version: 66.13
glider: 196
mission: 14
dive: 164
start: 8 25 117 20 58 8
data:
$ID,196
$MISSION,14
$DIVE,164
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,315
$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,105
$T_MISSION,135
$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,34
$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,461.0
$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
$GPS1,250817,203421,7346.6597,-15128.6416,38,0.7,39,20.2,0.0,0.0,11,8.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.7
$GPS2,250817,205733,7346.6372,-15128.7705,5,0.8,10,20.2,0.0,11.4,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.5,94406,-17.9,-10.000,-21.31,2227
$D_GRID,315
$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
$MODEM_MSG,CACST,6,1,20170825200354.568942,3,952,29,0466,0150,250,00,00,00,00,-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,6,1,20170825201322.856403,3,5891,37,0202,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20170825201933.189278,3,3719,35,0723,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170825202730.802294,3,2064,33,0688,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$GC,47,-0.57,-145.9,170,2216,504,491,0.0,0.0,0,140,0.00,0.00,-91.12,0.000,16386,0.000,0.000,168,2216,2168,2094,2242,0,0,0,0,0,0,14.38,28.83,14.40
$GC,143,-0.57,-145.9,169,2217,2097,2248,4.1,-5.5,9,196,12.60,2.75,-33.67,0.000,18724,0.452,2.150,2377,3600,3964,3947,3981,0,0,0,0,0,0,13.69,12.88,14.15
$GC,397,-0.67,-145.9,2378,3602,3954,3981,59.4,-15.3,59,401,0.00,2.40,0.00,0.000,1158,0.000,0.062,2377,2201,3966,3953,3980,0,0,0,0,0,0,14.24,14.16,14.27
$GC,707,-0.74,-145.9,2377,2200,3954,3981,104.7,-12.3,89,712,0.12,2.40,0.00,0.000,4484,0.150,0.083,2319,3597,3967,3954,3980,0,0,0,0,0,0,14.19,14.16,14.25
$GC,747,-0.78,-145.9,2320,3599,3954,3981,110.5,-15.0,97,752,0.00,2.38,0.00,0.000,1158,0.000,0.058,2319,2198,3966,3953,3980,0,0,0,0,0,0,14.35,14.20,14.36
$GC,1067,-0.78,-145.9,2320,2197,3955,3980,158.6,-14.3,111,1072,0.00,2.45,0.00,0.000,260,0.000,0.088,2315,3597,3967,3954,3980,0,0,0,0,0,0,14.62,14.23,14.64
$GC,1137,-0.90,-145.9,2315,3598,3955,3980,167.5,-11.2,125,1142,0.00,2.38,0.00,0.000,1158,0.000,0.058,2314,2192,3967,3954,3980,0,0,0,0,0,0,14.38,14.28,14.42
$GC,1457,-0.94,-145.9,2316,2190,3955,3980,207.7,-12.1,139,1458,0.12,0.00,0.00,0.000,4230,0.138,0.000,2263,2190,3967,3954,3980,0,0,0,0,0,0,14.28,14.36,14.33
$GC,1758,-0.90,-145.9,2264,2191,3955,3980,255.6,-15.5,149,1763,0.12,2.47,0.00,0.000,2436,0.277,0.085,2282,3603,3967,3954,3980,0,0,0,0,0,0,13.96,14.21,14.11
$GC,1903,-1.00,-145.9,2283,3605,3954,3982,272.6,-10.9,178,1909,0.00,2.38,0.00,0.000,1158,0.000,0.057,2283,2197,3967,3955,3980,0,0,0,0,0,0,14.33,14.21,14.37
$GC,2208,-1.04,-145.9,2283,2196,3954,3981,307.6,-11.4,189,2213,0.00,2.45,0.00,0.000,388,0.000,0.089,2279,3597,3966,3953,3980,0,0,0,0,0,0,14.66,14.24,14.66
$GC,2278,-1.16,-145.9,2280,3598,3955,3980,314.9,-9.8,203,2283,0.22,2.35,0.00,0.000,5286,0.103,0.057,2193,2197,3970,3954,3986,0,0,0,0,0,0,14.35,14.31,14.44
$STATE,2286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2286,begin apogee
$GC,2292,-0.13,0.0,2194,2070,3955,3981,315.9,-9.7,205,2541,1.38,0.00,244.93,1.290,10246,0.283,0.000,2526,2068,3362,3385,3340,0,0,0,0,0,0,13.93,13.49,12.76
$STATE,2589,end apogee,CONTROL_FINISHED_OK
$STATE,2589,begin climb
$GC,2592,0.57,145.9,2527,2068,3377,3328,328.9,0.0,213,2819,0.75,2.70,218.35,1.244,11012,0.065,0.074,2783,3504,2762,2804,2721,0,0,0,0,0,0,13.69,13.02,12.46
$GC,3044,0.13,145.9,2784,3505,2784,2715,309.4,15.4,266,3050,0.80,2.40,0.00,0.000,5254,0.349,0.057,2630,2129,2749,2783,2715,0,0,0,0,0,0,13.42,13.77,13.78
$GC,3349,0.09,219.3,2630,2129,2784,2714,287.3,6.6,277,3476,0.00,2.58,121.78,1.225,8612,0.000,0.082,2630,3507,2469,2524,2414,0,0,0,0,0,0,14.42,13.72,13.00
$GC,3703,0.06,231.2,2631,3507,2500,2410,257.3,9.4,347,3724,0.15,2.42,12.77,1.465,13478,0.268,0.060,2607,2099,2419,2468,2371,0,0,0,0,0,0,13.83,13.57,13.14
$GC,4046,0.20,326.3,2607,2100,2457,2359,236.7,5.6,365,4226,0.12,0.00,177.00,1.187,10406,0.132,0.000,2663,2099,2033,2084,1983,0,0,0,0,0,0,14.27,13.62,12.96
$GC,4526,0.25,356.8,2664,2099,2066,1961,195.2,8.6,381,4580,0.00,2.53,47.53,1.248,8868,0.000,0.087,2670,691,1905,1946,1864,0,0,0,0,0,0,14.36,13.88,13.15
$GC,4675,0.38,396.9,2671,690,1928,1864,182.6,8.2,411,4750,0.10,2.47,68.45,1.204,11430,0.158,0.080,2706,2087,1745,1771,1719,0,0,0,0,0,0,14.01,14.00,13.09
$GC,5066,0.41,396.9,2711,2088,1760,1698,141.5,10.3,439,5070,0.00,2.47,0.00,0.000,644,0.000,0.087,2712,688,1729,1759,1699,0,0,0,0,0,0,14.45,14.13,14.47
$GC,5121,0.51,414.4,2712,689,1759,1701,136.2,9.2,450,5151,0.00,2.47,24.30,1.310,9382,0.000,0.077,2712,2108,1673,1704,1643,0,0,0,0,0,0,14.23,14.10,13.28
$GC,5458,0.56,424.3,2712,2108,1696,1625,104.2,9.5,467,5468,0.12,2.50,3.80,1.320,10916,0.134,0.088,2781,688,1635,1670,1600,0,0,0,0,0,0,14.29,14.12,12.91
$GC,5503,0.52,424.3,2781,688,1674,1604,98.5,13.4,476,5510,0.15,2.47,0.00,0.000,5254,0.258,0.078,2750,2109,1640,1675,1605,0,0,0,0,0,0,14.03,14.21,14.28
$GC,5810,0.55,466.3,2750,2110,1679,1607,68.4,8.1,508,5842,0.00,2.55,23.80,0.404,8740,0.000,0.085,2755,689,1463,1501,1425,0,0,0,0,0,0,14.54,14.15,13.81
$GC,5899,0.69,525.0,2755,690,1505,1430,61.8,7.3,525,5937,0.15,2.47,32.45,0.386,11430,0.122,0.080,2813,2098,1223,1280,1167,0,0,0,0,0,0,14.23,14.16,13.72
$GC,6232,0.71,548.0,2813,2100,1281,1174,30.2,8.9,562,6250,0.00,2.55,13.10,0.298,8740,0.000,0.087,2822,687,1129,1190,1069,0,0,0,0,0,0,14.54,14.18,13.79
$GC,6285,0.78,559.9,2818,684,1191,1078,25.3,9.5,572,6297,0.00,2.47,7.85,0.287,9382,0.000,0.079,2823,2108,1081,1143,1019,0,0,0,0,0,0,14.27,14.13,13.85
$GC,6595,0.92,649.4,2822,2104,1144,1030,7.4,5.9,604,6648,0.15,0.00,48.78,0.226,10918,0.116,0.000,2889,2103,714,770,658,0,0,0,0,0,0,14.14,14.14,13.88
$STATE,6672,end climb,SURFACE_DEPTH_REACHED
$STATE,6672,begin surface coast
$FINISH,0.3,1.020811
$STATE,6683,end surface coast,CONTROL_FINISHED_OK
$STATE,6683,begin surface
$SM_CCo,6705,29.52,0.213,0,0,498,703.03
$SM_GC,1.50,8.27,0.17,29.52,0.088,0.133,0.213,203,2210,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.30,14.25,14.02
$RAFOS_CLK,293
$MODEM,4,1503692850,75.71700,-151.21500,150.052,217413.3
$MODEM,3,1503692373,74.30400,-153.94400,66.189,95902.8
$MODEM,2,1503692002,73.18300,-149.96500,55.856,80931.3
$MODEM,0,1503691434,75.36600,-145.04601,180.569,261629.4
$RAFOS_FIX,7345.462402,-15129.008789,250817,202004,4,255,0.00
$IRIDIUM_FIX,7348.80,-15135.69,250817,205203
$TT8_MAMPS,0.040446,0.825398
$HUMID,46.25
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15991767040.000000
$PM_FREEKB_00,53145024
$24V_AH,12.46,121.326
$10V_AH,12.33,0.000
$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,25.350,59.800,1044.875,29.525,0.000,0.000,0.000,863.325,2.250,0.000,11.573,0.000,4531.855,940.581,2365.478,305.466,0.000,2544.852,0.000,883.687,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2150.415,1464.975,212.670,0.000,0.000,0.000,188.190,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6666.000,6710.000,6660.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.176,20.000,9.903,0.000
$MEM,323660
$DATA_FILE_SIZE,20151,615
$CAP_FILE_SIZE,91961,0
$CFSIZE,2097872896,2037383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1444.3
$CURRENT,0.056,278.35,1
$GPS,250817,225156,7347.283,-15130.841,5,0.7,46,20.2,0.0,324.7,11,127.3