version: 66.13
glider: 196
mission: 14
dive: 149
start: 8 24 117 2 46 45
data:
$ID,196
$MISSION,14
$DIVE,149
$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,44
$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,418.0
$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
$GPS1,240817,022132,7331.2720,-15040.0977,34,0.8,35,20.5,0.2,276.1,10,9.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.5
$GPS2,240817,024610,7331.3584,-15040.4307,10,0.7,11,20.5,0.0,210.1,11,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,296.8,131134,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,190,2228,490,490,0.0,0.0,0,138,0.00,0.00,-91.38,0.000,16386,0.000,0.000,188,2229,2246,2184,2309,0,0,0,0,0,0,14.47,28.83,14.49
$GC,141,-0.57,-145.9,189,2229,2188,2309,4.5,-6.7,9,194,12.80,2.78,-30.25,0.000,18724,0.461,2.150,2378,3593,3966,3954,3979,0,0,0,0,0,0,13.69,12.62,14.16
$GC,394,-0.64,-145.9,2377,3592,3958,3979,61.0,-15.0,59,399,0.00,2.38,0.00,0.000,1158,0.000,0.059,2376,2198,3968,3957,3979,0,0,0,0,0,0,14.27,14.16,14.30
$GC,716,-0.69,-145.9,2377,2197,3959,3981,107.5,-12.4,88,721,0.00,2.45,0.00,0.000,388,0.000,0.086,2367,3592,3968,3958,3979,0,0,0,0,0,0,14.54,14.18,14.57
$GC,796,-0.84,-145.9,2367,3593,3959,3979,116.4,-10.2,104,803,0.20,2.38,0.00,0.000,5254,0.102,0.054,2286,2194,3970,3962,3979,0,0,0,0,0,0,14.29,14.24,14.38
$GC,1108,-0.79,-145.9,2286,2194,3959,3981,172.0,-17.2,116,1114,0.12,2.45,0.00,0.000,2436,0.277,0.083,2307,3595,3969,3959,3979,0,0,0,0,0,0,14.03,14.17,14.19
$GC,1201,-0.87,-145.9,2308,3597,3960,3979,184.4,-12.5,134,1206,0.00,2.35,0.00,0.000,1158,0.000,0.056,2304,2199,3968,3957,3979,0,0,0,0,0,0,14.38,14.28,14.42
$GC,1531,-0.89,-145.9,2307,2199,3959,3980,228.8,-13.1,150,1536,0.00,2.45,0.00,0.000,388,0.000,0.089,2301,3590,3968,3957,3979,0,0,0,0,0,0,14.62,14.21,14.64
$GC,1606,-1.00,-145.9,2302,3592,3959,3979,237.8,-11.2,165,1611,0.15,2.35,0.00,0.000,5254,0.121,0.057,2245,2195,3969,3959,3979,0,0,0,0,0,0,14.33,14.29,14.42
$GC,1921,-0.94,-145.9,2245,2195,3959,3979,288.7,-15.8,178,1926,0.12,2.45,0.00,0.000,2436,0.293,0.086,2264,3591,3968,3958,3978,0,0,0,0,0,0,13.95,14.25,14.14
$GC,2122,-0.99,-145.9,2265,3592,3958,3978,313.3,-11.9,218,2127,0.00,2.35,0.00,0.000,1158,0.000,0.056,2264,2194,3967,3957,3978,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2432,-0.99,-145.9,2265,2192,3959,3976,352.0,-12.4,230,2437,0.00,2.45,0.00,0.000,260,0.000,0.088,2255,3589,3966,3957,3976,0,0,0,0,0,0,14.66,14.21,14.68
$GC,2527,-1.05,-145.9,2255,3590,3958,3974,363.7,-11.8,249,2532,0.00,2.33,0.00,0.000,1158,0.000,0.056,2255,2201,3966,3957,3976,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2852,-1.05,-145.9,2255,2201,3957,3974,404.9,-12.6,264,2857,0.00,2.42,0.00,0.000,260,0.000,0.088,2249,3587,3965,3957,3974,0,0,0,0,0,0,14.66,14.23,14.69
$GC,2938,-1.09,-145.9,2249,3588,3959,3974,415.4,-11.8,281,2944,0.00,2.35,0.00,0.000,1158,0.000,0.056,2255,2193,3965,3957,3974,0,0,0,0,0,0,14.35,14.22,14.39
$GC,3243,-1.09,-145.9,2250,2192,3957,3973,454.1,-12.7,292,3248,0.00,2.45,0.00,0.000,260,0.000,0.088,2242,3594,3965,3957,3973,0,0,0,0,0,0,14.68,14.23,14.69
$GC,3338,-1.13,-145.9,2242,3594,3958,3973,466.1,-12.1,311,3343,0.00,2.35,0.00,0.000,1158,0.000,0.057,2241,2195,3966,3959,3973,0,0,0,0,0,0,14.25,14.13,14.28
$STATE,3451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3451,begin apogee
$GC,3457,-0.13,0.0,2242,2065,3957,3974,481.1,-13.2,319,3676,1.12,0.00,215.95,1.421,10246,0.244,0.000,2530,2065,3365,3393,3337,0,0,0,0,0,0,14.00,13.52,12.70
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3682,0.57,145.9,2530,2066,3387,3330,491.7,0.0,326,3897,0.75,2.65,202.98,1.379,10500,0.065,0.073,2784,3484,2762,2814,2710,0,0,0,0,0,0,13.59,12.98,12.41
$GC,3922,0.11,145.9,2784,3489,2797,2710,493.1,15.4,368,3929,0.88,2.45,0.00,0.000,5254,0.346,0.055,2622,2129,2752,2797,2708,0,0,0,0,0,0,13.08,13.32,13.37
$GC,4227,0.05,183.0,2622,2130,2797,2704,466.3,8.3,379,4288,0.00,2.67,51.20,1.419,8868,0.000,0.085,2632,691,2611,2667,2556,0,0,0,0,0,0,14.20,13.71,12.93
$GC,4368,0.06,199.6,2632,692,2665,2548,453.5,9.2,404,4396,0.12,2.50,21.27,1.522,13350,0.249,0.079,2607,2082,2548,2616,2481,0,0,0,0,0,0,13.66,13.80,12.94
$GC,4695,0.08,226.2,2607,2082,2608,2472,425.1,8.8,419,4734,0.00,0.00,37.05,1.458,8230,0.000,0.000,2607,2082,2446,2516,2376,0,0,0,0,0,0,14.29,13.88,13.09
$GC,5024,0.12,251.4,2607,2083,2503,2363,395.8,8.8,430,5064,0.00,0.00,36.05,1.448,8870,0.000,0.000,2607,2082,2336,2395,2277,0,0,0,0,0,0,14.36,13.76,13.15
$GC,5384,0.19,280.5,2607,2083,2390,2268,364.2,8.7,447,5435,0.12,2.55,43.15,1.415,10916,0.133,0.089,2672,693,2214,2271,2158,0,0,0,0,0,0,14.17,13.92,13.14
$GC,5482,0.19,280.5,2672,694,2267,2165,352.3,12.7,466,5487,0.00,2.50,0.00,0.000,1030,0.000,0.080,2676,2101,2216,2266,2167,0,0,0,0,0,0,14.07,13.95,14.11
$GC,5807,0.14,280.5,2672,2101,2267,2153,309.4,12.9,481,5812,0.15,2.47,0.00,0.000,4740,0.274,0.083,2645,694,2208,2265,2152,0,0,0,0,0,0,13.90,14.11,14.09
$GC,5842,0.19,280.5,2645,696,2265,2153,305.5,11.2,488,5848,0.00,2.47,0.00,0.000,1158,0.000,0.080,2651,2107,2208,2264,2153,0,0,0,0,0,0,14.25,14.13,14.26
$GC,6168,0.19,283.2,2645,2110,2265,2151,272.1,9.9,503,6173,0.00,2.47,0.00,0.000,548,0.000,0.085,2649,692,2207,2264,2151,0,0,0,0,0,0,14.47,14.14,14.49
$GC,6203,0.25,293.0,2647,694,2264,2152,268.8,9.5,510,6224,0.00,2.45,15.93,1.502,9382,0.000,0.080,2647,2100,2169,2224,2114,0,0,0,0,0,0,14.29,14.17,13.31
$GC,6529,0.30,321.4,2647,2101,2219,2106,239.0,8.7,525,6579,0.00,0.00,46.62,1.365,8614,0.000,0.000,2647,2100,2050,2102,1999,0,0,0,0,0,0,14.44,13.96,13.21
$MODEM_MSG,CACST,6,1,20170824041256.872599,3,5028,30,0810,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170824041957.015849,3,1178,30,0255,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170824042745.975484,3,25,07,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$GC,6890,0.40,370.6,2647,2101,2096,1991,210.1,7.7,542,6982,0.17,2.60,80.28,1.283,10916,0.109,0.087,2728,693,1846,1881,1811,0,0,0,0,0,0,14.14,13.78,13.12
$GC,7022,0.40,370.6,2728,695,1874,1816,194.1,12.0,568,7029,0.00,2.53,0.00,0.000,1030,0.000,0.078,2728,2110,1843,1873,1814,0,0,0,0,0,0,13.95,13.85,13.99
$GC,7344,0.37,370.6,2729,2106,1873,1807,153.8,12.3,582,7349,0.00,2.47,0.00,0.000,644,0.000,0.087,2730,694,1838,1871,1805,0,0,0,0,0,0,14.48,14.12,14.51
$GC,7414,0.37,370.6,2730,695,1868,1808,145.6,11.4,596,7420,0.00,2.45,0.00,0.000,1030,0.000,0.079,2728,2098,1837,1867,1808,0,0,0,0,0,0,14.33,14.21,14.37
$GC,7735,0.37,370.6,2730,2100,1868,1806,109.5,10.9,610,7740,0.00,2.47,0.00,0.000,516,0.000,0.086,2734,687,1836,1868,1805,0,0,0,0,0,0,14.59,14.11,14.62
$GC,7790,0.39,370.6,2734,687,1866,1805,103.8,10.0,621,7796,0.00,2.45,0.00,0.000,1158,0.000,0.080,2734,2099,1834,1864,1805,0,0,0,0,0,0,14.24,14.12,14.28
$GC,8097,0.42,412.1,2734,2101,1865,1804,75.9,8.1,648,8122,0.00,2.47,20.05,0.435,8740,0.000,0.083,2737,688,1684,1711,1657,0,0,0,0,0,0,14.57,13.97,13.72
$GC,8137,0.49,466.1,2737,688,1712,1658,72.6,7.5,655,8171,0.00,2.47,28.65,0.422,9382,0.000,0.079,2737,2106,1461,1503,1420,0,0,0,0,0,0,14.31,14.18,13.74
$GC,8467,0.67,566.2,2738,2107,1504,1412,50.0,5.4,691,8527,0.15,2.53,51.42,0.352,10660,0.119,0.082,2802,3510,1053,1124,983,0,0,0,0,0,0,14.17,14.08,13.76
$GC,8582,0.74,569.9,2802,3511,1125,983,39.5,9.8,713,8588,0.00,2.42,2.00,0.324,9382,0.000,0.068,2807,2104,1041,1116,966,0,0,0,0,0,0,14.22,14.10,13.78
$GC,8893,0.92,657.8,2809,2104,1114,964,14.1,5.9,745,8947,0.17,2.50,46.12,0.252,10916,0.108,0.091,2888,685,680,740,621,0,0,0,0,0,0,14.16,14.00,13.95
$STATE,9029,end climb,SURFACE_DEPTH_REACHED
$STATE,9029,begin surface coast
$FINISH,0.2,1.020614
$STATE,9049,end surface coast,CONTROL_FINISHED_OK
$STATE,9049,begin surface
$SM_CCo,9117,24.38,0.214,0,0,499,702.78
$SM_GC,0.92,8.12,2.67,24.38,0.073,0.076,0.214,202,2199,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.33,14.23,14.02
$RAFOS_CLK,224
$MODEM,4,1503548865,75.71700,-151.21500,165.225,239149.9
$MODEM,3,1503548397,74.30400,-153.94400,90.016,130290.3
$MODEM,2,1503547976,73.18300,-149.96500,29.873,43238.1
$RAFOS_FIX,7332.196777,-15037.294922,240817,040412,3,255,0.40
$IRIDIUM_FIX,7332.19,-15039.78,240817,023848
$TT8_MAMPS,0.040446,0.820904
$HUMID,46.14
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.40
$XPDR_PINGS,16
$CP_FREE,0.000000
$PM_FREEKB_00,53573440
$24V_AH,12.41,114.051
$10V_AH,12.47,0.000
$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,25.175,94.125,898.725,24.375,0.000,0.000,0.000,964.925,4.000,0.000,12.618,0.000,6726.895,960.971,2621.236,330.187,0.000,2655.801,0.000,1112.118,2215.000,0.539,0.000
$DEVICE_MAMPS,461.295,2150.415,1521.585,214.200,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9077.000,9127.000,9074.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.483,20.000,9.995,0.000
$MEM,323492
$DATA_FILE_SIZE,26700,776
$CAP_FILE_SIZE,114854,0
$CFSIZE,2097872896,2042232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.3
$CURRENT,0.043,274.67,1
$GPS,240817,052015,7332.542,-15043.228,16,0.8,21,20.5,0.0,0.0,11,9.0