version: 66.13
glider: 196
mission: 14
dive: 211
start: 8 31 117 12 30 1
data:
$ID,196
$MISSION,14
$DIVE,211
$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,36
$R_STBD_OVSHOOT,45
$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,596.0
$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
$GPS1,310817,121703,7423.2925,-15340.3135,21,0.7,29,19.3,0.4,220.7,12,8.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.1
$GPS2,310817,122927,7423.2622,-15340.4316,7,0.8,11,19.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.9,162937,-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,-145.9,196,2186,502,494,0.0,0.0,0,141,0.00,0.00,-91.72,0.000,16386,0.000,0.000,195,2186,2156,2085,2227,0,0,0,0,0,0,14.35,28.83,14.36
$GC,144,-0.57,-145.9,201,2187,2088,2234,3.4,-4.1,9,201,12.88,2.80,-36.12,0.000,18724,0.456,2.139,2376,3582,3961,3944,3978,0,0,0,0,0,0,13.49,12.59,13.95
$GC,248,-0.64,-145.9,2379,3586,3949,3979,32.8,-18.4,26,254,0.00,2.38,0.00,0.000,1158,0.000,0.063,2373,2211,3961,3944,3978,0,0,0,0,0,0,14.16,14.00,14.18
$MODEM_MSG,CACST,6,1,20170831120403.298764,3,126,14,0233,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$MODEM_MSG,CACST,6,1,20170831121428.418108,3,169,16,0268,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170831121834.461293,3,12406,40,1345,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170831122653.978052,3,90,07,0155,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$GC,552,-0.72,-145.9,2376,2211,3950,3979,80.4,-12.4,57,553,0.00,0.00,0.00,0.000,134,0.000,0.000,2376,2210,3964,3951,3978,0,0,0,0,0,0,14.40,14.41,14.41
$GC,862,-0.85,-145.9,2376,2210,3952,3979,112.2,-9.5,80,867,0.20,2.45,0.00,0.000,4516,0.110,0.086,2293,3586,3966,3954,3978,0,0,0,0,0,0,14.08,14.09,14.12
$GC,892,-0.89,-145.9,2294,3584,3952,3978,116.2,-14.8,86,897,0.00,2.38,0.00,0.000,1158,0.000,0.057,2294,2196,3965,3952,3978,0,0,0,0,0,0,14.26,14.12,14.30
$GC,1222,-0.89,-145.9,2294,2195,3952,3978,166.6,-14.9,102,1227,0.00,2.45,0.00,0.000,260,0.000,0.085,2285,3588,3964,3951,3978,0,0,0,0,0,0,14.62,14.18,14.64
$GC,1312,-0.99,-145.9,2290,3591,3951,3979,178.4,-12.3,120,1317,0.00,2.35,0.00,0.000,1158,0.000,0.055,2285,2198,3964,3951,3978,0,0,0,0,0,0,14.38,14.26,14.41
$GC,1642,-1.02,-145.9,2285,2198,3952,3979,222.9,-13.0,136,1647,0.00,2.45,0.00,0.000,388,0.000,0.088,2278,3588,3964,3951,3978,0,0,0,0,0,0,14.66,14.20,14.68
$GC,1703,-1.13,-145.9,2281,3590,3952,3979,229.8,-10.6,148,1708,0.20,2.35,0.00,0.000,5254,0.108,0.057,2207,2195,3964,3951,3978,0,0,0,0,0,0,14.30,14.27,14.40
$GC,2033,-1.04,-145.9,2208,2195,3952,3979,287.8,-17.5,164,2038,0.12,2.45,0.00,0.000,2436,0.314,0.086,2226,3588,3964,3951,3978,0,0,0,0,0,0,13.85,14.15,14.02
$GC,2125,-1.07,-145.9,2229,3590,3952,3978,301.1,-13.5,182,2130,0.00,2.33,0.00,0.000,1158,0.000,0.056,2226,2201,3964,3951,3978,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2455,-1.05,-145.9,2226,2199,3952,3978,348.8,-14.1,198,2460,0.00,2.45,0.00,0.000,388,0.000,0.089,2222,3594,3963,3950,3977,0,0,0,0,0,0,14.66,14.20,14.72
$GC,2560,-1.09,-145.9,2222,3596,3952,3978,362.6,-12.6,219,2566,0.00,2.35,0.00,0.000,1158,0.000,0.057,2222,2200,3964,3951,3977,0,0,0,0,0,0,14.40,14.27,14.43
$GC,2876,-1.09,-145.9,2223,2199,3951,3977,406.0,-13.6,232,2881,0.00,2.45,0.00,0.000,260,0.000,0.089,2222,3590,3963,3951,3975,0,0,0,0,0,0,14.66,14.12,14.68
$GC,2961,-1.14,-145.9,2222,3593,3952,3978,416.9,-12.3,249,2967,0.00,2.35,0.00,0.000,1158,0.000,0.056,2223,2199,3963,3951,3976,0,0,0,0,0,0,14.32,14.19,14.33
$GC,3266,-1.14,-145.9,2222,2199,3952,3977,457.8,-13.4,260,3271,0.00,2.45,0.00,0.000,260,0.000,0.090,2222,3587,3963,3951,3976,0,0,0,0,0,0,14.66,14.07,14.68
$GC,3356,-1.19,-145.9,2223,3588,3952,3978,469.3,-12.6,278,3361,0.00,2.35,0.00,0.000,1158,0.000,0.055,2222,2197,3963,3951,3976,0,0,0,0,0,0,14.32,14.19,14.35
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3450,-0.13,0.0,2223,2065,3952,3975,481.1,-13.4,286,3676,1.23,0.00,222.48,1.419,10246,0.245,0.000,2531,2063,3363,3388,3339,0,0,0,0,0,0,13.89,13.47,12.67
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3682,0.57,145.9,2532,2065,3381,3333,492.8,0.0,293,3904,0.75,2.15,207.48,1.383,11012,0.063,0.073,2794,713,2759,2802,2716,0,0,0,0,0,0,13.60,12.94,12.34
$GC,4129,0.17,145.9,2795,713,2796,2715,472.2,14.7,340,4136,0.73,2.45,0.00,0.000,5254,0.325,0.074,2644,2084,2754,2795,2713,0,0,0,0,0,0,13.40,13.76,13.78
$GC,4435,0.03,165.9,2645,2080,2796,2709,443.8,9.1,351,4467,0.20,2.55,24.40,1.512,12708,0.277,0.085,2593,3507,2682,2728,2637,0,0,0,0,0,0,13.85,14.05,13.18
$GC,4682,-0.02,196.0,2595,3507,2721,2636,422.5,8.6,400,4732,0.00,2.33,44.12,1.460,9382,0.000,0.058,2602,2130,2561,2615,2508,0,0,0,0,0,0,14.32,14.21,13.16
$GC,5039,-0.02,226.5,2600,2131,2612,2495,392.5,8.6,421,5087,0.00,2.60,43.90,1.438,8868,0.000,0.086,2602,697,2436,2492,2380,0,0,0,0,0,0,14.55,14.04,13.19
$GC,5178,0.07,260.7,2602,698,2486,2378,380.3,8.4,449,5234,0.00,2.45,50.22,1.404,9382,0.000,0.080,2602,2095,2301,2356,2247,0,0,0,0,0,0,14.24,14.09,13.11
$GC,5551,0.13,288.2,2603,2095,2348,2236,347.8,8.7,473,5594,0.00,0.00,41.47,1.404,8358,0.000,0.000,2602,2094,2190,2244,2136,0,0,0,0,0,0,14.54,14.03,13.22
$GC,5880,0.22,317.0,2603,2095,2240,2124,319.3,8.7,484,5926,0.15,0.00,44.15,1.379,10406,0.117,0.000,2671,2094,2073,2125,2022,0,0,0,0,0,0,14.21,14.04,13.24
$GC,6210,0.19,317.0,2672,2094,2115,2009,276.6,12.9,495,6215,0.00,2.47,0.00,0.000,644,0.000,0.086,2672,688,2064,2119,2009,0,0,0,0,0,0,14.57,14.20,14.58
$GC,6347,0.21,317.0,2673,689,2113,2009,260.7,10.9,522,6352,0.00,2.45,0.00,0.000,1158,0.000,0.078,2672,2103,2060,2112,2009,0,0,0,0,0,0,14.36,14.21,14.41
$GC,6662,0.18,317.0,2673,2105,2111,2008,225.6,10.6,535,6664,0.12,0.00,0.00,0.000,4230,0.258,0.000,2647,2105,2058,2111,2006,0,0,0,0,0,0,14.14,14.43,14.38
$GC,6963,0.26,358.7,2647,2105,2113,2006,200.5,8.1,545,7034,0.00,0.00,69.62,1.295,8870,0.000,0.000,2647,2101,1901,1941,1861,0,0,0,0,0,0,14.67,14.02,13.27
$GC,7322,0.39,419.9,2647,2106,1925,1852,174.2,7.2,562,7434,0.17,2.55,103.82,1.221,10916,0.107,0.086,2723,691,1648,1679,1618,0,0,0,0,0,0,14.25,13.68,13.12
$GC,7536,0.44,419.9,2724,692,1671,1615,150.3,10.8,604,7541,0.00,2.50,0.00,0.000,1158,0.000,0.079,2724,2096,1641,1670,1613,0,0,0,0,0,0,13.95,13.44,14.07
$GC,7866,0.44,419.9,2725,2098,1670,1606,112.8,11.1,620,7871,0.00,2.47,0.00,0.000,516,0.000,0.087,2726,695,1638,1670,1606,0,0,0,0,0,0,14.57,14.06,14.59
$GC,7916,0.50,420.1,2727,694,1670,1606,107.6,10.0,630,7921,0.00,2.45,0.00,0.000,1190,0.000,0.079,2726,2106,1637,1668,1606,0,0,0,0,0,0,14.35,14.22,14.40
$GC,8228,0.54,430.4,2727,2106,1669,1603,76.3,9.5,656,8239,0.00,2.50,3.70,0.399,8868,0.000,0.086,2726,693,1611,1646,1576,0,0,0,0,0,0,14.58,14.07,13.66
$GC,8284,0.65,460.8,2727,693,1649,1580,71.2,8.6,667,8306,0.20,2.47,17.50,0.416,11430,0.099,0.080,2800,2105,1486,1520,1452,0,0,0,0,0,0,14.22,14.12,13.65
$GC,8612,0.62,508.7,2800,2105,1522,1450,36.8,7.8,702,8645,0.00,2.50,25.95,0.313,8868,0.000,0.082,2808,690,1287,1335,1239,0,0,0,0,0,0,14.58,13.99,13.76
$GC,8675,0.67,541.3,2808,690,1336,1240,31.8,8.5,714,8698,0.00,2.47,17.80,0.297,9382,0.000,0.078,2808,2109,1156,1215,1097,0,0,0,0,0,0,14.31,14.18,13.82
$GC,8995,0.79,641.0,2808,2109,1216,1091,11.3,5.4,748,9052,0.00,2.47,52.53,0.239,8612,0.000,0.082,2808,3513,749,813,685,0,0,0,0,0,0,14.57,14.04,13.83
$GC,9094,0.96,689.8,2808,3513,814,685,4.4,7.8,767,9124,0.25,2.42,24.60,0.216,11426,0.087,0.067,2899,2104,563,600,526,0,0,0,0,0,0,14.23,14.15,14.32
$STATE,9124,end climb,SURFACE_DEPTH_REACHED
$STATE,9124,begin surface coast
$FINISH,0.3,1.011728
$STATE,9132,end surface coast,CONTROL_FINISHED_OK
$STATE,9132,begin surface
$SM_CCo,9155,9.02,0.218,0,0,499,702.78
$SM_GC,2.14,8.23,0.17,9.02,0.071,0.108,0.218,201,2241,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.96
$RAFOS_CLK,413
$MODEM,4,1504182413,75.71700,-151.21500,113.228,163176.4
$MODEM,3,1504181914,74.30400,-153.94400,7.461,10752.7
$MODEM,2,1504181668,73.18300,-149.96500,121.418,174979.3
$MODEM,0,1504181043,75.36600,-145.04601,189.299,272804.2
$RAFOS_FIX,7422.036133,-15340.410156,310817,121259,4,255,0.00
$IRIDIUM_FIX,7423.08,-15347.54,310817,093700
$TT8_MAMPS,0.039697,0.923517
$HUMID,47.04
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,16
$CP_FREE,15980560384.000000
$PM_FREEKB_00,51691392
$24V_AH,12.34,144.305
$10V_AH,12.21,0.000
$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,25.425,83.425,993.750,9.025,0.000,0.000,0.000,360.950,4.000,0.000,12.016,0.000,6578.030,893.695,2173.917,278.384,0.000,2124.034,0.000,1111.342,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2138.940,1512.405,218.025,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9147.000,9155.000,9110.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.516,20.000,9.888,0.000
$MEM,323484
$DATA_FILE_SIZE,26735,774
$CAP_FILE_SIZE,107321,0
$CFSIZE,2097872896,2022801408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.1
$CURRENT,0.068,265.46,1
$GPS,310817,150401,7424.182,-15338.477,19,0.8,29,19.3,0.0,194.2,10,7.3