version: 66.13
glider: 196
mission: 14
dive: 199
start: 8 30 117 3 35 43
data:
$ID,196
$MISSION,14
$DIVE,199
$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,26
$R_STBD_OVSHOOT,21
$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,559.0
$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
$GPS1,300817,031122,7416.9121,-15333.2422,40,0.8,41,19.3,0.3,302.5,11,8.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.8
$GPS2,300817,033509,7416.9502,-15333.1348,7,0.8,10,19.3,0.0,121.8,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,270.8,12147,-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,-145.9,179,2201,493,489,0.0,0.0,0,151,0.00,0.00,-101.25,0.000,16386,0.000,0.000,181,2202,2365,2309,2422,0,0,0,0,0,0,14.52,28.83,14.54
$GC,154,-0.57,-145.9,178,2198,2312,2422,4.3,-6.4,10,202,12.70,2.80,-29.60,0.000,18724,0.452,2.143,2376,3613,3964,3947,3982,0,0,0,0,0,0,13.57,12.87,14.01
$GC,269,-0.70,-145.9,2376,3614,3954,3982,36.4,-14.3,32,274,0.00,2.40,0.00,0.000,1158,0.000,0.061,2376,2204,3967,3953,3982,0,0,0,0,0,0,14.28,14.14,14.30
$GC,579,-0.77,-145.9,2376,2203,3955,3983,84.6,-11.9,64,580,0.15,0.00,0.00,0.000,4230,0.141,0.000,2323,2202,3969,3956,3982,0,0,0,0,0,0,14.19,14.31,14.28
$GC,889,-0.80,-145.9,2324,2203,3956,3983,130.3,-13.7,81,895,0.00,2.47,0.00,0.000,388,0.000,0.089,2319,3610,3968,3955,3981,0,0,0,0,0,0,14.62,14.13,14.64
$GC,965,-0.93,-145.9,2319,3610,3957,3982,139.2,-10.8,96,970,0.12,2.38,0.00,0.000,5254,0.132,0.056,2265,2196,3968,3955,3982,0,0,0,0,0,0,14.22,14.16,14.36
$GC,1280,-0.88,-145.9,2265,2196,3956,3982,193.9,-17.4,109,1286,0.12,2.50,0.00,0.000,2436,0.298,0.084,2282,3622,3968,3955,3982,0,0,0,0,0,0,13.98,14.16,14.15
$GC,1393,-0.97,-145.9,2283,3622,3963,3982,208.6,-11.7,131,1398,0.00,2.40,0.00,0.000,1158,0.000,0.059,2283,2202,3968,3955,3982,0,0,0,0,0,0,14.38,14.25,14.41
$GC,1705,-1.00,-145.9,2283,2202,3956,3983,249.2,-12.6,143,1706,0.00,0.00,0.00,0.000,134,0.000,0.000,2282,2202,3968,3954,3982,0,0,0,0,0,0,14.47,14.50,14.50
$GC,2003,-1.05,-145.9,2283,2202,3957,3983,283.0,-10.8,153,2009,0.12,2.50,0.00,0.000,4484,0.139,0.086,2223,3609,3966,3955,3978,0,0,0,0,0,0,14.13,14.07,14.17
$GC,2099,-1.05,-145.9,2223,3610,3956,3982,296.4,-14.2,172,2104,0.00,2.40,0.00,0.000,1030,0.000,0.057,2222,2201,3968,3955,3981,0,0,0,0,0,0,14.08,13.97,14.11
$GC,2425,-1.00,-145.9,2222,2201,3955,3981,345.2,-14.7,187,2430,0.12,2.50,0.00,0.000,2436,0.301,0.085,2240,3609,3967,3955,3980,0,0,0,0,0,0,13.17,13.52,13.26
$GC,2547,-1.07,-145.9,2241,3611,3955,3981,359.5,-11.0,211,2551,0.00,2.40,0.00,0.000,1158,0.000,0.057,2240,2197,3967,3955,3980,0,0,0,0,0,0,14.23,14.11,14.26
$GC,2877,-1.07,-145.9,2240,2196,3956,3980,400.9,-12.5,227,2881,0.00,2.53,0.00,0.000,260,0.000,0.089,2236,3610,3967,3955,3979,0,0,0,0,0,0,14.45,14.00,14.47
$GC,2927,-1.13,-145.9,2236,3611,3956,3980,407.0,-11.7,237,2933,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2199,3966,3954,3979,0,0,0,0,0,0,14.22,14.10,14.25
$GC,3238,-1.13,-145.9,2236,2199,3956,3979,446.1,-12.7,249,3243,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3609,3966,3955,3978,0,0,0,0,0,0,14.46,14.04,14.47
$GC,3304,-1.21,-145.9,2236,3609,3956,3978,454.0,-11.4,262,3309,0.15,2.40,0.00,0.000,5254,0.126,0.057,2172,2201,3966,3955,3978,0,0,0,0,0,0,14.17,14.09,14.23
$STATE,3476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3476,begin apogee
$MODEM_MSG,CACST,6,1,20170830041421.104045,3,141,15,0235,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170830041833.413259,3,32767,45,0821,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$MODEM_MSG,CACST,6,1,20170830042658.361463,3,212,17,0115,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$GC,3482,-0.13,0.0,2174,2058,3956,3977,484.5,-18.1,272,3704,1.50,0.08,215.70,1.439,10246,0.277,0.181,2528,2108,3363,3389,3337,0,0,0,0,0,0,13.74,13.35,12.59
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3708,begin climb
$GC,3711,0.57,145.9,2528,2108,3384,3330,495.4,0.0,279,4103,0.75,2.70,205.70,1.393,10500,0.063,0.076,2780,3503,2754,2793,2716,0,0,0,0,0,0,13.49,13.07,12.30
$GC,4328,0.12,145.9,2781,3503,2792,2716,434.0,16.7,326,4335,0.80,2.38,0.00,0.000,5254,0.350,0.058,2624,2124,2753,2790,2716,0,0,0,0,0,0,13.63,14.00,14.01
$GC,4634,0.04,186.1,2625,2123,2791,2715,407.6,8.1,337,4695,0.00,2.53,56.90,1.416,8612,0.000,0.081,2623,3506,2601,2653,2550,0,0,0,0,0,0,14.54,13.97,13.16
$GC,4747,-0.06,186.1,2623,3507,2643,2549,396.9,10.8,359,4752,0.28,2.40,0.00,0.000,5254,0.258,0.059,2569,2105,2594,2641,2548,0,0,0,0,0,0,13.83,14.06,14.11
$GC,5058,0.06,267.7,2570,2105,2644,2542,376.7,6.2,371,5188,0.00,2.58,123.32,1.337,8868,0.000,0.088,2575,691,2268,2322,2215,0,0,0,0,0,0,14.57,13.76,13.01
$GC,5250,0.27,326.9,2573,690,2314,2213,363.8,7.3,409,5346,0.30,2.53,89.07,1.315,11430,0.084,0.082,2684,2097,2030,2082,1978,0,0,0,0,0,0,13.97,13.89,12.86
$GC,5661,0.21,326.9,2684,2099,2068,1962,304.6,14.4,441,5662,0.15,0.00,0.00,0.000,4230,0.243,0.000,2653,2098,2014,2067,1961,0,0,0,0,0,0,13.93,14.24,14.19
$GC,5961,0.21,326.9,2653,2099,2066,1960,270.7,10.9,451,5966,0.00,2.47,0.00,0.000,516,0.000,0.090,2659,693,2011,2064,1959,0,0,0,0,0,0,14.59,14.22,14.61
$GC,6026,0.29,326.9,2659,692,2064,1959,263.9,10.0,464,6031,0.00,2.45,0.00,0.000,1158,0.000,0.080,2659,2101,2011,2064,1959,0,0,0,0,0,0,14.26,14.12,14.29
$GC,6351,0.31,329.6,2659,2102,2065,1960,230.6,9.9,479,6356,0.00,2.47,0.00,0.000,676,0.000,0.088,2659,691,2011,2064,1959,0,0,0,0,0,0,14.64,14.22,14.69
$GC,6411,0.43,358.3,2659,692,2062,1960,225.2,8.7,491,6467,0.17,2.45,45.90,1.339,11430,0.114,0.080,2732,2102,1901,1940,1862,0,0,0,0,0,0,14.31,14.24,13.30
$GC,6772,0.35,358.3,2733,2102,1932,1859,175.8,13.4,513,6778,0.15,2.47,0.00,0.000,4740,0.236,0.084,2699,690,1895,1931,1859,0,0,0,0,0,0,14.02,14.17,14.16
$GC,6823,0.41,358.3,2698,691,1929,1860,170.0,10.1,523,6828,0.00,2.47,0.00,0.000,1158,0.000,0.077,2699,2101,1893,1928,1859,0,0,0,0,0,0,14.37,14.23,14.43
$GC,7133,0.41,358.9,2699,2103,1929,1858,138.5,10.0,535,7138,0.00,2.47,0.00,0.000,548,0.000,0.087,2700,691,1892,1928,1857,0,0,0,0,0,0,14.63,14.21,14.65
$GC,7168,0.47,373.0,2699,692,1925,1858,135.2,9.3,542,7195,0.10,2.45,21.08,1.419,11430,0.155,0.078,2748,2100,1844,1874,1814,0,0,0,0,0,0,14.28,14.26,13.35
$GC,7495,0.41,373.0,2748,2101,1866,1809,95.2,11.6,559,7500,0.15,2.47,0.00,0.000,4740,0.233,0.084,2713,688,1836,1865,1807,0,0,0,0,0,0,14.00,14.09,14.14
$GC,7571,0.49,408.3,2719,689,1870,1809,88.0,8.4,574,7593,0.00,2.47,18.45,0.473,9382,0.000,0.078,2713,2105,1700,1726,1675,0,0,0,0,0,0,14.19,14.07,13.71
$GC,7898,0.59,482.0,2714,2104,1725,1669,62.3,6.6,609,7941,0.15,0.00,38.47,0.386,10918,0.116,0.000,2784,2105,1398,1441,1356,0,0,0,0,0,0,14.23,14.13,13.73
$GC,8238,0.63,540.0,2785,2106,1441,1345,32.5,7.3,644,8272,0.00,2.58,29.83,0.300,8740,0.000,0.088,2786,689,1161,1222,1100,0,0,0,0,0,0,14.57,14.08,13.76
$GC,8462,0.87,652.4,2786,689,1222,1096,18.7,4.8,688,8527,0.22,2.50,58.72,0.262,11430,0.099,0.079,2876,2102,702,758,646,0,0,0,0,0,0,14.19,14.15,13.86
$STATE,8620,end climb,SURFACE_DEPTH_REACHED
$STATE,8620,begin surface coast
$FINISH,0.5,1.021543
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8651,26.80,0.213,0,0,501,703.03
$SM_GC,1.32,8.25,0.17,26.80,0.081,0.132,0.213,205,2207,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.27,14.24,13.97
$RAFOS_CLK,321
$MODEM,4,1504067218,75.71700,-151.21500,117.611,170340.1
$MODEM,3,1504066713,74.30400,-153.94400,6.413,9288.5
$MODEM,2,1504066461,73.18300,-149.96500,114.104,165260.2
$RAFOS_FIX,7417.486816,-15331.795898,300817,040457,3,255,0.45
$IRIDIUM_FIX,7416.61,-15333.19,300817,032850
$TT8_MAMPS,0.039697,0.96621
$HUMID,46.57
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15983640576.000000
$PM_FREEKB_00,52016128
$24V_AH,12.30,138.599
$10V_AH,12.16,0.000
$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,26.475,79.850,903.150,26.800,0.000,0.000,0.000,890.250,2.250,0.000,10.997,0.000,6239.156,808.853,2727.850,342.309,0.000,2701.891,0.000,1020.157,2217.000,0.539,0.000
$DEVICE_MAMPS,452.115,2142.765,1438.965,212.670,0.000,0.000,0.000,162.945,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8661.000,8644.000,8605.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.500,20.000,9.933,0.000
$MEM,323636
$DATA_FILE_SIZE,23415,711
$CAP_FILE_SIZE,108679,0
$CFSIZE,2097872896,2026340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.032,179.14,1
$GPS,300817,060128,7417.461,-15336.959,14,0.8,21,19.3,0.5,76.3,10,9.6