version: 66.13
glider: 196
mission: 14
dive: 200
start: 8 30 117 6 18 25
data:
$ID,196
$MISSION,14
$DIVE,200
$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,28
$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,562.0
$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
$GPS1,300817,060128,7417.4614,-15336.9590,14,0.8,21,19.3,0.5,76.3,10,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.2
$GPS2,300817,061750,7417.4697,-15336.7607,7,0.8,41,19.3,0.0,94.0,10,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,264.3,10209,-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,-145.9,185,2209,492,492,0.0,0.0,0,151,0.00,0.00,-101.10,0.000,16386,0.000,0.000,182,2209,2357,2300,2415,0,0,0,0,0,0,14.50,28.83,14.52
$GC,154,-0.57,-145.9,184,2209,2302,2419,4.5,-6.8,10,201,12.80,2.75,-29.60,0.000,18724,0.455,2.144,2375,3600,3961,3940,3983,0,0,0,0,0,0,13.56,12.87,14.02
$GC,367,-0.70,-145.9,2375,3602,3948,3982,50.2,-13.3,52,371,0.00,2.40,0.00,0.000,1158,0.000,0.059,2375,2200,3965,3948,3983,0,0,0,0,0,0,14.23,14.10,14.26
$GC,678,-0.77,-145.9,2375,2202,3950,3984,92.6,-11.6,84,680,0.15,0.00,0.00,0.000,4230,0.136,0.000,2322,2199,3966,3949,3983,0,0,0,0,0,0,14.23,14.31,14.31
$GC,977,-0.80,-145.9,2323,2200,3950,3984,134.6,-13.2,98,982,0.00,2.47,0.00,0.000,388,0.000,0.089,2319,3601,3965,3948,3983,0,0,0,0,0,0,14.64,14.18,14.65
$GC,1042,-0.95,-145.9,2320,3603,3951,3983,142.3,-10.7,111,1047,0.15,2.38,0.00,0.000,5254,0.116,0.058,2260,2197,3966,3949,3983,0,0,0,0,0,0,14.31,14.25,14.40
$GC,1367,-0.90,-145.9,2260,2197,3950,3983,199.4,-17.2,126,1372,0.12,2.47,0.00,0.000,2436,0.302,0.084,2277,3607,3966,3949,3983,0,0,0,0,0,0,13.87,14.14,14.04
$GC,1474,-0.97,-145.9,2276,3607,3951,3983,213.4,-12.3,147,1479,0.00,2.38,0.00,0.000,1158,0.000,0.058,2277,2201,3966,3949,3983,0,0,0,0,0,0,14.38,14.26,14.42
$GC,1789,-0.97,-145.9,2277,2200,3950,3984,255.5,-12.8,160,1794,0.00,2.45,0.00,0.000,260,0.000,0.089,2267,3601,3965,3949,3982,0,0,0,0,0,0,14.67,14.20,14.66
$GC,1869,-1.05,-145.9,2267,3603,3950,3982,264.9,-11.3,176,1874,0.00,2.38,0.00,0.000,1158,0.000,0.060,2266,2201,3967,3948,3986,0,0,0,0,0,0,14.42,14.26,14.42
$GC,2179,-1.08,-145.9,2267,2200,3950,3984,301.8,-11.5,188,2180,0.12,0.00,0.00,0.000,4230,0.142,0.000,2220,2199,3966,3950,3982,0,0,0,0,0,0,14.35,14.45,14.43
$GC,2479,-1.03,-145.9,2220,2200,3950,3983,346.4,-14.8,198,2484,0.00,2.47,0.00,0.000,388,0.000,0.089,2210,3609,3965,3949,3982,0,0,0,0,0,0,14.66,14.21,14.72
$GC,2621,-1.03,-145.9,2210,3610,3949,3983,366.8,-14.0,226,2626,0.15,2.38,0.00,0.000,3078,0.257,0.057,2240,2199,3965,3949,3981,0,0,0,0,0,0,13.94,14.21,14.22
$GC,2931,-1.03,-145.9,2240,2198,3950,3981,405.3,-12.1,238,2936,0.00,2.47,0.00,0.000,260,0.000,0.089,2236,3607,3965,3949,3981,0,0,0,0,0,0,14.66,14.19,14.68
$GC,3026,-1.11,-145.9,2237,3607,3950,3981,416.2,-11.2,257,3032,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2198,3965,3949,3981,0,0,0,0,0,0,14.38,14.24,14.42
$GC,3352,-1.11,-145.9,2238,2198,3949,3980,455.8,-12.1,272,3357,0.00,2.47,0.00,0.000,260,0.000,0.090,2235,3597,3964,3948,3980,0,0,0,0,0,0,14.66,14.12,14.68
$GC,3402,-1.17,-145.9,2236,3600,3950,3980,461.8,-11.5,282,3407,0.00,2.38,0.00,0.000,1158,0.000,0.058,2235,2208,3964,3948,3980,0,0,0,0,0,0,14.30,14.14,14.35
$STATE,3560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3560,begin apogee
$GC,3566,-0.13,0.0,2237,2058,3950,3980,481.2,-12.2,289,3790,1.15,0.08,220.93,1.427,10246,0.237,0.182,2529,2098,3364,3385,3344,0,0,0,0,0,0,13.90,13.44,12.68
$STATE,3794,end apogee,CONTROL_FINISHED_OK
$STATE,3794,begin climb
$GC,3798,0.57,145.9,2530,2103,3376,3335,492.4,0.0,296,4193,0.75,2.70,207.48,1.382,10500,0.063,0.074,2782,3512,2749,2783,2716,0,0,0,0,0,0,13.60,12.95,12.34
$GC,4311,0.11,145.9,2783,3513,2783,2717,450.3,17.2,321,4318,0.82,2.40,0.00,0.000,5254,0.348,0.058,2624,2130,2749,2782,2716,0,0,0,0,0,0,13.52,13.89,13.90
$GC,4638,0.03,177.6,2625,2130,2784,2716,420.9,8.5,336,4689,0.12,2.58,42.33,1.439,12964,0.292,0.085,2602,704,2633,2676,2591,0,0,0,0,0,0,13.90,14.00,13.18
$GC,4769,0.08,226.1,2603,703,2674,2584,410.8,7.8,362,4845,0.00,2.47,69.65,1.385,9382,0.000,0.080,2602,2104,2443,2500,2386,0,0,0,0,0,0,14.17,14.07,13.02
$GC,5150,0.10,251.9,2603,2108,2490,2371,377.4,8.8,388,5188,0.00,0.00,36.83,1.424,8230,0.000,0.000,2602,2108,2338,2390,2287,0,0,0,0,0,0,14.50,14.01,13.19
$GC,5480,0.16,284.0,2602,2109,2379,2275,348.6,8.5,399,5530,0.00,0.00,48.38,1.398,8358,0.000,0.000,2602,2108,2208,2259,2158,0,0,0,0,0,0,14.55,14.01,13.21
$GC,5810,0.25,312.9,2602,2109,2249,2142,320.2,8.7,410,5860,0.15,2.53,43.83,1.384,10916,0.116,0.089,2685,695,2085,2133,2037,0,0,0,0,0,0,14.28,14.02,13.24
$GC,5902,0.23,312.9,2686,695,2126,2037,308.2,14.4,428,5907,0.00,2.47,0.00,0.000,1158,0.000,0.079,2685,2105,2080,2125,2036,0,0,0,0,0,0,14.20,14.07,14.22
$GC,6234,0.18,312.9,2686,2106,2124,2027,262.4,13.3,444,6239,0.15,2.50,0.00,0.000,4740,0.245,0.083,2657,688,2075,2124,2027,0,0,0,0,0,0,13.94,14.05,14.10
$GC,6321,0.24,319.7,2657,689,2122,2028,253.1,9.7,461,6329,0.00,2.47,3.70,1.480,9382,0.000,0.079,2656,2098,2063,2108,2018,0,0,0,0,0,0,14.24,14.12,12.83
$GC,6624,0.25,334.7,2657,2102,2113,2016,223.8,9.3,472,6657,0.00,2.58,28.33,1.412,8484,0.000,0.085,2657,3524,1997,2045,1950,0,0,0,0,0,0,14.48,14.01,13.27
$GC,6677,0.25,334.7,2657,3525,2038,1952,218.7,10.3,482,6682,0.00,2.45,0.00,0.000,1030,0.000,0.063,2662,2101,1993,2037,1950,0,0,0,0,0,0,14.16,14.07,14.18
$GC,6988,0.30,354.6,2664,2102,2039,1944,189.5,9.1,494,7028,0.00,2.55,31.73,1.382,8868,0.000,0.090,2671,695,1914,1952,1877,0,0,0,0,0,0,14.45,14.04,13.28
$GC,7133,0.41,384.1,2671,696,1946,1877,176.7,8.6,523,7190,0.12,2.50,49.60,1.304,11430,0.134,0.080,2722,2104,1795,1821,1770,0,0,0,0,0,0,13.97,13.93,13.16
$GC,7500,0.41,384.1,2722,2107,1816,1758,133.7,11.6,546,7505,0.00,2.50,0.00,0.000,516,0.000,0.086,2729,692,1786,1814,1758,0,0,0,0,0,0,14.40,14.07,14.42
$GC,7555,0.44,384.1,2729,693,1812,1758,127.4,10.9,557,7562,0.00,2.50,0.00,0.000,1158,0.000,0.079,2731,2102,1785,1812,1758,0,0,0,0,0,0,14.21,14.08,14.24
$GC,7860,0.44,384.1,2729,2103,1812,1758,94.1,10.4,570,7865,0.00,2.53,0.00,0.000,516,0.000,0.086,2738,684,1784,1811,1757,0,0,0,0,0,0,14.45,14.08,14.46
$GC,7920,0.49,395.7,2732,685,1809,1758,88.3,9.5,582,7931,0.00,2.50,4.90,0.452,9382,0.000,0.080,2733,2102,1751,1778,1724,0,0,0,0,0,0,14.19,14.09,13.64
$GC,8230,0.52,440.7,2733,2103,1782,1725,60.4,7.9,614,8262,0.00,0.00,24.83,0.383,8742,0.000,0.000,2733,2102,1570,1602,1538,0,0,0,0,0,0,14.44,14.01,13.66
$MODEM_MSG,CACST,6,1,20170830080407.179215,3,701,28,0249,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170830081422.848912,3,412,26,0122,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170830081832.401244,3,32767,45,0769,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170830082700.632142,3,61,17,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,8560,0.69,561.4,2733,2103,1596,1532,40.1,4.4,648,8631,0.17,2.55,62.53,0.317,10916,0.103,0.088,2807,687,1072,1139,1006,0,0,0,0,0,0,14.02,13.97,13.69
$GC,8668,0.78,579.8,2808,683,1140,1006,31.3,9.1,668,8685,0.00,2.45,10.07,0.298,9382,0.000,0.076,2807,2099,999,1072,927,0,0,0,0,0,0,14.01,13.90,13.60
$GC,8991,0.93,647.8,2808,2101,1070,922,8.2,6.9,702,9033,0.22,2.55,36.40,0.228,10660,0.094,0.081,2894,3517,718,775,661,0,0,0,0,0,0,14.12,14.12,13.92
$GC,9044,0.85,647.8,2894,3518,779,662,2.0,12.9,708,9049,0.22,2.45,0.00,0.000,5254,0.273,0.065,2856,2096,719,778,661,0,0,0,0,0,0,13.73,14.06,14.03
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9051,begin surface coast
$FINISH,0.1,1.021541
$STATE,9062,end surface coast,CONTROL_FINISHED_OK
$STATE,9062,begin surface
$SM_CCo,9082,31.05,0.210,0,0,497,702.78
$SM_GC,1.34,8.20,0.20,31.05,0.082,0.103,0.210,197,2227,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.28,14.30,13.97
$RAFOS_CLK,145
$MODEM,4,1504081620,75.71700,-151.21500,119.882,173637.6
$MODEM,3,1504081112,74.30400,-153.94400,5.401,7823.2
$MODEM,2,1504080862,73.18300,-149.96500,115.849,167795.9
$MODEM,0,1504080247,75.36600,-145.04601,193.179,279801.3
$RAFOS_FIX,7417.214844,-15339.044922,300817,080800,4,255,0.17
$IRIDIUM_FIX,7416.61,-15333.19,300817,060611
$TT8_MAMPS,0.039697,0.914529
$HUMID,44.13
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15983378432.000000
$PM_FREEKB_00,51985280
$24V_AH,12.34,139.088
$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,25.600,84.900,921.475,31.050,0.000,0.000,0.000,605.225,3.750,0.000,42.348,0.000,6401.790,869.550,2523.394,317.445,0.000,2467.494,0.000,1020.841,2206.000,0.540,0.000
$DEVICE_MAMPS,455.175,2144.295,1480.275,209.610,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9091.000,9067.000,9035.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.710,20.000,9.921,0.000
$MEM,323668
$DATA_FILE_SIZE,23433,711
$CAP_FILE_SIZE,109448,0
$CFSIZE,2097872896,2026110976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.037,179.76,1
$GPS,300817,085122,7417.843,-15340.928,15,0.7,16,19.3,0.0,0.0,11,9.7