version: 66.13
glider: 196
mission: 14
dive: 36
start: 8 10 117 18 4 32
data:
$ID,196
$MISSION,14
$DIVE,36
$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,20
$R_STBD_OVSHOOT,42
$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,116.0
$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
$GPS1,100817,174125,7140.3604,-14726.0332,17,0.8,42,21.4,0.8,136.0,10,6.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.6
$GPS2,100817,180357,7140.1753,-14725.9102,8,0.7,12,21.4,0.5,211.5,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.7,187048,-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,-145.9,167,2224,503,479,0.0,0.0,0,130,0.00,0.00,-81.70,0.000,16386,0.000,0.000,166,2224,2176,2096,2256,0,0,0,0,0,0,14.38,28.83,14.42
$GC,133,-0.57,-145.9,167,2225,2100,2251,3.4,-4.3,8,186,12.70,2.80,-33.38,0.000,18980,0.456,2.147,2385,783,3962,3950,3975,1,0,0,0,0,0,13.54,12.78,14.10
$GC,251,-0.53,-145.9,2385,784,3956,3977,37.3,-19.0,31,259,0.12,2.50,0.00,0.000,3206,0.314,0.084,2398,2186,3967,3958,3976,0,0,0,0,0,0,13.83,13.97,14.05
$GC,556,-0.53,-145.9,2399,2187,3963,3976,84.6,-13.0,62,561,0.00,2.53,0.00,0.000,260,0.000,0.086,2389,3612,3969,3962,3976,0,0,0,0,0,0,14.38,14.04,14.39
$GC,721,-0.64,-145.9,2389,3614,3963,3977,103.7,-10.7,95,727,0.00,2.42,0.00,0.000,1158,0.000,0.055,2389,2188,3968,3962,3975,0,0,0,0,0,0,14.12,14.02,14.16
$GC,1038,-0.71,-145.9,2390,2188,3963,3977,138.2,-10.5,108,1043,0.12,2.53,0.00,0.000,4484,0.135,0.084,2333,3614,3969,3962,3976,0,0,0,0,0,0,14.09,14.09,14.12
$GC,1093,-0.75,-145.9,2333,3615,3963,3977,145.7,-13.5,119,1100,0.00,2.42,0.00,0.000,1158,0.000,0.057,2332,2193,3969,3962,3976,0,0,0,0,0,0,14.23,14.13,14.26
$GC,1398,-0.75,-145.9,2333,2191,3959,3973,188.5,-13.4,130,1403,0.00,2.53,0.00,0.000,260,0.000,0.089,2332,3614,3968,3962,3974,0,0,0,0,0,0,14.46,14.10,14.47
$GC,1443,-0.81,-145.9,2332,3617,3963,3974,194.2,-11.8,139,1449,0.00,2.40,0.00,0.000,1158,0.000,0.057,2332,2196,3967,3961,3973,0,0,0,0,0,0,14.27,14.16,14.30
$GC,1759,-0.84,-145.9,2332,2195,3962,3971,230.5,-11.1,152,1764,0.00,2.50,0.00,0.000,388,0.000,0.090,2332,3610,3964,3958,3970,0,0,0,0,0,0,14.47,14.09,14.49
$GC,1876,-0.95,-145.9,2332,3613,3962,3971,242.0,-9.3,175,1884,0.20,2.40,0.00,0.000,5286,0.106,0.057,2258,2201,3964,3958,3970,0,0,0,0,0,0,14.14,14.03,14.23
$GC,2180,-0.83,-145.9,2258,2200,3962,3968,290.9,-16.5,186,2185,0.20,2.47,0.00,0.000,2436,0.300,0.082,2294,3614,3963,3961,3966,0,0,0,0,0,0,13.88,14.10,14.09
$GC,2277,-0.87,-145.9,2295,3614,3962,3966,303.4,-12.0,205,2282,0.00,2.40,0.00,0.000,1158,0.000,0.057,2294,2199,3963,3961,3966,0,0,0,0,0,0,14.28,14.19,14.32
$GC,2602,-0.87,-145.9,2294,2199,3962,3963,344.9,-12.6,220,2607,0.00,2.50,0.00,0.000,260,0.000,0.086,2280,3614,3962,3961,3964,0,0,0,0,0,0,14.50,14.12,14.52
$GC,2692,-0.89,-145.9,2285,3616,3961,3964,356.5,-13.1,238,2697,0.00,2.42,0.00,0.000,1158,0.000,0.059,2285,2196,3962,3960,3964,0,0,0,0,0,0,14.26,14.14,14.28
$GC,3022,-0.86,-145.9,2284,2197,3961,3962,400.4,-13.3,254,3027,0.00,2.50,0.00,0.000,388,0.000,0.087,2280,3613,3960,3960,3961,0,0,0,0,0,0,14.48,14.10,14.50
$GC,3112,-0.86,-145.9,2281,3613,3963,3961,412.2,-13.1,272,3117,0.00,2.40,0.00,0.000,1030,0.000,0.058,2280,2201,3960,3959,3961,0,0,0,0,0,0,14.25,14.14,14.28
$GC,3442,-0.83,-145.9,2281,2199,3959,3960,456.1,-13.3,288,3447,0.12,2.50,0.00,0.000,2436,0.309,0.084,2305,3613,3959,3959,3960,0,0,0,0,0,0,13.89,14.09,14.05
$GC,3528,-0.92,-145.9,2309,3615,3959,3961,465.5,-10.1,305,3534,0.00,2.42,0.00,0.000,1158,0.000,0.057,2305,2193,3957,3958,3956,0,0,0,0,0,0,14.24,14.13,14.27
$STATE,3680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3680,begin apogee
$GC,3686,-0.13,0.0,2306,2072,3959,3961,482.5,-11.0,311,3901,0.88,0.05,212.00,1.398,10246,0.235,0.223,2527,2105,3369,3399,3340,0,0,0,0,0,0,13.87,13.45,12.91
$STATE,3905,end apogee,CONTROL_FINISHED_OK
$STATE,3905,begin climb
$GC,3909,0.57,145.9,2528,2106,3395,3322,492.5,0.0,318,4118,0.75,2.62,196.12,1.367,11012,0.067,0.078,2791,726,2759,2814,2704,0,0,0,0,0,0,13.60,13.15,12.69
$GC,4345,0.24,145.9,2791,727,2800,2704,456.1,16.3,364,4350,0.62,2.47,0.00,0.000,5254,0.328,0.076,2661,2100,2751,2800,2703,0,0,0,0,0,0,13.47,13.75,13.81
$GC,4655,0.12,149.4,2662,2101,2801,2698,424.5,9.8,376,4660,0.15,2.45,0.00,0.000,4772,0.311,0.078,2632,717,2749,2800,2698,0,0,0,0,0,0,13.74,13.95,13.91
$GC,4795,0.16,198.5,2635,717,2801,2698,412.9,7.7,404,4876,0.00,2.45,74.65,1.347,9254,0.000,0.081,2635,2100,2550,2618,2483,0,0,0,0,0,0,14.14,14.03,13.17
$GC,5197,0.17,212.1,2635,2101,2608,2466,375.5,9.4,434,5212,0.00,0.00,13.90,1.544,8230,0.000,0.000,2635,2100,2502,2573,2431,0,0,0,0,0,0,14.29,14.00,13.34
$GC,5497,0.17,220.7,2636,2100,2559,2418,346.7,9.6,444,5507,0.00,0.00,8.95,1.619,8230,0.000,0.000,2635,2104,2466,2536,2396,0,0,0,0,0,0,14.36,14.09,13.35
$GC,5797,0.18,232.6,2636,2101,2527,2389,318.3,9.5,454,5815,0.00,0.00,16.85,1.525,8230,0.000,0.000,2636,2100,2417,2484,2351,0,0,0,0,0,0,14.40,14.07,13.38
$GC,6097,0.19,244.6,2636,2100,2473,2345,290.2,9.4,464,6115,0.00,0.00,17.25,1.512,8230,0.000,0.000,2635,2100,2368,2429,2307,0,0,0,0,0,0,14.39,14.07,13.40
$GC,6397,0.23,260.0,2636,2101,2417,2299,262.0,9.3,474,6422,0.00,2.50,21.27,1.463,8868,0.000,0.084,2644,723,2301,2356,2246,0,0,0,0,0,0,14.40,14.04,13.39
$GC,6447,0.31,279.5,2645,724,2355,2246,257.3,9.1,484,6483,0.12,2.42,30.80,1.382,11430,0.129,0.080,2694,2099,2222,2282,2163,0,0,0,0,0,0,14.09,14.04,13.29
$GC,6790,0.27,279.5,2694,2100,2273,2155,212.7,13.2,502,6795,0.00,2.45,0.00,0.000,644,0.000,0.084,2699,717,2213,2273,2154,0,0,0,0,0,0,14.31,14.06,14.35
$GC,6860,0.27,279.5,2699,718,2270,2154,204.4,11.0,516,6865,0.12,2.42,0.00,0.000,5126,0.233,0.080,2674,2100,2212,2270,2154,0,0,0,0,0,0,13.97,14.09,14.18
$GC,7196,0.28,305.1,2674,2100,2270,2152,173.5,8.8,530,7239,0.00,2.55,37.28,1.330,8484,0.000,0.085,2673,3517,2120,2175,2065,0,0,0,0,0,0,14.31,13.88,13.33
$GC,7307,0.33,316.9,2669,3517,2166,2065,163.4,9.5,552,7331,0.00,2.42,17.90,1.395,9382,0.000,0.063,2674,2123,2072,2125,2019,0,0,0,0,0,0,14.02,13.93,13.28
$GC,7648,0.43,361.7,2671,2123,2118,2009,135.9,7.9,570,7731,0.12,2.65,75.38,1.233,10916,0.134,0.089,2727,689,1885,1926,1844,0,0,0,0,0,0,13.99,13.66,13.19
$GC,7831,0.48,361.7,2729,690,1915,1845,116.2,10.1,607,7837,0.00,2.55,0.00,0.000,1158,0.000,0.080,2728,2106,1880,1914,1846,0,0,0,0,0,0,13.94,13.83,13.95
$GC,8139,0.49,372.7,2729,2107,1914,1840,85.0,9.5,630,8150,0.00,2.53,4.93,0.441,8740,0.000,0.085,2729,689,1843,1879,1807,0,0,0,0,0,0,14.18,13.85,13.57
$GC,8201,0.59,401.6,2732,693,1881,1809,79.6,8.7,642,8223,0.12,2.53,16.12,0.442,11430,0.132,0.080,2780,2109,1728,1757,1699,0,0,0,0,0,0,13.98,13.94,13.60
$GC,8521,0.58,423.0,2780,2109,1758,1694,43.0,9.0,676,8534,0.00,0.00,11.77,0.332,8358,0.000,0.000,2780,2109,1640,1673,1607,0,0,0,0,0,0,14.22,13.98,13.70
$GC,8830,0.63,495.8,2780,2111,1674,1602,20.4,6.6,707,8877,0.00,2.60,38.95,0.267,8740,0.000,0.087,2781,690,1340,1395,1285,0,0,0,0,0,0,14.23,13.83,13.77
$GC,8892,0.82,586.3,2781,690,1391,1286,16.8,5.8,717,8950,0.20,2.53,48.45,0.255,11430,0.118,0.084,2857,2101,970,1053,887,0,0,0,0,0,0,13.97,13.93,13.71
$MODEM_MSG,CACST,6,1,20170810201431.443739,3,8297,39,0812,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170810202232.284638,3,176,10,0270,0150,250,00,00,02,02,-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,6,1,20170810203017.509924,3,65,18,0144,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9183,begin surface coast
$FINISH,0.2,1.020337
$STATE,9223,end surface coast,CONTROL_FINISHED_OK
$STATE,9223,begin surface
$SM_CCo,9245,67.70,0.207,0,0,498,702.78
$SM_GC,1.44,8.30,0.17,67.70,0.085,0.117,0.207,204,2219,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.02,14.04,13.83
$RAFOS_CLK,118
$MODEM,4,1502397017,75.71700,-151.21500,316.760,459271.4
$MODEM,3,1502396552,74.30400,-153.94400,245.285,355639.1
$MODEM,2,1502396071,73.18300,-149.96500,124.444,180431.4
$RAFOS_FIX,7144.114746,-14721.083008,100817,202026,3,255,0.94
$IRIDIUM_FIX,7144.25,-14723.31,100817,175849
$TT8_MAMPS,0.092127,0.833637
$HUMID,46.53
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.40
$XPDR_PINGS,3
$CP_FREE,16013328384.000000
$PM_FREEKB_00,60298368
$24V_AH,12.69,59.639
$10V_AH,12.63,0.000
$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,24.875,85.175,842.575,67.700,0.000,0.000,0.000,591.700,0.750,0.000,13.805,0.000,6920.352,827.226,2396.063,530.956,0.000,2253.638,0.000,1091.970,2216.000,0.540,0.000
$DEVICE_MAMPS,455.940,2147.355,1618.740,206.550,0.000,0.000,0.000,139.995,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9249.000,9242.000,9198.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.514,111.000,16.582,0.000
$MEM,323796
$DATA_FILE_SIZE,26700,756
$CAP_FILE_SIZE,110385,0
$CFSIZE,2097872896,2072117248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1447.0
$CURRENT,0.081,212.34,1
$GPS,100817,204104,7141.034,-14726.470,25,0.8,27,21.4,0.3,134.1,9,9.5