version: 66.13
glider: 196
mission: 14
dive: 198
start: 8 30 117 0 41 42
data:
$ID,196
$MISSION,14
$DIVE,198
$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,25
$R_STBD_OVSHOOT,34
$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,557.0
$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
$GPS1,300817,002305,7416.3418,-15329.0342,26,0.9,30,19.4,0.4,120.4,9,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.0
$GPS2,300817,004107,7416.3057,-15329.1738,7,0.7,12,19.4,0.0,0.0,12,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,276.0,14334,-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
$MODEM_MSG,CACST,6,1,20170830000404.661590,3,906,17,0437,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170830001420.156758,3,1757,32,0583,0150,250,00,00,00,00,-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,6,1,20170830001836.608670,3,32767,45,0791,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$GC,48,-0.57,-145.9,178,2221,497,488,0.0,0.0,0,153,0.00,0.00,-103.18,0.000,16386,0.000,0.000,176,2220,2423,2373,2474,0,0,0,0,0,0,14.33,28.83,14.35
$GC,156,-0.57,-145.9,177,2227,2376,2475,4.3,-6.5,10,204,12.88,2.80,-27.15,0.000,18724,0.457,2.142,2373,3594,3964,3941,3987,1,0,0,0,0,0,13.44,12.57,14.12
$GC,359,-0.70,-145.9,2375,3597,3949,3988,52.6,-13.1,50,364,0.00,2.38,0.00,0.000,1158,0.000,0.059,2374,2202,3967,3948,3987,0,0,0,0,0,0,14.16,14.06,14.19
$GC,669,-0.78,-145.9,2375,2201,3951,3988,94.1,-11.3,82,670,0.15,0.00,0.00,0.000,4230,0.135,0.000,2317,2201,3968,3950,3987,0,0,0,0,0,0,14.20,14.35,14.31
$GC,989,-0.81,-145.9,2318,2201,3952,3987,141.2,-14.1,96,994,0.00,2.45,0.00,0.000,388,0.000,0.087,2308,3600,3969,3950,3988,0,0,0,0,0,0,14.63,14.16,14.64
$GC,1084,-0.93,-145.9,2309,3601,3950,3989,152.9,-11.6,115,1089,0.00,2.38,0.00,0.000,1158,0.000,0.059,2308,2199,3969,3950,3988,0,0,0,0,0,0,14.30,14.21,14.35
$GC,1409,-0.97,-145.9,2309,2198,3952,3988,194.2,-12.2,130,1414,0.12,2.45,0.00,0.000,4484,0.137,0.085,2242,3597,3969,3950,3988,0,0,0,0,0,0,14.35,14.17,14.39
$GC,1454,-0.97,-145.9,2243,3597,3951,3988,201.3,-16.2,139,1459,0.00,2.38,0.00,0.000,1030,0.000,0.060,2242,2193,3969,3950,3988,0,0,0,0,0,0,14.35,14.21,14.38
$GC,1770,-0.91,-145.9,2243,2192,3951,3988,255.9,-16.4,152,1775,0.15,2.45,0.00,0.000,2436,0.295,0.084,2267,3597,3969,3950,3988,0,0,0,0,0,0,13.98,14.23,14.14
$GC,1850,-0.98,-145.9,2267,3598,3951,3988,266.0,-11.4,168,1855,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2194,3969,3950,3988,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2160,-1.01,-145.9,2268,2193,3951,3988,302.5,-11.4,180,2165,0.00,2.45,0.00,0.000,388,0.000,0.089,2262,3619,3968,3950,3987,0,0,0,0,0,0,14.68,14.21,14.69
$GC,2273,-1.12,-145.9,2262,3620,3950,3988,314.3,-9.8,202,2278,0.12,2.40,0.00,0.000,5286,0.137,0.057,2215,2193,3968,3950,3987,0,0,0,0,0,0,14.29,14.28,14.40
$GC,2583,-1.06,-145.9,2215,2193,3951,3988,360.9,-15.0,214,2588,0.00,2.47,0.00,0.000,388,0.000,0.088,2209,3596,3968,3950,3987,0,0,0,0,0,0,14.68,13.52,14.70
$GC,2658,-1.06,-145.9,2209,3598,3951,3989,371.9,-13.9,229,2664,0.12,2.35,0.00,0.000,3078,0.262,0.057,2233,2199,3971,3949,3993,0,0,0,0,0,0,14.00,14.23,14.26
$GC,2974,-1.06,-145.9,2232,2199,3949,3989,412.6,-12.7,242,2979,0.00,2.47,0.00,0.000,260,0.000,0.087,2226,3603,3967,3948,3987,0,0,0,0,0,0,14.68,14.16,14.70
$GC,3024,-1.09,-145.9,2226,3604,3948,3988,418.9,-12.3,252,3029,0.00,2.38,0.00,0.000,1158,0.000,0.059,2226,2199,3967,3948,3987,0,0,0,0,0,0,14.23,14.19,14.26
$GC,3334,-1.09,-145.9,2226,2198,3949,3987,459.7,-13.1,264,3339,0.00,2.47,0.00,0.000,260,0.000,0.088,2222,3603,3967,3948,3987,0,0,0,0,0,0,14.68,14.14,14.71
$GC,3419,-1.13,-145.9,2223,3604,3947,3988,470.5,-12.2,281,3426,0.00,2.40,0.00,0.000,1158,0.000,0.058,2222,2185,3967,3947,3987,0,0,0,0,0,0,14.35,14.21,14.38
$STATE,3511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3511,begin apogee
$GC,3517,-0.13,0.0,2223,2055,3948,3988,483.0,-13.2,285,3738,1.20,0.05,216.45,1.434,10246,0.246,0.222,2527,2084,3367,3381,3353,0,0,0,0,0,0,13.93,13.43,12.69
$STATE,3741,end apogee,CONTROL_FINISHED_OK
$STATE,3741,begin climb
$GC,3746,0.57,145.9,2528,2084,3376,3339,493.9,0.0,292,3962,0.75,2.58,205.43,1.394,10756,0.065,0.080,2785,733,2761,2805,2718,0,0,0,0,0,0,13.61,12.93,12.33
$GC,3967,0.13,147.6,2793,733,2804,2719,501.2,9.9,330,3973,0.77,2.58,0.00,0.000,5286,0.317,0.075,2629,2104,2759,2802,2717,0,0,0,0,0,0,12.98,13.21,13.27
$GC,4293,0.04,174.4,2630,2107,2801,2709,471.9,8.8,345,4336,0.12,2.50,36.78,1.473,12964,0.285,0.084,2602,728,2652,2702,2603,0,0,0,0,0,0,13.61,13.79,12.95
$GC,4366,0.07,221.9,2602,730,2700,2601,466.2,7.8,359,4443,0.00,2.45,70.60,1.407,9254,0.000,0.080,2602,2101,2460,2521,2400,0,0,0,0,0,0,13.99,13.88,12.84
$GC,4748,0.09,247.3,2602,2102,2506,2387,432.9,8.8,385,4785,0.00,0.00,36.20,1.463,8230,0.000,0.000,2602,2101,2355,2409,2302,0,0,0,0,0,0,14.40,13.93,13.09
$GC,5078,0.14,273.1,2602,2102,2397,2290,403.6,8.8,396,5123,0.00,2.47,37.35,1.461,8868,0.000,0.086,2602,737,2246,2296,2197,0,0,0,0,0,0,14.50,14.02,13.19
$GC,5153,0.27,305.2,2598,738,2292,2194,397.0,8.5,411,5210,0.20,2.40,47.17,1.408,11430,0.098,0.080,2681,2101,2118,2164,2072,0,0,0,0,0,0,14.12,14.04,13.07
$GC,5530,0.19,305.2,2683,2101,2158,2061,341.9,14.7,436,5535,0.12,2.42,0.00,0.000,4740,0.261,0.083,2660,718,2106,2156,2056,0,0,0,0,0,0,14.00,14.15,14.15
$GC,5585,0.22,305.2,2659,719,2156,2061,334.8,12.0,447,5591,0.00,2.42,0.00,0.000,1158,0.000,0.079,2660,2112,2107,2155,2060,0,0,0,0,0,0,14.33,14.18,14.34
$GC,5890,0.19,305.2,2659,2114,2155,2059,296.8,12.3,458,5895,0.00,2.42,0.00,0.000,644,0.000,0.087,2660,730,2106,2154,2058,0,0,0,0,0,0,14.63,14.21,14.64
$GC,5935,0.23,305.2,2660,731,2154,2059,291.4,11.7,467,5940,0.00,2.38,0.00,0.000,1158,0.000,0.079,2660,2103,2105,2153,2058,0,0,0,0,0,0,14.40,14.28,14.45
$GC,6250,0.23,305.2,2660,2106,2153,2059,255.2,10.9,480,6255,0.00,2.45,0.00,0.000,260,0.000,0.083,2660,3514,2105,2152,2058,0,0,0,0,0,0,14.67,14.24,14.69
$GC,6275,0.20,305.2,2660,3516,2152,2058,252.3,11.8,485,6283,0.00,2.35,0.00,0.000,1158,0.000,0.063,2668,2132,2104,2151,2057,0,0,0,0,0,0,14.40,14.31,14.44
$GC,6580,0.20,311.7,2667,2133,2152,2058,221.0,9.7,496,6585,0.00,2.50,0.00,0.000,548,0.000,0.089,2672,694,2104,2151,2057,0,0,0,0,0,0,14.68,14.23,14.69
$GC,6713,0.25,334.2,2673,694,2152,2057,209.0,9.0,522,6762,0.00,2.45,44.72,1.353,9382,0.000,0.080,2671,2103,2003,2047,1959,0,0,0,0,0,0,14.42,14.29,13.33
$GC,7063,0.28,356.9,2672,2103,2041,1946,176.7,9.0,542,7101,0.00,0.00,37.20,1.338,8358,0.000,0.000,2672,2103,1910,1947,1873,0,0,0,0,0,0,14.57,14.09,13.30
$GC,7391,0.36,388.7,2673,2104,1936,1864,148.2,8.5,553,7451,0.00,2.58,52.90,1.291,8868,0.000,0.090,2678,688,1776,1803,1749,0,0,0,0,0,0,14.57,14.00,13.27
$GC,7493,0.55,440.6,2672,688,1798,1754,140.2,7.6,573,7592,0.28,2.50,90.72,1.199,11430,0.092,0.080,2777,2103,1567,1599,1536,0,0,0,0,0,0,14.13,14.04,13.04
$GC,7892,0.49,440.6,2778,2102,1597,1516,81.7,13.8,612,7897,0.15,2.50,0.00,0.000,4740,0.268,0.085,2752,692,1555,1596,1515,0,0,0,0,0,0,13.88,14.04,14.04
$GC,7973,0.55,440.6,2752,693,1591,1517,72.9,10.2,628,7978,0.00,2.45,0.00,0.000,1158,0.000,0.080,2752,2104,1553,1591,1516,0,0,0,0,0,0,14.22,14.09,14.26
$GC,8283,0.64,532.9,2752,2105,1591,1514,47.1,5.7,660,8337,0.10,2.50,46.33,0.342,10916,0.150,0.086,2799,691,1189,1247,1132,0,0,0,0,0,0,14.20,14.02,13.78
$GC,8408,0.76,573.9,2799,691,1247,1129,36.8,8.1,684,8434,0.00,2.47,21.65,0.311,9382,0.000,0.078,2798,2103,1023,1088,958,0,0,0,0,0,0,14.27,14.12,13.83
$GC,8739,0.92,660.7,2798,2103,1089,953,13.5,6.0,720,8793,0.20,2.50,45.38,0.245,10916,0.103,0.092,2888,694,666,715,618,0,0,0,0,0,0,14.26,14.02,13.91
$STATE,8843,end climb,SURFACE_DEPTH_REACHED
$STATE,8843,begin surface coast
$FINISH,0.8,1.021554
$STATE,8846,end surface coast,CONTROL_FINISHED_OK
$STATE,8846,begin surface
$SM_CCo,8869,23.62,0.212,0,0,499,703.03
$SM_GC,1.32,8.30,2.67,23.62,0.082,0.079,0.212,200,2199,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.21,14.00
$RAFOS_CLK,393
$MODEM,3,1504052316,74.30400,-153.94400,9.609,13912.0
$MODEM,2,1504052060,73.18300,-149.96500,113.157,163834.8
$MODEM,0,1504051444,75.36600,-145.04601,190.662,276050.7
$RAFOS_FIX,7415.262207,-15329.167969,300817,000020,3,255,0.00
$IRIDIUM_FIX,7417.54,-15322.55,300817,003059
$TT8_MAMPS,0.040446,0.853111
$HUMID,47.00
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,24
$CP_FREE,15983902720.000000
$PM_FREEKB_00,52046336
$24V_AH,12.33,138.117
$10V_AH,12.41,0.000
$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,25.750,93.800,988.875,23.625,0.000,0.000,0.000,677.400,6.000,0.000,13.293,0.000,6426.759,1006.553,2236.820,321.468,0.000,2421.938,0.000,1067.421,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2142.000,1473.390,211.905,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8874.000,8872.000,8821.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.197,20.000,9.871,0.000
$MEM,323380
$DATA_FILE_SIZE,26768,741
$CAP_FILE_SIZE,108833,0
$CFSIZE,2097872896,2026733568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,4308.41,0x2341ea,1,24
$SOUNDSPEED,1448.3
$CURRENT,0.046,205.21,1
$GPS,300817,031122,7416.912,-15333.242,40,0.8,41,19.3,0.3,302.5,11,8.2