version: 66.13
glider: 196
mission: 14
dive: 146
start: 8 23 117 18 9 54
data:
$ID,196
$MISSION,14
$DIVE,146
$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,36
$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,48
$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,411.0
$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
$GPS1,230817,174641,7328.0371,-15030.0352,15,0.7,17,20.6,0.0,215.4,12,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.5
$GPS2,230817,180920,7327.9546,-15030.1855,6,0.8,37,20.6,0.0,353.9,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.8,139157,-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,44,begin dive
$GC,47,-0.57,-145.9,194,2191,497,489,0.0,0.0,0,140,0.00,0.00,-91.82,0.000,16386,0.000,0.000,193,2190,2280,2221,2340,0,0,0,0,0,0,14.52,28.83,14.54
$GC,143,-0.57,-145.9,194,2190,2217,2339,4.8,-7.2,9,191,12.52,2.75,-28.65,0.000,18724,0.455,2.153,2375,3579,3962,3942,3983,0,0,0,0,0,0,13.71,12.64,14.17
$GC,366,-0.60,-145.9,2376,3581,3951,3984,58.6,-17.0,53,371,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2209,3967,3951,3984,0,0,0,0,0,0,14.29,14.18,14.33
$GC,696,-0.65,-145.9,2376,2208,3953,3983,108.2,-12.6,83,701,0.00,2.42,0.00,0.000,388,0.000,0.086,2367,3585,3967,3952,3983,0,0,0,0,0,0,14.56,14.16,14.57
$GC,756,-0.82,-145.9,2368,3585,3953,3983,114.8,-10.1,95,761,0.17,2.35,0.00,0.000,5254,0.110,0.054,2293,2198,3968,3953,3983,0,0,0,0,0,0,14.26,14.23,14.34
$GC,1086,-0.78,-145.9,2294,2197,3953,3984,172.5,-17.2,111,1091,0.12,2.42,0.00,0.000,2436,0.283,0.086,2319,3580,3967,3952,3983,0,0,0,0,0,0,14.03,14.23,14.19
$GC,1208,-0.88,-145.9,2319,3581,3953,3984,187.7,-11.7,135,1213,0.00,2.33,0.00,0.000,1158,0.000,0.056,2319,2194,3967,3952,3983,0,0,0,0,0,0,14.40,14.28,14.43
$GC,1538,-0.93,-145.9,2319,2193,3953,3984,228.5,-11.9,151,1543,0.12,2.45,0.00,0.000,4484,0.141,0.087,2252,3586,3967,3952,3983,0,0,0,0,0,0,14.33,14.21,14.37
$GC,1683,-0.93,-145.9,2253,3586,3953,3983,250.7,-15.5,180,1691,0.10,2.35,0.00,0.000,3078,0.254,0.058,2271,2199,3966,3952,3980,0,0,0,0,0,0,14.07,14.25,14.29
$GC,1988,-0.93,-145.9,2271,2200,3953,3984,292.0,-13.1,191,1993,0.00,2.42,0.00,0.000,260,0.000,0.087,2266,3585,3968,3952,3985,0,0,0,0,0,0,14.63,14.21,14.65
$GC,2068,-0.98,-145.9,2266,3586,3952,3987,302.3,-12.2,207,2073,0.00,2.33,0.00,0.000,1158,0.000,0.056,2266,2199,3967,3951,3983,0,0,0,0,0,0,14.41,14.29,14.44
$GC,2378,-0.98,-145.9,2265,2198,3952,3982,342.3,-12.5,219,2383,0.00,2.42,0.00,0.000,260,0.000,0.086,2256,3585,3966,3950,3983,0,0,0,0,0,0,14.64,14.21,14.66
$GC,2463,-1.02,-145.9,2257,3587,3952,3983,352.7,-11.9,236,2470,0.00,2.35,0.00,0.000,1158,0.000,0.056,2256,2189,3965,3947,3983,0,0,0,0,0,0,14.36,14.24,14.40
$GC,2768,-1.02,-145.9,2256,2189,3951,3982,391.7,-12.8,247,2773,0.00,2.45,0.00,0.000,260,0.000,0.087,2249,3581,3966,3950,3982,0,0,0,0,0,0,14.65,14.20,14.66
$GC,2864,-1.06,-145.9,2250,3581,3950,3982,403.4,-11.8,266,2868,0.00,2.33,0.00,0.000,1158,0.000,0.055,2249,2198,3965,3949,3982,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3189,-1.06,-145.9,2249,2197,3948,3982,445.4,-13.0,281,3193,0.00,2.42,0.00,0.000,260,0.000,0.087,2241,3581,3965,3949,3981,0,0,0,0,0,0,14.64,14.21,14.66
$GC,3310,-1.09,-145.9,2242,3580,3949,3981,460.7,-12.5,305,3315,0.00,2.33,0.00,0.000,1158,0.000,0.055,2241,2191,3964,3948,3981,0,0,0,0,0,0,14.41,14.29,14.45
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3464,-0.13,0.0,2242,2062,3949,3981,480.9,-13.4,315,3679,1.12,0.00,211.73,1.438,10246,0.243,0.000,2527,2061,3366,3384,3348,0,0,0,0,0,0,13.92,13.50,12.71
$STATE,3682,end apogee,CONTROL_FINISHED_OK
$STATE,3682,begin climb
$GC,3685,0.57,145.9,2528,2061,3378,3339,492.1,0.0,322,3900,0.75,2.72,201.93,1.387,10500,0.065,0.074,2780,3479,2761,2802,2721,0,0,0,0,0,0,13.59,13.16,12.41
$GC,4125,0.13,145.9,2781,3481,2786,2721,461.3,17.0,404,4132,0.77,2.35,0.00,0.000,5254,0.353,0.058,2631,2134,2753,2786,2720,0,0,0,0,0,0,13.44,13.78,13.81
$GC,4437,0.04,174.7,2631,2134,2786,2720,432.9,8.7,416,4483,0.12,2.40,38.75,1.451,12708,0.300,0.081,2603,3481,2647,2684,2610,0,0,0,0,0,0,13.88,13.94,13.13
$GC,4710,0.02,198.5,2603,3482,2679,2603,408.9,8.9,470,4749,0.00,2.35,32.70,1.478,9382,0.000,0.061,2602,2100,2552,2599,2506,0,0,0,0,0,0,14.16,14.05,13.18
$GC,5071,0.05,241.5,2603,2101,2597,2494,379.7,8.0,492,5141,0.00,2.53,64.80,1.393,8740,0.000,0.087,2602,693,2375,2422,2328,0,0,0,0,0,0,14.52,13.75,13.16
$GC,5211,0.19,290.1,2603,692,2414,2326,368.5,7.8,520,5291,0.12,2.42,72.35,1.352,11430,0.133,0.079,2659,2071,2178,2225,2131,0,0,0,0,0,0,14.07,14.02,12.99
$GC,5611,0.19,290.1,2659,2072,2218,2118,320.7,12.1,550,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2070,2166,2217,2116,0,0,0,0,0,0,14.45,14.46,14.49
$GC,5912,0.19,290.1,2659,2077,2221,2117,286.0,11.3,560,5917,0.00,2.42,0.00,0.000,516,0.000,0.087,2659,693,2165,2215,2116,0,0,0,0,0,0,14.57,14.23,14.59
$GC,5963,0.23,290.1,2660,694,2214,2117,280.6,10.3,570,5967,0.00,2.45,0.00,0.000,1158,0.000,0.078,2660,2108,2164,2213,2116,0,0,0,0,0,0,14.38,14.25,14.42
$GC,6272,0.23,290.1,2660,2109,2214,2112,247.9,10.2,582,6278,0.00,2.50,0.00,0.000,516,0.000,0.087,2660,684,2164,2214,2114,0,0,0,0,0,0,14.64,14.27,14.65
$GC,6333,0.30,319.1,2660,685,2213,2115,242.5,8.7,594,6383,0.00,2.45,42.20,1.355,9382,0.000,0.078,2660,2106,2063,2108,2018,0,0,0,0,0,0,14.42,14.29,13.31
$GC,6693,0.35,345.9,2660,2106,2103,2009,210.5,8.8,616,6739,0.12,0.00,44.22,1.345,10406,0.132,0.000,2711,2106,1954,1997,1912,0,0,0,0,0,0,14.13,13.95,13.24
$GC,7023,0.32,345.9,2712,2106,1990,1899,173.3,11.1,627,7028,0.00,2.50,0.00,0.000,644,0.000,0.088,2713,691,1944,1989,1899,0,0,0,0,0,0,14.40,14.05,14.41
$GC,7083,0.32,345.9,2712,692,1989,1899,166.9,10.4,639,7088,0.00,2.47,0.00,0.000,1030,0.000,0.076,2712,2105,1943,1987,1899,0,0,0,0,0,0,14.20,14.08,14.25
$GC,7413,0.32,345.9,2713,2103,1988,1898,132.5,10.2,655,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2103,1941,1987,1896,0,0,0,0,0,0,14.46,14.47,14.48
$GC,7713,0.33,365.4,2713,2104,1986,1897,104.4,9.1,665,7744,0.00,2.53,24.05,1.346,8740,0.000,0.088,2712,685,1872,1907,1837,0,0,0,0,0,0,14.46,14.08,13.31
$GC,7821,0.44,403.3,2712,685,1902,1837,95.1,8.3,686,7848,0.00,2.50,20.17,0.496,9382,0.000,0.079,2713,2100,1719,1745,1693,0,0,0,0,0,0,14.11,13.98,13.63
$GC,8144,0.57,478.9,2711,2100,1747,1685,70.5,6.5,721,8188,0.12,2.58,38.83,0.415,10916,0.133,0.089,2780,692,1411,1456,1366,0,0,0,0,0,0,14.09,14.00,13.66
$GC,8235,0.63,485.5,2781,693,1455,1368,61.9,9.7,738,8246,0.00,2.50,3.88,0.383,9382,0.000,0.079,2780,2107,1384,1433,1336,0,0,0,0,0,0,14.07,13.95,13.66
$GC,8551,0.72,557.3,2781,2109,1432,1333,37.3,6.7,771,8594,0.00,2.55,37.15,0.321,8612,0.000,0.083,2781,3511,1092,1157,1028,0,0,0,0,0,0,14.39,14.02,13.74
$GC,8634,0.86,589.2,2780,3511,1157,1029,30.9,8.5,787,8657,0.22,2.45,17.05,0.301,11430,0.099,0.067,2870,2099,962,1031,894,0,0,0,0,0,0,14.09,14.00,13.78
$MODEM_MSG,CACST,6,1,20170823200359.716985,3,289,24,0240,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170823201252.378840,3,3786,35,0153,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31
$MODEM_MSG,CACST,6,1,20170823202003.612524,3,18657,30,1236,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170823202753.832804,3,719,28,0143,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$STATE,8931,end climb,SURFACE_DEPTH_REACHED
$STATE,8931,begin surface coast
$FINISH,0.0,1.020511
$STATE,8952,end surface coast,CONTROL_FINISHED_OK
$STATE,8952,begin surface
$SM_CCo,8972,60.78,0.213,0,0,497,702.78
$SM_GC,1.22,8.07,0.20,60.78,0.067,0.107,0.213,205,2224,497,-7.38,-0.40,702.78,0,0,0,0,0,0,14.18,14.19,13.90
$RAFOS_CLK,117
$MODEM,4,1503520073,75.71700,-151.21500,173.083,250781.1
$MODEM,3,1503519603,74.30400,-153.94400,96.613,139982.7
$MODEM,2,1503519172,73.18300,-149.96500,25.379,36771.6
$MODEM,0,1503518639,75.36600,-145.04601,185.717,269086.9
$RAFOS_FIX,7327.592285,-15032.682617,230817,202011,4,255,0.19
$IRIDIUM_FIX,7327.76,-15030.30,230817,180300
$TT8_MAMPS,0.085386,0.850864
$HUMID,43.69
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,8
$CP_FREE,15994683392.000000
$PM_FREEKB_00,53668096
$24V_AH,12.41,112.613
$10V_AH,12.30,0.000
$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,24.500,83.525,849.800,60.775,0.000,0.000,0.000,801.950,2.000,0.000,38.318,0.000,6630.687,924.096,2501.559,352.388,0.000,2475.005,0.000,1175.599,2196.000,0.539,0.000
$DEVICE_MAMPS,455.175,2152.710,1477.980,213.435,0.000,0.000,0.000,161.415,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8982.000,8979.000,8928.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.474,20.000,9.970,0.000
$MEM,323676
$DATA_FILE_SIZE,26736,821
$CAP_FILE_SIZE,113880,0
$CFSIZE,2097872896,2043052032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.060,250.94,1
$GPS,230817,204151,7328.942,-15033.038,35,1.0,36,20.6,0.5,242.2,7,8.2