version: 66.13
glider: 196
mission: 14
dive: 162
start: 8 25 117 15 10 50
data:
$ID,196
$MISSION,14
$DIVE,162
$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,21
$R_STBD_OVSHOOT,42
$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,48
$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,456.0
$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
$GPS1,250817,144821,7344.8569,-15121.8916,39,0.8,40,20.2,0.7,352.5,10,8.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.0
$GPS2,250817,151016,7344.8184,-15122.1797,13,0.7,13,20.2,0.7,210.0,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.6,99085,-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,-145.9,168,2227,497,490,0.0,0.0,0,140,0.00,0.00,-91.30,0.000,16386,0.000,0.000,168,2226,2161,2080,2242,0,0,0,0,0,0,14.52,28.83,14.54
$GC,143,-0.57,-145.9,168,2228,2087,2244,4.1,-6.1,9,196,12.65,2.70,-34.40,0.000,18724,0.453,2.150,2378,3588,3963,3946,3980,1,0,0,0,0,0,13.54,12.90,14.16
$GC,352,-0.65,-145.9,2378,3593,3953,3981,51.4,-16.3,50,358,0.00,2.40,0.00,0.000,1158,0.000,0.060,2377,2188,3966,3952,3980,0,0,0,0,0,0,14.27,14.14,14.30
$GC,657,-0.71,-145.9,2377,2188,3954,3981,100.6,-12.3,81,663,0.00,2.47,0.00,0.000,388,0.000,0.087,2372,3589,3966,3953,3980,0,0,0,0,0,0,14.57,14.15,14.59
$GC,708,-0.87,-145.9,2372,3592,3953,3981,106.2,-10.2,91,713,0.22,2.35,0.00,0.000,5254,0.104,0.057,2280,2198,3966,3953,3980,0,0,0,0,0,0,14.28,14.20,14.37
$GC,1018,-0.80,-145.9,2282,2197,3954,3980,163.5,-18.2,103,1023,0.12,2.45,0.00,0.000,2436,0.290,0.084,2302,3596,3966,3953,3980,0,0,0,0,0,0,14.00,14.21,14.16
$GC,1094,-0.90,-145.9,2303,3597,3954,3980,174.1,-12.2,118,1099,0.00,2.38,0.00,0.000,1158,0.000,0.059,2303,2192,3966,3953,3980,0,0,0,0,0,0,14.39,14.26,14.42
$GC,1409,-0.90,-145.9,2302,2191,3954,3979,217.3,-13.5,131,1413,0.00,2.45,0.00,0.000,260,0.000,0.086,2294,3588,3967,3954,3980,0,0,0,0,0,0,14.63,14.20,14.65
$GC,1489,-0.99,-145.9,2301,3593,3950,3980,227.4,-12.0,147,1494,0.00,2.35,0.00,0.000,1158,0.000,0.057,2294,2195,3966,3954,3979,0,0,0,0,0,0,14.39,14.28,14.42
$GC,1799,-1.03,-145.9,2294,2195,3954,3981,266.2,-11.8,159,1800,0.15,0.00,0.00,0.000,4230,0.122,0.000,2238,2193,3966,3953,3980,0,0,0,0,0,0,14.37,14.48,14.44
$GC,2099,-0.97,-145.9,2238,2194,3954,3981,312.1,-15.1,169,2104,0.00,2.45,0.00,0.000,388,0.000,0.089,2236,3588,3966,3953,3980,0,0,0,0,0,0,14.66,14.19,14.69
$GC,2214,-0.97,-145.9,2236,3590,3954,3981,328.2,-13.2,192,2221,0.12,2.35,0.00,0.000,3078,0.248,0.056,2258,2193,3968,3956,3980,0,0,0,0,0,0,13.93,14.14,14.17
$GC,2520,-0.97,-145.9,2260,2193,3954,3980,365.3,-12.0,203,2525,0.00,2.45,0.00,0.000,260,0.000,0.088,2252,3592,3966,3953,3980,0,0,0,0,0,0,14.67,14.18,14.69
$GC,2580,-1.04,-145.9,2253,3594,3952,3980,372.5,-11.7,215,2585,0.00,2.35,0.00,0.000,1158,0.000,0.056,2252,2204,3965,3951,3979,0,0,0,0,0,0,14.35,14.23,14.40
$GC,2929,-1.04,-145.9,2252,2203,3952,3980,413.8,-12.5,231,2934,0.00,2.45,0.00,0.000,260,0.000,0.086,2243,3594,3966,3953,3979,0,0,0,0,0,0,14.52,14.14,14.54
$GC,3019,-1.09,-145.9,2249,3592,3949,3979,427.3,-11.9,249,3025,0.00,2.38,0.00,0.000,1158,0.000,0.056,2242,2196,3970,3961,3979,0,0,0,0,0,0,14.29,14.18,14.36
$GC,3350,-1.09,-145.9,2243,2195,3952,3977,470.0,-12.8,265,3356,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3594,3965,3952,3978,0,0,0,0,0,0,14.48,14.08,14.50
$GC,3416,-1.12,-145.9,2237,3594,3953,3978,478.3,-12.1,278,3421,0.00,2.40,0.00,0.000,1158,0.000,0.057,2237,2190,3965,3952,3978,0,0,0,0,0,0,14.25,14.13,14.28
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3429,begin apogee
$GC,3434,-0.13,0.0,2237,2069,3954,3978,480.2,-12.5,281,3655,1.17,0.00,217.27,1.427,10246,0.248,0.000,2531,2068,3362,3385,3340,0,0,0,0,0,0,13.83,13.39,12.62
$STATE,3659,end apogee,CONTROL_FINISHED_OK
$STATE,3659,begin climb
$GC,3662,0.57,145.9,2532,2068,3381,3333,490.8,0.0,288,3884,0.73,2.10,208.55,1.378,10500,0.065,0.078,2776,3485,2758,2801,2716,0,0,0,0,0,0,13.47,13.08,12.35
$GC,4110,0.13,145.9,2777,3484,2788,2716,459.1,17.1,335,4116,0.77,2.40,0.00,0.000,5254,0.355,0.057,2629,2125,2751,2787,2716,0,0,0,0,0,0,13.33,13.66,13.68
$GC,4415,0.03,168.3,2631,2129,2789,2715,430.3,9.0,346,4451,0.12,2.47,28.77,1.486,12708,0.295,0.083,2602,3481,2671,2713,2630,0,0,0,0,0,0,13.77,13.88,13.07
$GC,4483,-0.02,185.1,2602,3483,2709,2629,424.6,9.2,359,4512,0.00,2.38,22.92,1.519,9382,0.000,0.060,2603,2107,2610,2658,2562,0,0,0,0,0,0,14.03,13.92,13.02
$GC,4839,0.01,220.0,2602,2107,2655,2549,394.7,8.4,380,4898,0.00,2.60,51.15,1.431,8740,0.000,0.088,2599,685,2461,2514,2409,0,0,0,0,0,0,14.38,13.85,13.10
$GC,4963,0.12,265.4,2603,686,2516,2408,384.1,7.9,405,5038,0.00,2.47,68.25,1.367,9382,0.000,0.080,2602,2079,2283,2337,2230,0,0,0,0,0,0,14.04,13.94,12.94
$MODEM_MSG,CACST,6,1,20170825160353.889116,3,3,-1,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*13
$MODEM_MSG,CACST,6,1,20170825161934.813696,3,40,16,0285,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,5348,0.20,296.0,2603,2080,2329,2219,350.4,8.6,432,5396,0.15,0.00,45.72,1.392,10406,0.119,0.000,2671,2080,2160,2212,2109,0,0,0,0,0,0,14.08,13.85,13.09
$GC,5680,0.17,296.0,2671,2080,2202,2093,307.7,12.8,443,5685,0.12,2.45,0.00,0.000,4740,0.264,0.083,2648,684,2147,2201,2093,0,0,0,0,0,0,13.91,14.12,14.04
$GC,5715,0.21,296.0,2648,684,2199,2094,303.4,10.9,450,5720,0.00,2.47,0.00,0.000,1158,0.000,0.080,2648,2100,2145,2198,2093,0,0,0,0,0,0,14.29,14.16,14.33
$GC,6040,0.21,296.0,2648,2101,2199,2092,268.9,10.4,465,6046,0.00,2.45,0.00,0.000,516,0.000,0.085,2654,689,2144,2197,2091,0,0,0,0,0,0,14.59,14.26,14.60
$GC,6086,0.28,300.6,2654,690,2197,2091,264.3,9.8,474,6091,0.00,2.45,0.00,0.000,1190,0.000,0.079,2654,2106,2143,2196,2091,0,0,0,0,0,0,14.40,14.27,14.44
$GC,6401,0.29,318.1,2654,2108,2197,2091,233.9,9.2,487,6442,0.00,2.55,33.42,1.392,8740,0.000,0.086,2654,690,2063,2112,2014,0,0,0,0,0,0,14.64,14.16,13.36
$GC,6490,0.41,350.4,2655,690,2108,2014,226.3,8.5,504,6548,0.17,2.47,53.08,1.317,11430,0.113,0.079,2723,2105,1937,1980,1894,0,0,0,0,0,0,14.20,14.14,13.19
$GC,6853,0.35,350.4,2723,2106,1962,1884,180.6,12.3,527,6858,0.00,2.50,0.00,0.000,644,0.000,0.084,2729,684,1922,1961,1883,0,0,0,0,0,0,14.50,14.15,14.52
$GC,6898,0.35,350.4,2729,685,1960,1884,174.9,12.3,536,6903,0.15,2.47,0.00,0.000,5126,0.243,0.079,2698,2103,1921,1959,1883,0,0,0,0,0,0,14.03,14.20,14.28
$GC,7214,0.36,358.5,2698,2105,1960,1881,143.0,9.6,549,7224,0.00,2.47,5.78,1.610,8740,0.000,0.083,2697,685,1904,1943,1866,0,0,0,0,0,0,14.59,13.95,13.21
$GC,7279,0.46,388.1,2698,685,1939,1867,137.1,8.6,562,7341,0.00,2.45,54.50,1.297,9382,0.000,0.079,2697,2100,1780,1807,1753,0,0,0,0,0,0,14.35,14.23,13.28
$GC,7666,0.55,422.2,2698,2101,1802,1742,103.5,8.4,589,7728,0.15,2.53,55.40,1.230,10916,0.119,0.085,2778,685,1638,1666,1611,0,0,0,0,0,0,14.28,13.80,13.25
$GC,7768,0.52,422.2,2778,685,1661,1611,91.2,12.6,609,7774,0.00,2.53,0.00,0.000,1158,0.000,0.079,2778,2102,1634,1660,1609,0,0,0,0,0,0,14.12,14.01,14.16
$GC,8079,0.52,497.6,2779,2103,1661,1602,58.9,6.5,641,8120,0.00,0.00,39.00,0.379,8870,0.000,0.000,2778,2103,1336,1384,1289,0,0,0,0,0,0,14.50,14.09,13.71
$GC,8419,0.63,564.4,2779,2103,1385,1280,34.8,6.9,677,8461,0.00,2.50,35.95,0.308,8868,0.000,0.085,2778,682,1060,1126,995,0,0,0,0,0,0,14.52,14.02,13.80
$GC,8502,0.85,632.2,2779,682,1126,996,29.0,6.9,693,8545,0.25,2.47,36.75,0.285,11430,0.097,0.080,2873,2101,785,851,719,0,0,0,0,0,0,14.16,14.06,13.83
$STATE,8779,end climb,SURFACE_DEPTH_REACHED
$STATE,8779,begin surface coast
$FINISH,0.1,1.020840
$STATE,8799,end surface coast,CONTROL_FINISHED_OK
$STATE,8799,begin surface
$SM_CCo,8820,42.97,0.203,0,0,499,702.78
$SM_GC,0.97,8.02,0.17,42.97,0.070,0.123,0.203,202,2215,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.33,14.32,14.04
$RAFOS_CLK,264
$MODEM,3,1503677974,74.30400,-153.94400,67.814,98149.2
$MODEM,0,1503677033,75.36600,-145.04601,179.889,260359.9
$RAFOS_FIX,7344.783691,-15124.022461,250817,161643,2,255,0.26
$IRIDIUM_FIX,7345.83,-15115.39,250817,150227
$TT8_MAMPS,0.038948,0.979692
$HUMID,47.20
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,13
$CP_FREE,15992061952.000000
$PM_FREEKB_00,53191104
$24V_AH,12.35,120.346
$10V_AH,12.19,0.000
$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,25.100,88.375,956.525,42.975,0.000,0.000,0.000,783.800,3.250,0.000,14.833,0.000,6481.385,884.625,2510.039,318.582,0.000,2520.890,0.000,1042.886,2203.000,0.539,0.000
$DEVICE_MAMPS,452.880,2150.415,1610.325,203.490,0.000,0.000,0.000,153.765,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8829.000,8817.000,8776.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.281,20.000,9.935,0.000
$MEM,323680
$DATA_FILE_SIZE,26730,727
$CAP_FILE_SIZE,109467,0
$CFSIZE,2097872896,2037972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
$SOUNDSPEED,1448.1
$CURRENT,0.028,273.88,1
$GPS,250817,173955,7345.827,-15125.336,23,0.7,36,20.2,0.0,314.9,10,6.8