version: 66.13
glider: 196
mission: 14
dive: 88
start: 8 16 117 22 21 12
data:
$ID,196
$MISSION,14
$DIVE,88
$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,25
$R_STBD_OVSHOOT,48
$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,252.0
$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
$GPS1,160817,220720,7230.3286,-14824.8457,35,0.9,35,21.2,0.0,0.0,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.3
$GPS2,160817,222038,7230.3511,-14824.7148,7,0.7,10,21.2,0.0,0.0,11,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,316.2,90486,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,197,2229,498,480,0.0,0.0,0,129,0.00,0.00,-81.72,0.000,16386,0.000,0.000,196,2229,2055,1981,2129,0,0,0,0,0,0,14.40,28.83,14.42
$GC,132,-0.57,-145.9,197,2229,1984,2132,3.2,-3.8,8,189,12.50,2.85,-36.88,0.000,19236,0.453,2.141,2385,790,3965,3951,3979,0,0,0,0,0,0,13.69,12.66,14.11
$GC,369,-0.64,-145.9,2385,790,3961,3980,52.2,-14.2,55,376,0.00,2.47,0.00,0.000,1158,0.000,0.087,2378,2180,3969,3959,3979,0,0,0,0,0,0,14.12,13.99,14.15
$GC,676,-0.66,-145.9,2379,2180,3963,3979,98.6,-13.6,86,681,0.00,2.55,0.00,0.000,388,0.000,0.093,2376,3614,3970,3962,3979,0,0,0,0,0,0,14.45,14.12,14.48
$GC,891,-0.81,-145.9,2377,3614,3962,3979,121.5,-9.7,129,896,0.20,2.40,0.00,0.000,5286,0.101,0.053,2295,2197,3970,3961,3979,0,0,0,0,0,0,14.22,14.19,14.31
$GC,1217,-0.73,-145.9,2296,2192,3963,3979,179.9,-17.7,144,1222,0.17,2.50,0.00,0.000,2436,0.272,0.086,2328,3613,3970,3961,3979,0,0,0,0,0,0,13.89,14.14,14.04
$GC,1357,-0.81,-145.9,2328,3613,3962,3980,197.5,-11.8,172,1362,0.00,2.40,0.00,0.000,1158,0.000,0.054,2328,2190,3970,3961,3979,0,0,0,0,0,0,14.35,14.25,14.38
$GC,1667,-0.85,-145.9,2328,2190,3962,3978,234.1,-11.0,184,1672,0.00,2.45,0.00,0.000,388,0.000,0.087,2319,3611,3969,3961,3977,0,0,0,0,0,0,14.56,14.15,14.60
$GC,1789,-0.95,-145.9,2320,3613,3961,3976,246.4,-10.0,208,1794,0.15,2.40,0.00,0.000,5286,0.119,0.054,2260,2192,3968,3961,3976,0,0,0,0,0,0,14.30,14.21,14.38
$GC,2120,-0.88,-145.9,2261,2190,3962,3973,297.3,-15.3,224,2125,0.12,2.50,0.00,0.000,2436,0.304,0.084,2279,3613,3967,3961,3973,0,0,0,0,0,0,13.93,14.17,14.11
$GC,2265,-0.92,-145.9,2279,3616,3962,3975,315.4,-11.7,253,2271,0.00,2.40,0.00,0.000,1158,0.000,0.054,2279,2198,3967,3961,3973,0,0,0,0,0,0,14.24,14.14,14.26
$GC,2570,-0.92,-145.9,2279,2194,3962,3970,353.7,-12.5,264,2575,0.00,2.50,0.00,0.000,260,0.000,0.088,2270,3616,3965,3961,3970,0,0,0,0,0,0,14.57,14.18,14.59
$GC,2701,-0.95,-145.9,2270,3618,3961,3971,369.5,-11.8,290,2707,0.00,2.40,0.00,0.000,1158,0.000,0.054,2270,2189,3965,3961,3970,0,0,0,0,0,0,14.37,14.26,14.40
$GC,3022,-0.95,-145.9,2270,2189,3962,3970,410.8,-12.8,304,3026,0.00,2.50,0.00,0.000,260,0.000,0.087,2267,3613,3964,3960,3969,0,0,0,0,0,0,14.57,14.19,14.58
$GC,3148,-0.99,-145.9,2267,3614,3961,3970,426.0,-12.0,329,3153,0.00,2.40,0.00,0.000,1158,0.000,0.054,2267,2192,3964,3961,3968,0,0,0,0,0,0,14.35,14.24,14.38
$GC,3473,-0.99,-145.9,2267,2190,3962,3967,467.6,-12.7,344,3478,0.00,2.50,0.00,0.000,260,0.000,0.087,2259,3613,3964,3961,3967,0,0,0,0,0,0,14.57,14.14,14.58
$STATE,3571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3571,begin apogee
$GC,3579,-0.13,0.0,2260,2103,3961,3968,480.4,-12.4,364,3790,1.08,0.00,207.30,1.451,10246,0.250,0.000,2528,2102,3364,3403,3325,0,0,0,0,0,0,13.93,13.50,12.77
$STATE,3794,end apogee,CONTROL_FINISHED_OK
$STATE,3794,begin climb
$GC,3796,0.57,145.9,2529,2103,3398,3320,490.6,0.0,371,4006,0.75,2.65,199.62,1.390,10756,0.063,0.077,2792,691,2763,2823,2704,0,0,0,0,0,0,13.57,13.05,12.52
$GC,4016,0.57,145.9,2793,691,2820,2703,492.9,-0.8,373,4021,0.00,2.62,0.00,0.000,1030,0.000,0.074,2792,2101,2761,2819,2703,0,0,0,0,0,0,13.38,13.29,13.40
$GC,4336,0.18,145.9,2793,2104,2809,2702,438.9,16.7,387,4341,0.68,2.50,0.00,0.000,4484,0.320,0.074,2644,3514,2755,2809,2701,0,0,0,0,0,0,13.57,13.87,13.81
$GC,4386,0.03,145.9,2644,3515,2807,2702,432.5,11.3,397,4391,0.25,2.45,0.00,0.000,5254,0.270,0.058,2597,2097,2753,2806,2701,0,0,0,0,0,0,13.72,13.95,14.00
$GC,4697,0.08,216.9,2597,2097,2807,2702,410.8,6.7,409,4802,0.00,2.62,100.75,1.375,8740,0.000,0.086,2602,688,2477,2549,2405,0,0,0,0,0,0,14.41,13.71,13.03
$GC,4857,0.23,278.7,2602,689,2539,2403,399.3,7.1,441,4953,0.17,2.55,89.88,1.351,11430,0.106,0.078,2672,2100,2229,2297,2162,0,0,0,0,0,0,13.88,13.83,12.86
$GC,5268,0.19,278.7,2672,2101,2282,2144,347.6,12.7,473,5273,0.00,2.53,0.00,0.000,644,0.000,0.088,2672,688,2209,2275,2143,0,0,0,0,0,0,14.27,13.93,14.26
$GC,5318,0.19,278.7,2672,687,2280,2143,341.4,12.0,483,5323,0.00,2.50,0.00,0.000,1030,0.000,0.076,2672,2103,2211,2280,2143,0,0,0,0,0,0,14.13,14.00,14.15
$GC,5628,0.15,278.7,2672,2104,2279,2142,302.8,12.4,495,5633,0.15,2.47,0.00,0.000,4740,0.264,0.081,2645,690,2209,2278,2141,0,0,0,0,0,0,13.95,14.12,14.10
$GC,5668,0.23,278.7,2644,690,2278,2141,298.5,10.0,503,5673,0.00,2.47,0.00,0.000,1158,0.000,0.078,2646,2111,2208,2276,2141,0,0,0,0,0,0,14.28,14.16,14.31
$GC,5991,0.27,280.7,2647,2105,2277,2140,266.1,9.9,517,5996,0.00,2.50,0.00,0.000,676,0.000,0.085,2646,688,2208,2276,2140,0,0,0,0,0,0,14.44,14.02,14.46
$GC,6021,0.33,280.9,2647,688,2276,2140,262.9,10.0,523,6026,0.12,2.47,0.00,0.000,3238,0.132,0.079,2692,2100,2207,2275,2140,0,0,0,0,0,0,14.10,14.05,14.19
$GC,6352,0.27,280.9,2696,2102,2276,2141,221.2,12.0,539,6353,0.00,0.00,0.00,0.000,134,0.000,0.000,2696,2101,2207,2275,2140,0,0,0,0,0,0,14.42,14.45,14.45
$GC,6652,0.22,280.9,2696,2104,2276,2141,188.8,10.3,549,6657,0.15,2.50,0.00,0.000,4740,0.236,0.083,2660,684,2207,2275,2140,0,0,0,0,0,0,13.95,14.03,14.09
$GC,6749,0.35,343.7,2660,685,2274,2141,181.6,7.1,568,6863,0.10,2.50,104.20,1.261,11430,0.153,0.079,2701,2112,1959,2013,1905,0,0,0,0,0,0,14.14,14.13,13.13
$GC,7162,0.36,351.4,2702,2111,2004,1897,140.7,9.6,601,7168,0.00,0.00,4.47,1.541,8230,0.000,0.000,2701,2111,1934,1988,1880,0,0,0,0,0,0,14.28,14.01,13.09
$GC,7462,0.41,373.5,2701,2112,1989,1881,113.3,9.0,611,7507,0.00,2.60,36.80,1.314,8868,0.000,0.085,2704,693,1838,1879,1797,0,0,0,0,0,0,14.33,13.94,13.26
$GC,7587,0.56,416.3,2705,693,1873,1796,102.8,8.0,636,7665,0.17,2.50,68.05,1.213,11430,0.109,0.077,2774,2100,1668,1707,1629,0,0,0,0,0,0,14.01,13.95,13.09
$GC,7962,0.56,416.3,2774,2100,1703,1613,57.3,10.1,681,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2101,1656,1703,1609,0,0,0,0,0,0,14.21,14.21,14.22
$MODEM_MSG,CACST,6,1,20170817000444.758831,3,36,15,0133,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170817001327.763360,3,1185,30,0461,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170817002129.991978,3,7140,38,0828,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$MODEM_MSG,CACST,6,1,20170817002913.037051,3,22,13,0110,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,8264,0.62,501.5,2774,2101,1702,1611,34.5,6.1,711,8308,0.00,0.00,42.05,0.307,8486,0.000,0.000,2773,2102,1321,1380,1262,0,0,0,0,0,0,14.28,14.02,13.74
$GC,8605,0.95,685.3,2773,2101,1381,1251,14.4,1.5,749,8710,0.32,2.53,93.80,0.252,10916,0.089,0.085,2903,693,567,619,515,0,0,0,0,0,0,14.14,13.98,13.82
$STATE,8793,end climb,SURFACE_DEPTH_REACHED
$STATE,8793,begin surface coast
$FINISH,0.1,1.020170
$STATE,8813,end surface coast,CONTROL_FINISHED_OK
$STATE,8813,begin surface
$SM_CCo,8836,8.68,0.220,0,0,499,702.78
$SM_GC,2.20,8.40,2.70,8.68,0.088,0.079,0.220,202,2201,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.11,13.95
$RAFOS_CLK,136
$MODEM,4,1502929753,75.71700,-151.21500,252.287,365965.9
$MODEM,3,1502929289,74.30400,-153.94400,182.992,265446.9
$MODEM,2,1502928807,73.18300,-149.96500,60.763,88142.9
$MODEM,0,1502928284,75.36600,-145.04601,230.759,334737.2
$RAFOS_FIX,7229.806152,-14828.175781,170817,000013,4,255,0.31
$IRIDIUM_FIX,7230.34,-14831.51,160817,221150
$TT8_MAMPS,0.038948,0.934003
$HUMID,45.90
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,14
$CP_FREE,16004448256.000000
$PM_FREEKB_00,56511936
$24V_AH,12.52,84.285
$10V_AH,12.44,0.000
$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,25.500,85.500,946.925,8.675,0.000,0.000,0.000,466.050,3.500,0.000,10.972,0.000,6253.263,814.100,2294.357,295.932,0.000,2167.326,0.000,1132.605,2132.000,0.539,0.000
$DEVICE_MAMPS,452.880,2141.235,1540.710,219.555,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8842.000,8831.000,8790.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.787,20.000,16.591,0.000
$MEM,323680
$DATA_FILE_SIZE,26772,790
$CAP_FILE_SIZE,106637,0
$CFSIZE,2097872896,2061697024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9849.54,0x213af4,7,24
$SOUNDSPEED,1450.0
$CURRENT,0.069,226.01,1
$GPS,170817,004941,7231.236,-14825.821,15,0.7,17,21.2,0.0,0.0,11,9.5