version: 66.13
glider: 196
mission: 14
dive: 145
start: 8 23 117 15 16 6
data:
$ID,196
$MISSION,14
$DIVE,145
$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,62
$R_STBD_OVSHOOT,44
$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,408.0
$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
$GPS1,230817,150032,7327.0376,-15027.1934,29,0.7,29,20.6,0.0,0.0,11,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.6
$GPS2,230817,151531,7327.0562,-15027.3535,9,0.7,12,20.6,0.0,0.0,12,8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.5,141325,-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,45,begin dive
$GC,47,-0.57,-145.9,200,2229,512,474,0.0,0.0,0,130,0.00,0.00,-80.95,0.000,16386,0.000,0.000,199,2229,1989,1915,2064,0,0,0,0,0,0,14.47,28.83,14.49
$GC,133,-0.57,-145.9,200,2228,1918,2066,3.3,-3.9,8,190,12.50,2.70,-38.92,0.000,18724,0.454,2.151,2376,3587,3957,3937,3978,0,0,0,0,0,0,13.69,12.90,14.14
$GC,415,-0.63,-145.9,2377,3589,3945,3979,63.8,-15.3,64,420,0.00,2.30,0.00,0.000,1158,0.000,0.060,2376,2237,3963,3948,3978,0,0,0,0,0,0,14.18,14.05,14.21
$GC,727,-0.68,-145.9,2376,2236,3950,3979,107.9,-12.6,92,732,0.00,2.38,0.00,0.000,388,0.000,0.086,2367,3591,3964,3950,3978,0,0,0,0,0,0,14.56,14.20,14.57
$GC,797,-0.84,-145.9,2367,3589,3950,3978,115.9,-10.2,106,803,0.17,2.38,0.00,0.000,5254,0.109,0.055,2295,2190,3963,3949,3977,0,0,0,0,0,0,14.29,14.25,14.38
$GC,1118,-0.80,-145.9,2295,2189,3950,3978,170.1,-16.7,120,1123,0.00,2.45,0.00,0.000,388,0.000,0.086,2287,3588,3963,3949,3977,0,0,0,0,0,0,14.61,14.21,14.62
$GC,1244,-0.82,-145.9,2287,3588,3950,3978,188.7,-14.4,145,1250,0.00,2.33,0.00,0.000,1158,0.000,0.057,2287,2205,3963,3949,3978,0,0,0,0,0,0,14.33,14.23,14.38
$GC,1570,-0.82,-145.9,2286,2205,3949,3979,238.7,-14.6,160,1574,0.00,2.42,0.00,0.000,260,0.000,0.088,2280,3585,3963,3949,3978,0,0,0,0,0,0,14.63,14.21,14.64
$GC,1665,-0.88,-145.9,2280,3588,3949,3976,251.2,-12.3,179,1670,0.00,2.35,0.00,0.000,1158,0.000,0.059,2280,2198,3963,3949,3978,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1990,-0.88,-145.9,2280,2198,3950,3977,292.9,-12.5,194,1995,0.00,2.42,0.00,0.000,260,0.000,0.090,2280,3587,3963,3949,3977,0,0,0,0,0,0,14.64,14.25,14.66
$GC,2090,-0.96,-145.9,2280,3588,3950,3977,304.1,-10.8,214,2095,0.00,2.33,0.00,0.000,1158,0.000,0.057,2279,2198,3963,3949,3977,0,0,0,0,0,0,14.42,14.31,14.45
$GC,2411,-0.99,-145.9,2280,2196,3950,3976,341.6,-11.6,228,2416,0.00,2.42,0.00,0.000,388,0.000,0.088,2273,3587,3962,3948,3976,0,0,0,0,0,0,14.66,14.21,14.67
$GC,2496,-1.09,-145.9,2273,3589,3947,3977,351.0,-10.4,245,2502,0.15,2.35,0.00,0.000,5254,0.120,0.055,2218,2190,3961,3948,3975,0,0,0,0,0,0,14.26,14.13,14.35
$GC,2803,-1.00,-145.9,2218,2190,3949,3976,399.8,-16.3,256,2808,0.12,2.47,0.00,0.000,2436,0.309,0.083,2236,3588,3960,3947,3974,0,0,0,0,0,0,13.88,14.14,14.07
$GC,2933,-1.00,-145.9,2236,3589,3948,3975,418.1,-13.1,282,2938,0.00,2.35,0.00,0.000,1030,0.000,0.056,2236,2201,3960,3947,3974,0,0,0,0,0,0,14.28,14.16,14.31
$GC,3254,-0.97,-145.9,2237,2200,3948,3973,463.0,-14.0,296,3258,0.12,2.47,0.00,0.000,2436,0.303,0.085,2254,3595,3958,3942,3974,0,0,0,0,0,0,13.84,14.05,14.01
$GC,3365,-1.04,-145.9,2256,3595,3947,3974,475.9,-10.9,318,3370,0.00,2.38,0.00,0.000,1158,0.000,0.056,2255,2198,3960,3947,3974,0,0,0,0,0,0,14.16,14.07,14.16
$STATE,3403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3403,begin apogee
$GC,3409,-0.13,0.0,2256,2057,3948,3974,480.7,-11.5,321,3627,1.08,0.00,214.70,1.424,10246,0.234,0.000,2527,2056,3366,3388,3344,0,0,0,0,0,0,13.85,13.40,12.64
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3633,0.57,145.9,2528,2056,3381,3336,491.6,0.0,328,3855,0.75,2.72,204.95,1.375,10500,0.063,0.076,2779,3487,2759,2800,2718,0,0,0,0,0,0,13.47,13.12,12.39
$GC,4080,0.13,145.9,2778,3486,2788,2717,459.9,17.2,375,4086,0.80,2.40,0.00,0.000,5254,0.352,0.057,2627,2127,2752,2787,2717,0,0,0,0,0,0,13.39,13.66,13.70
$GC,4385,0.05,180.7,2627,2126,2789,2715,432.8,8.4,386,4440,0.12,2.45,48.60,1.420,12708,0.294,0.083,2599,3487,2623,2670,2576,0,0,0,0,0,0,13.76,13.81,13.04
$GC,4641,0.05,210.3,2599,3487,2656,2569,410.8,8.6,437,4688,0.00,2.38,41.30,1.436,9382,0.000,0.060,2602,2102,2502,2555,2450,0,0,0,0,0,0,14.12,14.01,13.07
$MODEM_MSG,CACST,6,1,20170823160359.059214,3,15,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$MODEM_MSG,CACST,6,1,20170823162005.024986,3,369,25,0434,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170823162754.455275,3,74,12,0129,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31
$GC,4985,0.08,246.0,2602,2103,2551,2437,382.2,8.4,456,5042,0.00,2.47,50.40,1.412,8740,0.000,0.087,2608,691,2358,2408,2309,0,0,0,0,0,0,14.35,13.69,13.11
$GC,5107,0.21,285.2,2602,692,2400,2308,372.1,8.2,480,5175,0.15,2.42,57.92,1.370,11430,0.117,0.078,2664,2080,2201,2252,2151,0,0,0,0,0,0,13.88,13.84,12.97
$GC,5500,0.17,285.2,2665,2081,2244,2137,322.9,12.4,508,5501,0.00,0.00,0.00,0.000,134,0.000,0.000,2665,2080,2189,2243,2135,0,0,0,0,0,0,14.42,14.45,14.44
$GC,5801,0.14,285.2,2666,2082,2243,2134,286.9,11.9,518,5806,0.12,2.42,0.00,0.000,4740,0.258,0.083,2644,689,2187,2241,2134,0,0,0,0,0,0,14.00,14.20,14.13
$GC,5846,0.22,289.6,2644,687,2241,2134,282.2,9.8,527,5851,0.00,2.45,0.00,0.000,1190,0.000,0.078,2644,2105,2184,2236,2133,0,0,0,0,0,0,14.41,14.25,14.40
$GC,6161,0.23,305.2,2644,2107,2241,2133,252.1,9.3,540,6193,0.00,2.55,27.35,1.427,8740,0.000,0.086,2644,693,2120,2172,2068,0,0,0,0,0,0,14.62,14.12,13.36
$GC,6218,0.32,333.2,2645,692,2166,2067,247.0,8.7,546,6268,0.12,2.45,45.78,1.342,11430,0.129,0.079,2695,2099,2008,2055,1961,0,0,0,0,0,0,14.14,14.07,13.23
$GC,6584,0.30,333.2,2696,2099,2046,1945,205.3,11.0,569,6589,0.00,2.47,0.00,0.000,644,0.000,0.086,2699,692,1994,2044,1944,0,0,0,0,0,0,14.51,14.18,14.53
$GC,6639,0.33,333.2,2699,693,2043,1945,199.5,10.1,580,6646,0.00,2.47,0.00,0.000,1158,0.000,0.078,2699,2109,1993,2041,1945,0,0,0,0,0,0,14.31,14.19,14.33
$GC,6944,0.33,333.2,2699,2110,2042,1943,168.4,10.1,591,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2109,1991,2040,1942,0,0,0,0,0,0,14.59,14.62,14.62
$GC,7244,0.34,351.6,2699,2109,2042,1941,140.0,9.2,601,7276,0.00,2.55,27.25,1.393,8740,0.000,0.086,2699,689,1930,1973,1888,0,0,0,0,0,0,14.62,14.17,13.38
$GC,7372,0.45,384.8,2699,694,1963,1885,128.8,8.5,626,7434,0.00,2.45,55.42,1.287,9382,0.000,0.079,2699,2103,1793,1822,1764,0,0,0,0,0,0,14.33,14.20,13.24
$GC,7739,0.54,428.2,2698,2104,1817,1751,97.8,8.0,653,7767,0.15,2.58,22.67,0.503,10916,0.119,0.087,2778,689,1620,1650,1590,0,0,0,0,0,0,14.21,14.06,13.63
$GC,7812,0.54,428.2,2778,689,1652,1590,89.0,12.4,667,7817,0.00,2.47,0.00,0.000,1030,0.000,0.078,2778,2100,1619,1650,1589,0,0,0,0,0,0,14.21,14.10,14.25
$GC,8122,0.52,455.5,2778,2102,1651,1584,55.5,8.7,699,8143,0.00,0.00,15.15,0.369,8358,0.000,0.000,2782,2106,1503,1542,1465,0,0,0,0,0,0,14.54,14.05,13.81
$GC,8442,0.61,543.9,2779,2101,1543,1466,33.5,5.9,731,8495,0.00,2.50,47.45,0.311,8612,0.000,0.083,2777,3526,1143,1209,1078,0,0,0,0,0,0,14.54,13.95,13.77
$GC,8532,0.75,588.9,2778,3522,1210,1083,27.4,7.9,748,8565,0.12,2.45,25.05,0.291,11430,0.134,0.067,2832,2094,961,1033,889,0,0,0,0,0,0,14.13,14.16,13.76
$GC,8870,0.91,693.3,2833,2095,1034,884,5.2,5.2,785,8914,0.12,0.00,41.17,0.216,10914,0.132,0.000,2888,2094,651,706,596,0,0,0,0,0,0,14.16,28.83,14.19
$STATE,8914,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.2,1.020421
$STATE,8928,end surface coast,CONTROL_FINISHED_OK
$STATE,8928,begin surface
$SM_CCo,8950,21.25,0.215,0,0,499,702.78
$SM_GC,0.85,8.20,0.20,21.25,0.078,0.093,0.215,199,2239,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.31,14.33,14.02
$RAFOS_CLK,279
$MODEM,4,1503505674,75.71700,-151.21500,173.705,251773.5
$MODEM,3,1503505205,74.30400,-153.94400,98.025,142080.3
$MODEM,0,1503504239,75.36600,-145.04601,185.059,268230.2
$RAFOS_FIX,7326.657715,-15029.191406,230817,161619,3,255,0.33
$IRIDIUM_FIX,7326.74,-15023.73,230817,150508
$TT8_MAMPS,0.040446,0.991676
$HUMID,46.69
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,9
$CP_FREE,15994847232.000000
$PM_FREEKB_00,53698432
$24V_AH,12.39,112.141
$10V_AH,12.24,0.000
$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,24.825,83.550,925.175,21.250,0.000,0.000,0.000,557.525,2.250,0.000,12.609,0.000,6351.390,822.067,2397.686,314.726,0.000,2267.692,0.000,1138.817,2206.000,0.540,0.000
$DEVICE_MAMPS,453.645,2151.180,1435.905,214.965,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8957.000,8947.000,8904.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.623,20.000,9.956,0.000
$MEM,323456
$DATA_FILE_SIZE,26724,795
$CAP_FILE_SIZE,110079,0
$CFSIZE,2097872896,2043510784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.9
$CURRENT,0.059,259.75,1
$GPS,230817,174641,7328.037,-15030.035,15,0.7,17,20.6,0.0,215.4,12,9.9