version: 66.13
glider: 196
mission: 14
dive: 91
start: 8 17 117 6 54 41
data:
$ID,196
$MISSION,14
$DIVE,91
$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,22
$R_STBD_OVSHOOT,43
$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,261.0
$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
$GPS1,170817,064302,7233.1118,-14828.0107,33,0.8,34,21.2,0.0,301.5,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.2
$GPS2,170817,065406,7233.1797,-14828.2812,6,0.8,7,21.2,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,316.4,85073,-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,-145.9,200,2223,517,455,0.0,0.0,0,129,0.00,0.00,-81.32,0.000,16386,0.000,0.000,198,2224,2061,1978,2145,0,0,0,0,0,0,14.39,28.83,14.41
$GC,132,-0.57,-145.9,199,2225,1980,2146,3.6,-4.6,8,185,12.45,2.75,-35.30,0.000,18724,0.453,2.151,2376,3592,3963,3950,3977,0,0,0,0,0,0,13.74,12.67,14.15
$GC,410,-0.65,-145.9,2376,3595,3959,3978,62.9,-14.5,63,417,0.00,2.38,0.00,0.000,1158,0.000,0.052,2376,2195,3968,3958,3978,0,0,0,0,0,0,14.17,14.07,14.19
$GC,717,-0.69,-145.9,2376,2192,3965,3978,107.9,-12.9,90,722,0.00,2.45,0.00,0.000,388,0.000,0.086,2367,3588,3968,3959,3978,0,0,0,0,0,0,14.50,14.16,14.51
$GC,887,-0.83,-145.9,2367,3589,3959,3978,127.1,-10.6,124,892,0.17,2.35,0.00,0.000,5254,0.112,0.052,2293,2195,3968,3960,3977,0,0,0,0,0,0,14.26,14.23,14.33
$GC,1198,-0.76,-145.9,2293,2195,3961,3978,182.8,-17.9,136,1203,0.12,2.45,0.00,0.000,2436,0.288,0.086,2319,3586,3965,3959,3972,0,0,0,0,0,0,13.91,14.13,14.06
$GC,1323,-0.84,-145.9,2319,3588,3960,3978,199.4,-12.2,161,1328,0.00,2.35,0.00,0.000,1158,0.000,0.054,2319,2193,3968,3959,3977,0,0,0,0,0,0,14.35,14.26,14.39
$GC,1648,-0.88,-145.9,2320,2191,3961,3976,240.7,-12.0,176,1653,0.00,2.47,0.00,0.000,388,0.000,0.090,2318,3586,3967,3959,3976,0,0,0,0,0,0,14.55,14.16,14.57
$GC,1718,-1.00,-145.9,2318,3589,3961,3976,248.4,-10.4,190,1723,0.20,2.35,0.00,0.000,5254,0.102,0.054,2244,2198,3968,3960,3976,0,0,0,0,0,0,14.30,14.26,14.38
$GC,2039,-0.91,-145.9,2246,2197,3959,3973,302.0,-16.8,204,2044,0.15,2.42,0.00,0.000,2436,0.296,0.083,2270,3586,3966,3959,3973,0,0,0,0,0,0,13.94,14.22,14.14
$GC,2209,-0.94,-145.9,2267,3588,3962,3974,324.4,-12.5,238,2214,0.00,2.33,0.00,0.000,1158,0.000,0.055,2269,2202,3963,3959,3968,0,0,0,0,0,0,14.33,14.23,14.36
$GC,2519,-0.94,-145.9,2270,2202,3960,3972,366.0,-13.3,250,2524,0.00,2.42,0.00,0.000,260,0.000,0.087,2266,3588,3965,3959,3971,0,0,0,0,0,0,14.58,14.21,14.59
$GC,2609,-0.98,-145.9,2267,3589,3959,3972,377.4,-12.1,268,2614,0.00,2.35,0.00,0.000,1158,0.000,0.055,2267,2198,3964,3959,3970,0,0,0,0,0,0,14.38,14.27,14.41
$GC,2940,-0.98,-145.9,2267,2197,3960,3971,420.8,-13.1,284,2944,0.00,2.45,0.00,0.000,260,0.000,0.087,2258,3596,3964,3959,3969,0,0,0,0,0,0,14.59,14.21,14.60
$GC,3090,-1.01,-145.9,2258,3598,3959,3970,440.2,-12.5,314,3094,0.00,2.38,0.00,0.000,1158,0.000,0.055,2258,2190,3964,3959,3969,0,0,0,0,0,0,14.35,14.24,14.38
$STATE,3387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3387,begin apogee
$GC,3393,-0.13,0.0,2259,2062,3958,3968,481.2,-13.6,329,3603,1.08,0.00,206.57,1.451,10246,0.245,0.000,2531,2062,3366,3401,3331,0,0,0,0,0,0,13.96,13.50,12.80
$STATE,3607,end apogee,CONTROL_FINISHED_OK
$STATE,3607,begin climb
$GC,3609,0.57,145.9,2532,2062,3397,3325,492.4,0.0,336,3835,0.73,2.72,202.10,1.392,10500,0.067,0.073,2775,3491,2756,2809,2704,0,0,0,0,0,0,13.59,13.02,12.50
$GC,4033,0.14,145.9,2775,3492,2801,2705,469.6,15.8,373,4040,0.75,2.40,0.00,0.000,5254,0.350,0.057,2633,2128,2752,2800,2704,0,0,0,0,0,0,13.40,13.69,13.72
$GC,4367,0.06,189.8,2640,2127,2801,2703,441.7,8.0,389,4432,0.12,2.65,59.67,1.428,12964,0.298,0.083,2611,694,2586,2649,2523,0,0,0,0,0,0,13.77,13.72,13.01
$GC,4522,0.13,234.0,2613,695,2646,2520,429.9,8.0,420,4593,0.00,2.47,63.42,1.408,9382,0.000,0.077,2612,2080,2407,2474,2341,0,0,0,0,0,0,13.90,13.81,12.88
$GC,4908,0.19,268.9,2613,2080,2465,2330,397.5,8.4,447,4961,0.00,0.00,50.60,1.418,8358,0.000,0.000,2611,2080,2267,2333,2202,0,0,0,0,0,0,14.16,13.76,13.02
$GC,5238,0.27,305.7,2612,2081,2322,2189,370.0,8.3,458,5299,0.17,0.00,54.47,1.389,10918,0.104,0.000,2684,2080,2112,2172,2052,0,0,0,0,0,0,14.03,13.59,13.05
$GC,5598,0.22,305.7,2684,2081,2164,2046,321.6,13.6,475,5603,0.12,2.47,0.00,0.000,4740,0.262,0.083,2660,688,2104,2163,2046,0,0,0,0,0,0,13.82,14.00,13.96
$GC,5696,0.28,305.7,2660,688,2160,2045,310.9,10.5,494,5700,0.00,2.47,0.00,0.000,1158,0.000,0.077,2659,2098,2102,2159,2045,0,0,0,0,0,0,14.16,14.04,14.19
$GC,6021,0.28,305.7,2660,2099,2160,2043,274.5,11.0,509,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2099,2100,2159,2042,0,0,0,0,0,0,14.40,14.41,14.40
$MODEM_MSG,CACST,6,1,20170817080439.806866,3,13,05,0092,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170817081323.178424,3,1371,31,0267,0150,250,00,00,00,00,-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,6,1,20170817082126.504933,3,57,17,0211,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$MODEM_MSG,CACST,6,1,20170817082910.008086,3,51,17,0182,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,6321,0.29,309.3,2660,2100,2156,2043,243.7,9.8,519,6326,0.00,2.42,0.00,0.000,548,0.000,0.085,2660,694,2100,2159,2042,0,0,0,0,0,0,14.40,14.06,14.42
$GC,6366,0.37,326.1,2660,694,2158,2042,239.5,9.2,528,6402,0.12,2.42,28.45,1.406,11430,0.134,0.077,2710,2107,2031,2085,1978,0,0,0,0,0,0,14.14,14.09,13.28
$GC,6712,0.31,326.1,2711,2108,2080,1974,196.4,11.8,547,6717,0.00,2.50,0.00,0.000,644,0.000,0.084,2712,688,2026,2079,1973,0,0,0,0,0,0,14.45,14.09,14.50
$GC,6772,0.31,326.1,2713,689,2077,1974,189.9,10.3,559,6777,0.12,2.47,0.00,0.000,5126,0.230,0.077,2685,2107,2024,2076,1973,0,0,0,0,0,0,14.04,14.16,14.26
$GC,7102,0.33,350.8,2685,2108,2077,1971,159.6,8.9,575,7145,0.00,0.00,41.67,1.341,8230,0.000,0.000,2685,2107,1934,1984,1885,0,0,0,0,0,0,14.52,14.00,13.31
$GC,7433,0.41,390.0,2686,2107,1971,1876,132.0,8.2,586,7504,0.00,2.60,66.78,1.270,8868,0.000,0.086,2685,696,1769,1804,1735,0,0,0,0,0,0,14.44,13.83,13.24
$GC,7575,0.57,437.9,2685,696,1797,1735,120.6,7.8,614,7664,0.25,2.50,80.57,1.206,11430,0.092,0.079,2781,2110,1574,1619,1529,0,0,0,0,0,0,14.05,13.98,13.07
$GC,7964,0.53,437.9,2781,2110,1617,1510,67.2,13.0,659,7969,0.00,2.53,0.00,0.000,644,0.000,0.087,2781,697,1564,1618,1510,0,0,0,0,0,0,14.29,13.98,14.31
$GC,8034,0.53,437.9,2782,696,1613,1509,59.2,10.5,673,8040,0.00,2.50,0.00,0.000,1030,0.000,0.077,2781,2105,1561,1612,1510,0,0,0,0,0,0,14.17,14.08,14.22
$GC,8345,0.58,510.5,2781,2106,1613,1507,33.4,6.6,705,8386,0.00,0.00,35.83,0.304,8742,0.000,0.000,2782,2106,1279,1343,1216,0,0,0,0,0,0,14.44,14.03,13.83
$GC,8686,0.92,717.1,2782,2106,1344,1213,14.3,0.5,742,8787,0.28,0.00,98.75,0.252,10918,0.093,0.000,2885,2104,497,547,448,0,0,0,0,0,0,14.21,14.14,13.87
$STATE,8903,end climb,SURFACE_DEPTH_REACHED
$STATE,8903,begin surface coast
$FINISH,-0.0,1.020208
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,9004,0.00,0.000,0,0,496,702.78
$SM_GC,1.04,8.18,0.17,0.00,0.073,0.125,0.000,200,2219,496,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,14.31
$RAFOS_CLK,229
$MODEM,4,1502958550,75.71700,-151.21500,249.258,361797.1
$MODEM,3,1502958086,74.30400,-153.94400,179.505,260550.6
$MODEM,2,1502957603,73.18300,-149.96500,56.178,81542.7
$MODEM,0,1502957079,75.36600,-145.04601,225.807,327757.7
$RAFOS_FIX,7232.996094,-14830.577148,170817,080809,4,255,0.26
$IRIDIUM_FIX,7233.84,-14824.02,170817,034930
$TT8_MAMPS,0.040446,0.855358
$HUMID,49.01
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.40
$XPDR_PINGS,6
$CP_FREE,16003923968.000000
$PM_FREEKB_00,56295488
$24V_AH,12.50,85.887
$10V_AH,12.43,0.000
$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,25.025,69.375,988.900,0.000,0.000,0.000,0.000,387.900,1.500,0.000,8.985,0.000,6338.657,868.724,2195.228,277.605,0.000,2110.552,0.000,1107.687,2215.000,0.540,0.000
$DEVICE_MAMPS,452.880,2151.180,1451.205,0.000,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8936.000,8927.000,8885.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.493,20.000,16.598,0.000
$MEM,323632
$DATA_FILE_SIZE,26708,773
$CAP_FILE_SIZE,100352,0
$CFSIZE,2097872896,2060746752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.057,252.52,1
$GPS,170817,092546,7234.262,-14829.063,16,0.8,17,21.2,0.0,0.0,10,8.3