version: 66.13
glider: 196
mission: 14
dive: 202
start: 8 30 117 11 53 1
data:
$ID,196
$MISSION,14
$DIVE,202
$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,26
$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,569.0
$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
$GPS1,300817,113132,7418.0176,-15344.8691,35,0.8,35,19.3,0.0,0.0,10,8.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.6
$GPS2,300817,115227,7417.9697,-15344.9004,6,0.7,7,19.3,0.0,0.0,12,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,263.0,6068,-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,-145.9,186,2224,483,500,0.0,0.0,0,151,0.00,0.00,-101.25,0.000,16386,0.000,0.000,185,2224,2337,2280,2395,0,0,0,0,0,0,14.52,28.83,14.54
$GC,154,-0.57,-145.9,186,2228,2284,2395,4.1,-5.8,10,207,12.77,2.72,-30.83,0.000,18724,0.454,2.146,2376,3581,3964,3944,3985,1,0,0,0,0,0,13.51,12.64,14.01
$GC,448,-0.70,-145.9,2377,3581,3951,3986,60.2,-12.3,65,454,0.00,2.38,0.00,0.000,1158,0.000,0.057,2377,2193,3967,3950,3985,0,0,0,0,0,0,14.16,14.09,14.21
$GC,752,-0.80,-145.9,2377,2192,3954,3987,97.7,-10.6,96,757,0.15,2.50,0.00,0.000,4484,0.125,0.086,2305,3595,3967,3949,3985,0,0,0,0,0,0,14.00,14.00,14.02
$GC,892,-0.88,-145.9,2305,3596,3952,3986,116.7,-12.8,124,897,0.00,2.42,0.00,0.000,1158,0.000,0.059,2306,2195,3968,3951,3985,0,0,0,0,0,0,14.19,14.04,14.22
$GC,1203,-0.88,-145.9,2306,2194,3952,3985,161.6,-14.1,136,1207,0.00,2.47,0.00,0.000,260,0.000,0.086,2299,3591,3967,3950,3985,0,0,0,0,0,0,14.45,14.05,14.47
$GC,1248,-0.97,-145.9,2297,3593,3952,3986,167.6,-12.5,145,1254,0.00,2.38,0.00,0.000,1158,0.000,0.057,2296,2197,3967,3951,3984,0,0,0,0,0,0,14.23,14.12,14.26
$GC,1564,-1.00,-145.9,2296,2198,3951,3986,209.5,-12.9,158,1569,0.12,2.47,0.00,0.000,4484,0.134,0.085,2236,3588,3968,3951,3985,0,0,0,0,0,0,14.17,14.05,14.21
$GC,1604,-0.97,-145.9,2236,3591,3952,3984,215.8,-16.5,166,1609,0.12,2.38,0.00,0.000,3206,0.253,0.057,2259,2201,3968,3951,3985,0,0,0,0,0,0,13.78,14.07,14.02
$GC,1924,-0.97,-145.9,2259,2199,3953,3985,263.2,-13.9,180,1929,0.00,2.42,0.00,0.000,260,0.000,0.086,2251,3590,3968,3951,3985,0,0,0,0,0,0,14.47,14.06,14.48
$GC,2029,-1.02,-145.9,2251,3591,3952,3986,276.4,-11.9,201,2035,0.00,2.38,0.00,0.000,1158,0.000,0.057,2251,2196,3968,3951,3985,0,0,0,0,0,0,14.23,14.11,14.26
$GC,2345,-1.02,-145.9,2252,2197,3952,3985,316.8,-12.6,214,2350,0.00,2.47,0.00,0.000,260,0.000,0.087,2242,3587,3967,3951,3984,0,0,0,0,0,0,14.47,14.00,14.49
$GC,2467,-1.10,-145.9,2243,3589,3953,3985,331.3,-11.4,238,2472,0.00,2.38,0.00,0.000,1158,0.000,0.055,2242,2201,3967,3951,3984,0,0,0,0,0,0,13.85,13.87,13.85
$MODEM_MSG,CACST,6,1,20170830120408.362398,3,23,13,0164,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170830121425.297922,3,5173,37,0159,0150,250,00,00,00,00,-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,6,1,20170830121830.412341,3,4537,36,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170830122701.579260,3,121,14,0091,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$GC,2797,-1.10,-145.9,2242,2199,3952,3983,373.1,-12.6,254,2802,0.00,2.42,0.00,0.000,260,0.000,0.087,2236,3594,3968,3952,3984,0,0,0,0,0,0,14.44,14.00,14.46
$GC,2874,-1.17,-145.9,2237,3588,3952,3984,382.4,-11.8,269,2880,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2190,3967,3950,3984,0,0,0,0,0,0,14.20,14.06,14.24
$GC,3191,-1.17,-145.9,2236,2190,3951,3985,422.6,-12.5,282,3196,0.00,2.47,0.00,0.000,260,0.000,0.089,2236,3588,3967,3950,3984,0,0,0,0,0,0,14.60,14.06,14.62
$GC,3261,-1.23,-145.9,2236,3590,3951,3984,431.1,-11.2,296,3266,0.17,2.35,0.00,0.000,5254,0.117,0.056,2167,2193,3967,3950,3984,0,0,0,0,0,0,14.26,14.21,14.35
$STATE,3549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3549,begin apogee
$GC,3555,-0.13,0.0,2168,2065,3950,3985,484.3,-18.7,309,3777,1.52,0.00,218.75,1.431,10246,0.282,0.000,2529,2062,3361,3377,3346,0,0,0,0,0,0,13.78,13.47,12.66
$STATE,3781,end apogee,CONTROL_FINISHED_OK
$STATE,3781,begin climb
$GC,3784,0.57,145.9,2529,2064,3378,3338,495.7,0.0,316,3998,0.75,2.62,206.73,1.386,10756,0.065,0.085,2781,723,2768,2809,2727,0,0,0,0,0,0,13.59,13.14,12.33
$GC,4030,0.19,145.9,2782,724,2802,2722,499.3,14.0,323,4035,0.65,2.53,0.00,0.000,5254,0.319,0.076,2651,2080,2760,2801,2720,0,0,0,0,0,0,13.04,13.31,13.35
$GC,4362,0.03,149.2,2652,2080,2801,2712,465.9,9.8,339,4367,0.20,2.42,0.00,0.000,4772,0.271,0.080,2602,721,2756,2800,2712,0,0,0,0,0,0,13.71,13.88,13.88
$GC,4402,0.07,199.5,2600,723,2802,2713,462.5,7.7,347,4485,0.00,2.45,76.62,1.405,9254,0.000,0.080,2602,2108,2550,2606,2494,0,0,0,0,0,0,14.14,14.02,12.94
$GC,4783,0.09,233.0,2603,2104,2598,2479,430.7,8.5,373,4831,0.00,0.00,46.80,1.439,8742,0.000,0.000,2602,2104,2417,2474,2361,0,0,0,0,0,0,14.47,13.94,13.14
$GC,5113,0.14,264.2,2603,2103,2463,2348,402.3,8.6,389,5167,0.00,2.53,46.55,1.429,8868,0.000,0.086,2602,728,2282,2332,2232,0,0,0,0,0,0,14.53,14.00,13.19
$GC,5214,0.28,304.5,2601,724,2329,2227,394.0,8.1,409,5283,0.20,2.42,60.97,1.375,11430,0.099,0.079,2682,2100,2119,2166,2073,0,0,0,0,0,0,14.12,14.04,13.04
$GC,5593,0.21,304.5,2682,2100,2164,2061,340.2,14.3,435,5598,0.12,2.42,0.00,0.000,4740,0.259,0.083,2659,721,2108,2157,2060,0,0,0,0,0,0,14.01,14.16,14.14
$GC,5659,0.23,304.5,2659,721,2156,2061,332.2,11.3,448,5664,0.00,2.42,0.00,0.000,1158,0.000,0.079,2659,2108,2107,2154,2061,0,0,0,0,0,0,14.33,14.20,14.37
$GC,5984,0.23,304.5,2660,2109,2155,2059,293.0,11.8,463,5989,0.00,2.45,0.00,0.000,516,0.000,0.087,2660,723,2106,2155,2058,0,0,0,0,0,0,14.62,14.26,14.65
$GC,6004,0.23,304.5,2660,723,2154,2059,290.7,12.2,467,6009,0.00,2.40,0.00,0.000,1030,0.000,0.078,2660,2105,2105,2153,2058,0,0,0,0,0,0,14.40,14.28,14.47
$GC,6314,0.23,304.5,2660,2107,2154,2058,255.7,10.9,479,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2106,2105,2153,2057,0,0,0,0,0,0,14.66,14.67,14.69
$GC,6614,0.24,314.2,2660,2106,2154,2056,225.6,9.6,489,6629,0.00,2.45,8.50,1.622,8740,0.000,0.086,2660,732,2083,2129,2037,0,0,0,0,0,0,14.66,14.28,13.29
$GC,6674,0.32,340.1,2660,732,2127,2037,220.2,8.8,501,6725,0.00,2.38,43.90,1.366,9382,0.000,0.079,2660,2101,1977,2021,1933,0,0,0,0,0,0,14.36,14.23,13.28
$GC,7037,0.39,372.5,2660,2101,2017,1921,188.0,8.5,523,7097,0.12,2.45,54.00,1.308,10916,0.134,0.085,2725,722,1843,1873,1814,0,0,0,0,0,0,14.28,13.83,13.24
$GC,7134,0.39,372.5,2726,722,1868,1814,176.7,12.4,542,7139,0.00,2.42,0.00,0.000,1030,0.000,0.078,2725,2099,1838,1863,1813,0,0,0,0,0,0,14.16,14.04,14.19
$GC,7459,0.36,372.5,2725,2101,1865,1808,136.8,11.7,557,7465,0.00,2.40,0.00,0.000,644,0.000,0.086,2729,730,1835,1864,1807,0,0,0,0,0,0,14.57,14.18,14.57
$GC,7505,0.36,372.5,2730,730,1863,1807,131.3,11.4,566,7510,0.15,2.38,0.00,0.000,5126,0.229,0.080,2696,2100,1834,1862,1807,0,0,0,0,0,0,14.07,14.23,14.34
$GC,7820,0.41,397.8,2697,2101,1862,1804,102.5,8.8,579,7861,0.00,2.42,36.30,1.297,8868,0.000,0.084,2699,724,1742,1766,1718,0,0,0,0,0,0,14.63,13.94,13.38
$GC,7886,0.53,427.2,2699,724,1760,1717,96.9,8.6,592,7908,0.17,2.40,15.93,0.500,11430,0.106,0.077,2771,2100,1620,1645,1596,0,0,0,0,0,0,14.09,14.03,13.64
$GC,8214,0.49,427.2,2772,2101,1646,1591,57.6,10.2,627,8219,0.12,2.42,0.00,0.000,4740,0.271,0.082,2751,726,1617,1645,1590,0,0,0,0,0,0,13.92,14.15,14.06
$GC,8255,0.58,473.4,2751,726,1644,1590,54.0,7.9,635,8286,0.00,2.45,23.67,0.364,9382,0.000,0.080,2751,2113,1436,1472,1401,0,0,0,0,0,0,14.26,14.12,13.73
$GC,8585,0.72,566.5,2752,2113,1473,1392,32.8,5.7,671,8639,0.17,2.53,48.92,0.297,10916,0.109,0.086,2833,725,1052,1115,989,0,0,0,0,0,0,14.14,14.07,13.77
$GC,8729,0.82,630.6,2834,726,1114,986,19.9,7.0,699,8767,0.00,2.42,33.05,0.270,9382,0.000,0.078,2833,2108,794,857,731,0,0,0,0,0,0,14.23,14.10,13.77
$STATE,8951,end climb,SURFACE_DEPTH_REACHED
$STATE,8951,begin surface coast
$FINISH,0.1,1.021558
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8970,begin surface
$SM_CCo,8990,42.60,0.206,0,0,499,702.78
$SM_GC,1.19,7.88,0.17,42.60,0.061,0.114,0.206,204,2229,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.33,14.31,14.00
$RAFOS_CLK,400
$MODEM,4,1504096021,75.71700,-151.21500,120.829,175062.9
$MODEM,3,1504095510,74.30400,-153.94400,3.412,4944.0
$MODEM,2,1504095265,73.18300,-149.96500,118.298,171395.3
$MODEM,0,1504094648,75.36600,-145.04601,194.362,281601.0
$RAFOS_FIX,7417.204590,-15344.891602,300817,121201,4,255,1.00
$IRIDIUM_FIX,7419.36,-15354.57,300817,114711
$TT8_MAMPS,0.039697,0.904792
$HUMID,46.81
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15982854144.000000
$PM_FREEKB_00,51929792
$24V_AH,12.33,140.013
$10V_AH,12.20,0.000
$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,25.425,93.125,920.700,42.600,0.000,0.000,0.000,723.475,3.500,0.000,9.018,0.000,6668.243,858.885,2444.391,334.196,0.000,2428.318,0.000,1043.066,2215.000,0.539,0.000
$DEVICE_MAMPS,454.410,2145.825,1621.800,205.785,0.000,0.000,0.000,157.590,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8998.000,8983.000,8942.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.606,20.000,9.927,0.000
$MEM,323648
$DATA_FILE_SIZE,26681,727
$CAP_FILE_SIZE,111736,0
$CFSIZE,2097872896,2025324544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.049,179.30,1
$GPS,300817,142456,7418.314,-15349.021,34,0.7,35,19.2,0.0,0.0,12,9.1