version: 66.13
glider: 196
mission: 14
dive: 381
start: 9 19 117 23 36 31
data:
$ID,196
$MISSION,14
$DIVE,381
$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,31
$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,1059.0
$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
$GPS1,190917,232554,7430.5229,-15259.0762,17,0.7,19,19.7,0.0,4.4,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.0
$GPS2,190917,233555,7430.5220,-15258.8896,5,0.8,35,19.7,0.0,67.4,9,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,205.1,33324,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,185,2222,490,492,0.0,0.0,0,145,0.00,0.00,-91.43,0.000,16386,0.000,0.000,182,2222,2243,2184,2303,0,0,0,0,0,0,14.50,28.83,14.52
$GC,149,-0.57,-145.9,183,2223,2188,2304,4.9,-7.5,9,196,12.80,2.67,-29.80,0.000,18724,0.448,2.158,2373,3600,3961,3941,3982,0,0,0,0,0,0,13.52,13.04,13.97
$GC,307,-0.71,-145.9,2378,3601,3948,3982,41.2,-13.1,40,314,0.00,2.40,0.00,0.000,1158,0.000,0.058,2377,2202,3964,3947,3981,0,0,0,0,0,0,14.21,14.09,14.26
$GC,612,-0.85,-145.9,2377,2203,3950,3983,79.4,-9.9,71,614,0.22,0.00,0.00,0.000,4262,0.097,0.000,2294,2202,3965,3949,3982,0,0,0,0,0,0,14.04,14.13,14.14
$GC,922,-0.87,-145.9,2294,2202,3951,3982,127.2,-14.6,90,927,0.00,2.50,0.00,0.000,388,0.000,0.084,2285,3602,3965,3949,3982,0,0,0,0,0,0,14.62,14.07,14.63
$GC,978,-1.01,-145.9,2286,3604,3950,3980,134.4,-11.5,101,984,0.00,2.42,0.00,0.000,1158,0.000,0.057,2285,2196,3966,3950,3983,0,0,0,0,0,0,13.73,13.28,13.95
$GC,1283,-1.05,-145.9,2286,2194,3950,3982,174.8,-12.7,112,1289,0.12,2.50,0.00,0.000,4484,0.135,0.083,2223,3601,3968,3954,3982,0,0,0,0,0,0,14.24,14.05,14.27
$GC,1305,-1.05,-145.9,2224,3603,3950,3980,178.1,-14.9,116,1310,0.00,2.40,0.00,0.000,1030,0.000,0.059,2223,2196,3965,3948,3982,0,0,0,0,0,0,14.24,14.10,14.28
$GC,1618,-0.99,-145.9,2224,2196,3950,3983,234.1,-17.3,128,1624,0.12,2.53,0.00,0.000,2436,0.302,0.081,2241,3603,3965,3949,3981,0,0,0,0,0,0,13.66,13.88,13.80
$GC,1695,-1.08,-145.9,2242,3603,3951,3982,244.8,-12.1,143,1700,0.00,2.45,0.00,0.000,1158,0.000,0.057,2242,2186,3965,3949,3982,0,0,0,0,0,0,14.06,13.93,14.07
$GC,2011,-1.10,-145.9,2242,2185,3951,3981,286.4,-12.8,156,2016,0.00,2.55,0.00,0.000,388,0.000,0.086,2236,3602,3963,3944,3982,0,0,0,0,0,0,14.39,13.89,14.42
$GC,2042,-1.16,-145.9,2236,3602,3951,3983,290.3,-11.9,162,2047,0.00,2.45,0.00,0.000,1158,0.000,0.058,2236,2196,3967,3949,3986,0,0,0,0,0,0,14.12,13.94,14.12
$GC,2373,-1.20,-145.9,2237,2195,3950,3979,329.4,-11.6,178,2378,0.12,2.53,0.00,0.000,4484,0.148,0.083,2171,3602,3965,3949,3982,0,0,0,0,0,0,13.97,13.83,13.97
$GC,2453,-1.16,-145.9,2172,3601,3950,3982,341.9,-15.7,194,2458,0.15,2.42,0.00,0.000,3206,0.267,0.059,2199,2198,3965,3949,3982,0,0,0,0,0,0,13.64,13.93,13.93
$GC,2764,-1.14,-145.9,2199,2198,3950,3982,385.8,-13.7,206,2769,0.00,2.58,0.00,0.000,388,0.000,0.086,2193,3607,3964,3949,3980,0,0,0,0,0,0,14.37,13.79,14.38
$GC,2844,-1.17,-145.9,2194,3609,3949,3982,396.5,-13.0,222,2849,0.00,2.45,0.00,0.000,1158,0.000,0.057,2194,2194,3965,3948,3982,0,0,0,0,0,0,14.05,13.93,14.09
$GC,3155,-1.15,-145.9,2194,2193,3949,3980,440.7,-14.2,234,3160,0.00,2.55,0.00,0.000,388,0.000,0.083,2184,3601,3964,3947,3981,0,0,0,0,0,0,14.38,13.77,14.40
$GC,3220,-1.15,-145.9,2185,3602,3948,3981,449.9,-13.7,247,3225,0.00,2.42,0.00,0.000,1030,0.000,0.057,2184,2201,3964,3947,3982,0,0,0,0,0,0,14.06,13.93,14.10
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$MODEM_MSG,CACST,6,1,20170920001129.833471,3,49,04,0090,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,3429,-0.13,0.0,2185,2062,3948,3983,480.5,-15.0,258,3649,1.40,0.05,215.62,1.419,10246,0.241,0.214,2528,2093,3365,3380,3351,0,0,0,0,0,0,13.60,13.42,12.68
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3656,begin climb
$GC,3658,0.57,145.9,2529,2094,3378,3349,492.5,0.0,265,3874,0.75,2.62,205.50,1.376,11012,0.057,0.077,2794,725,2768,2804,2732,0,0,0,0,0,0,13.62,13.03,12.20
$GC,4099,0.14,145.9,2794,725,2797,2729,477.5,14.3,345,4105,0.77,2.45,0.00,0.000,5254,0.323,0.074,2632,2101,2761,2796,2726,0,0,0,0,0,0,13.41,13.83,13.82
$GC,4420,-0.00,175.8,2632,2102,2797,2724,449.1,8.6,359,4470,0.17,2.50,42.00,1.448,12964,0.272,0.086,2590,736,2644,2689,2599,0,0,0,0,0,0,13.78,13.97,13.12
$GC,4696,0.04,234.9,2590,730,2688,2597,428.2,7.3,414,4791,0.00,2.40,88.53,1.367,9254,0.000,0.079,2590,2101,2403,2456,2350,0,0,0,0,0,0,14.27,14.13,13.03
$GC,5112,0.05,260.2,2591,2100,2450,2337,392.0,8.8,447,5153,0.00,2.50,35.45,1.430,8740,0.000,0.086,2590,727,2299,2350,2248,0,0,0,0,0,0,14.57,14.07,13.20
$GC,5201,0.17,292.2,2591,727,2345,2245,384.5,8.5,464,5255,0.15,2.40,48.03,1.377,11430,0.113,0.079,2657,2099,2171,2220,2123,0,0,0,0,0,0,14.12,14.09,13.12
$GC,5566,0.10,292.2,2658,2099,2212,2108,335.1,13.5,487,5567,0.20,0.00,0.00,0.000,4230,0.243,0.000,2612,2100,2159,2211,2108,0,0,0,0,0,0,13.90,14.24,14.21
$GC,5866,0.12,297.5,2613,2100,2211,2105,305.1,9.8,497,5871,0.00,2.42,0.93,0.320,8868,0.000,0.085,2612,726,2152,2204,2100,0,0,0,0,0,0,14.62,13.88,13.59
$GC,5922,0.21,318.0,2609,727,2205,2106,299.8,9.1,508,5968,0.12,2.40,37.78,1.384,11430,0.121,0.077,2673,2101,2064,2109,2019,0,0,0,0,0,0,14.19,14.11,13.23
$GC,6289,0.15,318.0,2673,2101,2103,2010,253.0,12.4,531,6294,0.15,2.42,0.00,0.000,4740,0.259,0.083,2644,720,2056,2102,2011,0,0,0,0,0,0,13.92,14.14,14.09
$GC,6359,0.22,335.9,2644,721,2102,2012,246.1,9.2,545,6390,0.00,2.42,25.95,1.401,9382,0.000,0.077,2644,2101,1996,2040,1952,0,0,0,0,0,0,14.30,14.16,13.27
$GC,6713,0.26,355.6,2644,2102,2035,1941,213.5,9.1,565,6746,0.00,0.00,31.73,1.383,8358,0.000,0.000,2644,2101,1919,1954,1885,0,0,0,0,0,0,14.57,14.07,13.26
$GC,7041,0.34,392.2,2645,2101,1941,1870,185.2,8.3,576,7111,0.12,2.50,62.30,1.274,10916,0.124,0.089,2706,731,1761,1783,1740,0,0,0,0,0,0,14.12,14.00,13.23
$GC,7192,0.36,392.2,2706,733,1777,1740,167.8,11.7,606,7197,0.00,2.42,0.00,0.000,1158,0.000,0.077,2706,2102,1757,1776,1738,0,0,0,0,0,0,14.20,14.08,14.23
$GC,7523,0.33,392.2,2707,2102,1776,1733,129.9,11.2,622,7524,0.00,0.00,0.00,0.000,134,0.000,0.000,2706,2103,1754,1775,1733,0,0,0,0,0,0,14.62,14.62,14.62
$GC,7823,0.33,392.2,2706,2104,1776,1730,98.6,10.0,632,7828,0.00,2.53,0.00,0.000,516,0.000,0.087,2706,708,1752,1775,1730,0,0,0,0,0,0,14.62,13.97,14.64
$GC,7879,0.40,417.5,2706,709,1773,1731,93.5,8.8,643,7901,0.00,2.47,13.23,0.475,9382,0.000,0.077,2706,2105,1661,1684,1639,0,0,0,0,0,0,14.18,13.98,13.58
$GC,8206,0.48,478.7,2707,2108,1686,1638,65.3,7.2,678,8249,0.00,2.50,33.97,0.391,8868,0.000,0.086,2706,732,1412,1449,1376,0,0,0,0,0,0,14.57,14.05,13.62
$GC,8322,0.69,548.5,2706,731,1450,1375,57.4,6.8,700,8369,0.30,2.42,38.95,0.366,11430,0.078,0.077,2814,2109,1128,1188,1068,0,0,0,0,0,0,14.12,14.04,13.71
$GC,8675,0.72,597.2,2814,2109,1190,1061,20.1,7.8,740,8707,0.00,2.55,26.98,0.261,8740,0.000,0.086,2816,718,927,994,861,0,0,0,0,0,0,14.55,13.99,13.78
$GC,8833,0.87,681.2,2815,718,995,860,9.4,6.1,771,8886,0.15,2.45,47.83,0.223,11430,0.106,0.077,2876,2100,585,625,546,0,0,0,0,0,0,13.62,14.03,13.62
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$FINISH,0.7,1.020992
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8943,12.48,0.212,0,0,500,703.52
$SM_GC,1.99,8.12,0.17,12.48,0.056,0.111,0.212,202,2230,500,-7.38,-0.68,703.52,0,0,0,0,0,0,14.26,14.25,13.86
$RAFOS_CLK,338
$MODEM,1,1505866289,73.78700,-144.83000,269.083,389642.5
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7422.08,-15920.10,190917,204816
$TT8_MAMPS,0.039697,0.994672
$HUMID,47.40
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,13
$CP_FREE,15907028992.000000
$PM_FREEKB_00,45392640
$24V_AH,12.20,227.443
$10V_AH,12.04,0.000
$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,25.975,84.625,954.750,12.475,0.000,0.000,0.000,319.225,3.250,0.000,37.085,0.000,6310.451,940.288,1983.944,338.082,0.000,2022.449,0.000,1124.961,2136.000,0.539,0.000
$DEVICE_MAMPS,447.525,2158.065,1448.145,211.905,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8938.000,8926.000,8895.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.424,20.000,9.901,0.000
$MEM,323296
$DATA_FILE_SIZE,26781,785
$CAP_FILE_SIZE,106232,0
$CFSIZE,2097872896,1980465152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.038,62.29,1
$GPS,200917,020703,7429.991,-15302.373,29,0.9,30,19.6,0.0,0.0,9,7.0