version: 66.13
glider: 196
mission: 14
dive: 130
start: 8 21 117 20 50 37
data:
$ID,196
$MISSION,14
$DIVE,130
$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,36
$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,368.0
$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
$GPS1,210817,202720,7311.1880,-14954.9062,36,0.8,36,20.8,0.0,0.0,10,9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.4
$GPS2,210817,205002,7311.0527,-14955.1953,8,0.7,10,20.8,0.0,44.1,10,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,298.1,173494,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$MODEM_MSG,CACST,6,1,20170821200410.822855,3,67,12,0115,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170821201227.632019,3,3261,35,0090,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170821202029.826492,3,127,21,0147,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,48,-0.57,-145.9,198,2227,498,472,0.0,0.0,0,142,0.00,0.00,-91.10,0.000,16386,0.000,0.000,195,2226,2229,2153,2306,0,0,0,0,0,0,14.35,28.83,14.38
$GC,145,-0.57,-145.9,199,2228,2158,2306,4.8,-7.3,9,193,12.50,2.67,-30.02,0.000,19236,0.453,2.148,2377,3594,3962,3944,3980,0,0,0,0,0,0,13.62,12.91,14.05
$GC,418,-0.57,-145.9,2378,3594,3953,3980,69.2,-20.8,63,423,0.00,2.40,0.00,0.000,1030,0.000,0.067,2377,2203,3965,3951,3980,0,0,0,0,0,0,14.26,14.12,14.30
$GC,750,-0.62,-145.9,2377,2203,3954,3981,115.6,-12.7,89,755,0.00,2.45,0.00,0.000,388,0.000,0.089,2371,3596,3966,3953,3980,0,0,0,0,0,0,14.53,14.14,14.54
$GC,910,-0.79,-145.9,2371,3595,3954,3980,131.9,-9.3,121,915,0.15,2.38,0.00,0.000,5286,0.118,0.055,2311,2180,3966,3952,3980,0,0,0,0,0,0,14.20,14.26,14.28
$GC,1230,-0.79,-145.9,2311,2180,3954,3980,181.4,-15.1,135,1235,0.00,2.50,0.00,0.000,260,0.000,0.089,2305,3601,3965,3951,3980,0,0,0,0,0,0,14.60,14.21,14.60
$GC,1320,-0.87,-145.9,2306,3601,3954,3980,193.6,-12.6,153,1325,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2194,3966,3953,3980,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1651,-0.87,-145.9,2306,2193,3953,3981,239.4,-13.4,169,1656,0.00,2.47,0.00,0.000,260,0.000,0.089,2300,3595,3966,3953,3980,0,0,0,0,0,0,14.60,14.19,14.62
$GC,1767,-0.95,-145.9,2299,3596,3953,3981,253.1,-11.3,192,1775,0.00,2.35,0.00,0.000,1158,0.000,0.055,2300,2195,3966,3953,3980,0,0,0,0,0,0,14.36,14.26,14.38
$GC,2071,-0.99,-145.9,2300,2196,3953,3981,288.5,-11.4,203,2076,0.12,2.47,0.00,0.000,4484,0.140,0.087,2239,3604,3966,3952,3980,0,0,0,0,0,0,14.31,14.21,14.35
$GC,2196,-0.99,-145.9,2243,3604,3953,3980,306.2,-14.2,228,2202,0.00,2.38,0.00,0.000,1030,0.000,0.057,2242,2199,3966,3953,3980,0,0,0,0,0,0,14.37,14.25,14.41
$GC,2522,-0.93,-145.9,2243,2198,3953,3980,356.0,-14.9,243,2527,0.12,2.45,0.00,0.000,2436,0.301,0.085,2261,3601,3966,3952,3980,0,0,0,0,0,0,14.00,14.23,14.19
$GC,2644,-0.99,-145.9,2261,3602,3952,3981,370.8,-11.2,267,2649,0.00,2.35,0.00,0.000,1158,0.000,0.057,2261,2202,3965,3951,3980,0,0,0,0,0,0,14.35,14.24,14.39
$GC,2974,-0.99,-145.9,2261,2202,3952,3981,412.3,-12.4,283,2979,0.00,2.45,0.00,0.000,260,0.000,0.087,2252,3600,3965,3951,3980,0,0,0,0,0,0,14.64,14.16,14.66
$GC,3086,-1.03,-145.9,2253,3601,3952,3980,425.9,-12.1,305,3091,0.00,2.38,0.00,0.000,1158,0.000,0.056,2251,2190,3965,3950,3980,0,0,0,0,0,0,14.37,14.26,14.40
$GC,3396,-1.03,-145.9,2252,2190,3951,3981,467.2,-13.2,317,3401,0.00,2.45,0.00,0.000,260,0.000,0.086,2242,3595,3965,3951,3980,0,0,0,0,0,0,14.62,14.23,14.66
$STATE,3493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3494,begin apogee
$GC,3501,-0.13,0.0,2243,2100,3951,3981,480.3,-12.7,337,3740,1.12,0.00,235.48,1.395,10246,0.249,0.000,2526,2098,3365,3384,3347,0,0,0,0,0,0,13.98,13.44,12.69
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3746,0.57,145.9,2527,2099,3378,3339,493.2,0.0,345,4260,0.75,2.08,208.25,1.375,11012,0.067,0.084,2782,696,2755,2795,2715,0,0,0,0,0,0,13.53,13.14,12.43
$GC,4271,0.57,145.9,2782,697,2795,2716,455.5,8.0,348,4277,0.00,2.47,0.00,0.000,1030,0.000,0.076,2781,2086,2753,2795,2712,0,0,0,0,0,0,13.95,13.83,13.98
$GC,4587,0.18,145.9,2782,2087,2794,2712,405.3,15.6,361,4592,0.60,2.47,0.00,0.000,4484,0.329,0.076,2649,3511,2751,2793,2710,0,0,0,0,0,0,13.75,14.10,13.99
$GC,4722,-0.00,145.9,2649,3512,2790,2710,390.1,10.6,388,4729,0.32,2.42,0.00,0.000,5254,0.287,0.059,2584,2089,2749,2789,2710,0,0,0,0,0,0,13.90,14.20,14.19
$GC,5039,0.06,235.1,2584,2088,2790,2710,370.7,5.9,401,5192,0.00,2.58,141.62,1.308,8740,0.000,0.086,2585,704,2403,2457,2349,0,0,0,0,0,0,14.57,13.69,13.02
$GC,5223,0.25,300.1,2586,700,2450,2341,358.8,7.0,437,5333,0.22,2.53,103.80,1.273,11430,0.095,0.080,2672,2100,2141,2195,2088,0,0,0,0,0,0,13.84,13.78,12.79
$GC,5645,0.22,300.1,2673,2100,2174,2070,304.5,12.9,471,5650,0.00,2.50,0.00,0.000,644,0.000,0.087,2673,694,2121,2174,2068,0,0,0,0,0,0,14.26,13.97,14.27
$GC,5680,0.22,300.1,2673,695,2173,2069,300.0,12.6,478,5685,0.00,2.47,0.00,0.000,1030,0.000,0.079,2673,2098,2120,2172,2068,0,0,0,0,0,0,14.10,13.99,14.14
$GC,6005,0.19,300.1,2673,2100,2172,2068,260.4,11.9,493,6010,0.00,2.47,0.00,0.000,644,0.000,0.086,2672,688,2118,2170,2067,0,0,0,0,0,0,14.51,14.19,14.54
$GC,6050,0.23,300.1,2673,688,2169,2067,255.3,11.0,502,6055,0.00,2.45,0.00,0.000,1158,0.000,0.080,2672,2100,2118,2169,2067,0,0,0,0,0,0,14.33,14.21,14.37
$GC,6365,0.23,302.3,2673,2101,2169,2067,222.8,9.9,515,6366,0.00,0.00,0.00,0.000,38,0.000,0.000,2672,2101,2116,2167,2066,0,0,0,0,0,0,14.58,14.60,14.60
$GC,6665,0.24,318.2,2673,2101,2169,2066,194.5,9.3,525,6690,0.00,0.00,23.67,1.394,8230,0.000,0.000,2672,2100,2071,2116,2027,0,0,0,0,0,0,14.59,14.18,13.38
$GC,6965,0.30,351.7,2673,2101,2102,2006,168.2,8.5,535,7031,0.00,2.53,59.20,1.294,8868,0.000,0.086,2673,694,1924,1964,1885,0,0,0,0,0,0,14.55,14.00,13.26
$GC,7142,0.45,398.5,2673,694,1950,1883,154.0,7.8,570,7232,0.17,2.50,83.35,1.222,11430,0.116,0.080,2743,2107,1738,1765,1712,0,0,0,0,0,0,14.02,13.96,13.10
$GC,7537,0.45,398.5,2745,2107,1756,1688,105.8,11.6,599,7542,0.00,2.50,0.00,0.000,516,0.000,0.086,2753,694,1722,1755,1690,0,0,0,0,0,0,14.42,14.02,14.43
$GC,7627,0.45,398.5,2753,695,1752,1691,96.0,10.7,617,7632,0.00,2.47,0.00,0.000,1030,0.000,0.078,2753,2101,1720,1751,1690,0,0,0,0,0,0,14.16,14.06,14.21
$GC,7937,0.46,449.7,2753,2102,1752,1689,67.5,7.6,649,7969,0.00,2.47,26.85,0.402,9124,0.000,0.083,2754,687,1529,1562,1497,0,0,0,0,0,0,14.52,13.95,13.69
$GC,8195,0.65,560.3,2755,688,1568,1497,51.2,4.9,700,8265,0.12,2.47,62.08,0.352,11430,0.135,0.080,2804,2107,1079,1147,1012,0,0,0,0,0,0,14.21,14.18,13.78
$GC,8560,0.75,598.9,2804,2108,1147,1017,20.6,8.2,743,8587,0.00,2.50,22.30,0.269,8868,0.000,0.085,2804,691,919,988,851,0,0,0,0,0,0,14.48,14.07,13.88
$GC,8617,0.95,655.4,2805,690,989,857,16.1,7.4,754,8656,0.25,2.47,33.15,0.252,11430,0.104,0.077,2893,2100,691,750,632,0,0,0,0,0,0,14.15,14.02,13.79
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8792,begin surface coast
$FINISH,0.2,1.010053
$STATE,8810,end surface coast,CONTROL_FINISHED_OK
$STATE,8810,begin surface
$SM_CCo,8831,28.30,0.214,0,0,499,703.28
$SM_GC,1.17,8.23,0.17,28.30,0.077,0.112,0.214,201,2225,499,-7.38,-0.68,703.28,0,0,0,0,0,0,14.28,14.28,14.02
$RAFOS_CLK,381
$MODEM,3,1503346829,74.30400,-153.94400,122.826,178013.2
$MODEM,2,1503346347,73.18300,-149.96500,0.632,916.0
$MODEM,0,1503345850,75.36600,-145.04601,196.823,285256.7
$RAFOS_FIX,7311.126953,-14954.778320,210817,202022,3,255,0.00
$IRIDIUM_FIX,7310.42,-15003.33,210817,204423
$TT8_MAMPS,0.038948,0.919772
$HUMID,46.53
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15997337600.000000
$PM_FREEKB_00,54147584
$24V_AH,12.43,104.868
$10V_AH,12.29,0.000
$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,24.700,83.650,999.750,28.300,0.000,0.000,0.000,826.675,4.000,0.000,11.573,0.000,6139.139,878.947,2868.154,349.323,0.000,2883.188,0.000,1113.686,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2148.120,1395.360,214.200,0.000,0.000,0.000,165.240,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8838.000,8820.000,8786.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.646,20.000,10.064,0.000
$MEM,323456
$DATA_FILE_SIZE,26713,777
$CAP_FILE_SIZE,109186,0
$CFSIZE,2097872896,2048163840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.3
$CURRENT,0.030,305.67,1
$GPS,210817,231925,7312.079,-14957.038,14,0.7,23,20.8,0.0,316.4,12,9.6