version: 66.13
glider: 196
mission: 14
dive: 209
start: 8 31 117 6 51 28
data:
$ID,196
$MISSION,14
$DIVE,209
$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,29
$R_STBD_OVSHOOT,19
$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,1.4
$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,591.0
$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
$GPS1,310817,064003,7421.5776,-15345.3057,17,0.8,21,19.3,0.0,0.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.1
$GPS2,310817,065053,7421.5591,-15345.3906,7,0.8,15,19.3,0.0,0.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.9,166752,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,200,2209,497,491,0.0,0.0,0,142,0.00,0.00,-92.12,0.000,16386,0.000,0.000,200,2209,2140,2068,2213,0,0,0,0,0,0,14.49,28.83,14.51
$GC,145,-0.57,-145.9,202,2209,2073,2214,3.2,-3.8,9,202,12.57,2.80,-37.78,0.000,18724,0.452,2.145,2374,3610,3964,3947,3982,0,0,0,0,0,0,13.60,12.59,14.07
$GC,308,-0.70,-145.9,2376,3610,3953,3982,40.6,-13.9,41,313,0.00,2.40,0.00,0.000,1158,0.000,0.057,2375,2205,3967,3952,3982,0,0,0,0,0,0,14.26,14.14,14.29
$GC,618,-0.78,-145.9,2376,2204,3955,3981,86.3,-11.5,73,623,0.12,2.50,0.00,0.000,4484,0.149,0.086,2320,3616,3968,3954,3982,0,0,0,0,0,0,14.10,14.12,14.14
$GC,633,-0.84,-145.9,2320,3616,3955,3982,88.3,-11.7,76,640,0.00,2.40,0.00,0.000,1158,0.000,0.055,2319,2201,3968,3954,3982,0,0,0,0,0,0,14.29,14.17,14.31
$GC,949,-0.87,-145.9,2319,2199,3955,3983,135.2,-14.0,92,954,0.00,2.47,0.00,0.000,388,0.000,0.088,2314,3613,3968,3954,3982,0,0,0,0,0,0,14.63,14.19,14.64
$GC,1019,-1.00,-145.9,2315,3613,3955,3982,143.8,-11.4,106,1025,0.17,2.40,0.00,0.000,5254,0.107,0.057,2248,2191,3968,3954,3982,0,0,0,0,0,0,14.14,14.21,14.23
$GC,1340,-0.93,-145.9,2249,2190,3955,3982,202.2,-17.5,120,1346,0.12,2.50,0.00,0.000,2436,0.291,0.084,2266,3616,3968,3954,3982,0,0,0,0,0,0,13.99,14.20,14.14
$GC,1411,-1.02,-145.9,2266,3617,3955,3983,212.4,-12.7,134,1416,0.00,2.42,0.00,0.000,1158,0.000,0.057,2266,2198,3968,3954,3982,0,0,0,0,0,0,14.38,14.25,14.41
$GC,1731,-1.02,-145.9,2266,2197,3955,3982,257.5,-13.4,148,1737,0.00,2.50,0.00,0.000,260,0.000,0.087,2257,3619,3968,3954,3982,0,0,0,0,0,0,14.69,14.21,14.71
$GC,1747,-1.02,-145.9,2257,3620,3955,3982,259.8,-13.0,151,1752,0.00,2.40,0.00,0.000,1030,0.000,0.057,2257,2198,3969,3954,3985,0,0,0,0,0,0,14.40,14.28,14.47
$GC,2062,-1.02,-145.9,2257,2198,3954,3982,300.1,-12.6,164,2068,0.00,2.50,0.00,0.000,260,0.000,0.088,2248,3614,3967,3953,3982,0,0,0,0,0,0,14.69,14.23,14.72
$GC,2190,-1.10,-145.9,2249,3614,3955,3982,314.6,-11.1,189,2195,0.00,2.40,0.00,0.000,1158,0.000,0.057,2248,2192,3968,3954,3982,0,0,0,0,0,0,14.27,14.14,14.31
$GC,2515,-1.10,-145.9,2249,2190,3955,3982,354.5,-12.0,204,2521,0.00,2.50,0.00,0.000,260,0.000,0.088,2241,3618,3968,3954,3982,0,0,0,0,0,0,14.71,14.22,14.72
$GC,2591,-1.19,-145.9,2241,3620,3957,3982,363.0,-10.7,219,2596,0.15,2.40,0.00,0.000,5254,0.128,0.057,2183,2191,3968,3954,3982,0,0,0,0,0,0,14.31,14.28,14.41
$GC,2906,-1.08,-145.9,2184,2191,3955,3981,417.0,-17.5,232,2912,0.17,2.50,0.00,0.000,2436,0.299,0.085,2215,3615,3967,3953,3981,0,0,0,0,0,0,13.85,14.17,14.04
$GC,3024,-1.11,-145.9,2215,3615,3954,3983,433.0,-12.9,255,3030,0.00,2.38,0.00,0.000,1158,0.000,0.056,2214,2201,3967,3953,3981,0,0,0,0,0,0,14.34,14.22,14.38
$GC,3328,-1.08,-145.9,2215,2200,3954,3981,474.9,-13.6,266,3332,0.00,2.50,0.00,0.000,388,0.000,0.088,2210,3622,3967,3953,3981,0,0,0,0,0,0,14.69,14.14,14.70
$STATE,3365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3365,begin apogee
$GC,3373,-0.13,0.0,2210,2103,3953,3982,480.5,-13.7,274,3597,1.27,0.00,220.15,1.416,10246,0.246,0.000,2529,2101,3364,3383,3345,0,0,0,0,0,0,13.88,13.49,12.70
$STATE,3601,end apogee,CONTROL_FINISHED_OK
$STATE,3601,begin climb
$GC,3603,0.57,145.9,2531,2102,3378,3339,492.0,0.0,281,3828,0.75,2.67,208.65,1.379,10756,0.064,0.080,2792,693,2762,2801,2724,0,0,0,0,0,0,13.62,13.14,12.33
$GC,4043,0.18,145.9,2793,693,2796,2721,471.6,14.4,326,4049,0.73,2.55,0.00,0.000,5254,0.330,0.076,2642,2108,2757,2794,2720,0,0,0,0,0,0,13.40,13.76,13.78
$GC,4379,0.03,165.0,2643,2109,2795,2715,440.1,9.1,340,4410,0.20,0.00,24.48,1.520,12454,0.270,0.000,2599,2109,2689,2731,2647,0,0,0,0,0,0,13.77,13.76,13.14
$GC,4708,0.03,214.3,2600,2109,2730,2639,414.3,7.7,351,4784,0.00,0.00,73.30,1.398,8870,0.000,0.000,2598,2115,2491,2548,2435,0,0,0,0,0,0,14.42,13.84,13.07
$GC,5069,0.05,248.2,2599,2109,2541,2421,384.1,8.4,373,5129,0.00,2.60,50.12,1.405,8740,0.000,0.086,2601,688,2348,2399,2297,0,0,0,0,0,0,14.37,13.89,13.12
$GC,5195,0.16,280.4,2602,689,2396,2296,373.2,8.5,398,5252,0.00,2.50,48.58,1.385,9382,0.000,0.080,2602,2099,2219,2275,2163,0,0,0,0,0,0,14.09,13.97,13.02
$GC,5552,0.25,310.1,2602,2100,2267,2152,342.2,8.6,419,5598,0.17,0.00,44.38,1.388,10406,0.106,0.000,2679,2100,2101,2150,2052,0,0,0,0,0,0,14.17,13.91,13.13
$GC,5880,0.18,310.1,2679,2101,2141,2039,297.1,13.6,430,5885,0.12,2.47,0.00,0.000,4740,0.261,0.084,2656,693,2089,2140,2038,0,0,0,0,0,0,13.91,14.09,14.07
$GC,5945,0.22,310.1,2657,692,2139,2038,289.5,10.8,443,5950,0.00,2.47,0.00,0.000,1158,0.000,0.079,2656,2103,2087,2136,2038,0,0,0,0,0,0,14.24,14.12,14.28
$GC,6270,0.22,310.1,2657,2103,2138,2037,253.6,10.7,458,6275,0.00,2.50,0.00,0.000,516,0.000,0.086,2659,686,2087,2137,2038,0,0,0,0,0,0,14.49,14.14,14.53
$MODEM_MSG,CACST,6,1,20170831081427.755425,3,211,23,0148,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$MODEM_MSG,CACST,6,1,20170831082656.567191,3,1324,31,0380,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$GC,6371,0.28,326.5,2659,686,2136,2037,243.6,9.2,478,6398,0.00,2.45,22.67,1.425,9382,0.000,0.079,2659,2103,2035,2083,1988,0,0,0,0,0,0,14.14,14.00,13.29
$GC,6723,0.29,340.5,2660,2104,2077,1976,210.3,9.4,498,6748,0.00,0.00,20.73,1.455,8486,0.000,0.000,2659,2103,1976,2025,1928,0,0,0,0,0,0,14.42,13.86,13.27
$GC,7055,0.36,379.1,2659,2104,2022,1920,181.8,8.2,514,7126,0.12,0.00,69.05,1.290,10406,0.138,0.000,2712,2103,1819,1849,1789,0,0,0,0,0,0,14.32,13.92,13.21
$GC,7413,0.36,379.1,2712,2104,1837,1777,141.4,11.0,526,7418,0.00,2.50,0.00,0.000,516,0.000,0.087,2712,687,1806,1836,1776,0,0,0,0,0,0,14.53,14.12,14.54
$GC,7493,0.40,379.1,2713,687,1835,1776,133.0,10.4,542,7498,0.00,2.47,0.00,0.000,1158,0.000,0.078,2713,2106,1805,1834,1776,0,0,0,0,0,0,14.35,14.21,14.40
$GC,7803,0.41,382.8,2713,2107,1834,1782,101.7,9.8,554,7804,0.00,0.00,0.00,0.000,38,0.000,0.000,2713,2107,1803,1833,1774,0,0,0,0,0,0,14.62,14.66,14.65
$GC,8105,0.44,433.1,2713,2107,1834,1773,76.0,7.7,582,8137,0.00,2.58,26.95,0.432,8740,0.000,0.086,2713,687,1600,1630,1571,0,0,0,0,0,0,14.60,14.16,13.71
$GC,8199,0.58,486.3,2713,687,1631,1571,68.6,7.5,600,8232,0.17,2.47,28.35,0.407,11430,0.108,0.080,2784,2100,1384,1429,1340,0,0,0,0,0,0,14.25,14.16,13.73
$GC,8527,0.62,542.2,2785,2101,1429,1329,36.7,7.4,636,8564,0.00,2.55,29.35,0.314,8740,0.000,0.085,2793,689,1152,1215,1089,0,0,0,0,0,0,14.59,14.03,13.79
$GC,8641,0.76,605.0,2793,690,1214,1089,28.7,7.1,658,8683,0.00,2.47,33.60,0.295,9382,0.000,0.079,2792,2105,893,964,823,0,0,0,0,0,0,14.16,14.03,13.76
$GC,8979,0.97,701.8,2793,2105,966,817,7.8,5.5,696,9033,0.32,0.00,51.97,0.223,10406,0.084,0.000,2907,2105,501,524,478,0,0,0,0,0,0,14.11,14.16,13.93
$STATE,9037,end climb,SURFACE_DEPTH_REACHED
$STATE,9037,begin surface coast
$FINISH,0.1,1.012297
$STATE,9047,end surface coast,CONTROL_FINISHED_OK
$STATE,9047,begin surface
$SM_CCo,9129,0.00,0.000,0,0,498,703.03
$SM_GC,1.29,8.18,0.17,0.00,0.066,0.112,0.000,198,2225,498,-7.38,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,14.37
$RAFOS_CLK,234
$MODEM,4,1504168016,75.71700,-151.21500,115.817,167703.7
$MODEM,2,1504167267,73.18300,-149.96500,120.755,174854.3
$RAFOS_FIX,7421.005371,-15345.310547,310817,080841,2,255,0.19
$IRIDIUM_FIX,7423.66,-15347.54,310817,040943
$TT8_MAMPS,0.039697,0.923517
$HUMID,46.22
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15981117440.000000
$PM_FREEKB_00,51748992
$24V_AH,12.33,143.371
$10V_AH,12.18,0.000
$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,25.375,80.050,952.325,0.000,0.000,0.000,0.000,358.875,2.250,0.000,16.805,0.000,6547.563,874.491,2066.974,301.484,0.000,2047.117,0.000,1010.600,2216.000,0.539,0.000
$DEVICE_MAMPS,452.115,2145.060,1520.055,0.000,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9076.000,9062.000,9018.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.497,20.000,9.897,0.000
$MEM,323548
$DATA_FILE_SIZE,23404,703
$CAP_FILE_SIZE,100115,0
$CFSIZE,2097872896,2023391232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$CURRENT,0.078,283.83,1
$GPS,310817,092456,7422.487,-15343.008,37,0.8,37,19.3,0.0,0.0,10,9.6