version: 66.13
glider: 196
mission: 14
dive: 203
start: 8 30 117 14 51 14
data:
$ID,196
$MISSION,14
$DIVE,203
$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,61
$R_STBD_OVSHOOT,41
$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,572.0
$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
$GPS1,300817,142456,7418.3140,-15349.0215,34,0.7,35,19.2,0.0,0.0,12,9.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.8
$GPS2,300817,145043,7418.2695,-15349.1992,7,0.7,11,19.2,0.7,259.0,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,257.1,3921,-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,-145.9,183,2232,492,492,0.0,0.0,0,150,0.00,0.00,-100.70,0.000,16386,0.000,0.000,182,2232,2322,2261,2383,0,0,0,0,0,0,14.52,28.83,14.52
$GC,153,-0.57,-145.9,183,2233,2264,2382,4.0,-5.5,10,206,12.90,2.75,-31.20,0.000,18724,0.459,2.147,2377,3588,3967,3951,3983,0,0,0,0,0,0,13.65,12.64,14.14
$GC,366,-0.71,-145.9,2376,3590,3959,3984,49.7,-13.2,52,371,0.00,2.30,0.00,0.000,1158,0.000,0.056,2376,2234,3970,3958,3983,0,0,0,0,0,0,14.26,14.14,14.30
$GC,676,-0.79,-145.9,2377,2234,3961,3983,91.5,-11.2,84,677,0.17,0.00,0.00,0.000,4230,0.124,0.000,2308,2233,3972,3962,3983,0,0,0,0,0,0,14.26,14.42,14.36
$GC,976,-0.79,-145.9,2308,2234,3961,3983,138.0,-14.7,98,981,0.00,2.40,0.00,0.000,260,0.000,0.089,2305,3594,3971,3960,3983,0,0,0,0,0,0,14.63,14.19,14.62
$GC,1081,-0.90,-145.9,2306,3594,3961,3983,150.9,-11.8,119,1086,0.00,2.35,0.00,0.000,1158,0.000,0.057,2305,2199,3971,3960,3983,0,0,0,0,0,0,14.38,14.26,14.41
$GC,1396,-0.94,-145.9,2306,2198,3961,3983,192.6,-13.0,132,1401,0.00,2.45,0.00,0.000,388,0.000,0.087,2297,3590,3971,3960,3983,0,0,0,0,0,0,14.66,14.21,14.67
$GC,1466,-1.06,-145.9,2297,3593,3962,3984,200.8,-10.8,146,1471,0.20,2.35,0.00,0.000,5254,0.103,0.057,2228,2194,3971,3960,3983,0,0,0,0,0,0,13.81,14.22,14.08
$GC,1787,-0.98,-145.9,2228,2193,3961,3983,258.5,-17.4,160,1792,0.12,2.45,0.00,0.000,2436,0.306,0.085,2247,3591,3971,3960,3983,0,0,0,0,0,0,13.87,14.15,14.03
$GC,1932,-1.02,-145.9,2246,3590,3961,3983,277.8,-11.9,189,1939,0.00,2.35,0.00,0.000,1158,0.000,0.056,2247,2197,3971,3959,3983,0,0,0,0,0,0,14.37,14.24,14.40
$GC,2237,-1.02,-145.9,2248,2197,3961,3982,317.9,-12.9,200,2242,0.00,2.45,0.00,0.000,260,0.000,0.088,2238,3589,3971,3960,3982,0,0,0,0,0,0,14.69,14.19,14.70
$GC,2312,-1.07,-145.9,2238,3590,3961,3982,327.4,-12.2,215,2317,0.00,2.35,0.00,0.000,1158,0.000,0.056,2238,2196,3971,3960,3982,0,0,0,0,0,0,14.32,14.20,14.36
$GC,2627,-1.07,-145.9,2239,2197,3961,3981,367.6,-12.5,228,2632,0.00,2.47,0.00,0.000,260,0.000,0.090,2236,3592,3970,3959,3981,0,0,0,0,0,0,14.69,14.19,14.71
$GC,2712,-1.14,-145.9,2237,3592,3961,3981,377.7,-11.1,245,2719,0.00,2.35,0.00,0.000,1158,0.000,0.056,2235,2191,3969,3958,3981,0,0,0,0,0,0,14.29,14.23,14.35
$GC,3017,-1.14,-145.9,2236,2191,3961,3980,415.3,-12.2,256,3022,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3595,3969,3959,3980,0,0,0,0,0,0,14.69,14.19,14.69
$GC,3129,-1.21,-145.9,2235,3597,3960,3981,427.9,-10.9,278,3134,0.15,2.35,0.00,0.000,5254,0.125,0.055,2174,2194,3970,3960,3980,0,0,0,0,0,0,14.30,14.27,14.40
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3437,begin apogee
$GC,3443,-0.13,0.0,2175,2064,3960,3980,482.6,-17.9,290,3675,1.48,0.00,227.70,1.401,10246,0.278,0.000,2530,2061,3365,3394,3336,0,0,0,0,0,0,13.76,13.48,12.67
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,0.57,145.9,2530,2062,3385,3329,494.1,0.0,297,3898,0.75,2.53,204.93,1.376,10756,0.062,0.079,2794,732,2764,2814,2715,0,0,0,0,0,0,13.59,12.92,12.33
$GC,3968,0.18,145.9,2794,733,2802,2711,492.5,15.4,348,3973,0.73,2.50,0.00,0.000,5254,0.321,0.075,2647,2085,2755,2801,2709,0,0,0,0,0,0,13.14,13.43,13.48
$GC,4289,0.03,155.8,2647,2087,2802,2702,460.8,9.5,362,4300,0.20,2.45,3.67,1.421,12964,0.272,0.083,2602,736,2734,2782,2687,0,0,0,0,0,0,13.66,13.93,12.55
$GC,4355,0.08,223.2,2603,736,2786,2698,455.8,6.9,375,4471,0.00,2.42,110.80,1.373,9254,0.000,0.080,2602,2101,2454,2522,2387,0,0,0,0,0,0,14.09,13.97,12.85
$GC,4770,0.10,248.9,2603,2101,2504,2369,419.8,8.8,408,4810,0.00,2.47,34.83,1.455,8740,0.000,0.086,2602,728,2348,2404,2292,0,0,0,0,0,0,14.29,13.90,13.09
$GC,4836,0.19,281.4,2603,728,2396,2284,414.0,8.5,421,4892,0.12,2.45,47.72,1.405,11430,0.129,0.079,2660,2107,2214,2271,2158,0,0,0,0,0,0,13.97,13.92,12.93
$GC,5192,0.14,281.4,2660,2105,2262,2142,368.2,13.1,442,5198,0.12,2.45,0.00,0.000,4740,0.256,0.082,2637,724,2201,2261,2141,0,0,0,0,0,0,13.85,14.02,13.98
$GC,5228,0.18,281.4,2638,724,2260,2140,363.7,11.3,449,5233,0.00,2.42,0.00,0.000,1158,0.000,0.080,2638,2099,2199,2259,2140,0,0,0,0,0,0,14.18,14.07,14.23
$GC,5553,0.18,281.4,2639,2099,2260,2139,327.5,11.1,464,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2100,2199,2259,2139,0,0,0,0,0,0,14.47,14.49,14.49
$GC,5853,0.18,281.4,2638,2099,2259,2139,296.0,10.4,474,5859,0.00,2.42,0.00,0.000,516,0.000,0.085,2644,724,2198,2258,2139,0,0,0,0,0,0,14.50,14.14,14.52
$GC,5919,0.23,285.2,2645,724,2257,2139,289.3,9.8,487,5924,0.00,2.42,0.00,0.000,1190,0.000,0.078,2644,2101,2195,2256,2134,0,0,0,0,0,0,14.28,14.15,14.31
$GC,6244,0.24,298.0,2644,2102,2256,2139,256.7,9.4,502,6267,0.00,0.00,21.25,1.466,8230,0.000,0.000,2644,2101,2149,2206,2092,0,0,0,0,0,0,14.47,14.12,13.28
$MODEM_MSG,CACST,6,1,20170830161424.991506,3,100,20,0114,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170830161827.218007,3,4547,36,0106,0150,250,00,00,00,00,-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,6,1,20170830162701.295537,3,334,25,0300,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,6545,0.30,334.4,2645,2101,2198,2083,230.6,8.3,512,6611,0.00,2.50,58.83,1.335,8868,0.000,0.086,2644,731,1997,2047,1947,0,0,0,0,0,0,14.45,13.92,13.19
$GC,6673,0.44,377.8,2646,734,2041,1947,220.0,8.0,537,6755,0.25,2.45,71.15,1.267,11430,0.092,0.079,2741,2103,1820,1851,1790,0,0,0,0,0,0,14.02,13.90,13.02
$GC,7061,0.36,377.8,2742,2103,1841,1779,164.5,13.9,564,7066,0.15,2.40,0.00,0.000,4740,0.233,0.082,2712,731,1809,1840,1779,0,0,0,0,0,0,13.99,14.14,14.12
$GC,7096,0.38,377.8,2713,732,1839,1781,160.3,11.2,571,7101,0.00,2.40,0.00,0.000,1158,0.000,0.078,2712,2108,1808,1837,1780,0,0,0,0,0,0,14.26,14.13,14.31
$GC,7421,0.38,377.8,2713,2104,1838,1778,124.9,10.6,586,7427,0.00,2.40,0.00,0.000,516,0.000,0.086,2713,730,1807,1837,1777,0,0,0,0,0,0,14.61,14.24,14.63
$GC,7447,0.42,381.0,2713,731,1835,1778,122.3,9.9,591,7453,0.00,2.38,0.00,0.000,1190,0.000,0.077,2713,2102,1806,1835,1777,0,0,0,0,0,0,14.31,14.18,14.35
$GC,7752,0.43,405.5,2713,2104,1835,1777,93.2,8.9,606,7773,0.00,2.45,13.00,0.487,8740,0.000,0.084,2713,734,1711,1740,1683,0,0,0,0,0,0,14.60,14.14,13.60
$GC,7819,0.55,435.1,2713,735,1739,1684,87.4,8.6,619,7841,0.15,2.40,16.58,0.466,11430,0.115,0.077,2777,2106,1590,1618,1562,0,0,0,0,0,0,14.26,14.14,13.66
$GC,8146,0.52,445.7,2777,2107,1618,1558,49.9,9.5,654,8158,0.00,0.00,5.65,0.351,8358,0.000,0.000,2776,2106,1548,1581,1515,0,0,0,0,0,0,14.58,13.96,13.72
$GC,8456,0.59,540.5,2777,2106,1585,1515,29.2,5.6,685,8513,0.00,2.47,49.88,0.291,8740,0.000,0.086,2780,728,1159,1222,1097,0,0,0,0,0,0,14.62,14.10,13.83
$GC,8565,0.79,613.4,2781,728,1222,1103,22.2,6.6,703,8608,0.17,2.40,38.10,0.273,11430,0.116,0.079,2854,2099,862,933,792,0,0,0,0,0,0,14.14,14.07,13.84
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8791,begin surface coast
$FINISH,0.1,1.004278
$STATE,8811,end surface coast,CONTROL_FINISHED_OK
$STATE,8811,begin surface
$SM_CCo,8831,50.15,0.205,0,0,501,702.78
$SM_GC,1.34,8.12,0.17,50.15,0.080,0.116,0.205,201,2216,501,-7.38,-0.82,702.78,0,0,0,0,0,0,14.31,14.32,14.00
$RAFOS_CLK,223
$MODEM,4,1504110421,75.71700,-151.21500,120.546,174510.7
$MODEM,3,1504109907,74.30400,-153.94400,0.218,315.6
$MODEM,2,1504109664,73.18300,-149.96500,117.992,170813.2
$RAFOS_FIX,7417.623047,-15349.572266,300817,161657,3,255,0.23
$IRIDIUM_FIX,7417.53,-15340.30,300817,144206
$TT8_MAMPS,0.038948,0.86135
$HUMID,45.94
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,17
$CP_FREE,15982592000.000000
$PM_FREEKB_00,51899712
$24V_AH,12.33,140.510
$10V_AH,12.39,0.000
$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,25.800,83.000,904.075,50.150,0.000,0.000,0.000,997.100,4.250,0.000,12.023,0.000,6578.036,973.248,2523.330,364.710,0.000,2679.525,0.000,1050.054,2210.000,0.540,0.000
$DEVICE_MAMPS,459.000,2147.355,1465.740,205.020,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8840.000,8837.000,8785.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.410,20.000,9.914,0.000
$MEM,323416
$DATA_FILE_SIZE,26715,732
$CAP_FILE_SIZE,112696,0
$CFSIZE,2097872896,2025095168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.052,190.93,1
$GPS,300817,172031,7418.492,-15353.683,20,0.7,29,19.2,0.0,40.6,10,6.1