version: 66.13
glider: 196
mission: 14
dive: 171
start: 8 26 117 20 16 7
data:
$ID,196
$MISSION,14
$DIVE,171
$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,61
$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,481.0
$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
$GPS1,260817,195804,7353.4858,-15149.4229,16,0.7,22,20.1,0.0,0.0,12,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.0
$GPS2,260817,201532,7353.4946,-15149.5342,13,0.7,31,20.1,0.0,0.0,11,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.0,78462,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,191,2218,502,487,0.0,0.0,0,137,0.00,0.00,-87.68,0.000,16386,0.000,0.000,188,2219,2094,2013,2175,0,0,0,0,0,0,14.51,28.83,14.53
$GC,140,-0.57,-145.9,192,2219,2013,2175,4.8,-7.0,9,196,12.82,2.75,-35.88,0.000,18724,0.460,2.147,2376,3588,3963,3945,3982,0,0,0,0,0,0,13.58,12.64,14.01
$GC,346,-0.65,-145.9,2377,3588,3952,3982,50.7,-15.7,50,352,0.00,2.35,0.00,0.000,1158,0.000,0.060,2382,2228,3966,3951,3982,0,0,0,0,0,0,14.06,13.95,14.09
$GC,651,-0.72,-145.9,2377,2228,3953,3983,97.9,-12.5,81,652,0.00,0.00,0.00,0.000,134,0.000,0.000,2377,2227,3968,3953,3983,0,0,0,0,0,0,14.40,14.42,14.42
$GC,971,-0.84,-145.9,2377,2228,3954,3981,131.2,-9.7,93,977,0.20,2.45,0.00,0.000,4516,0.109,0.087,2288,3597,3967,3953,3982,0,0,0,0,0,0,14.12,14.05,14.17
$GC,1007,-0.84,-145.9,2289,3597,3953,3989,136.2,-15.2,100,1012,0.00,2.40,0.00,0.000,1030,0.000,0.060,2288,2198,3967,3953,3982,0,0,0,0,0,0,14.17,14.06,14.21
$MODEM_MSG,CACST,6,1,20170826201921.821257,3,30578,44,1657,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$MODEM_MSG,CACST,6,1,20170826202721.972196,3,581,27,0099,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$GC,1332,-0.84,-145.9,2288,2198,3954,3983,189.1,-15.9,115,1337,0.00,2.45,0.00,0.000,260,0.000,0.088,2280,3592,3968,3953,3983,0,0,0,0,0,0,14.44,14.02,14.45
$GC,1422,-0.91,-145.9,2280,3595,3953,3983,201.7,-12.9,133,1428,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2200,3966,3953,3980,0,0,0,0,0,0,14.21,14.07,14.24
$GC,1753,-0.91,-145.9,2281,2199,3954,3982,248.3,-13.4,149,1759,0.00,2.47,0.00,0.000,260,0.000,0.090,2271,3601,3967,3953,3982,0,0,0,0,0,0,14.59,14.12,14.62
$GC,1834,-1.00,-145.9,2272,3602,3953,3983,258.3,-11.5,165,1840,0.00,2.38,0.00,0.000,1158,0.000,0.059,2271,2199,3967,3953,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2145,-1.02,-145.9,2271,2200,3953,3983,296.6,-12.1,177,2151,0.00,2.47,0.00,0.000,388,0.000,0.090,2267,3601,3967,3953,3982,0,0,0,0,0,0,14.64,14.16,14.69
$GC,2211,-1.11,-145.9,2267,3603,3954,3982,304.1,-11.0,190,2216,0.15,2.38,0.00,0.000,5254,0.128,0.058,2211,2193,3967,3953,3982,0,0,0,0,0,0,14.28,14.26,14.38
$GC,2536,-1.03,-145.9,2211,2193,3953,3983,357.9,-16.5,205,2542,0.12,2.47,0.00,0.000,2436,0.305,0.087,2236,3592,3967,3953,3982,0,0,0,0,0,0,13.90,14.16,14.09
$GC,2639,-1.06,-145.9,2234,3594,3953,3983,371.8,-12.8,225,2645,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2195,3967,3952,3982,0,0,0,0,0,0,14.34,14.22,14.38
$GC,2960,-1.04,-145.9,2235,2196,3953,3982,416.3,-13.8,239,2965,0.00,2.45,0.00,0.000,388,0.000,0.090,2235,3594,3967,3953,3981,0,0,0,0,0,0,14.65,14.21,14.69
$GC,3065,-1.08,-145.9,2235,3595,3954,3981,429.8,-12.3,260,3070,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2198,3965,3949,3981,0,0,0,0,0,0,14.40,14.28,14.43
$GC,3380,-1.08,-145.9,2239,2197,3954,3980,472.2,-13.4,273,3386,0.00,2.45,0.00,0.000,260,0.000,0.090,2235,3594,3967,3953,3981,0,0,0,0,0,0,14.65,14.21,14.67
$STATE,3438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3438,begin apogee
$GC,3446,-0.13,0.0,2236,2101,3954,3981,480.1,-12.4,285,3667,1.15,0.00,217.27,1.433,10246,0.243,0.000,2529,2100,3364,3386,3343,0,0,0,0,0,0,13.95,13.47,12.69
$STATE,3671,end apogee,CONTROL_FINISHED_OK
$STATE,3671,begin climb
$GC,3673,0.57,145.9,2530,2101,3381,3336,492.4,0.0,292,3896,0.75,2.30,209.05,1.384,10756,0.065,0.082,2792,690,2762,2805,2720,0,0,0,0,0,0,13.57,13.13,12.37
$GC,3966,0.19,145.9,2792,691,2801,2718,492.5,14.3,308,3972,0.70,2.58,0.00,0.000,5254,0.312,0.076,2646,2086,2758,2801,2716,0,0,0,0,0,0,13.16,13.41,13.52
$GC,4277,0.05,160.2,2647,2088,2798,2710,462.8,9.3,320,4302,0.17,2.53,17.02,1.569,12964,0.303,0.083,2613,702,2706,2751,2661,0,0,0,0,0,0,13.70,13.91,13.02
$GC,4379,0.08,204.6,2613,702,2751,2661,454.7,8.0,340,4452,0.00,2.50,66.35,1.427,9254,0.000,0.080,2613,2109,2526,2588,2465,0,0,0,0,0,0,14.10,13.98,12.93
$GC,4758,0.07,224.7,2613,2109,2584,2452,420.2,9.1,366,4789,0.00,2.58,27.23,1.494,8868,0.000,0.086,2613,694,2444,2507,2382,0,0,0,0,0,0,14.44,14.01,13.16
$GC,4810,0.09,254.9,2613,695,2502,2382,415.5,8.6,376,4861,0.00,2.50,45.42,1.424,9254,0.000,0.080,2613,2105,2323,2381,2266,0,0,0,0,0,0,14.14,14.03,13.05
$GC,5183,0.13,271.5,2613,2105,2373,2253,381.6,9.2,400,5213,0.00,2.50,22.88,1.498,8868,0.000,0.085,2613,688,2253,2309,2197,0,0,0,0,0,0,14.47,13.99,13.22
$GC,5248,0.24,291.2,2613,688,2306,2197,375.4,9.1,413,5284,0.15,2.47,29.55,1.445,11430,0.116,0.080,2679,2099,2174,2227,2121,0,0,0,0,0,0,14.16,14.07,13.16
$GC,5607,0.17,291.2,2679,2099,2221,2111,326.4,13.8,434,5612,0.15,2.45,0.00,0.000,4740,0.264,0.083,2649,696,2165,2220,2111,0,0,0,0,0,0,13.96,14.19,14.13
$GC,5642,0.19,291.2,2651,693,2217,2111,321.7,11.6,441,5648,0.00,2.45,0.00,0.000,1158,0.000,0.080,2650,2101,2164,2217,2111,0,0,0,0,0,0,14.33,14.21,14.41
$GC,5968,0.19,291.2,2650,2103,2218,2110,285.3,10.9,456,5973,0.00,2.47,0.00,0.000,516,0.000,0.086,2651,688,2163,2217,2109,0,0,0,0,0,0,14.62,14.17,14.63
$GC,6003,0.23,291.2,2651,688,2215,2109,281.6,10.6,463,6008,0.00,2.45,0.00,0.000,1158,0.000,0.080,2651,2102,2162,2216,2109,0,0,0,0,0,0,14.40,14.28,14.45
$GC,6328,0.24,296.7,2651,2102,2217,2109,248.2,9.7,478,6333,0.00,2.45,0.00,0.000,548,0.000,0.084,2648,691,2161,2215,2108,0,0,0,0,0,0,14.66,14.21,14.67
$GC,6408,0.32,326.0,2651,692,2214,2108,241.0,8.6,494,6469,0.00,2.45,54.85,1.354,9382,0.000,0.080,2651,2105,2033,2083,1984,0,0,0,0,0,0,14.28,14.16,13.28
$GC,6781,0.39,362.6,2651,2105,2077,1974,209.1,8.3,518,6844,0.17,0.00,60.72,1.302,10406,0.109,0.000,2723,2105,1886,1923,1850,0,0,0,0,0,0,14.29,13.97,13.27
$GC,7140,0.35,362.6,2721,2106,1909,1841,165.5,11.8,530,7144,0.00,2.50,0.00,0.000,644,0.000,0.086,2726,688,1874,1908,1840,0,0,0,0,0,0,14.50,14.14,14.52
$GC,7224,0.35,362.6,2726,688,1906,1840,156.0,10.7,547,7231,0.15,2.47,0.00,0.000,5126,0.247,0.079,2694,2100,1872,1905,1840,0,0,0,0,0,0,14.00,14.18,14.26
$GC,7530,0.39,384.8,2694,2103,1906,1838,127.3,9.0,558,7570,0.00,2.55,31.73,1.334,8868,0.000,0.086,2698,679,1790,1817,1764,0,0,0,0,0,0,14.62,14.12,13.35
$GC,7637,0.52,427.3,2699,680,1812,1764,118.4,8.0,579,7714,0.15,2.50,71.15,1.226,11430,0.121,0.080,2764,2106,1623,1651,1595,0,0,0,0,0,0,14.21,14.15,13.17
$GC,8010,0.49,427.3,2764,2107,1646,1576,73.1,10.8,618,8011,0.00,0.00,0.00,0.000,134,0.000,0.000,2764,2106,1610,1645,1575,0,0,0,0,0,0,14.45,14.47,14.47
$GC,8312,0.56,519.4,2765,2107,1646,1573,49.9,5.8,648,8365,0.00,2.58,46.40,0.353,8740,0.000,0.085,2764,690,1246,1304,1188,0,0,0,0,0,0,14.52,14.10,13.78
$GC,8418,0.75,598.2,2765,691,1303,1188,43.6,6.4,668,8465,0.17,2.47,41.00,0.330,11430,0.112,0.080,2836,2102,924,997,851,0,0,0,0,0,0,14.09,14.09,13.80
$GC,8771,0.87,678.1,2836,2105,998,846,11.1,6.3,708,8818,0.00,2.50,42.10,0.241,8868,0.000,0.086,2837,688,597,647,548,0,0,0,0,0,0,14.54,14.04,13.90
$GC,8890,1.08,741.2,2838,688,648,547,2.9,7.1,731,8909,0.28,2.47,13.80,0.213,11426,0.090,0.076,2943,2102,499,528,471,0,0,0,0,0,0,14.16,14.09,14.26
$STATE,8909,end climb,SURFACE_DEPTH_REACHED
$STATE,8909,begin surface coast
$FINISH,0.1,1.014337
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,9004,0.00,0.000,0,0,499,703.03
$SM_GC,1.25,8.35,0.17,0.00,0.077,0.122,0.000,200,2216,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.29,14.26,14.37
$RAFOS_CLK,412
$MODEM,4,1503779241,75.71700,-151.21500,141.222,204463.7
$MODEM,3,1503778761,74.30400,-153.94400,54.821,79371.1
$RAFOS_FIX,7352.480469,-15149.855469,260817,202021,2,255,4.06
$IRIDIUM_FIX,7354.15,-15152.46,260817,200300
$TT8_MAMPS,0.039697,0.923517
$HUMID,46.73
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.40
$XPDR_PINGS,12
$CP_FREE,15990620160.000000
$PM_FREEKB_00,52956352
$24V_AH,12.37,124.857
$10V_AH,12.23,0.000
$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,25.650,94.025,996.525,0.000,0.000,0.000,0.000,676.200,3.000,0.000,34.842,0.000,6443.539,810.401,2478.311,332.983,0.000,2417.671,0.000,1058.289,1136.000,0.539,0.000
$DEVICE_MAMPS,459.765,2147.355,1569.015,0.000,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8951.000,8940.000,8897.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.490,20.000,10.227,0.000
$MEM,323360
$DATA_FILE_SIZE,26764,737
$CAP_FILE_SIZE,107994,0
$CFSIZE,2097872896,2035220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.025,276.11,1
$GPS,260817,224724,7354.487,-15153.054,16,0.7,30,20.0,0.3,302.5,11,9.8