version: 66.13
glider: 196
mission: 14
dive: 213
start: 8 31 117 18 9 2
data:
$ID,196
$MISSION,14
$DIVE,213
$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,59
$R_STBD_OVSHOOT,48
$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,601.0
$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
$GPS1,310817,175525,7425.1274,-15336.4219,17,0.9,37,19.3,0.0,270.6,9,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.2
$GPS2,310817,180831,7425.1494,-15336.7168,7,1.0,12,19.3,0.0,0.0,8,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,22.9,159052,-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,-145.9,196,2234,503,486,0.0,0.0,0,142,0.00,0.00,-91.93,0.000,16386,0.000,0.000,195,2233,2155,2083,2227,0,0,0,0,0,0,14.50,28.83,14.51
$GC,145,-0.57,-145.9,197,2233,2088,2227,3.5,-4.2,9,202,12.77,2.72,-36.83,0.000,18724,0.457,2.144,2375,3573,3964,3949,3980,1,0,0,0,0,0,13.00,12.60,14.02
$GC,282,-0.71,-145.9,2376,3574,3955,3981,36.2,-13.8,36,290,0.00,2.33,0.00,0.000,1158,0.000,0.062,2376,2228,3967,3954,3980,0,0,0,0,0,0,14.24,14.11,14.27
$GC,589,-0.79,-145.9,2376,2227,3956,3980,82.1,-11.8,67,594,0.15,2.40,0.00,0.000,4484,0.132,0.084,2305,3590,3967,3954,3980,0,0,0,0,0,0,14.18,14.13,14.23
$GC,630,-0.82,-145.9,2306,3590,3955,3981,88.2,-15.7,75,635,0.00,2.38,0.00,0.000,1158,0.000,0.059,2306,2193,3965,3955,3975,0,0,0,0,0,0,14.19,14.09,14.22
$GC,950,-0.82,-145.9,2306,2193,3956,3981,137.3,-14.4,92,955,0.00,2.42,0.00,0.000,260,0.000,0.085,2297,3581,3967,3955,3980,0,0,0,0,0,0,14.64,14.19,14.65
$GC,1021,-0.93,-145.9,2297,3583,3956,3981,146.5,-11.8,106,1026,0.00,2.35,0.00,0.000,1158,0.000,0.057,2297,2190,3967,3955,3980,0,0,0,0,0,0,14.21,14.11,14.26
$GC,1341,-0.96,-145.9,2297,2190,3956,3979,189.6,-13.2,120,1347,0.00,2.45,0.00,0.000,388,0.000,0.086,2293,3586,3967,3955,3980,0,0,0,0,0,0,14.65,14.14,14.68
$GC,1367,-1.02,-145.9,2294,3587,3956,3981,192.9,-12.5,125,1373,0.15,2.35,0.00,0.000,5254,0.122,0.057,2239,2199,3968,3957,3980,0,0,0,0,0,0,14.26,14.23,14.34
$GC,1672,-0.97,-145.9,2239,2198,3956,3980,244.2,-16.7,136,1678,0.00,2.45,0.00,0.000,388,0.000,0.087,2235,3584,3969,3959,3980,0,0,0,0,0,0,14.66,14.14,14.67
$GC,1763,-1.01,-145.9,2236,3586,3956,3981,257.8,-14.2,154,1768,0.00,2.35,0.00,0.000,1158,0.000,0.059,2236,2202,3968,3956,3980,0,0,0,0,0,0,14.33,14.20,14.37
$GC,2093,-1.01,-145.9,2236,2202,3956,3980,305.6,-13.8,170,2098,0.00,2.42,0.00,0.000,260,0.000,0.090,2235,3582,3965,3950,3980,0,0,0,0,0,0,14.67,14.16,14.69
$GC,2203,-1.07,-145.9,2236,3583,3956,3981,319.0,-11.6,192,2208,0.00,2.35,0.00,0.000,1158,0.000,0.058,2235,2191,3967,3955,3980,0,0,0,0,0,0,14.39,14.26,14.45
$GC,2513,-1.07,-145.9,2236,2192,3956,3979,358.7,-12.7,204,2519,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3582,3967,3955,3979,0,0,0,0,0,0,14.69,14.15,14.73
$GC,2624,-1.15,-145.9,2237,3582,3956,3979,371.6,-10.8,226,2629,0.00,2.33,0.00,0.000,1158,0.000,0.056,2235,2198,3967,3955,3979,0,0,0,0,0,0,14.40,14.27,14.43
$GC,2934,-1.15,-145.9,2236,2198,3956,3979,409.8,-12.3,238,2939,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3586,3966,3955,3978,0,0,0,0,0,0,14.69,14.19,14.70
$GC,3014,-1.23,-145.9,2236,3586,3956,3980,418.9,-10.7,254,3019,0.17,2.35,0.00,0.000,5254,0.115,0.055,2166,2191,3966,3955,3978,0,0,0,0,0,0,14.32,14.27,14.41
$GC,3325,-1.09,-145.9,2166,2190,3955,3977,474.8,-18.5,266,3330,0.25,2.45,0.00,0.000,2436,0.305,0.083,2211,3587,3966,3954,3978,0,0,0,0,0,0,13.79,14.17,14.00
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3366,-0.13,0.0,2212,2094,3955,3978,480.4,-14.3,273,3586,1.25,0.00,216.80,1.431,10246,0.243,0.000,2527,2093,3368,3391,3345,0,0,0,0,0,0,13.90,13.50,12.69
$STATE,3590,end apogee,CONTROL_FINISHED_OK
$STATE,3590,begin climb
$GC,3592,0.57,145.9,2529,2093,3384,3332,491.3,0.0,280,3814,0.75,2.67,208.98,1.379,10756,0.063,0.076,2790,700,2760,2805,2715,0,0,0,0,0,0,13.63,12.94,12.34
$GC,4014,0.19,145.9,2790,694,2798,2715,470.7,14.9,317,4020,0.68,2.47,0.00,0.000,5254,0.321,0.074,2648,2074,2755,2796,2714,0,0,0,0,0,0,13.40,13.75,13.77
$GC,4341,0.04,163.9,2649,2075,2797,2710,439.5,9.2,332,4365,0.20,0.00,21.60,1.524,12966,0.278,0.000,2600,2075,2695,2742,2648,0,0,0,0,0,0,13.81,14.04,13.19
$GC,4671,0.03,212.7,2600,2074,2738,2641,414.3,7.7,348,4751,0.00,2.47,72.93,1.408,8868,0.000,0.085,2602,692,2493,2554,2433,0,0,0,0,0,0,14.56,13.93,13.11
$GC,4801,0.11,247.5,2602,692,2551,2429,403.5,8.4,374,4857,0.00,2.50,51.05,1.399,9382,0.000,0.079,2602,2100,2358,2417,2299,0,0,0,0,0,0,14.12,14.00,13.00
$GC,5182,0.16,272.8,2603,2099,2404,2285,369.8,8.8,400,5220,0.00,0.00,37.33,1.423,8358,0.000,0.000,2602,2101,2253,2310,2196,0,0,0,0,0,0,14.50,14.02,13.21
$GC,5512,0.24,300.3,2602,2101,2301,2184,341.0,8.7,411,5558,0.17,2.50,41.22,1.407,10916,0.107,0.084,2685,692,2137,2192,2083,0,0,0,0,0,0,14.31,13.84,13.21
$GC,5598,0.19,300.3,2685,694,2183,2082,329.4,14.1,423,5604,0.17,2.47,0.00,0.000,5254,0.244,0.079,2647,2101,2132,2183,2081,0,0,0,0,0,0,13.89,14.07,14.15
$GC,5903,0.19,300.3,2648,2102,2183,2074,293.7,11.5,434,5908,0.00,2.47,0.00,0.000,516,0.000,0.086,2654,686,2127,2181,2074,0,0,0,0,0,0,14.59,14.21,14.60
$GC,5968,0.24,300.3,2654,687,2181,2074,286.6,10.6,447,5973,0.00,2.45,0.00,0.000,1158,0.000,0.079,2654,2101,2127,2181,2074,0,0,0,0,0,0,14.35,14.18,14.38
$GC,6293,0.24,300.3,2654,2101,2181,2073,251.6,10.4,462,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2101,2126,2180,2073,0,0,0,0,0,0,14.66,14.67,14.67
$GC,6593,0.25,314.5,2654,2102,2181,2073,222.8,9.3,472,6613,0.00,0.00,18.38,1.475,8230,0.000,0.000,2654,2101,2086,2140,2033,0,0,0,0,0,0,14.66,14.20,13.35
$GC,6895,0.30,352.8,2655,2101,2132,2024,197.0,8.2,482,6968,0.00,2.58,65.75,1.307,8868,0.000,0.086,2655,694,1921,1963,1879,0,0,0,0,0,0,14.48,13.91,13.17
$GC,7023,0.46,399.5,2655,695,1954,1880,186.4,7.8,508,7108,0.22,2.50,78.32,1.240,11430,0.096,0.080,2745,2101,1733,1759,1707,0,0,0,0,0,0,13.99,13.92,13.02
$GC,7434,0.40,399.5,2745,2100,1755,1691,129.5,13.8,540,7439,0.12,2.50,0.00,0.000,4740,0.243,0.084,2719,689,1721,1753,1690,0,0,0,0,0,0,13.92,13.97,14.04
$GC,7509,0.46,399.5,2720,692,1750,1690,121.1,10.2,555,7514,0.00,2.47,0.00,0.000,1158,0.000,0.078,2719,2100,1720,1750,1690,0,0,0,0,0,0,14.15,14.04,14.21
$GC,7814,0.47,412.7,2720,2102,1750,1689,89.9,9.4,573,7826,0.00,0.00,5.47,0.457,8230,0.000,0.000,2719,2101,1680,1710,1651,0,0,0,0,0,0,14.40,13.85,13.52
$GC,8124,0.56,472.5,2720,2101,1715,1652,65.1,7.2,604,8162,0.12,2.50,32.22,0.396,10916,0.130,0.083,2791,688,1434,1472,1397,0,0,0,0,0,0,14.18,13.83,13.55
$GC,8192,0.56,472.5,2791,688,1473,1398,57.9,11.5,617,8199,0.12,2.53,0.00,0.000,5126,0.239,0.080,2768,2109,1434,1472,1397,0,0,0,0,0,0,13.87,14.04,14.11
$GC,8497,0.66,564.0,2767,2110,1473,1390,34.9,5.8,648,8548,0.00,0.00,47.58,0.305,8358,0.000,0.000,2767,2109,1064,1132,997,0,0,0,0,0,0,14.42,14.00,13.73
$MODEM_MSG,CACST,6,1,20170831201430.398403,3,70,18,1166,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170831201839.434905,3,4004,36,0096,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170831202650.382471,3,457,26,0138,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$GC,8847,0.92,690.3,2767,2109,1133,988,16.1,4.2,683,8920,0.32,2.58,66.15,0.251,10916,0.079,0.090,2890,692,546,579,513,0,0,0,0,0,0,14.02,13.93,13.81
$STATE,8978,end climb,SURFACE_DEPTH_REACHED
$STATE,8978,begin surface coast
$FINISH,0.8,1.021180
$STATE,8988,end surface coast,CONTROL_FINISHED_OK
$STATE,8988,begin surface
$SM_CCo,9011,7.38,0.207,0,0,497,702.78
$SM_GC,1.92,8.30,2.70,7.38,0.073,0.071,0.207,202,2210,497,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.08,13.88
$RAFOS_CLK,111
$MODEM,4,1504211210,75.71700,-151.21500,109.632,158834.7
$MODEM,3,1504210719,74.30400,-153.94400,12.435,18015.6
$MODEM,2,1504210470,73.18300,-149.96500,123.398,178778.6
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7426.45,-15333.27,310817,151909
$TT8_MAMPS,0.08988,0.858354
$HUMID,43.73
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15980036096.000000
$PM_FREEKB_00,51631232
$24V_AH,12.34,145.274
$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,25.950,83.950,963.775,7.375,0.000,0.000,0.000,438.375,3.250,0.000,13.527,0.000,6474.968,855.811,2189.811,296.318,0.000,2136.962,0.000,1017.945,2198.000,0.539,0.000
$DEVICE_MAMPS,456.705,2144.295,1523.880,207.315,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8776.000,9002.000,8961.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.055,20.000,9.884,0.000
$MEM,323484
$DATA_FILE_SIZE,23431,709
$CAP_FILE_SIZE,102374,0
$CFSIZE,2097872896,2022178816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.075,302.64,1
$GPS,310817,204035,7426.076,-15333.986,27,0.7,29,19.4,0.3,39.5,10,9.5