version: 66.13
glider: 196
mission: 14
dive: 141
start: 8 23 117 3 47 35
data:
$ID,196
$MISSION,14
$DIVE,141
$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,35
$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,397.0
$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
$GPS1,230817,033233,7322.6040,-15015.4990,24,0.8,25,20.7,0.0,0.0,10,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.9
$GPS2,230817,034701,7322.6333,-15015.5439,8,0.8,11,20.7,0.0,0.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.2,151218,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,197,2219,499,484,0.0,0.0,0,140,0.00,0.00,-91.32,0.000,16386,0.000,0.000,195,2223,2189,2119,2259,0,0,0,0,0,0,14.46,28.83,14.47
$GC,143,-0.57,-145.9,196,2219,2125,2260,4.1,-5.6,9,196,12.52,2.75,-33.15,0.000,18724,0.454,2.155,2374,3598,3964,3945,3984,0,0,0,0,0,0,13.69,12.59,14.15
$GC,421,-0.66,-145.9,2376,3600,3954,3984,66.0,-13.9,64,428,0.00,2.40,0.00,0.000,1158,0.000,0.057,2375,2196,3969,3953,3985,0,0,0,0,0,0,14.23,14.10,14.29
$GC,747,-0.70,-145.9,2375,2196,3954,3985,110.9,-11.7,91,752,0.00,2.47,0.00,0.000,388,0.000,0.087,2365,3595,3968,3954,3982,0,0,0,0,0,0,14.45,14.11,14.47
$GC,879,-0.85,-145.9,2365,3596,3954,3985,124.0,-9.3,117,884,0.20,2.38,0.00,0.000,5286,0.106,0.055,2287,2194,3968,3954,3983,0,0,0,0,0,0,14.19,14.12,14.27
$GC,1199,-0.80,-145.9,2286,2193,3954,3985,180.0,-17.3,131,1204,0.12,2.47,0.00,0.000,2436,0.276,0.084,2306,3595,3968,3954,3983,0,0,0,0,0,0,13.91,14.10,14.07
$GC,1296,-0.89,-145.9,2304,3597,3954,3985,193.0,-12.0,150,1300,0.00,2.38,0.00,0.000,1158,0.000,0.056,2306,2195,3968,3954,3983,0,0,0,0,0,0,14.26,14.15,14.30
$GC,1621,-0.89,-145.9,2306,2195,3953,3985,237.5,-13.1,165,1625,0.00,2.50,0.00,0.000,260,0.000,0.089,2299,3602,3973,3963,3984,0,0,0,0,0,0,14.45,14.04,14.47
$GC,1716,-0.99,-145.9,2300,3601,3954,3984,248.6,-10.7,184,1722,0.12,2.40,0.00,0.000,5254,0.132,0.057,2252,2192,3968,3953,3983,0,0,0,0,0,0,14.12,14.09,14.22
$GC,2043,-0.94,-145.9,2253,2192,3955,3983,298.0,-14.8,199,2047,0.00,2.50,0.00,0.000,388,0.000,0.087,2249,3607,3968,3954,3982,0,0,0,0,0,0,14.46,14.09,14.47
$GC,2192,-0.94,-145.9,2243,3608,3954,3984,319.5,-13.2,229,2198,0.15,2.40,0.00,0.000,3078,0.252,0.056,2273,2189,3968,3953,3983,0,0,0,0,0,0,13.90,14.14,14.16
$GC,2523,-0.94,-145.9,2273,2189,3954,3981,359.2,-11.9,245,2528,0.00,2.50,0.00,0.000,260,0.000,0.088,2267,3601,3966,3953,3980,0,0,0,0,0,0,14.45,14.08,14.45
$GC,2645,-1.01,-145.9,2267,3607,3954,3980,372.8,-10.9,269,2649,0.00,2.38,0.00,0.000,1158,0.000,0.055,2266,2198,3965,3951,3980,0,0,0,0,0,0,14.20,14.09,14.25
$MODEM_MSG,CACST,6,1,20170823040402.286690,3,323,25,0192,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170823041243.093543,3,32767,45,0878,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*06
$MODEM_MSG,CACST,6,1,20170823042013.040539,3,248,23,0160,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170823042802.617907,3,13,11,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,2975,-1.01,-145.9,2267,2197,3954,3980,412.9,-12.1,285,2980,0.00,2.50,0.00,0.000,260,0.000,0.088,2258,3602,3966,3953,3979,0,0,0,0,0,0,14.45,14.02,14.46
$GC,3075,-1.08,-145.9,2259,3600,3955,3979,424.7,-11.3,305,3080,0.00,2.38,0.00,0.000,1158,0.000,0.056,2258,2201,3968,3954,3982,0,0,0,0,0,0,14.23,14.11,14.25
$GC,3397,-1.08,-145.9,2258,2200,3954,3978,463.7,-12.2,319,3402,0.00,2.50,0.00,0.000,260,0.000,0.088,2256,3603,3966,3954,3978,0,0,0,0,0,0,14.42,14.03,14.45
$GC,3488,-1.12,-145.9,2250,3604,3954,3979,474.8,-11.1,337,3492,0.00,2.38,0.00,0.000,1158,0.000,0.056,2250,2194,3966,3954,3978,0,0,0,0,0,0,14.33,14.21,14.36
$STATE,3545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3545,begin apogee
$GC,3551,-0.13,0.0,2250,2065,3955,3978,482.3,-12.6,344,3768,1.10,0.00,213.55,1.444,10246,0.242,0.000,2530,2065,3362,3387,3338,0,0,0,0,0,0,13.90,13.45,12.68
$STATE,3772,end apogee,CONTROL_FINISHED_OK
$STATE,3772,begin climb
$GC,3774,0.57,145.9,2530,2066,3388,3333,493.0,0.0,351,3989,0.75,2.53,203.93,1.391,11012,0.063,0.077,2793,723,2765,2818,2712,0,0,0,0,0,0,13.54,13.12,12.40
$GC,4215,0.20,145.9,2794,724,2804,2712,462.2,16.1,433,4220,0.68,2.45,0.00,0.000,5254,0.322,0.074,2651,2088,2756,2803,2710,0,0,0,0,0,0,13.45,13.75,13.78
$GC,4525,0.06,154.6,2651,2090,2803,2707,431.1,9.6,445,4535,0.17,2.38,4.28,1.623,12964,0.286,0.081,2616,727,2739,2787,2691,0,0,0,0,0,0,13.83,14.02,12.95
$GC,4760,0.10,208.6,2616,727,2788,2698,413.0,7.5,492,4857,0.00,2.40,87.03,1.405,9254,0.000,0.080,2622,2101,2508,2574,2443,0,0,0,0,0,0,14.28,14.16,13.06
$GC,5156,0.11,226.3,2616,2101,2570,2433,377.2,9.2,521,5187,0.00,2.50,22.80,1.500,8740,0.000,0.085,2616,720,2438,2503,2373,0,0,0,0,0,0,14.45,14.01,13.24
$GC,5244,0.19,250.7,2616,721,2500,2374,369.5,8.9,538,5288,0.00,2.42,36.53,1.440,9382,0.000,0.078,2616,2102,2340,2401,2279,0,0,0,0,0,0,14.18,14.04,13.12
$GC,5610,0.25,277.5,2616,2102,2394,2266,336.8,8.8,561,5651,0.15,0.00,39.70,1.411,10406,0.118,0.000,2682,2102,2237,2295,2179,0,0,0,0,0,0,14.28,14.01,13.21
$GC,5938,0.17,277.5,2683,2102,2286,2166,293.0,13.3,572,5944,0.15,2.40,0.00,0.000,4740,0.258,0.082,2649,726,2225,2285,2166,0,0,0,0,0,0,14.02,14.19,14.18
$GC,6056,0.24,286.9,2651,727,2282,2167,281.1,9.6,595,6072,0.00,2.40,10.77,1.561,9382,0.000,0.078,2651,2108,2197,2255,2140,0,0,0,0,0,0,14.33,14.21,13.28
$GC,6392,0.24,294.0,2651,2109,2251,2135,247.3,9.7,612,6403,0.00,0.00,10.02,1.591,8230,0.000,0.000,2651,2108,2168,2226,2111,0,0,0,0,0,0,14.59,14.19,13.31
$GC,6692,0.30,327.4,2651,2108,2221,2104,221.0,8.5,622,6754,0.00,0.00,56.28,1.354,8870,0.000,0.000,2651,2108,2027,2080,1975,0,0,0,0,0,0,14.59,13.98,13.26
$GC,7052,0.40,375.6,2651,2109,2074,1968,192.2,7.8,639,7144,0.15,2.55,81.07,1.272,10916,0.119,0.086,2725,714,1827,1859,1795,0,0,0,0,0,0,14.19,13.82,13.16
$GC,7219,0.40,375.6,2725,717,1852,1794,173.1,11.2,672,7225,0.00,2.45,0.00,0.000,1030,0.000,0.079,2725,2100,1822,1851,1794,0,0,0,0,0,0,14.08,13.97,14.11
$GC,7535,0.40,375.6,2725,2102,1851,1788,137.0,11.1,685,7540,0.00,2.42,0.00,0.000,516,0.000,0.085,2729,720,1818,1850,1786,0,0,0,0,0,0,14.51,14.19,14.53
$GC,7560,0.40,375.6,2730,720,1849,1789,134.2,11.1,690,7566,0.00,2.42,0.00,0.000,1030,0.000,0.077,2729,2109,1817,1848,1786,0,0,0,0,0,0,14.22,14.10,14.26
$GC,7865,0.40,375.6,2730,2107,1848,1784,101.2,10.5,701,7870,0.00,2.45,0.00,0.000,516,0.000,0.086,2729,714,1816,1848,1784,0,0,0,0,0,0,14.59,14.20,14.60
$GC,7896,0.43,376.0,2730,715,1846,1785,98.2,10.0,707,7901,0.00,2.40,0.00,0.000,1190,0.000,0.078,2729,2099,1813,1842,1784,0,0,0,0,0,0,14.39,14.27,14.43
$GC,8206,0.48,419.7,2730,2100,1845,1784,70.5,8.0,739,8229,0.00,0.00,21.35,0.419,8614,0.000,0.000,2729,2099,1654,1684,1624,0,0,0,0,0,0,14.59,14.21,13.76
$GC,8526,0.65,523.8,2730,2099,1684,1619,50.3,5.2,772,8587,0.17,0.00,54.17,0.353,10406,0.110,0.000,2796,2107,1228,1290,1167,0,0,0,0,0,0,14.19,14.04,13.35
$GC,8886,0.76,575.3,2797,2100,1291,1155,19.6,7.6,808,8919,0.00,2.42,26.42,0.273,8868,0.000,0.084,2798,718,1017,1089,946,0,0,0,0,0,0,14.53,14.07,13.87
$GC,9085,1.06,709.7,2798,719,1088,943,10.6,3.8,847,9184,0.38,2.42,94.00,0.219,11426,0.086,0.077,2933,2109,511,530,492,0,0,0,0,0,0,14.12,14.05,14.23
$STATE,9185,end climb,SURFACE_DEPTH_REACHED
$STATE,9185,begin surface coast
$FINISH,0.1,1.020574
$STATE,9192,end surface coast,CONTROL_FINISHED_OK
$STATE,9193,begin surface
$SM_CCo,9215,50.60,0.327,1,0,502,703.03
$SM_GC,1.04,8.38,0.17,50.60,0.080,0.131,0.327,206,2211,502,-7.36,-0.57,703.03,0,0,0,0,1,0,14.23,14.20,13.07
$RAFOS_CLK,392
$MODEM,4,1503462482,75.71700,-151.21500,181.868,263381.2
$MODEM,3,1503462013,74.30400,-153.94400,106.041,153568.0
$MODEM,2,1503461563,73.18300,-149.96500,16.094,23306.7
$MODEM,0,1503461042,75.36600,-145.04601,188.287,272676.9
$RAFOS_FIX,7321.319336,-15017.490234,230817,040415,4,255,1.52
$IRIDIUM_FIX,7315.26,-14708.27,230817,033736
$TT8_MAMPS,0.040446,0.829143
$HUMID,45.86
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.40
$XPDR_PINGS,8
$CP_FREE,15995502592.000000
$PM_FREEKB_00,53820736
$24V_AH,12.40,110.164
$10V_AH,12.30,0.000
$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,25.200,78.625,961.900,50.600,0.000,0.000,0.000,526.400,2.000,0.000,18.943,0.000,6498.703,1025.370,2308.853,318.987,0.000,2340.074,0.000,1240.606,2192.000,0.540,0.000
$DEVICE_MAMPS,454.410,2155.005,1622.565,326.655,0.000,0.000,0.000,160.650,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9222.000,9222.000,9170.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.646,20.000,9.994,0.000
$MEM,323488
$DATA_FILE_SIZE,30004,867
$CAP_FILE_SIZE,111149,0
$CFSIZE,2097872896,2044788736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,9106.63,0x2341e8,1,24
$SOUNDSPEED,1449.4
$CURRENT,0.030,252.82,1
$GPS,230817,062332,7323.666,-15017.609,18,0.8,40,20.7,0.0,259.0,11,9.1