version: 66.13
glider: 196
mission: 14
dive: 148
start: 8 23 117 23 49 46
data:
$ID,196
$MISSION,14
$DIVE,148
$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,61
$R_STBD_OVSHOOT,50
$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,415.0
$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
$GPS1,230817,233251,7329.9712,-15036.6904,37,0.7,38,20.5,0.0,0.0,11,7.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.0
$GPS2,230817,234912,7329.9971,-15037.2432,8,0.8,12,20.5,0.0,291.5,10,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.5,134000,-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,41,end surface,CONTROL_FINISHED_OK
$STATE,41,begin dive
$GC,44,-0.57,-145.9,194,2232,498,484,0.0,0.0,0,137,0.00,0.00,-91.47,0.000,16386,0.000,0.000,193,2231,2234,2174,2294,0,0,0,0,0,0,14.48,28.83,14.50
$GC,140,-0.57,-145.9,200,2231,2178,2299,4.7,-7.0,9,193,12.93,2.72,-30.88,0.000,18724,0.467,2.153,2376,3575,3965,3950,3981,0,0,0,0,0,0,13.69,12.64,14.13
$GC,368,-0.64,-145.9,2376,3575,3959,3981,56.9,-15.6,54,374,0.00,2.30,0.00,0.000,1158,0.000,0.058,2376,2233,3967,3955,3980,0,0,0,0,0,0,14.19,14.05,14.19
$GC,685,-0.69,-145.9,2376,2231,3960,3981,104.5,-12.9,83,689,0.00,2.40,0.00,0.000,388,0.000,0.087,2367,3585,3970,3959,3981,0,0,0,0,0,0,14.45,14.11,14.46
$GC,734,-0.84,-145.9,2367,3587,3960,3982,110.2,-10.6,93,740,0.17,2.35,0.00,0.000,5254,0.108,0.056,2295,2200,3970,3959,3981,0,0,0,0,0,0,14.20,14.16,14.28
$GC,1045,-0.79,-145.9,2295,2199,3960,3981,163.9,-17.2,105,1049,0.00,2.42,0.00,0.000,388,0.000,0.086,2285,3580,3970,3959,3981,0,0,0,0,0,0,14.46,14.11,14.46
$GC,1176,-0.82,-145.9,2285,3585,3960,3981,183.8,-14.1,131,1181,0.12,2.35,0.00,0.000,3206,0.244,0.058,2309,2199,3970,3959,3981,0,0,0,0,0,0,13.97,14.15,14.19
$GC,1496,-0.85,-145.9,2310,2198,3960,3981,227.1,-12.9,145,1501,0.00,2.45,0.00,0.000,388,0.000,0.088,2305,3581,3970,3959,3981,0,0,0,0,0,0,14.45,14.09,14.47
$GC,1576,-0.94,-145.9,2302,3583,3959,3982,236.5,-11.3,161,1581,0.00,2.35,0.00,0.000,1158,0.000,0.058,2305,2201,3970,3960,3981,0,0,0,0,0,0,14.21,14.10,14.24
$GC,1886,-0.99,-145.9,2305,2199,3960,3980,272.2,-11.0,173,1892,0.12,2.45,0.00,0.000,4484,0.137,0.086,2242,3581,3973,3966,3980,0,0,0,0,0,0,14.20,14.09,14.23
$GC,1952,-0.96,-145.9,2243,3581,3959,3981,281.7,-14.8,186,1957,0.00,2.38,0.00,0.000,1158,0.000,0.059,2242,2191,3969,3959,3980,0,0,0,0,0,0,14.21,14.07,14.22
$GC,2277,-0.91,-145.9,2242,2190,3959,3980,330.6,-14.5,201,2282,0.15,2.45,0.00,0.000,2436,0.292,0.083,2267,3581,3968,3959,3978,0,0,0,0,0,0,13.85,14.09,14.03
$GC,2374,-0.99,-145.9,2268,3581,3960,3984,341.6,-10.7,220,2380,0.00,2.38,0.00,0.000,1158,0.000,0.056,2267,2188,3968,3958,3978,0,0,0,0,0,0,14.25,14.11,14.26
$GC,2700,-0.99,-145.9,2267,2188,3959,3978,379.4,-11.5,235,2705,0.00,2.47,0.00,0.000,260,0.000,0.088,2262,3579,3967,3959,3976,0,0,0,0,0,0,14.47,14.06,14.47
$MODEM_MSG,CACST,6,1,20170824000357.908968,3,143,21,0246,0150,250,00,00,00,00,-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,6,1,20170824001253.947696,3,5280,37,0360,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$MODEM_MSG,CACST,6,1,20170824001958.911148,3,122,14,0184,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$MODEM_MSG,CACST,6,1,20170824002750.177273,3,31,14,0103,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,2839,-1.06,-145.9,2262,3581,3959,3977,394.4,-10.2,262,2844,0.00,2.38,0.00,0.000,1158,0.000,0.057,2262,2192,3967,3958,3977,0,0,0,0,0,0,14.23,14.10,14.26
$GC,3156,-1.06,-145.9,2262,2192,3954,3977,430.7,-11.5,275,3161,0.00,2.42,0.00,0.000,260,0.000,0.086,2256,3582,3967,3958,3976,0,0,0,0,0,0,14.44,14.02,14.46
$GC,3223,-1.13,-145.9,2256,3582,3959,3976,438.3,-10.9,288,3230,0.12,2.38,0.00,0.000,5254,0.141,0.055,2206,2189,3966,3957,3976,0,0,0,0,0,0,14.14,14.12,14.25
$STATE,3487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3487,begin apogee
$GC,3495,-0.13,0.0,2207,2061,3959,3975,480.9,-16.4,301,3712,1.30,0.00,213.73,1.435,10246,0.267,0.000,2526,2060,3365,3394,3337,0,0,0,0,0,0,13.90,13.46,12.70
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3716,begin climb
$GC,3718,0.57,145.9,2527,2061,3389,3331,491.9,0.0,308,3939,0.75,2.35,205.07,1.385,10500,0.066,0.072,2780,3485,2759,2808,2711,0,0,0,0,0,0,13.56,12.99,12.40
$GC,4009,0.13,145.9,2780,3485,2802,2711,485.7,17.1,324,4014,0.80,2.42,0.00,0.000,5254,0.349,0.057,2631,2129,2756,2801,2711,0,0,0,0,0,0,13.16,13.45,13.50
$GC,4320,0.04,173.0,2631,2130,2801,2710,456.9,8.7,336,4361,0.12,2.58,36.03,1.466,12964,0.298,0.085,2602,696,2655,2706,2605,0,0,0,0,0,0,13.76,13.62,13.01
$GC,4427,0.11,223.5,2603,696,2700,2604,448.7,7.7,357,4507,0.00,2.45,72.75,1.404,9382,0.000,0.080,2602,2073,2450,2517,2383,0,0,0,0,0,0,14.02,13.92,12.86
$GC,4832,0.16,254.0,2603,2074,2510,2372,414.2,8.6,388,4877,0.00,0.00,43.50,1.429,8358,0.000,0.000,2603,2074,2331,2391,2271,0,0,0,0,0,0,14.41,13.89,13.10
$GC,5162,0.24,291.4,2603,2075,2381,2261,386.4,8.3,399,5224,0.17,0.00,57.25,1.397,10406,0.109,0.000,2679,2074,2172,2229,2115,0,0,0,0,0,0,14.23,13.90,13.15
$GC,5522,0.19,291.4,2679,2074,2224,2105,337.3,13.9,411,5527,0.12,2.42,0.00,0.000,4740,0.272,0.084,2657,691,2163,2222,2105,0,0,0,0,0,0,13.79,14.09,14.00
$GC,5578,0.23,291.4,2658,694,2220,2105,330.5,11.5,422,5584,0.00,2.45,0.00,0.000,1158,0.000,0.079,2657,2105,2165,2219,2112,0,0,0,0,0,0,14.30,14.17,14.33
$GC,5882,0.23,291.4,2657,2102,2219,2105,294.1,11.9,433,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2101,2161,2218,2104,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6182,0.23,291.4,2658,2102,2219,2104,261.3,10.5,443,6187,0.00,2.47,0.00,0.000,516,0.000,0.087,2660,686,2160,2218,2103,0,0,0,0,0,0,14.63,14.19,14.66
$GC,6238,0.29,294.8,2660,687,2218,2103,255.8,9.8,454,6244,0.00,2.45,0.00,0.000,1190,0.000,0.080,2659,2102,2160,2217,2103,0,0,0,0,0,0,14.40,14.27,14.43
$GC,6543,0.31,320.2,2666,2102,2219,2103,227.4,8.8,465,6588,0.00,0.00,44.15,1.359,8230,0.000,0.000,2659,2104,2060,2113,2007,0,0,0,0,0,0,14.65,14.12,13.36
$GC,6873,0.38,360.0,2659,2104,2103,1997,199.4,8.2,476,6944,0.12,2.58,65.97,1.291,10916,0.135,0.086,2726,695,1894,1933,1855,0,0,0,0,0,0,14.27,13.96,13.24
$GC,6999,0.38,360.0,2726,695,1922,1854,184.9,11.5,501,7005,0.00,2.50,0.00,0.000,1030,0.000,0.078,2726,2107,1887,1921,1854,0,0,0,0,0,0,14.14,14.02,14.16
$GC,7326,0.35,360.0,2726,2109,1920,1850,145.9,11.6,516,7331,0.12,2.50,0.00,0.000,4740,0.240,0.083,2699,690,1884,1918,1851,0,0,0,0,0,0,14.05,14.16,14.18
$GC,7386,0.45,379.9,2699,692,1916,1849,140.0,9.1,528,7423,0.00,2.45,30.65,1.322,9382,0.000,0.079,2700,2106,1813,1843,1784,0,0,0,0,0,0,14.31,14.23,13.33
$GC,7750,0.53,413.8,2699,2107,1839,1774,108.2,8.4,550,7811,0.12,2.53,53.28,1.252,10916,0.132,0.086,2767,690,1674,1702,1647,0,0,0,0,0,0,14.28,13.78,13.26
$GC,7881,0.53,413.8,2768,691,1698,1647,92.4,11.7,576,7886,0.00,2.50,0.00,0.000,1030,0.000,0.078,2768,2106,1670,1696,1645,0,0,0,0,0,0,14.10,14.01,14.12
$GC,8191,0.55,447.0,2768,2106,1698,1638,59.5,8.5,608,8214,0.00,2.47,16.85,0.385,8484,0.000,0.082,2768,3511,1541,1575,1508,0,0,0,0,0,0,14.49,14.00,13.78
$GC,8239,0.56,462.9,2768,3511,1576,1508,55.4,9.3,617,8256,0.00,2.42,9.18,0.370,9254,0.000,0.064,2769,2102,1474,1514,1435,0,0,0,0,0,0,14.24,14.14,13.74
$GC,8554,0.68,555.5,2769,2103,1515,1432,35.8,5.7,650,8608,0.00,2.55,47.85,0.311,8868,0.000,0.090,2769,689,1097,1165,1030,0,0,0,0,0,0,14.52,14.09,13.83
$GC,8708,0.92,630.9,2770,689,1164,1028,25.9,6.5,680,8752,0.32,2.47,39.03,0.289,11430,0.085,0.079,2889,2103,790,856,724,0,0,0,0,0,0,14.18,14.15,13.87
$STATE,8945,end climb,SURFACE_DEPTH_REACHED
$STATE,8945,begin surface coast
$FINISH,0.4,1.020529
$STATE,8966,end surface coast,CONTROL_FINISHED_OK
$STATE,8966,begin surface
$SM_CCo,8986,38.62,0.214,0,0,498,703.28
$SM_GC,1.47,8.00,0.17,38.62,0.059,0.115,0.214,201,2226,498,-7.38,-0.59,703.28,0,0,0,0,0,0,14.31,14.31,14.02
$RAFOS_CLK,385
$MODEM,4,1503534470,75.71700,-151.21500,169.427,245473.7
$MODEM,3,1503533998,74.30400,-153.94400,91.911,133164.9
$MODEM,2,1503533573,73.18300,-149.96500,26.948,39043.0
$MODEM,0,1503533037,75.36600,-145.04601,183.909,266455.4
$RAFOS_FIX,7329.203613,-15037.407227,240817,000009,4,255,0.91
$IRIDIUM_FIX,7329.39,-15036.89,230817,234318
$TT8_MAMPS,0.041195,0.935501
$HUMID,47.16
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,6
$CP_FREE,15994355712.000000
$PM_FREEKB_00,53608064
$24V_AH,12.40,113.561
$10V_AH,12.26,0.000
$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,25.600,83.550,935.275,38.625,0.000,0.000,0.000,578.675,1.500,0.000,13.602,0.000,6554.701,882.227,2275.274,310.756,0.000,2279.337,0.000,1018.943,2154.000,0.539,0.000
$DEVICE_MAMPS,467.415,2153.475,1465.740,214.200,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8994.000,8989.000,8946.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.400,20.000,9.988,0.000
$MEM,323568
$DATA_FILE_SIZE,23400,710
$CAP_FILE_SIZE,107291,0
$CFSIZE,2097872896,2042527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.4
$CURRENT,0.069,287.94,1
$GPS,240817,022132,7331.272,-15040.098,34,0.8,35,20.5,0.2,276.1,10,9.4