489,0.00,2.40,13.15,0.496,9382,0.000,0.077,2729,2099,1688,1713,1664,0,0,0,0,0,0,14.22,14.10,13.69
$GC,7785,0.59,472.4,2730,2100,1717,1661,69.7,7.2,597,7828,0.12,2.45,33.92,0.410,10916,0.135,0.084,2794,730,1441,1481,1401,0,0,0,0,0,0,14.29,14.10,13.70
$GC,7875,0.60,483.2,2795,731,1475,1402,61.6,9.5,614,7886,0.00,2.40,6.75,0.380,9254,0.000,0.080,2794,2101,1392,1436,1349,0,0,0,0,0,0,14.28,14.15,13.68
$GC,8191,0.63,530.6,2795,2101,1437,1347,35.7,7.8,647,8222,0.00,0.00,26.30,0.309,8230,0.000,0.000,2794,2101,1199,1257,1141,0,0,0,0,0,0,14.55,14.04,13.82
$GC,8521,0.86,687.0,2795,2101,1257,1136,14.4,2.8,680,8617,0.17,2.55,86.68,0.241,10660,0.115,0.084,2872,3512,558,592,524,0,0,0,0,0,0,14.26,14.01,13.84
$GC,8662,0.93,687.0,2872,3516,597,525,2.1,10.1,707,8668,0.00,2.40,0.00,0.000,1158,0.000,0.071,2876,2136,558,593,524,0,0,0,0,0,0,14.12,14.01,14.14
$STATE,8675,end climb,SURFACE_DEPTH_REACHED
$STATE,8675,begin surface coast
$FINISH,0.2,1.020903
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8705,8.57,0.217,0,0,500,702.78
$SM_GC,2.01,8.15,0.12,8.57,0.077,0.142,0.217,203,2225,500,-7.37,-0.62,702.78,0,0,0,0,0,0,14.27,14.23,13.98
$RAFOS_CLK,386
$MODEM,4,1503664054,75.71700,-151.21500,153.625,222518.8
$MODEM,2,1503663200,73.18300,-149.96500,53.938,78126.6
$RAFOS_FIX,7342.551758,-15125.452148,250817,121227,2,255,0.00
$IRIDIUM_FIX,7343.42,-15119.08,250817,121154
$TT8_MAMPS,0.040446,1.00066
$HUMID,46.49
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,15992225792.000000
$PM_FREEKB_00,53221632
$24V_AH,12.39,119.843
$10V_AH,12.00,0.000
$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,25.275,93.425,953.300,8.575,0.000,0.000,0.000,501.200,3.250,0.000,12.789,0.000,6221.958,850.459,2191.270,309.122,0.000,2202.467,0.000,1019.730,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2146.590,1510.875,217.260,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8713.000,8701.000,8658.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.750,20.000,9.914,0.000
$MEM,323508
$DATA_FILE_SIZE,23456,710
$CAP_FILE_SIZE,106130,0
$CFSIZE,2097872896,2038398976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.3
$CURRENT,0.042,266.67,1
$GPS,250817,144821,7344.857,-15121.892,39,0.8,40,20.2,0.7,352.5,10,8.1