version: 66.13
glider: 196
mission: 14
dive: 123
start: 8 21 117 0 46 33
data:
$ID,196
$MISSION,14
$DIVE,123
$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,21
$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,349.0
$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
$GPS1,210817,002856,7306.5332,-14933.9648,17,0.8,40,20.9,0.0,0.0,11,7.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.6
$GPS2,210817,004558,7306.5444,-14934.0537,8,0.8,12,20.9,0.0,206.2,10,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.6,15243,-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
$MODEM_MSG,CACST,6,1,20170821000412.722819,3,204,23,0258,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170821001237.097660,3,32767,45,0840,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170821002039.136723,3,239,23,0164,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$GC,47,-0.57,-145.9,206,2213,514,482,0.0,0.0,0,130,0.00,0.00,-81.05,0.000,16386,0.000,0.000,205,2213,2006,1929,2083,0,0,0,0,0,0,14.31,28.83,14.32
$GC,135,-0.57,-145.9,206,2213,1933,2086,3.2,-3.2,8,192,12.50,2.80,-38.78,0.000,18980,0.454,2.149,2385,795,3963,3945,3981,0,0,0,0,0,0,13.59,12.59,13.99
$GC,277,-0.57,-145.9,2385,794,3951,3982,40.3,-18.1,36,282,0.00,2.50,0.00,0.000,1030,0.000,0.089,2379,2196,3965,3950,3981,0,0,0,0,0,0,14.20,14.07,14.23
$GC,587,-0.57,-145.9,2375,2199,3953,3982,95.5,-13.7,68,592,0.00,2.53,0.00,0.000,260,0.000,0.092,2376,3613,3966,3952,3981,0,0,0,0,0,0,14.50,14.12,14.51
$GC,732,-0.72,-145.9,2376,3619,3952,3982,111.6,-10.3,97,738,0.00,2.40,0.00,0.000,1158,0.000,0.054,2376,2195,3967,3953,3981,0,0,0,0,0,0,14.33,14.22,14.35
$GC,1038,-0.82,-145.9,2376,2195,3953,3982,145.1,-10.6,108,1043,0.17,2.50,0.00,0.000,4484,0.118,0.086,2291,3616,3966,3952,3981,0,0,0,0,0,0,14.19,14.17,14.23
$GC,1168,-0.82,-145.9,2292,3616,3954,3981,165.2,-14.9,134,1173,0.00,2.40,0.00,0.000,1030,0.000,0.056,2292,2192,3967,3953,3981,0,0,0,0,0,0,14.33,14.23,14.35
$GC,1488,-0.78,-145.9,2292,2192,3953,3982,217.0,-15.5,148,1493,0.12,2.53,0.00,0.000,2436,0.289,0.088,2319,3621,3966,3952,3981,0,0,0,0,0,0,14.02,14.23,14.17
$GC,1569,-0.91,-145.9,2319,3622,3953,3982,226.5,-10.4,164,1573,0.00,2.40,0.00,0.000,1158,0.000,0.056,2319,2205,3966,3952,3981,0,0,0,0,0,0,14.40,14.29,14.43
$GC,1879,-0.96,-145.9,2319,2199,3953,3982,260.7,-10.6,176,1884,0.12,2.50,0.00,0.000,4484,0.138,0.087,2256,3621,3966,3952,3981,0,0,0,0,0,0,14.35,14.21,14.39
$GC,1959,-0.96,-145.9,2255,3622,3953,3982,272.1,-14.3,192,1964,0.00,2.42,0.00,0.000,1030,0.000,0.058,2255,2188,3966,3952,3981,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2269,-0.91,-145.9,2254,2187,3952,3982,317.7,-14.4,204,2274,0.00,2.50,0.00,0.000,388,0.000,0.086,2246,3616,3965,3951,3980,0,0,0,0,0,0,14.64,14.20,14.64
$GC,2389,-0.91,-145.9,2245,3617,3951,3982,334.8,-13.7,228,2395,0.17,2.40,0.00,0.000,3078,0.256,0.057,2282,2191,3965,3950,3981,0,0,0,0,0,0,14.01,14.24,14.25
$GC,2720,-0.94,-145.9,2282,2190,3952,3980,372.9,-11.3,244,2725,0.00,2.50,0.00,0.000,388,0.000,0.089,2280,3614,3965,3950,3980,0,0,0,0,0,0,14.64,14.19,14.66
$GC,2810,-1.04,-145.9,2280,3617,3951,3981,382.4,-10.0,262,2815,0.00,2.38,0.00,0.000,1190,0.000,0.054,2280,2200,3963,3950,3977,0,0,0,0,0,0,14.36,14.26,14.43
$GC,3140,-1.07,-145.9,2281,2198,3951,3980,418.5,-10.9,278,3145,0.12,2.50,0.00,0.000,4484,0.142,0.086,2222,3621,3964,3950,3979,0,0,0,0,0,0,14.26,14.21,14.31
$GC,3215,-1.03,-145.9,2223,3622,3951,3978,429.3,-14.7,293,3220,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2202,3964,3949,3979,0,0,0,0,0,0,14.40,14.29,14.47
$GC,3531,-0.94,-145.9,2222,2201,3950,3980,478.9,-15.8,306,3536,0.20,2.47,0.00,0.000,2436,0.300,0.083,2259,3621,3964,3949,3979,0,0,0,0,0,0,13.93,14.25,14.13
$STATE,3538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3538,begin apogee
$GC,3546,-0.13,0.0,2261,2089,3949,3979,480.4,-15.6,308,3765,1.08,0.00,215.77,1.424,10246,0.252,0.000,2530,2088,3364,3385,3344,0,0,0,0,0,0,13.99,13.49,12.78
$STATE,3769,end apogee,CONTROL_FINISHED_OK
$STATE,3769,begin climb
$GC,3771,0.57,145.9,2530,2089,3376,3335,491.0,0.0,315,3987,0.75,2.62,205.07,1.360,11012,0.066,0.078,2786,692,2763,2806,2720,0,0,0,0,0,0,13.57,13.01,12.45
$GC,4058,0.21,145.9,2787,691,2794,2713,485.7,15.5,366,4063,0.62,2.60,0.00,0.000,5254,0.313,0.074,2657,2107,2752,2793,2711,0,0,0,0,0,0,13.21,13.47,13.51
$GC,4373,0.06,145.9,2657,2108,2793,2705,452.2,10.4,379,4378,0.20,2.53,0.00,0.000,4740,0.299,0.078,2617,685,2748,2792,2704,0,0,0,0,0,0,13.68,13.92,13.87
$GC,4500,0.10,191.6,2618,685,2794,2704,441.7,7.9,404,4574,0.00,2.50,65.35,1.385,9254,0.000,0.079,2618,2101,2577,2632,2522,0,0,0,0,0,0,14.00,13.49,13.02
$GC,4884,0.08,201.9,2618,2102,2625,2502,406.0,9.5,431,4894,0.00,2.53,2.88,1.064,8868,0.000,0.083,2619,697,2544,2605,2483,0,0,0,0,0,0,14.41,14.02,12.76
$GC,4914,0.09,206.2,2620,697,2610,2488,403.1,9.8,437,4935,0.00,2.47,13.82,1.602,9254,0.000,0.079,2619,2108,2520,2580,2460,0,0,0,0,0,0,14.23,14.12,13.22
$GC,5246,0.09,217.7,2620,2108,2577,2452,371.3,9.5,453,5267,0.00,2.50,14.85,1.581,8740,0.000,0.082,2619,684,2473,2532,2414,0,0,0,0,0,0,14.52,13.91,13.27
$GC,5287,0.14,247.5,2619,685,2529,2415,367.5,8.6,461,5338,0.00,2.47,45.05,1.424,9382,0.000,0.079,2619,2098,2355,2409,2302,0,0,0,0,0,0,14.26,14.14,13.16
$GC,5639,0.19,265.4,2620,2101,2401,2291,335.0,9.2,481,5668,0.00,0.00,25.65,1.466,8358,0.000,0.000,2619,2097,2283,2332,2234,0,0,0,0,0,0,14.47,14.04,13.25
$GC,5967,0.25,288.0,2620,2101,2330,2220,305.4,9.0,492,6008,0.12,2.50,34.60,1.407,10916,0.132,0.086,2685,691,2187,2235,2139,0,0,0,0,0,0,14.28,14.04,13.26
$GC,6060,0.25,288.0,2685,694,2229,2138,293.9,13.0,510,6064,0.00,2.47,0.00,0.000,1030,0.000,0.076,2682,2101,2182,2228,2137,0,0,0,0,0,0,14.21,14.09,14.23
$GC,6390,0.19,288.0,2686,2103,2228,2132,250.9,12.5,526,6395,0.15,2.45,0.00,0.000,4740,0.249,0.081,2658,691,2179,2227,2131,0,0,0,0,0,0,14.02,14.22,14.19
$GC,6440,0.27,297.9,2658,691,2227,2131,245.7,9.5,536,6457,0.00,2.45,12.70,1.506,9382,0.000,0.080,2658,2105,2151,2200,2102,0,0,0,0,0,0,14.36,14.24,13.35
$GC,6784,0.32,326.1,2656,2106,2194,2094,214.6,8.7,554,6838,0.00,2.53,46.42,1.349,8868,0.000,0.085,2659,685,2031,2076,1987,0,0,0,0,0,0,14.57,14.01,13.30
$GC,6885,0.46,365.2,2659,686,2071,1988,206.0,8.2,574,6959,0.22,2.50,64.72,1.274,11430,0.100,0.079,2749,2102,1871,1902,1840,0,0,0,0,0,0,14.12,14.06,13.13
$GC,7265,0.37,365.2,2749,2107,1896,1833,152.3,13.9,600,7270,0.17,2.47,0.00,0.000,4740,0.237,0.082,2713,692,1864,1897,1831,0,0,0,0,0,0,13.97,14.10,14.12
$GC,7352,0.45,371.8,2713,692,1892,1833,143.4,9.7,617,7363,0.00,2.47,3.83,1.491,9382,0.000,0.077,2713,2113,1848,1879,1817,0,0,0,0,0,0,14.28,14.16,12.91
$GC,7688,0.46,389.6,2713,2114,1883,1818,111.1,9.2,634,7720,0.00,2.53,27.65,1.343,8484,0.000,0.082,2713,3513,1773,1802,1745,0,0,0,0,0,0,14.53,14.06,13.33
$GC,7750,0.49,389.6,2713,3514,1797,1745,105.0,10.2,646,7755,0.00,2.42,0.00,0.000,1158,0.000,0.064,2714,2099,1770,1797,1744,0,0,0,0,0,0,14.23,14.14,14.26
$GC,8060,0.58,437.3,2713,2099,1797,1737,78.7,7.8,678,8093,0.15,2.53,24.50,0.443,10916,0.119,0.089,2793,691,1579,1606,1553,0,0,0,0,0,0,14.23,14.11,13.78
$GC,8183,0.58,437.3,2793,691,1606,1552,65.2,10.1,702,8188,0.00,2.47,0.00,0.000,1030,0.000,0.080,2793,2101,1577,1605,1550,0,0,0,0,0,0,14.26,14.13,14.28
$GC,8493,0.60,501.4,2793,2103,1606,1545,39.9,7.0,734,8531,0.00,2.53,32.70,0.335,8612,0.000,0.081,2793,3510,1317,1365,1269,0,0,0,0,0,0,14.52,14.09,13.85
$GC,8717,0.65,537.1,2794,3511,1366,1264,21.0,8.4,778,8739,0.00,2.42,18.35,0.278,9382,0.000,0.065,2794,2100,1176,1236,1116,0,0,0,0,0,0,14.23,14.12,13.93
$GC,9037,0.95,708.3,2794,2100,1235,1104,9.1,2.1,812,9132,0.25,2.50,86.80,0.230,10916,0.094,0.090,2900,692,500,524,477,0,0,0,0,0,0,14.26,14.09,13.95
$STATE,9147,end climb,SURFACE_DEPTH_REACHED
$STATE,9147,begin surface coast
$FINISH,0.3,1.020297
$STATE,9165,end surface coast,CONTROL_FINISHED_OK
$STATE,9165,begin surface
$SM_CCo,9248,0.00,0.000,0,0,500,702.78
$SM_GC,1.18,8.25,2.67,0.00,0.079,0.069,0.000,207,2210,500,-7.36,-0.42,702.78,0,0,0,0,0,0,14.24,14.19,14.36
$RAFOS_CLK,411
$MODEM,3,1503274839,74.30400,-153.94400,132.137,191483.6
$MODEM,2,1503274357,73.18300,-149.96500,10.098,14632.8
$MODEM,0,1503273852,75.36600,-145.04601,198.723,287975.7
$RAFOS_FIX,7305.402832,-14935.085938,210817,000029,3,255,0.00
$IRIDIUM_FIX,7308.06,-14933.95,210817,003900
$TT8_MAMPS,0.040446,0.83888
$HUMID,47.00
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,15
$CP_FREE,15998517248.000000
$PM_FREEKB_00,54362688
$24V_AH,12.45,101.411
$10V_AH,12.48,0.000
$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,25.400,104.900,940.725,0.000,0.000,0.000,0.000,619.500,3.750,0.000,13.791,0.000,6679.829,938.154,2336.632,328.350,0.000,2351.023,0.000,1201.759,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2148.885,1601.910,0.000,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9193.000,9194.000,9141.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.834,20.000,9.974,0.000
$MEM,323468
$DATA_FILE_SIZE,30048,837
$CAP_FILE_SIZE,114421,0
$CFSIZE,2097872896,2050588672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.5
$CURRENT,0.042,223.96,1
$GPS,210817,032203,7307.310,-14937.037,38,0.8,39,20.9,0.0,0.0,11,6.6