version: 66.13
glider: 196
mission: 14
dive: 208
start: 8 31 117 4 11 6
data:
$ID,196
$MISSION,14
$DIVE,208
$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,35
$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,1.4
$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,587.0
$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
$GPS1,310817,035342,7420.7202,-15347.2168,16,0.8,25,19.2,0.0,0.0,11,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.0
$GPS2,310817,041033,7420.7148,-15347.4092,27,0.7,28,19.2,0.0,0.0,12,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.4,168560,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,198,2218,501,479,0.0,0.0,0,139,0.00,0.00,-88.40,0.000,16386,0.000,0.000,198,2218,2042,1965,2120,0,0,0,0,0,0,14.52,28.83,14.54
$GC,142,-0.57,-145.9,198,2218,1969,2121,3.1,-3.4,9,201,12.75,0.00,-43.03,0.000,18982,0.452,0.000,2386,2219,3966,3947,3986,0,0,0,0,0,0,13.60,12.59,14.05
$GC,500,-0.64,-145.9,2386,2216,3954,3981,72.3,-13.2,46,505,0.00,2.47,0.00,0.000,388,0.000,0.088,2378,3604,3966,3954,3979,0,0,0,0,0,0,14.40,13.93,14.42
$GC,576,-0.84,-145.9,2378,3606,3953,3980,80.3,-9.7,61,582,0.22,2.40,0.00,0.000,5286,0.096,0.054,2290,2199,3967,3954,3980,0,0,0,0,0,0,14.06,13.95,14.16
$GC,902,-0.81,-145.9,2290,2199,3955,3981,136.3,-16.4,80,908,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3598,3968,3957,3979,0,0,0,0,0,0,14.44,14.05,14.46
$GC,973,-0.89,-145.9,2281,3597,3955,3979,147.3,-13.7,94,978,0.00,2.40,0.00,0.000,1158,0.000,0.058,2280,2199,3967,3954,3980,0,0,0,0,0,0,14.21,14.09,14.24
$GC,1293,-0.89,-145.9,2280,2198,3958,3980,196.4,-14.9,108,1299,0.00,2.47,0.00,0.000,260,0.000,0.086,2272,3597,3966,3954,3979,0,0,0,0,0,0,14.45,14.05,14.46
$GC,1349,-0.98,-145.9,2272,3598,3954,3978,204.1,-12.6,119,1355,0.00,2.40,0.00,0.000,1158,0.000,0.058,2272,2198,3966,3954,3979,0,0,0,0,0,0,14.19,14.06,14.22
$MODEM_MSG,CACST,6,1,20170831041428.640475,3,1386,25,1372,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170831041831.367747,3,4611,36,0109,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170831042658.226861,3,1478,31,0152,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31
$GC,1654,-0.98,-145.9,2272,2198,3955,3980,246.3,-13.5,130,1659,0.00,2.45,0.00,0.000,260,0.000,0.088,2267,3595,3967,3954,3980,0,0,0,0,0,0,14.43,14.00,14.45
$GC,1684,-1.02,-145.9,2267,3596,3955,3980,250.1,-12.8,136,1690,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2181,3966,3954,3979,0,0,0,0,0,0,14.18,14.05,14.22
$GC,2017,-1.06,-145.9,2267,2180,3955,3980,290.9,-11.9,152,2023,0.00,2.50,0.00,0.000,388,0.000,0.089,2260,3598,3966,3954,3979,0,0,0,0,0,0,14.61,14.10,14.63
$GC,2118,-1.15,-145.9,2260,3601,3954,3980,302.2,-10.7,172,2124,0.17,2.38,0.00,0.000,5254,0.119,0.057,2197,2189,3966,3953,3979,0,0,0,0,0,0,14.26,14.23,14.37
$GC,2439,-1.06,-145.9,2196,2190,3955,3979,356.4,-17.1,186,2444,0.15,2.50,0.00,0.000,2436,0.298,0.086,2222,3601,3966,3954,3978,0,0,0,0,0,0,13.88,14.14,14.07
$GC,2566,-1.11,-145.9,2222,3603,3954,3985,373.4,-12.4,211,2571,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2191,3968,3958,3978,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2891,-1.11,-145.9,2222,2190,3955,3978,418.1,-13.6,226,2896,0.00,2.50,0.00,0.000,260,0.000,0.090,2221,3598,3966,3956,3977,0,0,0,0,0,0,14.68,14.19,14.69
$GC,2967,-1.16,-145.9,2223,3599,3955,3978,427.7,-12.1,241,2971,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2200,3965,3954,3977,0,0,0,0,0,0,14.39,14.26,14.42
$GC,3281,-1.16,-145.9,2223,2198,3955,3977,469.5,-13.3,254,3286,0.00,2.47,0.00,0.000,260,0.000,0.090,2222,3595,3965,3954,3977,0,0,0,0,0,0,14.69,14.19,14.71
$GC,3362,-1.21,-145.9,2223,3596,3955,3977,479.4,-11.5,270,3366,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2198,3965,3954,3977,0,0,0,0,0,0,14.39,14.26,14.42
$STATE,3369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3369,begin apogee
$GC,3375,-0.13,0.0,2223,2072,3956,3978,480.5,-11.4,272,3595,1.23,0.00,217.18,1.433,10246,0.249,0.000,2530,2066,3364,3389,3340,0,0,0,0,0,0,13.90,13.53,12.69
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3601,0.57,145.9,2531,2067,3382,3333,491.7,0.0,279,4158,0.73,2.60,210.73,1.377,10756,0.064,0.078,2782,717,2755,2795,2715,0,0,0,0,0,0,13.61,12.95,12.34
$GC,4168,0.57,145.9,2781,716,2795,2715,456.2,7.3,282,4172,0.00,2.45,0.00,0.000,1030,0.000,0.076,2781,2098,2754,2794,2715,0,0,0,0,0,0,14.02,13.90,14.06
$GC,4483,0.15,145.9,2781,2099,2794,2712,410.7,14.1,295,4488,0.62,2.47,0.00,0.000,4484,0.314,0.076,2639,3521,2751,2793,2710,0,0,0,0,0,0,13.79,14.16,14.03
$GC,4618,-0.04,155.2,2639,3521,2791,2711,396.9,9.6,322,4629,0.32,2.38,4.00,1.600,13478,0.279,0.057,2574,2110,2732,2774,2691,0,0,0,0,0,0,13.92,14.26,12.89
$GC,4934,0.02,247.0,2574,2110,2784,2697,378.3,5.8,335,5093,0.00,2.60,148.65,1.327,8740,0.000,0.086,2573,704,2352,2408,2296,0,0,0,0,0,0,14.62,13.69,12.98
$GC,5153,0.21,308.3,2574,705,2401,2293,363.8,7.2,378,5253,0.25,2.53,92.53,1.301,11430,0.091,0.081,2670,2106,2103,2157,2049,0,0,0,0,0,0,13.94,13.85,12.80
$GC,5568,0.16,308.3,2670,2106,2146,2037,309.1,13.0,411,5573,0.12,2.47,0.00,0.000,4740,0.267,0.082,2649,696,2091,2146,2036,0,0,0,0,0,0,13.90,14.07,14.04
$GC,5624,0.21,308.3,2650,696,2144,2037,302.8,10.7,422,5630,0.00,2.47,0.00,0.000,1158,0.000,0.080,2649,2100,2089,2143,2036,0,0,0,0,0,0,14.22,14.09,14.29
$GC,5929,0.21,308.3,2650,2102,2144,2034,269.1,10.8,433,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2088,2143,2033,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6229,0.22,327.7,2650,2101,2143,2032,240.2,9.1,443,6261,0.00,2.45,25.90,1.405,8740,0.000,0.085,2652,695,2026,2082,1971,0,0,0,0,0,0,14.64,13.97,13.35
$GC,6343,0.33,363.5,2652,696,2068,1972,230.7,8.3,465,6407,0.10,2.45,58.45,1.306,11430,0.148,0.079,2695,2100,1882,1920,1845,0,0,0,0,0,0,14.21,14.19,13.19
$GC,6712,0.33,363.5,2696,2101,1907,1829,188.6,11.4,489,6717,0.00,2.47,0.00,0.000,516,0.000,0.086,2696,695,1869,1905,1833,0,0,0,0,0,0,14.53,14.15,14.54
$GC,6762,0.38,363.5,2695,696,1904,1835,183.1,10.4,499,6767,0.00,2.45,0.00,0.000,1158,0.000,0.078,2696,2104,1868,1903,1833,0,0,0,0,0,0,14.34,14.21,14.38
$GC,7072,0.38,363.9,2696,2102,1904,1832,151.0,10.0,511,7073,0.00,0.00,0.00,0.000,38,0.000,0.000,2696,2102,1867,1902,1833,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7372,0.39,379.2,2696,2103,1902,1834,121.9,9.3,521,7394,0.00,2.53,16.55,1.431,8740,0.000,0.086,2696,694,1819,1849,1789,0,0,0,0,0,0,14.64,14.22,13.38
$GC,7524,0.49,423.3,2696,695,1840,1790,109.0,8.0,551,7609,0.15,2.45,78.07,1.223,11430,0.119,0.080,2762,2100,1637,1665,1609,0,0,0,0,0,0,14.12,14.07,13.22
$GC,7915,0.45,423.3,2763,2100,1664,1596,63.5,10.2,599,7920,0.12,2.47,0.00,0.000,4740,0.260,0.082,2741,692,1626,1662,1591,0,0,0,0,0,0,13.93,14.02,14.08
$GC,7970,0.55,474.0,2742,694,1658,1591,59.0,7.7,610,8001,0.00,2.47,25.45,0.381,9382,0.000,0.080,2742,2100,1430,1470,1390,0,0,0,0,0,0,14.12,14.01,13.73
$GC,8307,0.71,574.9,2742,2103,1471,1387,38.1,5.3,647,8361,0.20,0.00,52.97,0.322,10406,0.101,0.000,2816,2102,1019,1088,950,0,0,0,0,0,0,14.19,14.16,13.82
$GC,8657,0.82,645.4,2816,2102,1088,943,10.1,6.7,682,8700,0.00,2.47,37.12,0.237,8868,0.000,0.086,2821,697,730,796,664,0,0,0,0,0,0,14.57,14.03,13.86
$STATE,8770,end climb,SURFACE_DEPTH_REACHED
$STATE,8770,begin surface coast
$FINISH,1.3,1.021484
$STATE,8772,end surface coast,CONTROL_FINISHED_OK
$STATE,8772,begin surface
$SM_CCo,8840,31.35,0.211,0,0,499,702.78
$SM_GC,1.39,8.00,2.67,31.35,0.079,0.075,0.211,202,2206,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.33,14.22,14.00
$RAFOS_CLK,402
$MODEM,4,1504153618,75.71700,-151.21500,117.477,170128.6
$MODEM,3,1504153111,74.30400,-153.94400,4.368,6325.3
$MODEM,2,1504152868,73.18300,-149.96500,121.640,176158.3
$RAFOS_FIX,7420.267578,-15349.641602,310817,040459,3,255,2.47
$IRIDIUM_FIX,7425.52,-15344.00,310817,040402
$TT8_MAMPS,0.038199,0.859103
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,16
$CP_FREE,0.000000
$PM_FREEKB_00,51780288
$24V_AH,12.34,142.901
$10V_AH,12.23,0.000
$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,25.150,83.925,967.600,31.350,0.000,0.000,0.000,582.750,4.000,0.000,29.565,0.000,6063.663,797.644,2725.745,309.862,0.000,2625.152,0.000,1011.500,1435.000,0.539,0.000
$DEVICE_MAMPS,452.115,106.335,1600.380,211.140,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8600.000,8825.000,8791.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.493,20.000,9.883,0.000
$MEM,323316
$DATA_FILE_SIZE,23404,705
$CAP_FILE_SIZE,104305,0
$CFSIZE,2097872896,2023686144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$CURRENT,0.047,265.76,1
$GPS,310817,064003,7421.578,-15345.306,17,0.8,21,19.3,0.0,0.0,10,8.9