version: 66.13
glider: 196
mission: 14
dive: 47
start: 8 12 117 3 50 18
data:
$ID,196
$MISSION,14
$DIVE,47
$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,26
$R_STBD_OVSHOOT,48
$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,143.0
$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
$GPS1,120817,032802,7147.0532,-14730.8389,35,0.8,35,21.4,0.5,304.7,10,9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.9
$GPS2,120817,034943,7147.0654,-14730.8809,5,0.7,10,21.4,0.0,0.0,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.5,174429,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,171,2227,512,475,0.0,0.0,0,129,0.00,0.00,-81.57,0.000,16386,0.000,0.000,170,2226,2167,2090,2244,0,0,0,0,0,0,14.31,28.83,14.33
$GC,132,-0.57,-145.9,171,2227,2094,2245,3.4,-4.1,8,182,12.70,2.72,-31.83,0.000,18724,0.451,2.136,2378,3587,3964,3951,3977,1,0,0,0,0,0,13.51,12.71,14.07
$GC,262,-0.52,-145.9,2379,3589,3960,3977,41.0,-19.8,32,267,0.15,2.40,0.00,0.000,3206,0.273,0.059,2407,2195,3971,3960,3983,0,0,0,0,0,0,13.84,14.04,14.09
$GC,582,-0.57,-145.9,2408,2194,3963,3977,87.4,-12.2,64,587,0.00,2.47,0.00,0.000,388,0.000,0.084,2402,3581,3970,3963,3978,0,0,0,0,0,0,14.29,14.00,14.31
$GC,652,-0.72,-145.9,2402,3585,3965,3978,95.2,-10.0,78,658,0.17,2.38,0.00,0.000,5286,0.106,0.053,2336,2192,3970,3963,3977,0,0,0,0,0,0,14.07,14.03,14.14
$GC,963,-0.68,-145.9,2336,2191,3964,3977,144.5,-15.5,92,968,0.00,2.47,0.00,0.000,388,0.000,0.085,2332,3584,3970,3963,3977,0,0,0,0,0,0,14.30,13.99,14.33
$GC,1043,-0.73,-145.9,2332,3586,3963,3978,155.8,-13.0,108,1048,0.00,2.35,0.00,0.000,1158,0.000,0.054,2332,2202,3970,3963,3977,0,0,0,0,0,0,14.16,14.06,14.18
$GC,1353,-0.73,-145.9,2333,2201,3964,3976,197.9,-12.9,120,1358,0.00,2.45,0.00,0.000,260,0.000,0.086,2331,3581,3969,3963,3975,0,0,0,0,0,0,14.32,14.01,14.35
$GC,1433,-0.81,-145.9,2332,3583,3963,3976,207.0,-10.7,136,1438,0.00,2.38,0.00,0.000,1158,0.000,0.057,2332,2195,3969,3963,3975,0,0,0,0,0,0,14.15,14.04,14.18
$GC,1743,-0.86,-145.9,2332,2194,3964,3972,240.7,-10.7,148,1748,0.00,2.47,0.00,0.000,388,0.000,0.089,2332,3582,3967,3963,3972,0,0,0,0,0,0,14.31,14.01,14.33
$GC,1798,-0.97,-145.9,2332,3585,3963,3973,246.3,-9.7,159,1805,0.20,2.38,0.00,0.000,5286,0.103,0.057,2258,2197,3967,3963,3972,0,0,0,0,0,0,14.01,14.00,14.09
$GC,2103,-0.87,-145.9,2258,2197,3964,3969,296.1,-16.5,170,2109,0.15,2.45,0.00,0.000,2436,0.309,0.080,2281,3579,3965,3962,3969,0,0,0,0,0,0,13.76,14.01,13.95
$GC,2221,-0.87,-145.9,2282,3583,3962,3970,311.7,-12.6,193,2227,0.00,2.40,0.00,0.000,1030,0.000,0.058,2281,2193,3965,3961,3969,0,0,0,0,0,0,14.05,13.95,14.07
$GC,2525,-0.83,-145.9,2282,2193,3962,3966,352.9,-13.5,204,2530,0.12,2.47,0.00,0.000,2436,0.301,0.084,2305,3583,3963,3961,3966,0,0,0,0,0,0,13.81,14.00,13.97
$GC,2632,-0.92,-145.9,2306,3585,3963,3966,364.6,-10.3,225,2636,0.00,2.38,0.00,0.000,1158,0.000,0.056,2305,2193,3963,3961,3966,0,0,0,0,0,0,14.15,14.04,14.18
$MODEM_MSG,CACST,6,1,20170812041428.543565,3,3515,35,0597,0150,250,00,00,00,00,-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,6,1,20170812043014.388380,3,16,06,0106,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$GC,2947,-0.95,-145.9,2306,2193,3961,3964,399.7,-10.9,238,2952,0.00,2.45,0.00,0.000,388,0.000,0.087,2305,3588,3962,3961,3964,0,0,0,0,0,0,14.31,13.97,14.33
$GC,3019,-1.04,-145.9,2306,3589,3961,3965,407.0,-10.1,252,3024,0.20,2.38,0.00,0.000,5254,0.107,0.057,2235,2191,3962,3960,3964,0,0,0,0,0,0,14.07,13.99,14.15
$GC,3341,-0.91,-145.9,2235,2191,3960,3964,460.0,-16.8,266,3347,0.20,2.45,0.00,0.000,2436,0.308,0.080,2269,3585,3961,3959,3963,0,0,0,0,0,0,13.74,14.07,13.95
$GC,3477,-0.91,-145.9,2270,3586,3959,3964,478.5,-12.2,293,3482,0.00,2.38,0.00,0.000,1030,0.000,0.057,2269,2190,3960,3958,3963,0,0,0,0,0,0,14.24,14.13,14.27
$STATE,3490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3490,begin apogee
$GC,3496,-0.13,0.0,2270,2067,3959,3963,480.4,-13.2,296,3776,1.05,0.00,276.15,1.306,10246,0.259,0.000,2528,2067,3364,3398,3331,0,0,0,0,0,0,13.85,13.40,12.81
$STATE,3779,end apogee,CONTROL_FINISHED_OK
$STATE,3779,begin climb
$GC,3782,0.57,145.9,2528,2067,3395,3326,493.3,0.0,305,3987,0.75,2.70,197.70,1.342,10500,0.067,0.075,2778,3486,2761,2818,2704,0,0,0,0,0,0,13.47,13.13,12.65
$GC,4212,0.17,145.9,2777,3486,2791,2704,453.8,18.7,395,4218,0.70,2.38,0.00,0.000,5254,0.344,0.058,2643,2128,2744,2786,2703,0,0,0,0,0,0,13.45,13.75,13.78
$GC,4545,0.09,163.6,2644,2126,2788,2700,421.6,9.2,411,4570,0.00,2.40,18.17,1.471,8612,0.000,0.079,2643,3483,2690,2738,2643,0,0,0,0,0,0,14.28,13.81,13.27
$GC,4795,-0.02,163.6,2643,3485,2724,2637,395.0,10.6,461,4800,0.30,2.38,0.00,0.000,5254,0.258,0.058,2581,2097,2679,2723,2636,0,0,0,0,0,0,13.86,14.07,14.12
$GC,5115,0.12,255.3,2582,2098,2725,2635,375.7,5.8,475,5270,0.12,2.55,143.02,1.285,10660,0.135,0.081,2637,3490,2318,2374,2262,0,0,0,0,0,0,14.21,13.64,13.09
$GC,5284,0.12,255.3,2636,3490,2365,2261,360.2,10.9,503,5290,0.00,2.45,0.00,0.000,1030,0.000,0.060,2645,2099,2311,2364,2258,0,0,0,0,0,0,13.81,13.72,13.83
$GC,5601,0.12,255.3,2646,2099,2362,2248,327.4,10.3,516,5605,0.00,2.50,0.00,0.000,516,0.000,0.089,2647,695,2304,2360,2248,0,0,0,0,0,0,14.28,13.99,14.29
$GC,5661,0.19,263.5,2647,694,2360,2248,321.4,9.6,528,5666,0.00,2.42,1.30,0.265,9382,0.000,0.079,2647,2074,2292,2347,2237,0,0,0,0,0,0,14.15,14.04,13.87
$GC,5991,0.19,263.5,2647,2080,2365,2246,287.7,10.2,544,5997,0.00,2.60,1.52,0.270,8452,0.000,0.083,2647,3516,2288,2344,2233,0,0,0,0,0,0,14.42,14.10,13.88
$GC,6022,0.19,263.5,2646,3517,2346,2241,284.4,10.7,550,6027,0.00,2.42,0.00,0.000,1030,0.000,0.061,2655,2106,2293,2346,2241,0,0,0,0,0,0,14.24,14.13,14.26
$GC,6352,0.19,263.5,2655,2101,2353,2243,250.3,10.1,566,6357,0.00,2.47,0.00,0.000,516,0.000,0.087,2660,685,2294,2352,2237,0,0,0,0,0,0,14.47,14.14,14.48
$GC,6427,0.26,283.2,2660,685,2351,2244,243.1,9.1,581,6473,0.00,2.50,39.85,1.326,9382,0.000,0.080,2659,2112,2212,2270,2154,0,0,0,0,0,0,14.29,14.18,13.40
$GC,6774,0.30,287.2,2660,2107,2254,2140,208.8,9.8,600,6775,0.00,0.00,0.00,0.000,166,0.000,0.000,2659,2107,2197,2254,2140,0,0,0,0,0,0,14.41,14.38,14.38
$GC,7072,0.36,320.8,2660,2106,2256,2138,182.7,8.5,610,7138,0.12,2.55,58.97,1.282,10916,0.138,0.086,2717,685,2053,2104,2003,0,0,0,0,0,0,14.18,13.88,13.33
$GC,7193,0.36,320.8,2717,686,2096,2004,168.6,11.2,634,7198,0.00,2.53,0.00,0.000,1030,0.000,0.079,2717,2100,2048,2095,2001,0,0,0,0,0,0,14.05,13.95,14.08
$GC,7524,0.33,320.8,2718,2101,2096,1996,132.9,10.3,650,7525,0.12,0.00,0.00,0.000,4230,0.239,0.000,2691,2102,2045,2094,1996,0,0,0,0,0,0,13.97,14.21,14.17
$GC,7824,0.41,371.4,2692,2102,2095,1992,109.1,7.7,660,7915,0.00,2.62,82.28,1.219,8868,0.000,0.088,2697,685,1849,1890,1808,0,0,0,0,0,0,14.42,13.81,13.28
$GC,7975,0.58,416.4,2699,685,1873,1807,97.0,7.9,690,8002,0.22,2.55,22.35,0.501,11430,0.097,0.079,2782,2106,1665,1700,1631,0,0,0,0,0,0,13.95,13.89,13.55
$GC,8307,0.54,416.4,2783,2107,1701,1627,54.4,12.3,726,8312,0.00,2.53,0.00,0.000,644,0.000,0.086,2791,687,1663,1700,1627,0,0,0,0,0,0,14.29,14.00,14.31
$GC,8357,0.54,416.4,2792,687,1699,1628,48.7,11.2,736,8362,0.15,2.53,0.00,0.000,5126,0.247,0.079,2761,2111,1662,1698,1627,0,0,0,0,0,0,13.88,14.02,14.10
$GC,8668,0.65,512.4,2761,2111,1699,1624,26.8,5.6,768,8721,0.00,2.60,47.75,0.295,8868,0.000,0.086,2765,687,1277,1347,1207,0,0,0,0,0,0,14.38,13.96,13.83
$GC,8793,0.87,578.9,2766,686,1339,1209,18.7,6.9,792,8836,0.30,2.50,33.30,0.269,11430,0.088,0.079,2877,2101,1002,1080,925,0,0,0,0,0,0,14.11,14.07,13.81
$STATE,9088,end climb,SURFACE_DEPTH_REACHED
$STATE,9088,begin surface coast
$FINISH,0.2,1.019961
$STATE,9119,end surface coast,CONTROL_FINISHED_OK
$STATE,9119,begin surface
$SM_CCo,9140,66.38,0.213,0,0,498,702.78
$SM_GC,1.28,8.23,0.17,66.38,0.079,0.109,0.213,204,2225,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.18,14.21,13.95
$RAFOS_CLK,361
$MODEM,4,1502512214,75.71700,-151.21500,313.638,455302.8
$MODEM,2,1502511268,73.18300,-149.96500,121.544,176442.5
$RAFOS_FIX,7145.095215,-14748.840820,120817,040421,2,255,5.64
$IRIDIUM_FIX,7149.94,-14737.02,120817,034207
$TT8_MAMPS,0.039697,0.886067
$HUMID,50.39
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,13
$CP_FREE,16011427840.000000
$PM_FREEKB_00,59503168
$24V_AH,12.65,65.149
$10V_AH,12.58,0.000
$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,25.975,94.325,922.375,66.375,0.000,0.000,0.000,793.450,3.250,0.000,11.618,0.000,6714.216,885.432,2611.702,315.597,0.000,2548.519,0.000,1197.607,2213.000,0.540,0.000
$DEVICE_MAMPS,451.350,2135.880,1471.095,212.670,0.000,0.000,0.000,182.070,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9109.000,9148.000,9095.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.522,20.000,16.596,0.000
$MEM,323472
$DATA_FILE_SIZE,30081,829
$CAP_FILE_SIZE,117489,0
$CFSIZE,2097872896,2073886720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.8
$CURRENT,0.054,189.07,1
$GPS,120817,062502,7147.909,-14731.235,17,0.8,32,21.4,0.5,19.8,11,8.4