version: 66.13
glider: 196
mission: 14
dive: 155
start: 8 24 117 19 35 1
data:
$ID,196
$MISSION,14
$DIVE,155
$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,24
$R_STBD_OVSHOOT,37
$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,435.0
$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
$GPS1,240817,191926,7337.6865,-15059.8135,40,0.8,40,20.4,0.8,257.2,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.3
$GPS2,240817,193430,7337.6362,-15100.0928,5,0.8,12,20.4,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.4,116079,-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,-145.9,183,2221,498,486,0.0,0.0,0,141,0.00,0.00,-91.95,0.000,16386,0.000,0.000,180,2220,2228,2162,2294,0,0,0,0,0,0,14.45,28.83,14.47
$GC,144,-0.57,-145.9,181,2220,2165,2293,4.6,-7.2,9,197,12.90,2.78,-31.35,0.000,18724,0.463,2.150,2375,3590,3964,3946,3982,1,0,0,0,0,0,13.56,12.59,14.00
$GC,328,-0.62,-145.9,2375,3594,3954,3983,49.0,-17.6,45,332,0.00,2.40,0.00,0.000,1158,0.000,0.060,2375,2194,3967,3953,3982,0,0,0,0,0,0,14.19,13.97,14.26
$GC,638,-0.67,-145.9,2375,2193,3956,3983,100.8,-13.2,77,643,0.00,2.47,0.00,0.000,388,0.000,0.086,2366,3601,3968,3955,3982,0,0,0,0,0,0,14.58,14.12,14.55
$GC,698,-0.83,-145.9,2366,3602,3955,3983,107.5,-10.3,89,704,0.17,2.38,0.00,0.000,5254,0.111,0.055,2294,2195,3968,3955,3982,0,0,0,0,0,0,14.23,14.17,14.33
$GC,1029,-0.79,-145.9,2294,2194,3955,3982,165.4,-16.9,105,1034,0.12,2.45,0.00,0.000,2436,0.288,0.084,2319,3594,3968,3955,3981,0,0,0,0,0,0,14.01,14.22,14.18
$GC,1121,-0.90,-145.9,2319,3595,3956,3982,176.8,-11.4,123,1126,0.00,2.35,0.00,0.000,1158,0.000,0.057,2319,2199,3968,3955,3982,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1470,-0.95,-145.9,2319,2199,3956,3982,217.6,-12.0,139,1471,0.15,0.00,0.00,0.000,4230,0.125,0.000,2259,2198,3968,3955,3981,0,0,0,0,0,0,14.26,14.35,14.33
$GC,1751,-0.91,-145.9,2259,2198,3956,3982,264.9,-15.7,149,1756,0.00,2.47,0.00,0.000,388,0.000,0.088,2249,3601,3968,3955,3981,0,0,0,0,0,0,14.50,14.08,14.52
$GC,1931,-0.91,-145.9,2250,3600,3955,3981,290.5,-13.3,185,1936,0.15,2.38,0.00,0.000,3078,0.249,0.056,2277,2202,3968,3955,3981,0,0,0,0,0,0,13.87,14.13,14.16
$GC,2261,-0.95,-145.9,2279,2202,3955,3982,329.4,-11.4,201,2266,0.00,2.47,0.00,0.000,388,0.000,0.087,2272,3600,3968,3955,3981,0,0,0,0,0,0,14.47,14.10,14.50
$GC,2306,-1.04,-145.9,2273,3601,3956,3981,334.4,-10.8,210,2311,0.00,2.40,0.00,0.000,1158,0.000,0.057,2272,2198,3968,3955,3981,0,0,0,0,0,0,14.19,14.10,14.23
$GC,2621,-1.08,-145.9,2273,2197,3955,3981,369.1,-10.9,223,2626,0.12,2.47,0.00,0.000,4484,0.142,0.085,2211,3595,3967,3954,3981,0,0,0,0,0,0,14.15,14.07,14.19
$GC,2713,-1.04,-145.9,2210,3596,3953,3982,382.5,-15.2,241,2719,0.15,2.40,0.00,0.000,3206,0.267,0.058,2240,2195,3967,3953,3981,0,0,0,0,0,0,13.85,14.10,14.12
$GC,3044,-1.02,-145.9,2240,2196,3954,3982,427.4,-13.3,257,3049,0.00,2.50,0.00,0.000,388,0.000,0.087,2236,3601,3967,3953,3981,0,0,0,0,0,0,14.46,14.04,14.48
$GC,3149,-1.04,-145.9,2236,3602,3953,3982,441.0,-12.4,278,3154,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2195,3966,3952,3981,0,0,0,0,0,0,14.22,14.12,14.28
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3468,-0.13,0.0,2237,2066,3953,3982,483.5,-13.5,291,3687,1.15,0.00,215.73,1.432,10246,0.246,0.000,2533,2064,3359,3375,3344,0,0,0,0,0,0,13.85,13.38,12.63
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$MODEM_MSG,CACST,6,1,20170824200355.830491,3,101,14,0112,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170824201306.789461,3,1032,24,0230,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170824201946.094405,3,416,26,0226,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$MODEM_MSG,CACST,6,1,20170824202738.940119,3,194,16,0213,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$GC,3694,0.57,145.9,2528,2065,3379,3337,494.1,0.0,298,3916,0.75,0.00,206.15,1.375,10502,0.066,0.000,2778,2065,2762,2804,2720,0,0,0,0,0,0,13.46,12.91,12.36
$GC,4243,0.18,145.9,2779,2065,2796,2715,447.7,16.0,314,4249,0.60,2.55,0.00,0.000,4484,0.327,0.075,2645,3497,2755,2796,2715,0,0,0,0,0,0,13.52,13.85,13.75
$GC,4264,-0.11,145.9,2648,3498,2794,2714,444.8,14.1,318,4269,0.45,2.38,0.00,0.000,5254,0.281,0.057,2551,2125,2753,2793,2714,0,0,0,0,0,0,13.64,13.90,13.95
$GC,4575,0.03,251.9,2553,2125,2794,2715,427.8,5.1,330,4742,0.12,2.67,155.98,1.329,10916,0.128,0.087,2605,700,2333,2384,2282,0,0,0,0,0,0,14.23,13.57,12.87
$GC,4792,0.17,286.6,2605,700,2380,2275,410.1,8.4,373,4849,0.00,2.50,49.72,1.371,9382,0.000,0.079,2606,2083,2193,2252,2135,0,0,0,0,0,0,13.81,13.71,12.77
$GC,5149,0.27,317.3,2609,2083,2242,2125,379.3,8.6,394,5197,0.20,0.00,45.17,1.387,10406,0.098,0.000,2685,2083,2074,2128,2021,0,0,0,0,0,0,14.10,13.84,13.05
$GC,5477,0.22,317.3,2685,2083,2108,2009,332.3,14.4,405,5482,0.12,2.45,0.00,0.000,4740,0.263,0.086,2659,691,2058,2107,2009,0,0,0,0,0,0,13.97,14.12,14.12
$GC,5533,0.27,317.3,2660,691,2104,2010,325.4,11.6,416,5540,0.00,2.47,0.00,0.000,1158,0.000,0.079,2659,2103,2056,2103,2009,0,0,0,0,0,0,14.28,14.16,14.32
$GC,5838,0.27,317.3,2660,2105,2105,2007,289.4,11.7,427,5842,0.00,2.47,0.00,0.000,516,0.000,0.088,2660,695,2055,2103,2007,0,0,0,0,0,0,14.61,14.23,14.60
$GC,5888,0.33,317.3,2660,695,2102,2008,283.8,10.7,437,5892,0.00,2.42,0.00,0.000,1158,0.000,0.080,2659,2101,2054,2102,2007,0,0,0,0,0,0,14.39,14.26,14.42
$GC,6198,0.33,318.0,2659,2102,2103,2007,250.8,10.0,449,6202,0.00,2.47,0.00,0.000,548,0.000,0.087,2660,690,2054,2102,2006,0,0,0,0,0,0,14.64,14.28,14.66
$GC,6248,0.43,342.5,2660,690,2102,2007,246.3,8.9,459,6290,0.17,2.45,36.85,1.379,11430,0.114,0.080,2731,2111,1969,2013,1926,0,0,0,0,0,0,14.36,14.30,13.35
$GC,6590,0.34,342.5,2732,2111,2007,1914,199.0,13.8,477,6595,0.15,2.47,0.00,0.000,4740,0.241,0.083,2701,691,1959,2005,1914,0,0,0,0,0,0,14.05,14.18,14.19
$GC,6640,0.38,342.5,2699,692,2002,1915,193.1,10.5,487,6645,0.00,2.45,0.00,0.000,1158,0.000,0.077,2699,2101,1957,2001,1914,0,0,0,0,0,0,14.28,14.16,14.31
$GC,6950,0.38,342.5,2699,2104,2003,1914,161.1,10.0,499,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2103,1957,2002,1912,0,0,0,0,0,0,14.63,14.62,14.68
$GC,7250,0.39,356.5,2699,2103,2003,1910,132.3,9.4,509,7275,0.00,2.47,19.25,1.434,8740,0.000,0.086,2699,691,1908,1948,1869,0,0,0,0,0,0,14.65,14.19,13.40
$GC,7372,0.49,392.3,2699,691,1942,1869,122.1,8.3,533,7437,0.12,2.47,59.12,1.271,11430,0.135,0.080,2753,2105,1765,1791,1740,0,0,0,0,0,0,14.24,14.20,13.26
$GC,7743,0.45,393.6,2756,2105,1785,1727,80.1,9.9,571,7748,0.00,2.47,0.00,0.000,676,0.000,0.085,2752,697,1758,1783,1734,0,0,0,0,0,0,14.48,14.10,14.50
$GC,7753,0.42,401.0,2756,698,1783,1727,79.2,9.7,573,7764,0.17,2.47,3.85,0.428,13478,0.244,0.079,2717,2101,1730,1760,1701,0,0,0,0,0,0,13.96,14.12,13.68
$GC,8063,0.59,509.6,2718,2101,1761,1702,60.1,5.0,605,8124,0.15,0.00,56.65,0.382,10662,0.117,0.000,2785,2100,1286,1341,1231,0,0,0,0,0,0,14.27,14.16,13.77
$GC,8423,0.69,570.3,2786,2101,1341,1222,32.6,7.2,646,8461,0.00,2.47,31.35,0.305,8868,0.000,0.085,2789,702,1037,1105,969,0,0,0,0,0,0,14.54,14.01,13.87
$GC,8518,0.89,625.9,2790,698,1105,969,25.8,7.4,664,8555,0.25,2.45,29.25,0.289,11430,0.092,0.078,2886,2099,811,877,746,0,0,0,0,0,0,14.27,14.18,13.85
$STATE,8747,end climb,SURFACE_DEPTH_REACHED
$STATE,8747,begin surface coast
$FINISH,0.1,1.013173
$STATE,8768,end surface coast,CONTROL_FINISHED_OK
$STATE,8768,begin surface
$SM_CCo,8788,42.47,0.211,0,0,502,702.78
$SM_GC,1.18,8.12,0.17,42.47,0.074,0.125,0.211,201,2210,502,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.30,14.02
$RAFOS_CLK,330
$MODEM,4,1503606458,75.71700,-151.21500,158.190,229153.8
$MODEM,3,1503605986,74.30400,-153.94400,79.094,114576.0
$MODEM,2,1503605586,73.18300,-149.96500,39.789,57638.9
$MODEM,0,1503605035,75.36600,-145.04601,181.830,263399.2
$RAFOS_FIX,7337.499512,-15100.943359,240817,202006,4,255,0.21
$IRIDIUM_FIX,7339.43,-15052.27,240817,165046
$TT8_MAMPS,0.038948,0.982688
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15993208832.000000
$PM_FREEKB_00,53394624
$24V_AH,12.36,116.899
$10V_AH,12.22,0.000
$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,26.325,79.250,909.075,42.475,0.000,0.000,0.000,619.350,3.000,0.000,13.383,0.000,6314.630,836.230,2287.025,309.771,0.000,2274.989,0.000,994.902,2211.000,0.539,0.000
$DEVICE_MAMPS,462.825,2149.650,1433.610,211.140,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8797.000,8772.000,8744.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.370,20.000,9.974,0.000
$MEM,323608
$DATA_FILE_SIZE,23421,693
$CAP_FILE_SIZE,102653,0
$CFSIZE,2097872896,2040332288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,3708.20,0x2341e8,1,24
$SOUNDSPEED,1447.6
$CURRENT,0.032,249.36,1
$GPS,240817,220318,7338.659,-15103.191,17,0.7,19,20.4,0.0,0.0,12,9.9