version: 66.13
glider: 196
mission: 14
dive: 93
start: 8 17 117 12 21 50
data:
$ID,196
$MISSION,14
$DIVE,93
$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,23
$R_STBD_OVSHOOT,30
$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,267.0
$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
$GPS1,170817,121032,7235.3550,-14829.9248,33,0.8,33,21.2,0.5,239.2,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.2
$GPS2,170817,122122,7235.3140,-14829.9170,7,0.8,8,21.2,0.0,0.0,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,315.0,81329,-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,44,begin dive
$GC,47,-0.57,-145.9,197,2215,519,464,0.0,0.0,0,129,0.00,0.00,-80.85,0.000,16386,0.000,0.000,195,2215,2054,1972,2137,0,0,0,0,0,0,14.27,28.83,14.29
$GC,132,-0.57,-145.9,195,2215,1974,2138,3.7,-5.0,8,185,12.95,2.72,-33.85,0.000,18724,0.465,2.136,2377,3603,3962,3944,3980,0,0,0,0,0,0,13.64,12.86,14.01
$GC,410,-0.63,-145.9,2377,3606,3953,3980,65.7,-14.1,63,417,0.00,2.42,0.00,0.000,1158,0.000,0.054,2376,2189,3965,3951,3980,0,0,0,0,0,0,14.05,13.95,14.08
$GC,737,-0.68,-145.9,2376,2189,3954,3981,112.1,-12.9,90,741,0.00,2.53,0.00,0.000,388,0.000,0.086,2366,3608,3966,3953,3980,0,0,0,0,0,0,14.36,14.05,14.38
$GC,873,-0.81,-145.9,2367,3610,3954,3980,127.1,-10.4,117,879,0.15,2.40,0.00,0.000,5254,0.117,0.054,2307,2199,3967,3954,3980,0,0,0,0,0,0,14.09,14.07,14.17
$MODEM_MSG,CACST,6,1,20170817122908.723980,3,19,12,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,1189,-0.77,-145.9,2308,2198,3954,3981,178.6,-16.0,130,1194,0.00,2.50,0.00,0.000,388,0.000,0.087,2305,3601,3966,3953,3980,0,0,0,0,0,0,14.38,14.03,14.39
$GC,1344,-0.84,-145.9,2306,3602,3955,3981,200.1,-13.0,161,1349,0.00,2.38,0.00,0.000,1158,0.000,0.055,2304,2200,3966,3954,3979,0,0,0,0,0,0,14.20,14.12,14.26
$GC,1669,-0.84,-145.9,2305,2199,3954,3980,244.4,-13.0,176,1674,0.00,2.47,0.00,0.000,260,0.000,0.089,2303,3608,3966,3953,3980,0,0,0,0,0,0,14.52,14.19,14.53
$GC,1814,-0.93,-145.9,2303,3609,3954,3980,261.0,-10.9,205,1820,0.00,2.38,0.00,0.000,1158,0.000,0.055,2302,2199,3966,3953,3980,0,0,0,0,0,0,14.33,14.22,14.35
$GC,2119,-0.96,-145.9,2303,2199,3953,3980,296.3,-11.4,216,2124,0.00,2.47,0.00,0.000,388,0.000,0.090,2301,3602,3965,3952,3978,0,0,0,0,0,0,14.57,14.21,14.58
$GC,2210,-1.05,-145.9,2302,3602,3952,3981,305.8,-10.2,234,2215,0.20,2.35,0.00,0.000,5254,0.105,0.057,2229,2201,3964,3951,3978,0,0,0,0,0,0,14.31,14.26,14.38
$GC,2540,-0.94,-145.9,2230,2200,3952,3977,361.8,-17.3,250,2545,0.17,2.45,0.00,0.000,2436,0.301,0.084,2260,3603,3964,3950,3978,0,0,0,0,0,0,13.95,14.23,14.14
$GC,2700,-0.94,-145.9,2259,3604,3951,3979,383.3,-12.7,282,2705,0.00,2.38,0.00,0.000,1030,0.000,0.057,2260,2195,3964,3950,3978,0,0,0,0,0,0,14.38,14.27,14.41
$GC,3021,-0.91,-145.9,2260,2194,3951,3978,427.3,-13.7,296,3025,0.00,2.47,0.00,0.000,388,0.000,0.087,2253,3602,3963,3950,3976,0,0,0,0,0,0,14.59,14.20,14.61
$GC,3162,-0.91,-145.9,2254,3605,3950,3976,446.1,-13.0,324,3168,0.15,2.38,0.00,0.000,3078,0.260,0.056,2283,2196,3962,3949,3976,0,0,0,0,0,0,14.02,14.27,14.29
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3476,-0.13,0.0,2284,2069,3950,3976,481.8,-11.3,336,3688,0.95,0.00,208.82,1.449,10246,0.232,0.000,2532,2067,3364,3388,3341,0,0,0,0,0,0,14.00,13.50,12.79
$STATE,3692,end apogee,CONTROL_FINISHED_OK
$STATE,3692,begin climb
$GC,3694,0.57,145.9,2533,2067,3382,3333,492.4,0.0,343,3908,0.73,2.55,199.07,1.398,11012,0.067,0.079,2781,731,2762,2808,2716,0,0,0,0,0,0,13.57,13.18,12.51
$GC,4133,0.22,145.9,2782,732,2800,2714,466.1,14.8,424,4138,0.57,2.45,0.00,0.000,5254,0.318,0.076,2660,2098,2755,2799,2711,0,0,0,0,0,0,13.49,13.76,13.81
$GC,4448,0.08,152.9,2659,2100,2799,2707,434.4,9.7,437,4455,0.20,2.42,1.23,0.255,12964,0.301,0.076,2620,716,2742,2788,2696,0,0,0,0,0,0,13.82,13.97,13.81
$GC,4680,0.09,214.3,2621,713,2799,2710,417.1,7.2,483,4782,0.00,2.42,96.28,1.394,9382,0.000,0.079,2620,2107,2493,2552,2435,0,0,0,0,0,0,14.27,14.14,13.06
$GC,5080,0.11,236.8,2621,2103,2542,2416,382.1,9.0,513,5116,0.00,2.45,31.20,1.457,8740,0.000,0.080,2630,726,2395,2455,2336,0,0,0,0,0,0,14.36,13.78,13.18
$GC,5203,0.18,261.0,2631,725,2449,2335,371.2,8.9,537,5242,0.00,2.42,34.53,1.437,9382,0.000,0.078,2630,2098,2302,2360,2245,0,0,0,0,0,0,14.13,14.03,13.12
$GC,5564,0.22,274.0,2631,2099,2352,2229,337.1,9.4,559,5584,0.00,0.00,18.42,1.500,8358,0.000,0.000,2630,2103,2247,2307,2187,0,0,0,0,0,0,14.40,14.05,13.26
$GC,5862,0.26,286.5,2630,2100,2300,2179,308.8,9.4,569,5881,0.12,0.00,17.17,1.518,10406,0.127,0.000,2685,2099,2198,2255,2142,0,0,0,0,0,0,14.19,14.11,13.31
$GC,6162,0.21,286.5,2686,2100,2245,2132,270.6,12.7,579,6167,0.15,2.40,0.00,0.000,4740,0.249,0.080,2657,721,2187,2244,2131,0,0,0,0,0,0,13.94,14.18,14.10
$GC,6264,0.27,295.8,2658,721,2243,2131,260.5,9.6,599,6279,0.00,2.40,11.12,1.576,9382,0.000,0.078,2657,2110,2161,2217,2106,0,0,0,0,0,0,14.34,14.22,13.34
$GC,6585,0.28,308.0,2658,2107,2210,2098,228.4,9.4,613,6606,0.00,0.00,19.88,1.489,8230,0.000,0.000,2657,2107,2108,2161,2056,0,0,0,0,0,0,14.55,14.14,13.37
$GC,6885,0.35,343.3,2658,2107,2155,2045,202.4,8.4,623,6947,0.12,2.55,57.97,1.334,10916,0.132,0.085,2709,717,1964,2012,1917,0,0,0,0,0,0,14.28,13.93,13.25
$GC,6977,0.35,343.3,2709,718,2004,1916,192.4,10.7,631,6982,0.00,2.45,0.00,0.000,1030,0.000,0.076,2709,2100,1959,2003,1915,0,0,0,0,0,0,14.07,13.97,14.09
$GC,7307,0.35,343.3,2707,2102,2003,1907,156.8,10.5,647,7312,0.00,2.42,0.00,0.000,516,0.000,0.084,2709,722,1954,2003,1906,0,0,0,0,0,0,14.44,14.14,14.46
$GC,7347,0.39,346.4,2709,723,2003,1907,152.7,9.9,655,7352,0.00,2.40,0.00,0.000,1190,0.000,0.077,2709,2101,1954,2002,1906,0,0,0,0,0,0,14.29,14.18,14.31
$GC,7667,0.40,355.5,2709,2104,2002,1905,121.5,9.6,669,7682,0.00,2.40,10.95,1.487,8740,0.000,0.083,2709,724,1916,1962,1870,0,0,0,0,0,0,14.52,14.00,13.39
$GC,7708,0.45,368.4,2709,726,1953,1871,117.7,9.4,677,7729,0.00,2.40,16.02,1.421,9382,0.000,0.076,2709,2106,1863,1901,1825,0,0,0,0,0,0,14.29,14.19,13.33
$GC,8030,0.51,403.5,2709,2106,1896,1815,89.3,8.4,699,8052,0.12,2.50,17.98,0.475,10916,0.132,0.084,2781,724,1719,1750,1688,0,0,0,0,0,0,14.23,14.09,13.74
$GC,8119,0.47,403.5,2781,725,1752,1688,78.7,12.2,716,8126,0.20,2.42,0.00,0.000,5254,0.265,0.076,2736,2106,1718,1751,1685,0,0,0,0,0,0,13.87,14.13,14.12
$GC,8423,0.56,462.5,2739,2104,1752,1682,53.6,7.3,747,8460,0.00,2.47,30.52,0.367,8612,0.000,0.082,2739,3511,1477,1521,1434,0,0,0,0,0,0,14.46,14.12,13.83
$GC,8527,0.70,521.5,2740,3511,1522,1433,46.0,7.3,767,8564,0.20,2.38,30.23,0.342,11430,0.098,0.064,2817,2132,1237,1298,1177,0,0,0,0,0,0,14.19,14.12,13.83
$GC,8870,0.81,618.1,2817,2132,1299,1167,13.6,5.5,805,8925,0.00,2.55,49.15,0.254,8868,0.000,0.083,2821,681,840,919,762,0,0,0,0,0,0,14.45,14.02,13.89
$GC,9151,1.09,725.0,2821,682,918,755,2.5,5.1,860,9163,0.35,2.47,8.00,0.223,11426,0.105,0.075,2939,2103,777,853,701,0,0,0,0,0,0,14.17,14.12,14.28
$STATE,9164,end climb,SURFACE_DEPTH_REACHED
$STATE,9164,begin surface coast
$FINISH,1.4,1.020178
$STATE,9167,end surface coast,CONTROL_FINISHED_OK
$STATE,9167,begin surface
$SM_CCo,9188,36.58,0.214,0,0,498,702.78
$SM_GC,1.40,8.43,0.17,36.58,0.086,0.109,0.214,206,2225,498,-7.36,-0.71,702.78,0,0,0,0,0,0,14.24,14.26,14.00
$RAFOS_CLK,395
$MODEM,4,1502972948,75.71700,-151.21500,247.974,359658.7
$RAFOS_FIX,7232.996094,-14830.577148,170817,080809,4,255,0.26
$IRIDIUM_FIX,7232.09,-14827.77,170817,093019
$TT8_MAMPS,0.038948,0.850864
$HUMID,49.01
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,12
$CP_FREE,16003596288.000000
$PM_FREEKB_00,56151872
$24V_AH,12.51,86.829
$10V_AH,12.56,0.000
$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,25.775,83.575,858.550,36.575,0.000,0.000,0.000,381.175,3.000,0.000,8.961,0.000,6524.933,913.573,2156.671,291.672,0.000,2056.208,0.000,1234.915,0.000,0.540,0.000
$DEVICE_MAMPS,465.120,2135.880,1575.900,214.200,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9195.000,9195.000,9144.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.572,20.000,16.593,0.000
$MEM,323720
$DATA_FILE_SIZE,30044,863
$CAP_FILE_SIZE,109078,0
$CFSIZE,2097872896,2060156928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.1
$CURRENT,0.063,231.87,1
$GPS,170817,145644,7236.303,-14830.559,17,0.7,22,21.2,0.0,235.7,12,8.4