version: 66.13
glider: 196
mission: 14
dive: 124
start: 8 21 117 3 33 51
data:
$ID,196
$MISSION,14
$DIVE,124
$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,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,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,351.0
$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
$GPS1,210817,032203,7307.3096,-14937.0371,38,0.8,39,20.9,0.0,0.0,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.5
$GPS2,210817,033316,7307.2915,-14936.9424,9,0.8,10,20.9,0.0,0.0,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.7,13208,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,208,2213,508,478,0.0,0.0,0,130,0.00,0.00,-81.15,0.000,16386,0.000,0.000,207,2212,1994,1918,2070,0,0,0,0,0,0,14.45,28.83,14.47
$GC,133,-0.57,-145.9,208,2213,1920,2073,3.3,-3.4,8,190,12.52,2.75,-39.22,0.000,19236,0.456,2.141,2386,793,3960,3943,3978,0,0,0,0,0,0,13.69,12.92,14.14
$GC,346,-0.63,-145.9,2386,794,3959,3979,51.1,-16.5,50,351,0.00,2.50,0.00,0.000,1158,0.000,0.088,2380,2201,3965,3953,3978,0,0,0,0,0,0,14.18,14.03,14.20
$GC,656,-0.66,-145.9,2384,2204,3958,3979,100.3,-12.8,82,661,0.00,2.50,0.00,0.000,388,0.000,0.092,2376,3613,3967,3957,3978,0,0,0,0,0,0,14.52,14.02,14.53
$GC,801,-0.79,-145.9,2376,3614,3957,3979,116.2,-10.1,111,809,0.17,2.40,0.00,0.000,5254,0.112,0.054,2309,2196,3967,3957,3978,0,0,0,0,0,0,14.20,14.15,14.26
$GC,1106,-0.76,-145.9,2309,2196,3958,3978,166.5,-16.1,122,1111,0.00,2.50,0.00,0.000,388,0.000,0.088,2301,3613,3967,3957,3978,0,0,0,0,0,0,14.59,14.22,14.61
$GC,1271,-0.82,-145.9,2301,3614,3957,3979,189.6,-13.2,155,1277,0.00,2.40,0.00,0.000,1158,0.000,0.055,2300,2191,3967,3957,3978,0,0,0,0,0,0,14.40,14.28,14.42
$GC,1587,-0.82,-145.9,2301,2190,3959,3978,235.9,-14.2,168,1592,0.00,2.53,0.00,0.000,260,0.000,0.089,2298,3614,3967,3957,3978,0,0,0,0,0,0,14.50,14.14,14.51
$GC,1719,-0.89,-145.9,2299,3616,3958,3978,251.5,-10.8,194,1724,0.00,2.40,0.00,0.000,1158,0.000,0.054,2300,2195,3967,3957,3978,0,0,0,0,0,0,14.29,14.19,14.32
$GC,2039,-0.92,-145.9,2297,2195,3958,3978,288.6,-11.2,208,2044,0.00,2.53,0.00,0.000,388,0.000,0.089,2294,3618,3966,3957,3976,0,0,0,0,0,0,14.46,14.08,14.47
$GC,2094,-1.04,-145.9,2294,3619,3958,3975,294.3,-9.7,219,2102,0.15,2.40,0.00,0.000,5286,0.123,0.056,2239,2202,3969,3963,3976,0,0,0,0,0,0,14.16,14.13,14.24
$GC,2399,-0.97,-145.9,2240,2201,3953,3975,340.5,-15.4,230,2404,0.00,2.50,0.00,0.000,388,0.000,0.087,2235,3613,3966,3957,3976,0,0,0,0,0,0,14.44,14.10,14.46
$GC,2516,-0.95,-145.9,2236,3614,3957,3970,357.6,-14.1,253,2522,0.15,2.42,0.00,0.000,3206,0.256,0.056,2265,2191,3966,3956,3977,0,0,0,0,0,0,13.76,13.98,14.04
$GC,2819,-0.95,-145.9,2265,2191,3957,3975,395.9,-12.4,264,2824,0.00,2.53,0.00,0.000,260,0.000,0.088,2254,3617,3964,3956,3973,0,0,0,0,0,0,14.43,14.09,14.45
$GC,2909,-1.00,-145.9,2258,3619,3957,3974,407.0,-11.9,282,2914,0.00,2.42,0.00,0.000,1158,0.000,0.055,2257,2201,3963,3956,3971,0,0,0,0,0,0,14.22,14.11,14.24
$GC,3239,-1.00,-145.9,2258,2197,3957,3973,449.5,-12.8,298,3244,0.00,2.53,0.00,0.000,260,0.000,0.090,2249,3615,3964,3956,3973,0,0,0,0,0,0,14.47,14.09,14.46
$GC,3356,-1.03,-145.9,2249,3616,3956,3974,463.7,-11.9,321,3362,0.00,2.42,0.00,0.000,1158,0.000,0.055,2249,2194,3964,3956,3973,0,0,0,0,0,0,14.17,14.07,14.20
$STATE,3507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3507,begin apogee
$GC,3513,-0.13,0.0,2250,2067,3957,3973,483.7,-13.0,327,3751,1.12,0.08,232.48,1.388,10246,0.246,0.181,2531,2113,3361,3393,3329,0,0,0,0,0,0,13.85,13.30,12.63
$STATE,3755,end apogee,CONTROL_FINISHED_OK
$STATE,3755,begin climb
$MODEM_MSG,CACST,6,1,20170821040412.172255,3,214,23,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170821041234.952689,3,4408,36,0106,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170821042036.171136,3,355,19,0224,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170821042823.233098,3,103,20,0158,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$GC,3757,0.57,145.9,2532,2114,3386,3323,495.7,0.0,335,4159,0.75,2.65,207.02,1.345,10756,0.064,0.077,2790,734,2749,2794,2705,0,0,0,0,0,0,13.44,12.96,12.42
$GC,4263,0.21,145.9,2790,735,2794,2704,455.5,15.8,357,4268,0.62,2.42,0.00,0.000,5254,0.314,0.076,2655,2095,2748,2792,2704,0,0,0,0,0,0,13.50,13.76,13.83
$GC,4573,0.06,150.0,2656,2096,2794,2700,423.8,9.8,369,4578,0.20,2.40,0.00,0.000,4772,0.298,0.076,2616,727,2746,2792,2700,0,0,0,0,0,0,13.81,14.10,14.01
$GC,4649,0.10,202.6,2616,727,2793,2701,417.9,7.6,384,4739,0.00,2.40,85.07,1.327,9254,0.000,0.079,2615,2101,2538,2605,2471,0,0,0,0,0,0,14.27,14.16,13.09
$GC,5054,0.12,227.8,2616,2101,2591,2443,382.4,8.8,415,5095,0.00,2.47,34.22,1.385,8740,0.000,0.083,2616,733,2431,2497,2366,0,0,0,0,0,0,14.43,13.97,13.22
$GC,5130,0.20,253.6,2616,730,2490,2363,375.6,8.8,430,5176,0.00,2.42,39.40,1.366,9382,0.000,0.077,2616,2110,2331,2397,2265,0,0,0,0,0,0,14.11,14.00,13.09
$GC,5477,0.26,277.1,2616,2112,2378,2248,344.7,8.9,449,5517,0.12,2.53,34.55,1.388,10916,0.130,0.084,2682,729,2231,2291,2171,0,0,0,0,0,0,14.21,13.98,13.24
$GC,5554,0.22,277.1,2682,729,2280,2167,335.0,13.1,464,5560,0.00,2.40,0.00,0.000,1158,0.000,0.077,2682,2098,2222,2279,2166,0,0,0,0,0,0,14.15,14.04,14.18
$GC,5870,0.15,277.1,2682,2100,2278,2160,292.9,13.3,477,5875,0.17,2.40,0.00,0.000,4740,0.261,0.080,2647,723,2217,2278,2157,0,0,0,0,0,0,13.96,14.16,14.14
$GC,5935,0.22,288.3,2647,724,2277,2160,286.1,9.5,490,5952,0.00,2.40,11.07,1.532,9382,0.000,0.079,2647,2103,2188,2247,2129,0,0,0,0,0,0,14.31,14.19,13.32
$GC,6262,0.25,292.5,2647,2104,2241,2117,253.6,9.8,505,6267,0.00,2.40,0.00,0.000,676,0.000,0.084,2647,725,2183,2250,2117,0,0,0,0,0,0,14.57,14.19,14.60
$GC,6312,0.36,309.6,2647,725,2239,2117,248.9,9.2,515,6353,0.15,2.40,33.72,1.380,11430,0.116,0.078,2704,2111,2100,2156,2045,0,0,0,0,0,0,14.06,14.09,13.32
$GC,6654,0.30,309.6,2704,2112,2144,2036,207.3,11.7,533,6659,0.00,2.42,0.00,0.000,644,0.000,0.083,2708,722,2089,2143,2035,0,0,0,0,0,0,14.53,14.22,14.54
$GC,6689,0.27,309.6,2709,723,2142,2035,203.2,10.9,540,6695,0.15,2.40,0.00,0.000,5254,0.227,0.077,2674,2103,2088,2142,2035,0,0,0,0,0,0,14.10,14.23,14.33
$GC,7016,0.33,349.0,2674,2104,2142,2033,175.2,8.2,555,7091,0.00,2.45,69.57,1.278,8868,0.000,0.086,2674,729,1937,1986,1889,0,0,0,0,0,0,14.59,13.69,13.12
$GC,7136,0.49,404.5,2674,729,1970,1889,165.9,7.4,569,7241,0.20,2.42,98.62,1.193,11430,0.107,0.078,2754,2100,1714,1747,1682,0,0,0,0,0,0,14.07,14.01,13.05
$GC,7558,0.45,404.5,2754,2100,1737,1660,111.8,12.6,603,7563,0.00,2.42,0.00,0.000,644,0.000,0.086,2754,727,1698,1737,1659,0,0,0,0,0,0,14.38,14.07,14.40
$GC,7619,0.47,404.5,2756,727,1731,1659,104.9,11.2,615,7623,0.00,2.40,0.00,0.000,1158,0.000,0.077,2755,2099,1694,1730,1659,0,0,0,0,0,0,14.22,14.10,14.26
$GC,7928,0.47,404.5,2755,2100,1731,1657,71.0,10.4,647,7933,0.00,2.47,0.00,0.000,260,0.000,0.083,2755,3510,1692,1730,1655,0,0,0,0,0,0,14.52,14.16,14.52
$GC,8023,0.50,434.9,2756,3511,1730,1656,61.2,8.6,666,8042,0.00,2.35,14.38,0.378,9254,0.000,0.060,2763,2124,1595,1637,1554,0,0,0,0,0,0,14.23,14.12,13.76
$GC,8339,0.60,548.0,2764,2125,1632,1558,42.7,4.8,699,8407,0.00,2.45,62.05,0.328,8612,0.000,0.082,2763,3518,1128,1197,1059,0,0,0,0,0,0,14.54,14.09,13.83
$GC,8512,0.79,607.9,2764,3519,1199,1064,31.3,7.2,733,8555,0.22,2.42,33.20,0.293,11430,0.098,0.066,2854,2104,888,962,814,0,0,0,0,0,0,14.13,14.09,13.84
$GC,8852,0.92,699.1,2854,2103,964,814,4.7,5.8,771,8899,0.00,0.00,45.15,0.215,8866,0.000,0.000,2854,2103,561,606,517,0,0,0,0,0,0,14.50,28.83,14.52
$STATE,8900,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,0.3,1.011851
$STATE,8932,end surface coast,CONTROL_FINISHED_OK
$STATE,8932,begin surface
$SM_CCo,8952,8.55,0.219,0,0,500,702.78
$SM_GC,2.28,8.10,0.17,8.55,0.079,0.125,0.219,198,2209,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.27,14.25,14.02
$RAFOS_CLK,333
$MODEM,4,1503289703,75.71700,-151.21500,202.483,293303.5
$MODEM,3,1503289236,74.30400,-153.94400,129.171,187108.7
$MODEM,2,1503288754,73.18300,-149.96500,7.953,11519.7
$MODEM,0,1503288252,75.36600,-145.04601,198.172,287059.1
$RAFOS_FIX,7306.354004,-14939.581055,210817,040426,4,255,0.87
$IRIDIUM_FIX,7308.79,-14923.80,210817,004215
$TT8_MAMPS,0.039697,0.914529
$HUMID,46.96
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.10
$XPDR_PINGS,5
$CP_FREE,15998353408.000000
$PM_FREEKB_00,54332864
$24V_AH,12.42,101.899
$10V_AH,12.31,0.000
$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,24.825,93.650,1000.525,8.550,0.000,0.000,0.000,395.925,1.250,0.000,10.778,0.000,6062.074,889.594,2401.221,296.402,0.000,2354.470,0.000,1123.881,2204.000,0.539,0.000
$DEVICE_MAMPS,455.940,2141.235,1532.295,218.790,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8962.000,8937.000,8907.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.703,20.000,10.037,0.000
$MEM,323556
$DATA_FILE_SIZE,26760,784
$CAP_FILE_SIZE,108892,0
$CFSIZE,2097872896,2050260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.9
$CURRENT,0.047,209.83,1
$GPS,210817,060417,7307.997,-14939.728,17,0.7,19,20.9,0.2,0.0,12,9.6