version: 66.13
glider: 196
mission: 14
dive: 212
start: 8 31 117 15 23 38
data:
$ID,196
$MISSION,14
$DIVE,212
$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,44
$R_STBD_OVSHOOT,59
$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,599.0
$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
$GPS1,310817,150401,7424.1816,-15338.4766,19,0.8,29,19.3,0.0,194.2,10,7.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.6
$GPS2,310817,152304,7424.1587,-15338.7383,7,0.7,10,19.3,0.0,0.0,12,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.9,161106,-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,49,-0.57,-145.9,196,2177,498,489,0.0,0.0,0,142,0.00,0.00,-91.35,0.000,16386,0.000,0.000,196,2182,2139,2066,2213,0,0,0,0,0,0,14.49,28.83,14.50
$GC,144,-0.57,-145.9,196,2177,2070,2213,3.1,-3.6,9,203,12.82,2.80,-37.78,0.000,18724,0.457,2.144,2375,3572,3964,3947,3981,1,0,0,0,0,0,13.48,12.58,14.03
$GC,264,-0.70,-145.9,2375,3572,3953,3980,33.4,-14.3,30,269,0.00,2.30,0.00,0.000,1158,0.000,0.058,2374,2220,3966,3952,3980,0,0,0,0,0,0,14.14,14.05,14.16
$GC,575,-0.78,-145.9,2375,2219,3954,3981,81.8,-12.4,62,580,0.12,2.40,0.00,0.000,4484,0.148,0.085,2319,3573,3968,3954,3983,0,0,0,0,0,0,14.16,14.04,14.21
$GC,625,-0.85,-145.9,2320,3573,3955,3980,89.1,-14.1,72,630,0.00,2.35,0.00,0.000,1158,0.000,0.059,2319,2195,3970,3960,3980,0,0,0,0,0,0,14.18,14.06,14.21
$GC,945,-0.88,-145.9,2319,2194,3955,3981,135.3,-13.6,89,950,0.00,2.42,0.00,0.000,388,0.000,0.088,2318,3571,3966,3953,3980,0,0,0,0,0,0,14.63,14.01,14.65
$GC,990,-1.04,-145.9,2319,3573,3955,3983,140.6,-10.9,98,995,0.22,2.33,0.00,0.000,5254,0.097,0.057,2238,2195,3967,3954,3980,0,0,0,0,0,0,14.19,14.16,14.22
$GC,1306,-0.95,-145.9,2237,2195,3955,3981,201.5,-19.1,111,1311,0.12,2.42,0.00,0.000,2436,0.295,0.083,2256,3573,3967,3954,3980,0,0,0,0,0,0,13.96,14.16,14.14
$GC,1398,-1.00,-145.9,2256,3574,3955,3980,215.2,-14.0,129,1404,0.00,2.35,0.00,0.000,1158,0.000,0.057,2256,2194,3967,3954,3980,0,0,0,0,0,0,14.33,14.19,14.37
$GC,1729,-1.00,-145.9,2256,2193,3955,3982,263.3,-13.6,145,1734,0.00,2.45,0.00,0.000,260,0.000,0.086,2247,3577,3967,3954,3980,0,0,0,0,0,0,14.68,14.17,14.70
$GC,1819,-1.07,-145.9,2248,3579,3955,3981,274.4,-11.8,163,1825,0.00,2.35,0.00,0.000,1158,0.000,0.058,2247,2193,3970,3954,3986,0,0,0,0,0,0,14.39,14.26,14.42
$GC,2168,-1.07,-145.9,2248,2192,3955,3980,317.0,-12.6,179,2174,0.00,2.42,0.00,0.000,260,0.000,0.087,2241,3573,3966,3953,3980,0,0,0,0,0,0,14.53,14.06,14.54
$GC,2264,-1.15,-145.9,2240,3574,3955,3980,330.5,-11.1,198,2269,0.00,2.35,0.00,0.000,1158,0.000,0.056,2240,2192,3966,3954,3979,0,0,0,0,0,0,14.16,14.06,14.19
$GC,2590,-1.15,-145.9,2240,2191,3954,3981,370.2,-12.1,213,2594,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3575,3967,3954,3980,0,0,0,0,0,0,14.51,14.07,14.53
$GC,2665,-1.22,-145.9,2237,3575,3955,3980,378.9,-11.1,228,2670,0.17,2.33,0.00,0.000,5254,0.114,0.055,2167,2201,3966,3954,3979,0,0,0,0,0,0,14.16,14.12,14.24
$GC,2980,-1.08,-145.9,2166,2199,3954,3979,436.9,-18.9,241,2985,0.28,2.42,0.00,0.000,2436,0.298,0.082,2218,3572,3966,3953,3979,0,0,0,0,0,0,13.70,14.05,13.90
$GC,3116,-1.12,-145.9,2219,3573,3954,3979,455.0,-12.4,268,3120,0.00,2.35,0.00,0.000,1158,0.000,0.055,2219,2194,3966,3953,3979,0,0,0,0,0,0,14.16,14.05,14.19
$STATE,3308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3308,begin apogee
$GC,3314,-0.13,0.0,2219,2068,3953,3979,480.9,-13.3,277,3535,1.25,0.00,217.10,1.427,10246,0.244,0.000,2530,2066,3363,3385,3341,0,0,0,0,0,0,13.78,13.40,12.60
$STATE,3539,end apogee,CONTROL_FINISHED_OK
$STATE,3539,begin climb
$GC,3541,0.57,145.9,2531,2068,3379,3335,491.7,0.0,284,3755,0.75,2.58,208.65,1.382,10756,0.063,0.076,2793,733,2766,2809,2724,0,0,0,0,0,0,13.50,12.89,12.31
$GC,3901,0.17,145.9,2792,729,2795,2720,481.0,15.0,360,3907,0.73,2.45,0.00,0.000,5254,0.327,0.075,2644,2067,2754,2793,2715,0,0,0,0,0,0,13.14,13.42,13.47
$GC,4206,0.03,160.9,2644,2068,2794,2713,451.4,9.3,371,4224,0.22,0.00,16.40,1.579,12454,0.269,0.000,2596,2067,2711,2754,2668,0,0,0,0,0,0,13.71,13.90,13.05
$MODEM_MSG,CACST,6,1,20170831160358.991522,3,71,06,0097,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$MODEM_MSG,CACST,6,1,20170831161427.888998,3,279,18,0230,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170831161836.431138,3,12166,34,0791,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$GC,4506,0.03,221.0,2596,2067,2748,2658,429.3,7.2,381,4600,0.00,0.00,91.65,1.395,8358,0.000,0.000,2594,2068,2463,2523,2403,0,0,0,0,0,0,14.40,13.77,13.00
$GC,4898,0.08,255.1,2595,2067,2511,2388,397.5,8.4,394,4957,0.00,2.45,49.12,1.407,8868,0.000,0.084,2602,728,2320,2373,2267,0,0,0,0,0,0,14.45,13.95,13.13
$GC,4994,0.19,286.3,2603,729,2370,2266,389.2,8.6,413,5049,0.12,2.42,46.88,1.389,11430,0.128,0.080,2660,2101,2194,2247,2141,0,0,0,0,0,0,14.06,14.00,13.03
$GC,5350,0.14,286.3,2662,2101,2241,2128,342.9,13.2,434,5351,0.15,0.00,0.00,0.000,4230,0.247,0.000,2628,2102,2183,2239,2128,0,0,0,0,0,0,14.02,14.31,14.27
$GC,5648,0.14,286.3,2629,2102,2240,2127,311.4,10.3,444,5652,0.00,2.42,0.00,0.000,516,0.000,0.086,2633,719,2182,2239,2126,0,0,0,0,0,0,14.62,14.22,14.64
$GC,5718,0.21,289.7,2634,718,2237,2128,304.1,9.8,458,5723,0.00,2.40,0.00,0.000,1190,0.000,0.078,2634,2101,2180,2235,2126,0,0,0,0,0,0,14.39,14.26,14.41
$GC,6038,0.21,291.1,2634,2101,2237,2127,271.5,9.9,472,6039,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2102,2181,2236,2126,0,0,0,0,0,0,14.65,14.69,14.67
$GC,6338,0.27,325.7,2634,2102,2237,2126,244.8,8.4,482,6401,0.00,0.00,61.12,1.333,8614,0.000,0.000,2634,2102,2038,2088,1989,0,0,0,0,0,0,14.68,14.07,13.26
$GC,6698,0.37,377.7,2634,2102,2079,1975,216.1,7.6,499,6795,0.17,2.50,87.05,1.263,10916,0.109,0.086,2709,734,1819,1848,1790,0,0,0,0,0,0,14.28,13.89,13.18
$GC,6865,0.37,377.7,2710,734,1840,1790,196.4,11.5,532,6870,0.00,2.42,0.00,0.000,1030,0.000,0.078,2710,2106,1813,1838,1789,0,0,0,0,0,0,14.10,14.02,14.13
$GC,7180,0.37,377.7,2710,2107,1837,1782,159.4,11.4,545,7186,0.00,2.42,0.00,0.000,516,0.000,0.086,2710,728,1809,1837,1781,0,0,0,0,0,0,14.57,14.16,14.58
$GC,7241,0.42,377.7,2710,728,1834,1782,152.7,10.5,557,7247,0.00,2.38,0.00,0.000,1158,0.000,0.078,2710,2101,1807,1834,1781,0,0,0,0,0,0,14.37,14.23,14.40
$GC,7572,0.42,377.7,2710,2102,1834,1777,117.3,10.2,573,7578,0.00,2.42,0.00,0.000,516,0.000,0.086,2709,717,1805,1833,1778,0,0,0,0,0,0,14.63,14.24,14.65
$GC,7658,0.49,396.4,2710,717,1833,1778,109.2,9.1,590,7688,0.00,2.42,21.80,1.351,9382,0.000,0.078,2710,2107,1746,1771,1722,0,0,0,0,0,0,14.17,13.64,13.33
$GC,7993,0.55,433.7,2709,2108,1770,1713,79.5,8.3,621,8015,0.15,0.00,19.48,0.441,10406,0.116,0.000,2775,2107,1598,1620,1577,0,0,0,0,0,0,14.21,14.08,13.63
$GC,8313,0.55,497.4,2776,2103,1620,1567,47.1,7.1,653,8353,0.00,0.00,33.62,0.342,8358,0.000,0.000,2782,2107,1335,1379,1292,0,0,0,0,0,0,14.57,14.18,13.78
$GC,8653,0.68,589.9,2776,2108,1379,1296,24.3,5.7,687,8707,0.00,2.53,48.22,0.282,8868,0.000,0.086,2778,721,959,1029,890,0,0,0,0,0,0,14.58,14.09,13.85
$GC,8807,0.94,688.2,2779,721,1031,888,16.5,5.5,717,8865,0.32,2.42,52.45,0.255,11430,0.085,0.078,2895,2101,557,594,521,0,0,0,0,0,0,14.26,14.14,13.79
$STATE,8940,end climb,SURFACE_DEPTH_REACHED
$STATE,8940,begin surface coast
$FINISH,0.1,1.021323
$STATE,8948,end surface coast,CONTROL_FINISHED_OK
$STATE,8948,begin surface
$SM_CCo,9014,8.02,0.217,0,0,498,702.78
$SM_GC,1.93,8.23,0.17,8.02,0.073,0.106,0.217,201,2230,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.31,14.32,13.97
$RAFOS_CLK,307
$MODEM,3,1504196316,74.30400,-153.94400,9.431,13666.8
$MODEM,2,1504196067,73.18300,-149.96500,120.889,175182.2
$MODEM,0,1504195438,75.36600,-145.04601,184.992,268074.3
$RAFOS_FIX,7423.020508,-15337.044922,310817,161620,3,255,0.77
$IRIDIUM_FIX,7422.74,-15340.38,310817,151505
$TT8_MAMPS,0.038948,0.916776
$HUMID,46.37
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,51659648
$24V_AH,12.31,144.791
$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,25.850,73.150,953.550,8.025,0.000,0.000,0.000,674.950,3.750,0.000,10.998,0.000,6618.551,860.462,2377.259,323.312,0.000,2343.813,0.000,1056.901,2195.000,0.539,0.000
$DEVICE_MAMPS,456.705,2144.295,1578.960,217.260,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8906.000,9022.000,8967.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.366,20.000,9.909,0.000
$MEM,323616
$DATA_FILE_SIZE,26725,737
$CAP_FILE_SIZE,105749,0
$CFSIZE,2097872896,2022473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.077,293.42,1
$GPS,310817,175525,7425.127,-15336.422,17,0.9,37,19.3,0.0,270.6,9,8.1