version: 66.13
glider: 196
mission: 14
dive: 117
start: 8 20 117 7 53 31
data:
$ID,196
$MISSION,14
$DIVE,117
$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,38
$R_STBD_OVSHOOT,53
$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,332.0
$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
$GPS1,200817,073018,7301.1841,-14917.7793,18,0.8,19,21.0,0.2,174.4,11,9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.6
$GPS2,200817,075302,7301.0386,-14917.9248,11,0.9,29,21.0,0.4,176.3,9,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,295.5,28237,-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,-145.9,204,2187,500,490,0.0,0.0,0,129,0.00,0.00,-81.05,0.000,16386,0.000,0.000,204,2185,2003,1928,2078,0,0,0,0,0,0,14.47,28.83,14.50
$GC,132,-0.57,-145.9,205,2187,1930,2082,3.2,-3.3,8,189,12.48,2.65,-38.75,0.000,18980,0.454,2.141,2386,804,3963,3947,3980,0,0,0,0,0,0,13.69,12.67,14.14
$GC,231,-0.55,-145.9,2387,804,3953,3981,32.7,-21.8,27,238,0.00,2.42,0.00,0.000,1158,0.000,0.087,2378,2169,3966,3952,3980,0,0,0,0,0,0,14.21,14.09,14.26
$GC,544,-0.58,-145.9,2378,2169,3957,3980,94.0,-14.3,58,549,0.00,2.58,0.00,0.000,388,0.000,0.090,2369,3612,3967,3956,3979,0,0,0,0,0,0,14.38,13.97,14.40
$GC,774,-0.71,-145.9,2369,3617,3956,3984,120.6,-10.6,104,779,0.00,2.38,0.00,0.000,1158,0.000,0.054,2369,2212,3968,3956,3980,0,0,0,0,0,0,14.09,14.00,14.12
$GC,1085,-0.79,-145.9,2369,2213,3957,3981,155.5,-10.8,116,1090,0.12,2.50,0.00,0.000,4484,0.148,0.086,2309,3620,3968,3956,3980,0,0,0,0,0,0,14.09,14.05,14.15
$GC,1191,-0.86,-145.9,2309,3621,3956,3981,169.6,-12.9,137,1196,0.00,2.42,0.00,0.000,1158,0.000,0.056,2309,2193,3968,3956,3980,0,0,0,0,0,0,14.26,14.12,14.26
$GC,1506,-0.86,-145.9,2309,2193,3956,3980,216.3,-14.6,150,1511,0.00,2.53,0.00,0.000,260,0.000,0.089,2310,3610,3967,3956,3979,0,0,0,0,0,0,14.40,14.04,14.42
$GC,1648,-0.96,-145.9,2306,3613,3956,3981,233.5,-11.2,178,1653,0.10,2.40,0.00,0.000,5254,0.151,0.056,2261,2200,3967,3956,3979,0,0,0,0,0,0,14.12,14.14,14.22
$GC,1958,-0.90,-145.9,2261,2198,3956,3978,281.9,-15.3,190,1963,0.00,2.50,0.00,0.000,388,0.000,0.087,2254,3610,3966,3956,3977,0,0,0,0,0,0,14.42,14.07,14.43
$GC,2103,-0.90,-145.9,2250,3611,3957,3977,303.4,-14.1,219,2111,0.15,2.42,0.00,0.000,3078,0.256,0.057,2280,2194,3966,3956,3977,0,0,0,0,0,0,13.84,14.08,14.10
$GC,2408,-0.90,-145.9,2277,2195,3956,3976,340.7,-12.0,230,2413,0.00,2.53,0.00,0.000,260,0.000,0.088,2272,3620,3965,3956,3975,0,0,0,0,0,0,14.42,14.07,14.44
$GC,2484,-0.96,-145.9,2272,3621,3956,3976,349.6,-11.3,245,2488,0.00,2.42,0.00,0.000,1158,0.000,0.056,2272,2192,3965,3956,3975,0,0,0,0,0,0,14.23,14.12,14.26
$MODEM_MSG,CACST,6,1,20170820080416.416168,3,799,29,0307,0150,250,00,00,00,00,-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,6,1,20170820081245.674853,3,6698,38,0161,0150,250,00,00,00,00,-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,6,1,20170820082046.961817,3,57,17,0093,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$MODEM_MSG,CACST,6,1,20170820082833.269819,3,81,19,0130,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$GC,2798,-0.96,-145.9,2273,2190,3957,3974,388.0,-12.2,258,2804,0.00,2.55,0.00,0.000,260,0.000,0.089,2267,3620,3964,3955,3974,0,0,0,0,0,0,14.42,14.04,14.43
$GC,2904,-1.02,-145.9,2269,3620,3957,3974,400.4,-11.3,279,2910,0.00,2.40,0.00,0.000,1158,0.000,0.054,2267,2182,3964,3955,3973,0,0,0,0,0,0,14.21,14.08,14.23
$GC,3220,-1.02,-145.9,2267,2180,3957,3971,439.8,-12.5,292,3225,0.00,2.53,0.00,0.000,260,0.000,0.088,2258,3616,3964,3956,3973,0,0,0,0,0,0,14.52,14.14,14.54
$GC,3342,-1.07,-145.9,2259,3616,3956,3974,454.5,-11.7,316,3347,0.00,2.38,0.00,0.000,1158,0.000,0.055,2258,2199,3964,3956,3973,0,0,0,0,0,0,14.34,14.23,14.35
$STATE,3550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3556,-0.13,0.0,2259,2056,3956,3973,481.5,-12.8,328,3777,1.08,0.10,217.93,1.421,10246,0.237,0.160,2531,2120,3364,3398,3330,0,0,0,0,0,0,13.84,13.42,12.71
$STATE,3781,end apogee,CONTROL_FINISHED_OK
$STATE,3781,begin climb
$GC,3785,0.57,145.9,2533,2120,3394,3323,491.9,0.0,335,4000,0.73,2.65,202.27,1.372,11012,0.066,0.082,2781,733,2765,2822,2708,0,0,0,0,0,0,13.54,13.17,12.45
$GC,4225,0.23,145.9,2781,734,2807,2709,464.2,15.1,417,4230,0.57,2.42,0.00,0.000,5254,0.322,0.076,2661,2088,2758,2806,2711,0,0,0,0,0,0,13.45,13.75,13.79
$GC,4535,0.07,145.9,2661,2089,2807,2704,431.9,10.0,429,4541,0.20,2.40,0.00,0.000,4740,0.297,0.077,2621,719,2755,2806,2704,0,0,0,0,0,0,13.82,14.07,14.00
$GC,4766,0.08,199.1,2621,719,2807,2704,414.1,7.5,475,4847,0.00,2.42,76.03,1.383,9382,0.000,0.080,2621,2107,2554,2623,2486,0,0,0,0,0,0,14.27,14.12,13.11
$GC,5167,0.07,216.6,2621,2109,2613,2471,377.6,9.2,505,5198,0.00,2.50,23.17,1.485,8868,0.000,0.083,2630,726,2477,2545,2409,0,0,0,0,0,0,14.42,14.01,13.24
$GC,5290,0.12,237.5,2631,726,2542,2408,366.5,9.0,529,5329,0.00,2.40,31.42,1.444,9382,0.000,0.079,2630,2099,2391,2455,2328,0,0,0,0,0,0,14.12,14.01,13.16
$GC,5651,0.13,239.8,2631,2099,2449,2322,331.3,9.9,551,5652,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2099,2388,2448,2328,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5950,0.14,253.2,2630,2100,2447,2322,302.4,9.4,561,5980,0.00,2.47,21.40,1.469,8740,0.000,0.083,2630,726,2328,2388,2269,0,0,0,0,0,0,14.55,14.16,13.35
$GC,6025,0.23,275.2,2631,727,2386,2269,295.5,9.0,576,6065,0.00,2.40,34.03,1.411,9382,0.000,0.079,2630,2100,2242,2303,2181,0,0,0,0,0,0,14.28,14.16,13.24
$GC,6372,0.30,300.7,2631,2100,2300,2169,263.9,8.8,595,6414,0.15,0.00,40.10,1.372,10406,0.116,0.000,2692,2100,2138,2196,2081,0,0,0,0,0,0,14.16,13.99,13.24
$GC,6700,0.25,300.7,2692,2099,2187,2072,224.6,11.6,606,6705,0.12,2.40,0.00,0.000,4740,0.248,0.081,2672,727,2129,2187,2071,0,0,0,0,0,0,14.04,14.09,14.22
$GC,6781,0.32,322.8,2672,727,2185,2071,217.0,9.0,622,6822,0.00,2.38,33.88,1.366,9382,0.000,0.080,2672,2099,2046,2099,1993,0,0,0,0,0,0,14.33,14.21,13.27
$GC,7122,0.37,348.4,2673,2100,2094,1985,186.2,8.8,640,7165,0.00,0.00,41.25,1.327,8358,0.000,0.000,2672,2100,1946,1996,1896,0,0,0,0,0,0,14.52,14.01,13.27
$GC,7451,0.46,388.0,2669,2100,1989,1883,158.8,8.2,651,7526,0.15,2.50,67.25,1.261,10916,0.123,0.086,2743,731,1779,1813,1746,0,0,0,0,0,0,14.21,13.88,13.22
$GC,7576,0.46,388.0,2742,731,1806,1747,143.7,11.9,676,7582,0.00,2.42,0.00,0.000,1030,0.000,0.077,2743,2100,1775,1805,1745,0,0,0,0,0,0,14.09,13.98,14.12
$GC,7902,0.44,388.0,2744,2102,1805,1739,104.6,11.3,691,7903,0.00,0.00,0.00,0.000,134,0.000,0.000,2747,2101,1774,1810,1738,0,0,0,0,0,0,14.47,14.49,14.49
$GC,8204,0.46,423.9,2744,2102,1805,1736,75.0,8.3,717,8225,0.00,2.47,17.70,0.428,8740,0.000,0.085,2751,730,1636,1671,1602,0,0,0,0,0,0,14.54,14.16,13.80
$GC,8366,0.58,492.9,2752,729,1671,1601,62.3,6.8,749,8409,0.00,2.40,35.85,0.389,9382,0.000,0.080,2751,2100,1354,1408,1301,0,0,0,0,0,0,14.25,14.12,13.78
$GC,8706,0.75,583.1,2750,2100,1409,1291,40.6,5.8,787,8760,0.20,2.45,46.12,0.320,10916,0.105,0.088,2838,720,986,1061,911,0,0,0,0,0,0,14.20,14.12,13.81
$GC,8812,0.80,583.1,2838,720,1063,911,29.6,10.7,807,8817,0.00,2.42,0.00,0.000,1158,0.000,0.077,2837,2103,986,1061,911,0,0,0,0,0,0,14.23,14.13,14.28
$GC,9122,0.98,694.7,2838,2106,1062,905,5.9,4.8,839,9177,0.15,0.00,52.75,0.217,10658,0.119,0.000,2901,2105,574,614,534,0,0,0,0,0,0,14.15,28.83,14.19
$STATE,9178,end climb,SURFACE_DEPTH_REACHED
$STATE,9178,begin surface coast
$FINISH,0.1,1.010594
$STATE,9191,end surface coast,CONTROL_FINISHED_OK
$STATE,9191,begin surface
$SM_CCo,9213,9.32,0.217,0,0,500,702.78
$SM_GC,2.45,8.23,0.17,9.32,0.075,0.102,0.217,205,2246,500,-7.37,-0.54,702.78,0,0,0,0,0,0,14.26,14.28,14.00
$RAFOS_CLK,404
$MODEM,4,1503217713,75.71700,-151.21500,212.520,307881.5
$MODEM,3,1503217246,74.30400,-153.94400,139.962,202765.3
$MODEM,2,1503216765,73.18300,-149.96500,18.675,27054.6
$MODEM,0,1503216256,75.36600,-145.04601,202.416,293244.1
$RAFOS_FIX,7259.857422,-14921.073242,200817,080835,4,255,1.97
$IRIDIUM_FIX,7301.80,-14928.71,200817,074700
$TT8_MAMPS,0.040446,0.828394
$HUMID,46.81
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.40
$XPDR_PINGS,8
$CP_FREE,15999500288.000000
$PM_FREEKB_00,54550976
$24V_AH,12.45,98.508
$10V_AH,12.47,0.000
$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,24.425,79.200,941.150,9.325,0.000,0.000,0.000,820.875,2.000,0.000,30.207,0.000,6735.325,947.389,2561.538,357.708,0.000,2544.003,0.000,1217.920,2217.000,0.539,0.000
$DEVICE_MAMPS,454.410,2141.235,1484.865,217.260,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9216.000,9217.000,9168.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.322,20.000,15.090,0.000
$MEM,323536
$DATA_FILE_SIZE,30046,851
$CAP_FILE_SIZE,116094,0
$CFSIZE,2097872896,2052423680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.8
$CURRENT,0.040,265.24,1
$GPS,200817,102835,7302.107,-14919.874,32,0.8,34,21.0,0.0,0.0,11,9.3