version: 66.13
glider: 196
mission: 14
dive: 144
start: 8 23 117 12 29 46
data:
$ID,196
$MISSION,14
$DIVE,144
$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,22
$R_STBD_OVSHOOT,30
$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,406.0
$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
$GPS1,230817,120857,7325.7959,-15024.0918,39,0.8,40,20.6,0.5,263.0,11,7.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.2
$GPS2,230817,122913,7325.8335,-15024.7402,9,0.7,12,20.6,0.0,282.6,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.9,143816,-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,-145.9,200,2217,517,478,0.0,0.0,0,130,0.00,0.00,-80.80,0.000,16386,0.000,0.000,199,2218,1999,1922,2077,0,0,0,0,0,0,14.35,28.83,14.35
$GC,133,-0.57,-145.9,200,2218,1925,2081,3.2,-3.8,8,189,12.68,2.75,-38.40,0.000,18724,0.456,2.147,2376,3597,3960,3947,3973,0,0,0,0,0,0,13.62,12.86,14.06
$GC,380,-0.66,-145.9,2376,3598,3955,3978,56.5,-15.0,57,386,0.00,2.40,0.00,0.000,1158,0.000,0.057,2375,2197,3965,3954,3977,0,0,0,0,0,0,14.11,14.02,14.16
$MODEM_MSG,CACST,6,1,20170823121247.743698,3,60,11,0352,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,695,-0.71,-145.9,2376,2193,3956,3977,104.0,-12.5,87,700,0.00,2.47,0.00,0.000,388,0.000,0.087,2365,3602,3965,3955,3976,0,0,0,0,0,0,14.54,14.17,14.55
$GC,791,-0.87,-145.9,2365,3603,3956,3978,114.3,-9.9,106,796,0.22,2.38,0.00,0.000,5286,0.096,0.054,2274,2195,3966,3955,3977,0,0,0,0,0,0,14.19,14.14,14.27
$GC,1117,-0.79,-145.9,2275,2193,3957,3977,175.9,-18.5,121,1122,0.17,2.47,0.00,0.000,2436,0.282,0.083,2306,3602,3965,3955,3976,0,0,0,0,0,0,13.93,14.20,14.10
$GC,1229,-0.87,-145.9,2306,3604,3956,3978,190.9,-12.5,143,1234,0.00,2.35,0.00,0.000,1158,0.000,0.055,2306,2199,3966,3955,3977,0,0,0,0,0,0,14.40,14.29,14.42
$GC,1540,-0.89,-145.9,2307,2198,3957,3977,233.9,-13.4,155,1545,0.00,2.47,0.00,0.000,388,0.000,0.088,2303,3608,3966,3955,3977,0,0,0,0,0,0,14.65,14.24,14.64
$GC,1641,-1.00,-145.9,2303,3609,3956,3978,245.7,-10.9,175,1647,0.15,2.38,0.00,0.000,5254,0.121,0.056,2247,2199,3966,3955,3977,0,0,0,0,0,0,14.21,14.20,14.31
$GC,1962,-0.94,-145.9,2247,2199,3956,3976,295.9,-15.5,189,1967,0.00,2.45,0.00,0.000,388,0.000,0.087,2239,3601,3964,3953,3975,0,0,0,0,0,0,14.65,14.21,14.67
$GC,2112,-0.94,-145.9,2240,3603,3955,3976,318.0,-13.6,219,2118,0.15,2.35,0.00,0.000,3078,0.253,0.057,2270,2199,3964,3954,3975,0,0,0,0,0,0,14.04,14.31,14.31
$GC,2443,-0.94,-145.9,2271,2199,3956,3973,357.8,-11.7,235,2449,0.00,2.45,0.00,0.000,260,0.000,0.088,2266,3601,3963,3954,3973,0,0,0,0,0,0,14.66,14.21,14.68
$GC,2529,-1.02,-145.9,2267,3602,3955,3974,367.3,-10.6,252,2535,0.00,2.38,0.00,0.000,1158,0.000,0.057,2269,2198,3965,3954,3976,0,0,0,0,0,0,14.36,14.26,14.39
$GC,2834,-1.02,-145.9,2267,2198,3955,3973,402.5,-11.6,263,2839,0.00,2.45,0.00,0.000,260,0.000,0.087,2259,3604,3963,3955,3971,0,0,0,0,0,0,14.67,14.21,14.69
$GC,2910,-1.10,-145.9,2258,3603,3955,3972,411.1,-10.9,278,2915,0.00,2.38,0.00,0.000,1158,0.000,0.057,2259,2191,3963,3954,3972,0,0,0,0,0,0,14.37,14.24,14.40
$GC,3225,-1.10,-145.9,2259,2189,3956,3971,449.2,-12.2,291,3230,0.00,2.47,0.00,0.000,260,0.000,0.086,2250,3606,3963,3955,3971,0,0,0,0,0,0,14.67,14.19,14.69
$GC,3320,-1.16,-145.9,2250,3607,3954,3972,460.5,-11.3,310,3326,0.15,2.38,0.00,0.000,5254,0.129,0.054,2193,2193,3962,3954,3970,0,0,0,0,0,0,14.21,14.19,14.31
$STATE,3463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3463,begin apogee
$GC,3469,-0.13,0.0,2194,2064,3955,3970,485.2,-17.7,319,3688,1.38,0.00,214.85,1.431,10246,0.276,0.000,2529,2063,3364,3394,3334,0,0,0,0,0,0,13.93,13.50,12.75
$STATE,3692,end apogee,CONTROL_FINISHED_OK
$STATE,3692,begin climb
$GC,3694,0.57,145.9,2529,2063,3387,3329,495.9,0.0,326,3908,0.75,2.55,201.25,1.395,10756,0.064,0.080,2782,731,2764,2815,2713,0,0,0,0,0,0,13.59,13.12,12.40
$GC,4133,0.21,145.9,2782,732,2802,2711,469.5,15.1,408,4138,0.60,2.45,0.00,0.000,5254,0.323,0.074,2657,2101,2755,2801,2709,0,0,0,0,0,0,13.45,13.77,13.80
$GC,4444,0.06,151.6,2657,2102,2802,2704,438.1,9.7,420,4449,0.20,2.40,0.00,0.000,4772,0.289,0.076,2616,727,2753,2801,2705,0,0,0,0,0,0,13.84,14.10,14.02
$GC,4524,0.07,207.8,2616,727,2802,2707,431.8,7.4,436,4619,0.00,2.40,87.85,1.388,9382,0.000,0.079,2616,2101,2514,2581,2448,0,0,0,0,0,0,14.26,14.15,13.03
$GC,4924,0.09,229.3,2616,2101,2574,2434,396.4,9.0,466,4956,0.00,0.00,28.00,1.461,8742,0.000,0.000,2616,2100,2427,2494,2360,0,0,0,0,0,0,14.45,14.01,13.20
$GC,5255,0.10,253.3,2616,2102,2487,2354,366.6,8.9,482,5296,0.00,2.45,34.97,1.448,8740,0.000,0.085,2616,722,2329,2388,2270,0,0,0,0,0,0,14.52,14.00,13.26
$GC,5342,0.21,280.5,2617,721,2382,2270,359.1,8.7,499,5392,0.00,2.42,41.78,1.408,9382,0.000,0.077,2616,2106,2216,2277,2155,0,0,0,0,0,0,14.18,14.07,13.12
$GC,5709,0.29,306.1,2615,2106,2271,2145,326.5,8.8,522,5748,0.15,0.00,36.85,1.402,10918,0.118,0.000,2687,2111,2115,2170,2061,0,0,0,0,0,0,14.23,14.01,13.23
$GC,6039,0.23,306.1,2687,2107,2163,2050,282.4,13.4,538,6044,0.12,2.42,0.00,0.000,4740,0.255,0.083,2660,726,2105,2162,2049,0,0,0,0,0,0,14.01,14.07,14.16
$GC,6124,0.28,306.1,2666,726,2162,2050,272.8,10.2,555,6131,0.00,2.40,0.00,0.000,1158,0.000,0.078,2660,2105,2104,2159,2049,0,0,0,0,0,0,14.33,14.21,14.36
$GC,6429,0.29,307.4,2661,2105,2160,2048,241.3,9.9,566,6430,0.00,0.00,0.00,0.000,38,0.000,0.000,2660,2105,2103,2158,2048,0,0,0,0,0,0,14.62,14.63,14.63
$GC,6729,0.30,329.4,2660,2105,2160,2047,213.7,9.0,576,6770,0.00,2.47,35.80,1.384,8740,0.000,0.085,2660,730,2018,2069,1968,0,0,0,0,0,0,14.64,14.17,13.38
$GC,6832,0.42,364.9,2661,729,2062,1967,205.2,8.4,596,6896,0.17,2.40,57.97,1.306,11430,0.113,0.079,2729,2099,1877,1914,1841,0,0,0,0,0,0,14.19,14.14,13.19
$GC,7212,0.37,364.9,2730,2105,1900,1834,157.5,12.1,622,7216,0.00,2.42,0.00,0.000,644,0.000,0.083,2738,727,1866,1901,1832,0,0,0,0,0,0,14.50,14.16,14.51
$GC,7247,0.34,364.9,2738,727,1899,1833,153.3,11.9,629,7252,0.20,2.40,0.00,0.000,5254,0.241,0.079,2694,2106,1863,1895,1832,0,0,0,0,0,0,13.97,14.18,14.26
$GC,7572,0.40,391.5,2694,2107,1898,1830,124.0,8.8,644,7617,0.00,2.45,38.90,1.317,8868,0.000,0.086,2698,717,1765,1794,1736,0,0,0,0,0,0,14.59,14.11,13.35
$GC,7659,0.53,423.9,2699,717,1788,1735,116.7,8.5,661,7718,0.17,2.42,52.40,1.242,11430,0.108,0.077,2771,2102,1633,1665,1602,0,0,0,0,0,0,14.08,14.00,13.19
$GC,8023,0.49,423.9,2771,2103,1662,1587,71.6,11.1,698,8028,0.12,2.42,0.00,0.000,4740,0.260,0.082,2755,721,1623,1661,1586,0,0,0,0,0,0,13.94,14.09,14.14
$GC,8069,0.56,442.0,2755,722,1658,1587,67.2,9.2,707,8086,0.00,2.42,8.68,0.401,9382,0.000,0.079,2755,2109,1562,1600,1525,0,0,0,0,0,0,14.17,14.09,13.77
$GC,8384,0.67,531.2,2755,2111,1599,1526,43.8,5.9,740,8436,0.12,0.00,48.17,0.331,10918,0.131,0.000,2812,2109,1198,1261,1136,0,0,0,0,0,0,14.23,14.17,13.83
$GC,8734,0.83,653.5,2811,2110,1261,1128,15.5,4.4,778,8809,0.12,2.45,65.85,0.251,10916,0.133,0.086,2876,730,696,761,632,0,0,0,0,0,0,14.23,14.13,13.91
$GC,8889,0.95,698.4,2877,731,762,629,4.8,7.9,808,8921,0.00,2.40,25.20,0.217,9382,0.000,0.080,2880,2102,512,547,477,0,0,0,0,0,0,14.17,14.05,13.86
$STATE,8927,end climb,SURFACE_DEPTH_REACHED
$STATE,8927,begin surface coast
$FINISH,0.1,1.020408
$STATE,8947,end surface coast,CONTROL_FINISHED_OK
$STATE,8947,begin surface
$SM_CCo,8969,2.12,0.236,0,0,500,702.78
$SM_GC,1.60,8.10,0.17,2.12,0.073,0.116,0.236,203,2226,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.29,14.27,14.02
$RAFOS_CLK,391
$MODEM,2,1503490367,73.18300,-149.96500,20.744,30035.7
$RAFOS_FIX,7325.783691,-15019.523438,230817,080827,2,255,0.72
$IRIDIUM_FIX,7324.95,-15027.46,230817,122201
$TT8_MAMPS,0.040446,0.841876
$HUMID,46.45
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,15995011072.000000
$PM_FREEKB_00,53731712
$24V_AH,12.40,111.664
$10V_AH,12.46,0.000
$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,25.750,83.075,978.525,2.125,0.000,0.000,0.000,758.875,4.500,0.000,12.616,0.000,6500.687,957.952,2411.711,331.635,0.000,2495.697,0.000,1169.949,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2146.590,1461.150,235.620,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8976.000,8975.000,8925.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.291,20.000,9.909,0.000
$MEM,323456
$DATA_FILE_SIZE,30009,817
$CAP_FILE_SIZE,111680,0
$CFSIZE,2097872896,2043838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.4
$CURRENT,0.055,270.39,1
$GPS,230817,150032,7327.038,-15027.193,29,0.7,29,20.6,0.0,0.0,11,8.9