version: 66.13
glider: 196
mission: 14
dive: 159
start: 8 25 117 6 44 17
data:
$ID,196
$MISSION,14
$DIVE,159
$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,28
$R_STBD_OVSHOOT,37
$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,447.0
$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
$GPS1,250817,062403,7341.8633,-15112.4678,59,0.7,60,20.3,0.0,191.9,11,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.6
$GPS2,250817,064341,7341.8569,-15112.5029,7,0.8,7,20.3,0.0,0.0,10,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,291.8,106301,-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,-145.9,161,2219,513,479,0.0,0.0,0,130,0.00,0.00,-81.47,0.000,16386,0.000,0.000,158,2217,1968,1894,2042,0,0,0,0,0,0,14.47,28.83,14.50
$GC,133,-0.57,-145.9,159,2217,1895,2044,3.0,-3.9,8,196,12.75,2.72,-41.50,0.000,18724,0.454,2.147,2377,3587,3963,3947,3980,0,0,0,0,0,0,13.69,12.59,14.16
$GC,332,-0.64,-145.9,2377,3587,3952,3980,48.3,-16.6,47,339,0.00,2.38,0.00,0.000,1158,0.000,0.060,2376,2205,3965,3951,3980,0,0,0,0,0,0,14.24,14.12,14.27
$GC,637,-0.69,-145.9,2377,2205,3953,3981,99.2,-13.5,78,641,0.00,2.45,0.00,0.000,388,0.000,0.085,2367,3595,3966,3952,3980,0,0,0,0,0,0,14.54,14.10,14.57
$GC,677,-0.81,-145.9,2367,3596,3953,3981,103.9,-11.5,86,682,0.15,2.38,0.00,0.000,5254,0.120,0.055,2308,2197,3966,3952,3980,0,0,0,0,0,0,14.23,14.02,14.32
$GC,997,-0.81,-145.9,2309,2196,3954,3980,156.9,-16.0,100,1002,0.00,2.45,0.00,0.000,260,0.000,0.089,2307,3594,3967,3954,3980,0,0,0,0,0,0,14.61,14.21,14.64
$GC,1102,-0.89,-145.9,2312,3596,3953,3980,171.0,-12.4,121,1107,0.00,2.35,0.00,0.000,1158,0.000,0.057,2305,2201,3966,3953,3979,0,0,0,0,0,0,14.39,14.27,14.42
$GC,1417,-0.89,-145.9,2305,2200,3953,3981,215.2,-13.6,134,1422,0.00,2.45,0.00,0.000,260,0.000,0.086,2297,3598,3966,3952,3980,0,0,0,0,0,0,14.64,14.19,14.64
$GC,1447,-0.94,-145.9,2298,3600,3954,3980,219.2,-13.7,140,1452,0.00,2.38,0.00,0.000,1158,0.000,0.060,2297,2202,3966,3952,3980,0,0,0,0,0,0,14.32,14.19,14.35
$GC,1778,-0.97,-145.9,2298,2201,3954,3980,260.7,-11.7,156,1783,0.10,2.45,0.00,0.000,4484,0.158,0.084,2244,3597,3966,3952,3980,0,0,0,0,0,0,14.28,14.23,14.33
$GC,1838,-0.97,-145.9,2244,3599,3953,3981,269.4,-14.4,168,1843,0.00,2.38,0.00,0.000,1030,0.000,0.059,2244,2190,3966,3953,3980,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2168,-0.93,-145.9,2244,2190,3953,3981,319.5,-14.9,184,2173,0.12,2.45,0.00,0.000,2436,0.295,0.083,2264,3596,3966,3952,3980,0,0,0,0,0,0,13.99,14.23,14.16
$GC,2266,-1.01,-145.9,2264,3596,3954,3981,331.0,-11.1,203,2271,0.00,2.38,0.00,0.000,1158,0.000,0.058,2264,2188,3966,3952,3980,0,0,0,0,0,0,14.35,14.22,14.38
$GC,2592,-1.01,-145.9,2264,2186,3953,3979,370.9,-11.9,218,2596,0.00,2.45,0.00,0.000,260,0.000,0.086,2253,3595,3965,3952,3979,0,0,0,0,0,0,14.66,14.23,14.68
$GC,2657,-1.08,-145.9,2255,3595,3948,3979,378.5,-11.4,231,2662,0.00,2.35,0.00,0.000,1158,0.000,0.057,2254,2200,3965,3952,3979,0,0,0,0,0,0,14.38,14.23,14.38
$GC,2983,-1.08,-145.9,2254,2198,3952,3978,419.0,-12.5,246,2987,0.00,2.45,0.00,0.000,260,0.000,0.086,2245,3601,3965,3952,3978,0,0,0,0,0,0,14.66,14.19,14.68
$GC,3058,-1.13,-145.9,2245,3602,3952,3979,428.3,-11.8,261,3063,0.10,2.38,0.00,0.000,5254,0.161,0.057,2203,2195,3964,3951,3978,0,0,0,0,0,0,14.28,14.28,14.40
$STATE,3371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3371,begin apogee
$GC,3377,-0.13,0.0,2204,2066,3952,3979,481.2,-17.0,274,3675,1.33,0.00,292.92,1.304,10246,0.266,0.000,2530,2064,3362,3383,3342,0,0,0,0,0,0,13.90,13.36,12.62
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,0.57,145.9,2531,2065,3380,3336,498.2,0.0,284,3901,0.73,2.58,212.75,1.346,10756,0.064,0.080,2781,730,2761,2805,2718,0,0,0,0,0,0,13.47,12.97,12.38
$GC,4088,0.21,145.9,2781,730,2792,2708,479.7,14.7,367,4095,0.60,2.45,0.00,0.000,5254,0.325,0.076,2655,2087,2748,2791,2705,0,0,0,0,0,0,13.32,13.65,13.66
$GC,4393,0.05,149.8,2656,2091,2791,2701,448.9,9.8,378,4395,0.22,0.00,0.00,0.000,4262,0.273,0.000,2604,2087,2745,2790,2701,0,0,0,0,0,0,13.77,14.12,14.07
$GC,4695,0.04,206.2,2605,2088,2791,2700,426.3,7.4,388,4789,0.00,2.45,88.38,1.361,8868,0.000,0.083,2601,734,2519,2578,2460,0,0,0,0,0,0,14.42,13.62,13.05
$GC,4839,0.13,248.4,2605,729,2569,2452,414.9,8.1,417,4910,0.00,2.45,64.93,1.352,9382,0.000,0.080,2604,2098,2351,2409,2293,0,0,0,0,0,0,13.96,13.85,12.88
$GC,5235,0.20,279.6,2604,2099,2391,2274,381.1,8.6,446,5282,0.15,0.00,45.20,1.382,10406,0.116,0.000,2669,2100,2226,2281,2171,0,0,0,0,0,0,14.08,13.85,13.09
$GC,5565,0.15,279.6,2670,2097,2265,2147,338.5,13.0,457,5570,0.15,2.42,0.00,0.000,4740,0.260,0.081,2640,720,2207,2263,2151,0,0,0,0,0,0,13.88,14.06,14.02
$GC,5635,0.21,279.6,2641,721,2261,2152,330.9,10.1,471,5641,0.00,2.42,0.00,0.000,1158,0.000,0.078,2640,2101,2204,2261,2148,0,0,0,0,0,0,14.20,14.06,14.21
$GC,5956,0.21,279.6,2641,2100,2262,2149,297.1,10.4,485,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2100,2204,2260,2148,0,0,0,0,0,0,14.47,14.47,14.48
$GC,6256,0.21,289.2,2641,2101,2261,2147,267.6,9.6,495,6262,0.00,2.47,2.60,0.904,8740,0.000,0.084,2646,722,2184,2240,2128,0,0,0,0,0,0,14.50,14.19,12.82
$GC,6308,0.29,306.3,2647,722,2248,2141,262.9,9.2,505,6349,0.00,2.40,35.62,1.401,9382,0.000,0.080,2646,2100,2114,2166,2063,0,0,0,0,0,0,14.29,14.17,13.25
$GC,6650,0.35,338.9,2646,2101,2158,2053,232.2,8.5,523,6709,0.15,0.00,53.62,1.333,10406,0.117,0.000,2706,2100,1978,2026,1931,0,0,0,0,0,0,14.19,13.71,13.19
$MODEM_MSG,CACST,6,1,20170825080354.329176,3,25,01,0125,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170825081315.398056,3,125,08,0186,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170825081939.481739,3,155,21,0096,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170825082736.083691,3,907,29,0495,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$GC,7008,0.31,338.9,2705,2101,2020,1920,190.5,11.3,535,7014,0.00,2.42,0.00,0.000,644,0.000,0.084,2710,707,1968,2018,1919,0,0,0,0,0,0,14.38,14.04,14.40
$GC,7134,0.31,338.9,2711,707,2017,1919,177.2,10.4,560,7139,0.00,2.45,0.00,0.000,1030,0.000,0.078,2712,2102,1966,2015,1917,0,0,0,0,0,0,14.21,14.12,14.23
$GC,7461,0.29,338.9,2710,2099,2016,1919,142.6,10.3,575,7467,0.12,2.38,0.00,0.000,4740,0.243,0.081,2685,727,1966,2015,1918,0,0,0,0,0,0,13.90,14.15,13.97
$GC,7507,0.40,375.0,2684,727,2015,1919,138.3,8.3,584,7572,0.00,2.38,60.72,1.285,9382,0.000,0.079,2685,2098,1836,1870,1803,0,0,0,0,0,0,14.29,14.17,13.27
$GC,7883,0.51,434.4,2686,2098,1858,1791,108.9,7.3,609,7990,0.15,2.47,100.57,1.189,10916,0.122,0.085,2767,730,1590,1622,1558,0,0,0,0,0,0,14.23,13.84,13.14
$GC,8047,0.51,434.4,2768,730,1614,1555,90.0,11.0,641,8052,0.00,2.45,0.00,0.000,1030,0.000,0.078,2767,2101,1584,1613,1555,0,0,0,0,0,0,13.95,13.84,14.01
$GC,8357,0.54,475.8,2768,2102,1614,1546,58.7,8.1,673,8384,0.00,2.55,20.15,0.383,8484,0.000,0.085,2767,3511,1425,1467,1383,0,0,0,0,0,0,14.47,14.06,13.72
$GC,8394,0.58,529.2,2769,3513,1468,1383,55.9,7.5,680,8431,0.00,2.38,28.48,0.375,9254,0.000,0.063,2769,2132,1207,1269,1146,0,0,0,0,0,0,14.24,14.13,13.74
$GC,8729,0.73,602.4,2769,2133,1269,1140,33.2,6.6,717,8773,0.12,2.62,38.25,0.314,10916,0.134,0.090,2825,688,903,972,835,0,0,0,0,0,0,14.12,14.12,13.85
$GC,8924,0.93,677.0,2826,691,978,835,16.4,6.6,755,8971,0.17,2.47,39.70,0.259,11430,0.109,0.080,2895,2101,602,649,555,0,0,0,0,0,0,14.25,14.16,13.90
$STATE,9066,end climb,SURFACE_DEPTH_REACHED
$STATE,9066,begin surface coast
$FINISH,0.4,1.020837
$STATE,9075,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9095,14.00,0.217,0,0,498,703.03
$SM_GC,1.79,8.05,0.17,14.00,0.065,0.126,0.217,206,2212,498,-7.37,-0.71,703.03,0,0,0,0,0,0,14.28,14.26,14.02
$RAFOS_CLK,213
$MODEM,4,1503649656,75.71700,-151.21500,155.334,224910.9
$MODEM,3,1503649179,74.30400,-153.94400,72.482,104947.8
$MODEM,2,1503648795,73.18300,-149.96500,48.398,70076.6
$MODEM,0,1503648234,75.36600,-145.04601,180.329,261102.4
$RAFOS_FIX,7341.236328,-15114.365234,250817,080806,4,255,0.27
$IRIDIUM_FIX,7345.83,-15115.39,250817,063558
$TT8_MAMPS,0.039697,0.880824
$HUMID,45.86
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,15992553472.000000
$PM_FREEKB_00,53278592
$24V_AH,12.38,118.891
$10V_AH,12.25,0.000
$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,25.175,83.375,1083.900,14.000,0.000,0.000,0.000,724.075,3.250,0.000,7.764,0.000,6577.791,958.714,2451.028,317.759,0.000,2546.018,0.000,1110.813,2193.000,0.539,0.000
$DEVICE_MAMPS,454.410,2147.355,1401.480,217.260,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9050.000,9092.000,9050.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.165,20.000,9.939,0.000
$MEM,323724
$DATA_FILE_SIZE,26753,775
$CAP_FILE_SIZE,111039,0
$CFSIZE,2097872896,2039054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.3
$CURRENT,0.036,237.61,1
$GPS,250817,091713,7342.848,-15115.577,18,0.7,21,20.3,0.8,12.6,12,9.2