version: 66.13
glider: 196
mission: 14
dive: 138
start: 8 22 117 19 25 8
data:
$ID,196
$MISSION,14
$DIVE,138
$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,29
$R_STBD_OVSHOOT,33
$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,389.0
$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
$GPS1,220817,190913,7319.2451,-15009.0244,26,0.7,31,20.7,0.0,103.9,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.3
$GPS2,220817,192433,7319.1890,-15009.1260,38,0.8,39,20.7,0.0,0.0,10,7.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,300.0,157931,-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,-145.9,192,2217,506,483,0.0,0.0,0,140,0.00,0.00,-91.57,0.000,16386,0.000,0.000,191,2216,2243,2179,2308,0,0,0,0,0,0,14.44,28.83,14.46
$GC,143,-0.57,-145.9,192,2216,2183,2308,4.7,-7.1,9,191,12.75,2.70,-29.65,0.000,18724,0.461,2.144,2377,3601,3960,3939,3981,0,0,0,0,0,0,13.68,12.92,14.14
$GC,416,-0.63,-145.9,2379,3598,3946,3982,65.8,-15.3,63,421,0.00,2.40,0.00,0.000,1158,0.000,0.059,2379,2198,3963,3945,3981,0,0,0,0,0,0,14.28,14.16,14.31
$GC,748,-0.69,-145.9,2380,2197,3948,3981,111.1,-11.6,91,753,0.00,2.45,0.00,0.000,388,0.000,0.088,2376,3599,3964,3947,3981,0,0,0,0,0,0,14.53,14.16,14.54
$GC,833,-0.86,-145.9,2376,3600,3948,3982,119.5,-9.2,108,840,0.22,2.38,0.00,0.000,5286,0.098,0.054,2285,2189,3964,3947,3981,0,0,0,0,0,0,14.26,14.16,14.33
$GC,1138,-0.79,-145.9,2286,2188,3948,3981,173.9,-17.7,119,1143,0.12,2.50,0.00,0.000,2436,0.275,0.083,2305,3612,3964,3947,3981,0,0,0,0,0,0,13.98,14.19,14.18
$GC,1235,-0.88,-145.9,2306,3610,3948,3982,186.8,-12.0,138,1240,0.00,2.38,0.00,0.000,1158,0.000,0.055,2306,2190,3964,3947,3981,0,0,0,0,0,0,14.40,14.28,14.42
$GC,1560,-0.88,-145.9,2307,2189,3948,3981,232.0,-13.4,153,1565,0.00,2.47,0.00,0.000,260,0.000,0.090,2306,3598,3964,3947,3981,0,0,0,0,0,0,14.62,14.18,14.63
$GC,1672,-0.97,-145.9,2306,3600,3948,3981,244.5,-10.8,175,1677,0.12,2.35,0.00,0.000,5254,0.138,0.055,2257,2201,3964,3947,3981,0,0,0,0,0,0,14.26,14.26,14.37
$GC,1982,-0.93,-145.9,2257,2201,3948,3981,291.0,-14.9,187,1987,0.00,2.45,0.00,0.000,388,0.000,0.088,2249,3600,3964,3948,3981,0,0,0,0,0,0,14.64,14.20,14.65
$GC,2110,-0.93,-145.9,2249,3600,3947,3982,309.3,-13.3,210,2117,0.12,2.40,0.00,0.000,3078,0.255,0.057,2273,2200,3963,3946,3980,0,0,0,0,0,0,13.84,14.07,14.09
$GC,2416,-0.93,-145.9,2273,2199,3948,3980,345.8,-11.6,221,2420,0.00,2.47,0.00,0.000,260,0.000,0.088,2267,3600,3963,3947,3979,0,0,0,0,0,0,14.47,14.11,14.49
$GC,2506,-1.00,-145.9,2267,3600,3947,3980,355.8,-10.7,239,2510,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2201,3961,3944,3979,0,0,0,0,0,0,14.27,14.15,14.28
$GC,2835,-1.00,-145.9,2267,2200,3948,3979,394.6,-11.8,255,2840,0.00,2.47,0.00,0.000,260,0.000,0.088,2260,3600,3964,3946,3982,0,0,0,0,0,0,14.45,14.09,14.47
$GC,2910,-1.06,-145.9,2259,3601,3946,3978,403.5,-11.4,270,2915,0.00,2.40,0.00,0.000,1158,0.000,0.057,2258,2195,3961,3945,3978,0,0,0,0,0,0,14.25,14.13,14.28
$GC,3225,-1.06,-145.9,2260,2193,3944,3977,442.9,-12.5,283,3230,0.00,2.50,0.00,0.000,260,0.000,0.089,2253,3601,3961,3945,3977,0,0,0,0,0,0,14.45,14.05,14.47
$GC,3331,-1.11,-145.9,2252,3602,3946,3976,455.7,-11.8,304,3336,0.00,2.38,0.00,0.000,1158,0.000,0.056,2253,2200,3961,3945,3977,0,0,0,0,0,0,14.24,14.13,14.28
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3530,-0.13,0.0,2253,2056,3946,3976,480.7,-12.8,313,3747,1.10,0.05,213.12,1.447,10246,0.239,0.221,2530,2091,3363,3383,3343,0,0,0,0,0,0,13.82,13.31,12.62
$STATE,3751,end apogee,CONTROL_FINISHED_OK
$STATE,3751,begin climb
$GC,3755,0.57,145.9,2530,2092,3380,3337,491.6,0.0,320,3968,0.75,2.60,202.55,1.400,11012,0.064,0.079,2782,721,2765,2810,2721,0,0,0,0,0,0,13.46,12.94,12.38
$GC,4193,0.22,145.9,2783,722,2800,2715,464.0,15.3,397,4200,0.60,2.50,0.00,0.000,5254,0.326,0.076,2659,2105,2756,2799,2714,0,0,0,0,0,0,13.34,13.64,13.66
$MODEM_MSG,CACST,6,1,20170822200404.737954,3,29,02,0138,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$MODEM_MSG,CACST,6,1,20170822201238.202370,3,6397,38,0171,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$GC,4499,0.06,145.9,2660,2105,2797,2710,432.1,10.2,408,4504,0.20,2.40,0.00,0.000,4740,0.285,0.076,2618,722,2754,2798,2710,0,0,0,0,0,0,13.27,13.49,13.40
$GC,4729,0.08,204.0,2618,721,2800,2710,414.4,7.3,454,4819,0.00,2.40,83.05,1.394,9382,0.000,0.080,2619,2114,2531,2589,2474,0,0,0,0,0,0,14.19,14.07,13.02
$GC,5131,0.09,227.2,2619,2114,2583,2459,379.2,8.9,484,5168,0.00,2.45,32.12,1.453,8740,0.000,0.081,2621,729,2434,2492,2376,0,0,0,0,0,0,14.44,13.79,13.19
$GC,5215,0.17,255.4,2621,731,2492,2375,372.0,8.7,500,5264,0.00,2.42,42.35,1.421,9382,0.000,0.078,2620,2109,2320,2375,2266,0,0,0,0,0,0,14.13,14.01,13.07
$GC,5586,0.21,270.8,2621,2109,2368,2254,337.6,9.3,524,5616,0.00,2.47,20.50,1.487,8868,0.000,0.084,2628,731,2256,2310,2202,0,0,0,0,0,0,14.50,14.07,13.25
$GC,5636,0.29,292.8,2628,732,2310,2203,332.8,9.0,534,5679,0.15,2.40,33.42,1.424,11430,0.116,0.077,2686,2102,2167,2218,2117,0,0,0,0,0,0,14.16,14.10,13.15
$GC,5978,0.22,292.8,2689,2105,2213,2107,286.4,13.5,552,5983,0.12,2.42,0.00,0.000,4740,0.247,0.083,2660,724,2159,2212,2107,0,0,0,0,0,0,14.01,14.15,14.13
$GC,6018,0.26,292.8,2661,723,2211,2106,281.4,11.1,560,6023,0.00,2.40,0.00,0.000,1158,0.000,0.078,2661,2106,2158,2210,2107,0,0,0,0,0,0,14.33,14.21,14.36
$GC,6338,0.26,292.8,2660,2107,2210,2106,246.8,10.2,574,6343,0.00,2.42,0.00,0.000,516,0.000,0.084,2660,720,2155,2206,2105,0,0,0,0,0,0,14.59,14.27,14.62
$GC,6399,0.34,310.8,2660,720,2209,2106,241.1,9.2,586,6430,0.00,2.40,24.60,1.435,9382,0.000,0.078,2660,2111,2098,2148,2049,0,0,0,0,0,0,14.40,14.28,13.36
$GC,6730,0.39,336.9,2661,2111,2144,2042,210.8,8.8,602,6775,0.15,0.00,42.83,1.360,10406,0.120,0.000,2721,2111,1994,2040,1948,0,0,0,0,0,0,14.33,14.06,13.29
$GC,7059,0.34,336.9,2721,2111,2032,1934,171.2,11.9,613,7064,0.12,2.42,0.00,0.000,4740,0.246,0.080,2699,719,1982,2031,1934,0,0,0,0,0,0,14.07,14.16,14.17
$GC,7151,0.39,348.8,2699,721,2029,1935,162.1,9.5,631,7175,0.00,2.40,17.75,1.434,9382,0.000,0.077,2699,2099,1941,1988,1895,0,0,0,0,0,0,14.33,14.21,13.33
$GC,7480,0.41,366.3,2699,2100,1982,1888,130.6,9.2,647,7512,0.00,2.40,25.92,1.370,8740,0.000,0.083,2699,728,1872,1913,1832,0,0,0,0,0,0,14.57,13.93,13.34
$GC,7564,0.53,409.2,2696,727,1898,1833,123.7,8.0,663,7643,0.15,2.40,71.75,1.244,11430,0.120,0.077,2764,2106,1693,1721,1666,0,0,0,0,0,0,14.20,14.15,13.17
$GC,7943,0.49,409.2,2765,2106,1718,1652,76.5,11.4,705,7949,0.00,2.47,0.00,0.000,388,0.000,0.083,2764,3510,1684,1717,1652,0,0,0,0,0,0,14.42,14.09,14.44
$GC,7959,0.44,409.2,2765,3512,1717,1653,74.6,11.8,708,7966,0.22,2.35,0.00,0.000,5254,0.285,0.066,2722,2136,1683,1716,1651,0,0,0,0,0,0,13.90,14.12,14.19
$GC,8264,0.61,516.4,2722,2136,1717,1647,54.3,5.0,739,8324,0.15,2.62,53.60,0.366,10916,0.116,0.088,2794,688,1258,1317,1199,0,0,0,0,0,0,14.23,14.12,13.78
$GC,8429,0.72,550.2,2793,688,1314,1196,40.5,8.4,771,8452,0.00,2.47,17.45,0.329,9382,0.000,0.078,2794,2105,1119,1186,1052,0,0,0,0,0,0,14.27,14.15,13.83
$GC,8749,0.98,679.1,2793,2105,1188,1049,17.6,4.0,805,8824,0.28,2.47,66.90,0.260,10660,0.093,0.079,2900,3515,591,633,550,0,0,0,0,0,0,14.25,14.11,13.90
$GC,8846,0.94,679.1,2901,3513,635,551,9.1,11.6,823,8851,0.00,2.45,0.00,0.000,1158,0.000,0.068,2906,2097,592,634,550,0,0,0,0,0,0,14.22,14.09,14.26
$STATE,8914,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.1,1.020536
$STATE,8924,end surface coast,CONTROL_FINISHED_OK
$STATE,8924,begin surface
$SM_CCo,8944,12.55,0.219,0,0,498,702.78
$SM_GC,1.92,8.27,0.20,12.55,0.080,0.110,0.219,201,2222,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.30,14.28,14.01
$RAFOS_CLK,310
$MODEM,2,1503432758,73.18300,-149.96500,11.202,16228.0
$MODEM,0,1503432244,75.36600,-145.04601,190.738,276307.5
$RAFOS_FIX,7318.028320,-15010.394531,220817,202021,2,255,0.86
$IRIDIUM_FIX,7318.45,-15005.09,220817,163505
$TT8_MAMPS,0.039697,0.88382
$HUMID,46.10
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15995994112.000000
$PM_FREEKB_00,53901120
$24V_AH,12.38,108.735
$10V_AH,12.28,0.000
$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,25.625,93.275,947.925,12.550,0.000,0.000,0.000,607.250,1.750,0.000,40.363,0.000,6234.943,943.777,2391.239,324.241,0.000,2349.838,0.000,1191.151,2218.000,0.539,0.000
$DEVICE_MAMPS,460.530,2143.530,1487.160,218.790,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8951.000,8942.000,8898.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.396,20.000,9.981,0.000
$MEM,323512
$DATA_FILE_SIZE,30032,832
$CAP_FILE_SIZE,112882,0
$CFSIZE,2097872896,2045739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.1
$CURRENT,0.034,245.73,1
$GPS,220817,215530,7320.270,-15011.193,17,0.7,19,20.7,0.0,0.0,11,8.7