version: 66.13
glider: 196
mission: 14
dive: 125
start: 8 21 117 6 16 23
data:
$ID,196
$MISSION,14
$DIVE,125
$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,24
$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,355.0
$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
$GPS1,210817,060417,7307.9971,-14939.7275,17,0.7,19,20.9,0.2,0.0,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.7
$GPS2,210817,061551,7307.9424,-14939.5957,7,0.8,7,20.9,0.0,0.0,7,0.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.4,11383,-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
$GC,47,-0.57,-145.9,199,2210,520,481,0.0,0.0,0,130,0.00,0.00,-81.62,0.000,16386,0.000,0.000,198,2210,2008,1939,2078,0,0,0,0,0,0,14.42,28.83,14.45
$GC,133,-0.57,-145.9,199,2211,1941,2082,3.3,-3.7,8,190,12.62,2.75,-38.45,0.000,18980,0.458,2.137,2386,793,3963,3941,3986,0,0,0,0,0,0,13.71,12.59,14.16
$GC,296,-0.64,-145.9,2386,793,3948,3987,44.0,-16.2,40,301,0.00,2.50,0.00,0.000,1158,0.000,0.090,2383,2195,3966,3946,3986,0,0,0,0,0,0,14.23,14.09,14.26
$GC,606,-0.66,-145.9,2384,2197,3951,3986,96.2,-13.2,72,611,0.00,2.53,0.00,0.000,388,0.000,0.090,2376,3620,3967,3949,3986,0,0,0,0,0,0,14.51,14.14,14.52
$GC,786,-0.84,-145.9,2377,3622,3951,3986,115.8,-9.4,108,791,0.22,2.42,0.00,0.000,5286,0.098,0.055,2288,2187,3968,3950,3986,0,0,0,0,0,0,14.25,14.21,14.33
$GC,1116,-0.77,-145.9,2289,2187,3950,3986,176.9,-17.7,124,1122,0.15,2.53,0.00,0.000,2436,0.277,0.086,2313,3622,3969,3950,3988,0,0,0,0,0,0,13.93,14.19,14.10
$GC,1182,-0.86,-145.9,2314,3624,3950,3987,186.4,-12.4,137,1187,0.00,2.40,0.00,0.000,1158,0.000,0.056,2313,2201,3967,3949,3985,0,0,0,0,0,0,14.38,14.27,14.42
$GC,1507,-0.86,-145.9,2315,2201,3950,3987,229.5,-12.8,152,1512,0.00,2.50,0.00,0.000,260,0.000,0.089,2306,3620,3967,3949,3986,0,0,0,0,0,0,14.60,14.21,14.62
$GC,1634,-0.97,-145.9,2307,3621,3950,3987,243.7,-10.9,177,1639,0.12,2.40,0.00,0.000,5254,0.135,0.058,2255,2196,3968,3950,3986,0,0,0,0,0,0,14.32,14.28,14.45
$GC,1959,-0.91,-145.9,2256,2195,3951,3983,293.6,-15.2,192,1965,0.12,2.50,0.00,0.000,2436,0.304,0.086,2274,3622,3967,3949,3986,0,0,0,0,0,0,14.00,14.24,14.18
$GC,2090,-0.98,-145.9,2275,3622,3950,3986,309.3,-11.3,218,2094,0.00,2.40,0.00,0.000,1158,0.000,0.058,2274,2199,3968,3950,3986,0,0,0,0,0,0,14.41,14.29,14.44
$GC,2410,-0.98,-145.9,2275,2198,3949,3985,348.8,-12.3,232,2414,0.00,2.47,0.00,0.000,260,0.000,0.089,2267,3614,3967,3950,3985,0,0,0,0,0,0,14.63,14.25,14.65
$GC,2510,-1.05,-145.9,2266,3614,3950,3985,360.6,-11.3,252,2515,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2199,3967,3949,3985,0,0,0,0,0,0,14.42,14.30,14.45
$GC,2830,-1.05,-145.9,2267,2198,3950,3984,399.9,-12.2,266,2835,0.00,2.47,0.00,0.000,260,0.000,0.089,2260,3614,3966,3949,3984,0,0,0,0,0,0,14.64,14.26,14.65
$GC,2920,-1.10,-145.9,2259,3614,3949,3984,410.9,-11.7,284,2925,0.12,2.40,0.00,0.000,5254,0.141,0.057,2213,2195,3966,3948,3984,0,0,0,0,0,0,14.28,14.26,14.39
$GC,3250,-0.99,-145.9,2213,2194,3949,3984,466.3,-17.0,300,3256,0.17,2.47,0.00,0.000,2436,0.305,0.084,2244,3614,3966,3948,3984,0,0,0,0,0,0,13.94,14.24,14.15
$STATE,3348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3350,begin apogee
$GC,3358,-0.13,0.0,2245,2093,3948,3984,480.1,-12.6,320,3586,1.12,0.00,224.75,1.409,10246,0.251,0.000,2526,2092,3364,3385,3344,0,0,0,0,0,0,13.99,13.46,12.73
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3637,0.57,145.9,2528,2093,3374,3329,491.2,0.0,327,3996,0.75,2.70,207.20,1.369,11012,0.065,0.073,2780,3508,2749,2782,2716,0,0,0,0,0,0,13.66,13.01,12.44
$GC,4083,0.13,145.9,2780,3509,2782,2715,459.7,17.7,345,4088,0.77,2.47,0.00,0.000,5254,0.354,0.060,2631,2098,2748,2781,2716,0,0,0,0,0,0,13.43,13.76,13.78
$GC,4415,0.05,175.1,2632,2097,2781,2715,429.3,8.7,361,4460,0.12,2.50,39.03,1.430,12964,0.302,0.081,2602,693,2649,2691,2607,0,0,0,0,0,0,13.88,13.68,13.10
$GC,4530,0.13,227.1,2603,693,2685,2598,420.4,7.6,384,4616,0.00,2.50,79.45,1.366,9382,0.000,0.078,2602,2108,2433,2492,2374,0,0,0,0,0,0,14.09,13.98,12.98
$GC,4927,0.20,260.6,2602,2109,2478,2358,387.7,8.5,413,4978,0.12,0.00,50.35,1.378,10406,0.132,0.000,2660,2108,2307,2365,2249,0,0,0,0,0,0,14.16,13.88,13.13
$GC,5256,0.16,260.6,2660,2108,2338,2229,346.9,12.5,424,5262,0.00,2.47,0.00,0.000,644,0.000,0.085,2668,694,2282,2336,2229,0,0,0,0,0,0,14.46,14.12,14.44
$GC,5332,0.16,260.6,2669,694,2335,2229,337.6,11.9,439,5337,0.15,2.47,0.00,0.000,5126,0.246,0.080,2636,2109,2281,2334,2229,0,0,0,0,0,0,13.97,14.17,14.23
$GC,5647,0.16,260.6,2636,2110,2334,2228,305.3,10.0,452,5653,0.00,2.47,0.00,0.000,516,0.000,0.085,2644,690,2279,2332,2227,0,0,0,0,0,0,14.58,14.24,14.59
$GC,5678,0.20,260.6,2644,690,2333,2229,302.2,10.4,458,5683,0.00,2.45,0.00,0.000,1158,0.000,0.079,2644,2101,2280,2333,2227,0,0,0,0,0,0,14.41,14.26,14.42
$GC,6008,0.20,260.8,2645,2102,2334,2227,268.7,10.0,474,6013,0.00,2.45,0.00,0.000,548,0.000,0.084,2646,690,2280,2333,2227,0,0,0,0,0,0,14.62,14.28,14.63
$GC,6063,0.27,279.9,2646,693,2333,2228,263.5,9.1,485,6093,0.00,2.45,25.17,1.408,9382,0.000,0.078,2646,2108,2224,2277,2172,0,0,0,0,0,0,14.39,14.26,13.38
$GC,6399,0.33,323.3,2647,2108,2265,2156,234.4,8.0,502,6484,0.12,2.60,76.65,1.283,10916,0.129,0.084,2706,688,2041,2086,1996,0,0,0,0,0,0,14.19,13.83,13.16
$GC,6501,0.29,323.3,2707,687,2079,1994,223.5,10.3,522,6506,0.12,2.53,0.00,0.000,5254,0.226,0.077,2680,2101,2035,2077,1993,0,0,0,0,0,0,13.78,13.88,13.96
$GC,6821,0.30,335.5,2680,2102,2078,1981,192.6,9.4,536,6841,0.00,2.55,13.43,1.447,8740,0.000,0.086,2685,691,1993,2040,1946,0,0,0,0,0,0,14.35,14.04,13.26
$GC,6891,0.39,358.4,2685,692,2031,1945,186.2,8.9,550,6936,0.00,2.47,38.28,1.314,9382,0.000,0.078,2685,2100,1901,1940,1863,0,0,0,0,0,0,14.14,14.04,13.21
$GC,7243,0.46,377.9,2685,2101,1927,1850,153.8,9.1,570,7278,0.12,2.58,29.85,1.328,10916,0.136,0.085,2759,693,1821,1852,1790,0,0,0,0,0,0,14.14,13.92,13.23
$GC,7345,0.42,377.9,2756,694,1839,1786,141.0,13.0,590,7350,0.15,2.50,0.00,0.000,5254,0.245,0.079,2724,2105,1815,1837,1793,0,0,0,0,0,0,13.85,13.94,14.07
$GC,7666,0.42,377.9,2724,2105,1838,1780,107.0,10.0,604,7671,0.00,2.50,0.00,0.000,516,0.000,0.086,2729,688,1805,1831,1779,0,0,0,0,0,0,14.38,14.07,14.39
$GC,7763,0.50,404.5,2729,689,1833,1776,98.1,8.8,623,7781,0.00,2.47,12.93,0.485,9382,0.000,0.076,2730,2104,1714,1741,1687,0,0,0,0,0,0,14.14,14.00,13.62
$GC,8077,0.57,453.4,2729,2101,1746,1691,71.8,7.7,656,8109,0.12,2.47,26.75,0.412,10660,0.132,0.079,2794,3507,1515,1549,1482,0,0,0,0,0,0,14.19,13.95,13.69
$GC,8334,0.57,511.2,2789,3507,1550,1485,45.0,7.3,707,8372,0.12,2.42,30.98,0.336,13478,0.278,0.063,2770,2101,1279,1333,1226,0,0,0,0,0,0,13.89,14.09,13.74
$MODEM_MSG,CACST,6,1,20170821081231.822924,3,4199,36,0098,0150,250,00,00,00,00,-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,6,1,20170821082034.046763,3,32767,45,0959,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170821082820.644121,3,2860,34,0512,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$GC,8670,0.74,596.7,2771,2100,1334,1229,24.4,6.1,744,8720,0.12,2.53,44.60,0.283,10916,0.140,0.089,2825,691,930,1000,861,0,0,0,0,0,0,14.07,13.99,13.73
$GC,8740,0.90,646.2,2826,692,1001,861,18.6,7.7,757,8774,0.12,2.50,26.40,0.269,11430,0.133,0.079,2878,2105,727,793,661,0,0,0,0,0,0,14.03,13.99,13.75
$STATE,8946,end climb,SURFACE_DEPTH_REACHED
$STATE,8946,begin surface coast
$FINISH,0.5,1.020430
$STATE,8966,end surface coast,CONTROL_FINISHED_OK
$STATE,8967,begin surface
$SM_CCo,8987,31.08,0.217,0,0,498,703.03
$SM_GC,1.32,8.20,0.17,31.08,0.079,0.114,0.217,206,2224,498,-7.36,-0.57,703.03,0,0,0,0,0,0,14.26,14.25,13.99
$RAFOS_CLK,136
$MODEM,4,1503304100,75.71700,-151.21500,199.894,289429.9
$MODEM,3,1503303634,74.30400,-153.94400,127.047,183953.1
$MODEM,2,1503303151,73.18300,-149.96500,4.823,6983.2
$RAFOS_FIX,7307.903320,-14944.436523,210817,080828,3,255,0.35
$IRIDIUM_FIX,7309.83,-14930.18,210817,032640
$TT8_MAMPS,0.040446,0.850115
$HUMID,43.93
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15998156800.000000
$PM_FREEKB_00,54301248
$24V_AH,12.44,102.374
$10V_AH,12.34,0.000
$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,25.825,95.000,925.800,31.075,0.000,0.000,0.000,427.775,3.000,0.000,7.794,0.000,6143.532,839.077,2447.502,296.888,0.000,2285.617,0.000,1122.387,2191.000,0.539,0.000
$DEVICE_MAMPS,458.235,2137.410,1446.615,217.260,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8951.000,8982.000,8943.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.551,20.000,10.240,0.000
$MEM,323560
$DATA_FILE_SIZE,26672,783
$CAP_FILE_SIZE,109534,0
$CFSIZE,2097872896,2049933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.8
$CURRENT,0.042,232.73,1
$GPS,210817,084803,7308.748,-14942.680,34,0.8,35,20.9,0.0,0.0,9,7.5