version: 66.13
glider: 196
mission: 14
dive: 205
start: 8 30 117 20 33 35
data:
$ID,196
$MISSION,14
$DIVE,205
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,31
$R_STBD_OVSHOOT,46
$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,1.4
$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,578.0
$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
$GPS1,300817,200914,7419.2988,-15352.1943,17,0.7,34,19.2,0.3,167.4,11,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.2
$GPS2,300817,203302,7419.2305,-15352.1904,10,0.8,34,19.2,0.0,92.6,10,6.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.2,171978,-17.9,-10.000,-21.31,2227
$D_GRID,90
$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
$GC,49,-0.57,-145.9,193,2235,489,496,0.0,0.0,0,151,0.00,0.00,-100.78,0.000,16386,0.000,0.000,192,2235,2324,2268,2381,0,0,0,0,0,0,14.33,28.83,14.35
$MODEM_MSG,CACST,6,1,20170830201828.771889,3,14,11,0107,0150,250,00,00,00,00,-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,6,1,20170830202701.546555,3,14,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,154,-0.57,-145.9,193,2235,2272,2392,4.0,-5.6,10,209,12.70,2.72,-31.00,0.000,18724,0.452,2.140,2376,3574,3964,3947,3981,1,0,0,0,0,0,13.44,12.62,14.04
$GC,259,-0.70,-145.9,2376,3577,3952,3981,34.7,-15.0,29,265,0.00,2.35,0.00,0.000,1158,0.000,0.059,2371,2189,3966,3951,3981,0,0,0,0,0,0,14.09,13.97,14.12
$GC,571,-0.77,-145.9,2376,2188,3955,3981,83.2,-12.8,61,577,0.12,2.50,0.00,0.000,4484,0.148,0.084,2319,3586,3967,3954,3981,0,0,0,0,0,0,14.05,13.91,14.10
$GC,597,-0.81,-145.9,2325,3587,3954,3983,87.1,-14.9,66,603,0.00,2.40,0.00,0.000,1158,0.000,0.056,2318,2190,3967,3954,3981,0,0,0,0,0,0,14.00,13.47,14.11
$STATE,620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,620,begin apogee
$GC,626,-0.13,0.0,2319,2069,3955,3982,91.0,-15.3,69,703,0.85,0.00,72.03,0.490,10246,0.251,0.000,2527,2065,3363,3382,3344,0,0,0,0,0,0,13.78,14.03,13.55
$STATE,707,end apogee,CONTROL_FINISHED_OK
$STATE,707,begin loiter
$GC,1002,-0.01,177.0,2527,2065,3386,3344,119.1,-8.2,91,1281,0.17,0.00,276.83,1.149,10278,0.133,0.000,2582,2065,2643,2699,2588,0,0,0,0,0,0,14.29,13.54,12.85
$GC,1574,-0.55,186.4,2582,2066,2689,2572,132.6,-0.4,110,1585,0.65,0.00,8.48,1.469,12454,0.167,0.000,2400,2065,2604,2662,2546,0,0,0,0,0,0,14.01,14.05,13.15
$GC,1872,-0.52,186.4,2400,2066,2656,2540,131.4,0.3,120,1873,0.00,0.00,0.00,0.000,134,0.000,0.000,2400,2065,2596,2655,2538,0,0,0,0,0,0,14.69,14.71,14.71
$GC,2173,-0.49,197.4,2400,2066,2656,2538,132.8,-0.5,130,2187,0.00,0.00,13.07,1.495,8358,0.000,0.000,2400,2065,2563,2622,2504,0,0,0,0,0,0,14.78,14.28,13.38
$GC,2472,-0.46,197.4,2400,2065,2615,2494,129.2,1.0,140,2473,0.12,0.00,0.00,0.000,2182,0.292,0.000,2424,2065,2554,2614,2494,0,0,0,0,0,0,14.14,14.47,14.40
$GC,2772,-0.48,197.4,2424,2065,2615,2493,127.0,0.7,150,2773,0.00,0.00,0.00,0.000,134,0.000,0.000,2424,2065,2553,2613,2493,0,0,0,0,0,0,14.84,14.86,14.86
$GC,3072,-0.51,197.4,2424,2065,2614,2493,125.5,0.3,160,3073,0.00,0.00,0.00,0.000,134,0.000,0.000,2424,2065,2553,2613,2493,0,0,0,0,0,0,14.88,14.89,14.89
$GC,3372,-0.53,203.4,2425,2065,2613,2493,126.1,-0.3,170,3376,0.00,0.00,2.72,1.141,8358,0.000,0.000,2424,2065,2535,2595,2475,0,0,0,0,0,0,14.89,14.34,12.92
$GC,3672,-0.56,203.4,2424,2066,2600,2481,124.7,0.5,180,3673,0.00,0.00,0.00,0.000,134,0.000,0.000,2424,2065,2539,2600,2479,0,0,0,0,0,0,14.90,14.92,14.92
$GC,3972,-0.58,203.4,2424,2066,2600,2481,123.7,0.3,190,3973,0.00,0.00,0.00,0.000,134,0.000,0.000,2424,2065,2539,2600,2479,0,0,0,0,0,0,14.91,14.93,14.93
$GC,4272,-0.60,207.2,2425,2065,2601,2479,123.8,-0.2,200,4277,0.12,0.00,3.17,1.370,12454,0.147,0.000,2373,2065,2519,2579,2460,0,0,0,0,0,0,14.54,14.37,13.00
$STATE,4300,end loiter,LOITER_COMPLETE
$STATE,4300,begin climb
$GC,4302,0.57,145.9,2374,2066,2583,2464,123.9,0.0,201,4510,1.50,2.42,0.00,0.000,2308,0.265,0.083,2747,3484,2524,2581,2468,0,0,0,0,0,0,14.07,14.35,14.28
$FREEZE,120.81,-1.020,-1.861,0,1,0
$STATE,4660,end climb,NO_VERTICAL_VELOCITY
$STATE,4660,begin surface
$SM_CCo,4666,720.00,1.059,0,1,908,602.46
$SM_CCo,5390,238.30,0.990,1,0,500,703.03
$SM_CCo,5993,45.62,0.166,1,0,500,702.78
$SM_GC,1.16,7.90,2.20,45.62,0.077,0.058,0.166,205,2228,500,-7.37,1.87,702.78,0,0,0,0,1,0,14.09,14.07,13.91
$RAFOS_CLK,272
$MODEM,4,1504124821,75.71700,-151.21500,120.797,174900.8
$MODEM,3,1504124308,74.30400,-153.94400,1.772,2565.5
$RAFOS_FIX,7418.475586,-15353.587891,300817,202044,2,255,0.00
$IRIDIUM_FIX,7420.31,-15343.91,300817,202250
$TT8_MAMPS,0.040446,0.823151
$HUMID,45.19
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,12.90
$XPDR_PINGS,8
$CP_FREE,15982231552.000000
$PM_FREEKB_00,51865728
$24V_AH,12.49,141.466
$10V_AH,12.81,0.000
$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,24.150,14.750,376.300,1003.925,0.000,0.000,0.000,928.975,2.000,0.000,35.745,0.000,3914.712,1512.914,1772.134,287.599,0.000,2877.327,0.000,339.098,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2140.470,1494.810,1058.760,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,892.000,1083.000,1041.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.713,20.000,9.997,0.000
$MEM,323336
$DATA_FILE_SIZE,6797,231
$CAP_FILE_SIZE,73572,7
$CFSIZE,2097872896,2024570880
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,1,0,2,1,0
$SOUNDSPEED,1442.5
$CURRENT,0.153,221.36,1
$GPS,300817,221519,7419.147,-15351.956,5,0.7,15,19.2,0.0,0.0,11,6.6