version: 66.13
glider: 196
mission: 14
dive: 195
start: 8 29 117 16 7 22
data:
$ID,196
$MISSION,14
$DIVE,195
$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,45
$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,548.0
$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
$GPS1,290817,154651,7414.8472,-15317.3242,39,0.8,40,19.5,0.0,0.0,10,8.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.8
$GPS2,290817,160648,7414.8706,-15317.3994,13,0.8,15,19.5,0.0,287.1,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,276.1,20725,-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,-145.9,176,2236,497,486,0.0,0.0,0,146,0.00,0.00,-97.38,0.000,16386,0.000,0.000,175,2237,2268,2207,2329,0,0,0,0,0,0,14.50,28.83,14.50
$GC,149,-0.57,-145.9,176,2237,2209,2329,4.8,-7.5,10,199,12.75,2.67,-32.58,0.000,18724,0.454,2.141,2376,3584,3962,3945,3980,1,0,0,0,0,0,13.51,12.85,13.96
$GC,425,-0.71,-145.9,2376,3586,3953,3981,58.9,-12.2,64,429,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2228,3966,3952,3980,0,0,0,0,0,0,14.07,13.95,14.09
$GC,735,-0.80,-145.9,2375,2228,3955,3981,97.6,-11.0,96,736,0.17,0.00,0.00,0.000,4230,0.118,0.000,2308,2227,3967,3954,3980,0,0,0,0,0,0,14.09,14.21,14.19
$GC,1055,-0.80,-145.9,2308,2228,3955,3981,147.0,-14.8,108,1059,0.00,2.40,0.00,0.000,260,0.000,0.087,2299,3586,3966,3952,3980,0,0,0,0,0,0,14.45,14.07,14.47
$GC,1135,-0.89,-145.9,2301,3586,3953,3981,157.2,-12.2,124,1140,0.00,2.38,0.00,0.000,1158,0.000,0.058,2301,2197,3966,3953,3980,0,0,0,0,0,0,14.20,14.08,14.22
$GC,1445,-0.92,-145.9,2301,2195,3956,3980,199.1,-13.2,136,1450,0.00,2.47,0.00,0.000,388,0.000,0.086,2293,3594,3967,3954,3980,0,0,0,0,0,0,14.46,14.02,14.48
$GC,1530,-1.03,-145.9,2293,3595,3955,3980,209.4,-11.5,153,1537,0.15,2.40,0.00,0.000,5254,0.117,0.057,2238,2190,3966,3952,3980,0,0,0,0,0,0,13.97,13.99,14.05
$MODEM_MSG,CACST,6,1,20170829161415.030719,3,4013,23,1183,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170829161839.944782,3,32767,45,0780,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170829162700.827779,3,3369,35,0693,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,1835,-0.96,-145.9,2239,2189,3955,3980,261.9,-17.0,164,1840,0.12,2.45,0.00,0.000,2436,0.295,0.083,2256,3597,3967,3954,3980,0,0,0,0,0,0,13.81,14.04,13.98
$GC,1897,-1.03,-145.9,2257,3591,3954,3980,270.4,-12.3,176,1902,0.00,2.40,0.00,0.000,1158,0.000,0.057,2257,2193,3966,3953,3980,0,0,0,0,0,0,14.16,14.08,14.24
$GC,2229,-1.03,-145.9,2257,2193,3953,3980,313.7,-12.6,192,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2192,3966,3954,3979,0,0,0,0,0,0,14.62,14.61,14.61
$GC,2528,-1.05,-145.9,2256,2192,3955,3978,349.3,-11.7,202,2532,0.00,2.45,0.00,0.000,388,0.000,0.087,2249,3590,3968,3953,3983,0,0,0,0,0,0,14.66,14.19,14.66
$GC,2628,-1.14,-145.9,2249,3592,3955,3979,360.6,-10.9,222,2633,0.12,2.35,0.00,0.000,5254,0.140,0.056,2199,2194,3965,3953,3978,0,0,0,0,0,0,14.26,14.26,14.38
$GC,2948,-1.06,-145.9,2199,2194,3954,3979,412.4,-16.3,236,2953,0.12,2.45,0.00,0.000,2436,0.307,0.086,2222,3590,3965,3953,3977,0,0,0,0,0,0,13.97,14.21,14.14
$GC,3070,-1.10,-145.9,2223,3591,3954,3977,428.4,-12.5,260,3075,0.00,2.35,0.00,0.000,1158,0.000,0.056,2222,2198,3965,3953,3977,0,0,0,0,0,0,14.31,14.20,14.34
$GC,3401,-1.07,-145.9,2222,2199,3954,3977,473.9,-13.7,276,3406,0.00,2.45,0.00,0.000,388,0.000,0.090,2222,3588,3965,3954,3976,0,0,0,0,0,0,14.69,14.08,14.70
$STATE,3448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3448,begin apogee
$GC,3456,-0.13,0.0,2223,2102,3954,3976,480.6,-12.6,286,3675,1.20,0.00,215.27,1.445,10246,0.242,0.000,2527,2101,3366,3394,3339,0,0,0,0,0,0,13.95,13.49,12.69
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,0.57,145.9,2528,2102,3389,3332,492.3,0.0,293,4225,0.75,2.00,208.20,1.394,10756,0.066,0.080,2779,682,2755,2799,2711,0,0,0,0,0,0,13.59,13.15,12.36
$GC,4236,0.57,145.9,2782,684,2799,2712,456.7,7.4,296,4241,0.00,2.47,0.00,0.000,1030,0.000,0.076,2782,2079,2754,2799,2710,0,0,0,0,0,0,14.00,13.88,14.02
$GC,4551,0.16,145.9,2782,2080,2797,2709,410.1,14.4,309,4557,0.62,2.47,0.00,0.000,4484,0.328,0.077,2643,3510,2752,2796,2708,0,0,0,0,0,0,13.78,14.16,14.02
$GC,4747,-0.04,149.3,2644,3511,2795,2708,390.0,9.8,348,4752,0.35,2.40,0.00,0.000,5286,0.282,0.059,2571,2085,2750,2794,2707,0,0,0,0,0,0,13.95,14.28,14.26
$GC,5062,0.03,256.0,2571,2085,2796,2709,373.0,5.1,361,5237,0.00,2.58,166.65,1.325,8740,0.000,0.086,2576,701,2315,2375,2256,0,0,0,0,0,0,14.66,13.66,12.94
$GC,5265,0.24,329.1,2576,702,2372,2253,360.8,6.6,391,5380,0.25,2.53,109.80,1.291,11430,0.092,0.081,2671,2097,2028,2083,1973,0,0,0,0,0,0,13.81,13.74,12.67
$GC,5697,0.21,329.1,2672,2097,2065,1950,303.9,13.2,427,5702,0.00,2.50,0.00,0.000,644,0.000,0.088,2672,695,2007,2064,1950,0,0,0,0,0,0,14.35,14.00,14.36
$GC,5727,0.21,329.1,2673,694,2061,1950,300.0,12.6,433,5732,0.00,2.47,0.00,0.000,1030,0.000,0.079,2672,2101,2006,2059,1953,0,0,0,0,0,0,14.17,14.04,14.21
$GC,6057,0.21,329.1,2672,2102,2060,1950,258.4,12.2,449,6062,0.00,2.47,0.00,0.000,516,0.000,0.088,2672,694,2004,2059,1949,0,0,0,0,0,0,14.59,14.20,14.61
$GC,6117,0.25,329.1,2673,694,2058,1949,251.7,10.8,461,6122,0.00,2.45,0.00,0.000,1158,0.000,0.080,2672,2101,2002,2057,1948,0,0,0,0,0,0,14.36,14.23,14.41
$GC,6447,0.25,329.1,2672,2102,2057,1948,215.9,10.3,477,6452,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,691,2002,2057,1948,0,0,0,0,0,0,14.64,14.23,14.69
$GC,6547,0.33,348.0,2673,691,2056,1948,206.6,9.1,497,6578,0.00,2.45,25.15,1.405,9382,0.000,0.079,2672,2106,1944,1996,1892,0,0,0,0,0,0,14.39,14.26,13.34
$GC,6901,0.37,367.6,2672,2107,1988,1887,173.3,9.1,517,6934,0.00,0.00,32.28,1.381,8358,0.000,0.000,2672,2106,1866,1908,1825,0,0,0,0,0,0,14.59,14.12,13.32
$GC,7229,0.45,400.4,2673,2107,1896,1820,144.7,8.5,528,7290,0.17,0.00,57.80,1.286,10406,0.119,0.000,2745,2106,1729,1759,1700,0,0,0,0,0,0,14.17,14.01,13.28
$GC,7589,0.41,400.4,2746,2107,1752,1690,99.3,12.3,540,7594,0.15,2.50,0.00,0.000,4740,0.237,0.088,2713,687,1720,1751,1689,0,0,0,0,0,0,13.93,14.16,14.15
$GC,7710,0.51,435.2,2712,687,1750,1689,88.3,8.4,564,7732,0.00,2.47,17.30,0.468,9382,0.000,0.078,2713,2106,1591,1624,1559,0,0,0,0,0,0,14.26,14.12,13.70
$GC,8030,0.65,506.5,2713,2107,1625,1559,63.4,6.7,598,8072,0.25,0.00,38.00,0.392,10918,0.089,0.000,2804,2106,1299,1349,1249,0,0,0,0,0,0,14.30,14.08,13.69
$GC,8370,0.68,543.4,2804,2106,1350,1243,29.7,8.3,633,8396,0.00,2.55,19.60,0.302,8740,0.000,0.087,2807,691,1147,1210,1085,0,0,0,0,0,0,14.55,14.12,13.81
$GC,8567,0.83,635.3,2806,692,1210,1086,17.2,5.8,672,8626,0.12,2.47,49.20,0.258,11430,0.134,0.078,2863,2105,768,831,706,0,0,0,0,0,0,14.11,14.07,13.78
$STATE,8729,end climb,SURFACE_DEPTH_REACHED
$STATE,8729,begin surface coast
$FINISH,0.1,1.021588
$STATE,8739,end surface coast,CONTROL_FINISHED_OK
$STATE,8739,begin surface
$SM_CCo,8760,36.40,0.210,0,0,500,702.78
$SM_GC,1.02,8.05,0.17,36.40,0.065,0.119,0.210,197,2227,500,-7.39,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,14.00
$RAFOS_CLK,393
$MODEM,4,1504024020,75.71700,-151.21500,120.078,173855.0
$MODEM,3,1504023519,74.30400,-153.94400,12.945,18742.1
$MODEM,2,1504023255,73.18300,-149.96500,108.031,156412.6
$RAFOS_FIX,7414.234863,-15317.242188,290817,161658,3,255,1.50
$IRIDIUM_FIX,7414.18,-15319.02,290817,160028
$TT8_MAMPS,0.039697,0.925764
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,12
$CP_FREE,15984689152.000000
$PM_FREEKB_00,52128896
$24V_AH,12.36,136.620
$10V_AH,12.20,0.000
$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,25.375,73.550,939.250,36.400,0.000,0.000,0.000,720.450,3.000,0.000,16.194,0.000,6123.245,802.549,2760.366,322.921,0.000,2719.602,0.000,997.608,1661.000,0.539,0.000
$DEVICE_MAMPS,453.645,2141.235,1445.085,210.375,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8771.000,8750.000,8715.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.708,20.000,9.905,0.000
$MEM,323356
$DATA_FILE_SIZE,23484,695
$CAP_FILE_SIZE,104402,0
$CFSIZE,2097872896,2027683840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,3,0
$INTR,0,154.19,0x2341ea,0,24
$SOUNDSPEED,1447.8
$CURRENT,0.028,225.87,1
$GPS,290817,183528,7415.423,-15321.199,41,0.8,42,19.4,0.7,174.8,11,7.7