version: 66.13
glider: 196
mission: 14
dive: 51
start: 8 12 117 14 50 50
data:
$ID,196
$MISSION,14
$DIVE,51
$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,35
$R_STBD_OVSHOOT,56
$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,152.0
$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
$GPS1,120817,143855,7150.2793,-14733.3125,17,0.7,20,21.4,0.0,343.9,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.1
$GPS2,120817,145021,7150.2915,-14733.4561,7,0.7,34,21.4,0.0,323.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.5,168482,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,201,2187,515,475,0.0,0.0,0,128,0.00,0.00,-80.95,0.000,16386,0.000,0.000,199,2186,2062,1983,2141,0,0,0,0,0,0,14.32,28.83,14.33
$GC,131,-0.57,-145.9,200,2187,1986,2142,3.1,-3.7,8,188,12.55,2.80,-36.25,0.000,18724,0.454,2.149,2376,3573,3959,3940,3978,0,0,0,0,0,0,13.69,12.69,14.10
$GC,413,-0.57,-145.9,2377,3573,3956,3979,64.6,-15.5,64,418,0.00,2.35,0.00,0.000,1030,0.000,0.058,2376,2205,3966,3955,3978,0,0,0,0,0,0,14.16,14.05,14.19
$GC,745,-0.57,-145.9,2377,2204,3959,3978,113.1,-13.5,92,750,0.00,2.42,0.00,0.000,260,0.000,0.085,2369,3575,3967,3957,3978,0,0,0,0,0,0,14.40,14.01,14.42
$GC,876,-0.69,-145.9,2369,3576,3958,3978,128.4,-10.9,118,881,0.00,2.33,0.00,0.000,1158,0.000,0.055,2369,2199,3967,3957,3978,0,0,0,0,0,0,14.25,14.14,14.28
$GC,1197,-0.75,-145.9,2369,2199,3958,3977,164.6,-10.9,132,1201,0.00,2.42,0.00,0.000,388,0.000,0.087,2363,3574,3967,3957,3977,0,0,0,0,0,0,14.46,14.14,14.50
$GC,1231,-0.87,-145.9,2363,3576,3958,3978,168.4,-10.9,139,1238,0.20,2.35,0.00,0.000,5254,0.104,0.057,2283,2197,3966,3957,3976,0,0,0,0,0,0,14.20,14.16,14.28
$GC,1558,-0.79,-145.9,2283,2197,3965,3976,222.6,-16.4,154,1563,0.15,2.42,0.00,0.000,2436,0.284,0.086,2317,3573,3965,3957,3974,0,0,0,0,0,0,13.96,14.07,14.12
$GC,1670,-0.88,-145.9,2318,3574,3958,3975,235.3,-10.3,176,1675,0.00,2.33,0.00,0.000,1158,0.000,0.057,2323,2200,3965,3956,3974,0,0,0,0,0,0,14.29,14.19,14.33
$GC,1980,-0.91,-145.9,2318,2199,3959,3971,269.2,-10.8,188,1985,0.00,2.45,0.00,0.000,388,0.000,0.090,2317,3579,3964,3957,3971,0,0,0,0,0,0,14.51,13.56,14.52
$GC,2065,-1.02,-145.9,2318,3579,3957,3972,278.0,-9.9,205,2072,0.22,2.35,0.00,0.000,5286,0.101,0.058,2239,2194,3964,3957,3971,0,0,0,0,0,0,14.21,14.16,14.29
$GC,2370,-0.89,-145.9,2240,2194,3958,3970,330.6,-17.7,216,2375,0.20,2.45,0.00,0.000,2436,0.304,0.083,2275,3582,3963,3957,3969,0,0,0,0,0,0,13.83,13.92,14.02
$GC,2495,-0.89,-145.9,2275,3582,3958,3969,347.8,-12.8,241,2500,0.00,2.35,0.00,0.000,1030,0.000,0.058,2276,2198,3963,3957,3969,0,0,0,0,0,0,14.32,14.21,14.35
$GC,2821,-0.85,-145.9,2276,2197,3958,3967,391.6,-13.5,256,2826,0.00,2.42,0.00,0.000,388,0.000,0.086,2267,3576,3962,3957,3967,0,0,0,0,0,0,14.53,14.14,14.54
$GC,2935,-0.85,-145.9,2268,3576,3959,3966,406.9,-13.1,279,2943,0.15,2.35,0.00,0.000,3078,0.261,0.058,2297,2194,3961,3957,3966,0,0,0,0,0,0,13.93,14.16,14.19
$GC,3241,-0.87,-145.9,2298,2193,3958,3965,441.4,-11.2,290,3246,0.00,2.45,0.00,0.000,388,0.000,0.086,2292,3583,3961,3957,3965,0,0,0,0,0,0,14.52,14.12,14.54
$GC,3331,-0.95,-145.9,2293,3585,3958,3965,451.5,-10.6,308,3336,0.00,2.38,0.00,0.000,1158,0.000,0.057,2292,2191,3961,3957,3965,0,0,0,0,0,0,14.31,14.20,14.34
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3599,begin apogee
$GC,3604,-0.13,0.0,2293,2068,3958,3965,482.7,-11.5,322,3813,0.93,0.00,203.85,1.448,10246,0.233,0.000,2530,2067,3363,3405,3322,0,0,0,0,0,0,13.92,13.51,12.86
$STATE,3816,end apogee,CONTROL_FINISHED_OK
$STATE,3816,begin climb
$GC,3819,0.57,145.9,2532,2067,3403,3319,492.6,0.0,329,4025,0.73,2.67,199.65,1.394,10500,0.065,0.074,2775,3472,2766,2829,2703,0,0,0,0,0,0,13.59,13.09,12.62
$GC,4138,0.16,145.9,2776,3472,2808,2702,475.6,17.4,348,4144,0.70,2.40,0.00,0.000,5254,0.340,0.057,2642,2124,2754,2806,2703,0,0,0,0,0,0,13.33,13.55,13.58
$GC,4464,0.09,167.7,2644,2123,2806,2701,444.7,9.0,363,4496,0.12,2.65,26.27,1.496,12964,0.303,0.083,2616,693,2679,2734,2625,0,0,0,0,0,0,13.60,13.70,13.08
$GC,4543,0.17,218.2,2615,694,2729,2624,438.7,7.7,378,4622,0.00,2.47,72.65,1.408,9382,0.000,0.080,2615,2067,2472,2544,2401,0,0,0,0,0,0,13.88,13.77,12.89
$GC,4947,0.23,252.1,2615,2068,2534,2391,404.9,8.4,409,5003,0.12,2.67,47.92,1.416,10660,0.130,0.082,2676,3507,2331,2393,2270,0,0,0,0,0,0,13.90,13.64,13.02
$GC,5040,0.14,252.1,2677,3509,2384,2271,393.4,14.0,427,5046,0.25,2.47,0.00,0.000,5254,0.268,0.061,2631,2106,2331,2385,2277,0,0,0,0,0,0,13.56,13.71,13.78
$GC,5373,0.18,266.7,2631,2106,2383,2265,361.2,9.3,443,5397,0.00,2.55,19.10,1.507,8868,0.000,0.085,2633,687,2273,2332,2215,0,0,0,0,0,0,14.20,13.73,13.16
$GC,5469,0.30,292.3,2633,687,2331,2215,352.5,8.8,462,5513,0.15,2.53,37.70,1.422,11430,0.116,0.079,2691,2105,2173,2231,2116,0,0,0,0,0,0,13.93,13.88,13.09
$GC,5825,0.24,292.3,2692,2105,2223,2104,304.1,14.0,483,5826,0.12,0.00,0.00,0.000,4230,0.239,0.000,2667,2105,2162,2222,2103,0,0,0,0,0,0,13.85,14.08,14.05
$GC,6123,0.24,292.3,2667,2106,2220,2103,268.5,11.7,493,6128,0.00,2.53,0.00,0.000,516,0.000,0.086,2672,688,2160,2219,2102,0,0,0,0,0,0,14.32,14.02,14.31
$GC,6178,0.28,292.3,2672,689,2218,2102,262.1,11.4,504,6184,0.00,2.50,0.00,0.000,1158,0.000,0.081,2672,2102,2159,2217,2102,0,0,0,0,0,0,14.11,14.02,14.16
$MODEM_MSG,CACST,6,1,20170812161423.010749,3,432,14,0289,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*06
$MODEM_MSG,CACST,6,1,20170812163010.260659,3,21,13,0161,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,6483,0.28,292.3,2673,2102,2218,2102,225.8,11.5,515,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2103,2159,2217,2101,0,0,0,0,0,0,14.32,14.33,14.33
$GC,6783,0.28,292.3,2673,2102,2218,2101,194.5,10.2,525,6788,0.00,2.47,0.00,0.000,516,0.000,0.084,2673,684,2158,2216,2101,0,0,0,0,0,0,14.32,14.02,14.34
$GC,6865,0.35,309.5,2672,687,2216,2101,186.9,9.2,541,6894,0.00,2.47,23.20,1.412,9382,0.000,0.080,2671,2100,2103,2158,2048,0,0,0,0,0,0,14.23,14.12,13.34
$GC,7207,0.41,339.4,2672,2102,2154,2043,156.1,8.6,559,7259,0.12,0.00,51.10,1.314,10406,0.135,0.000,2722,2101,1983,2034,1932,0,0,0,0,0,0,14.15,13.92,13.30
$GC,7535,0.38,339.4,2723,2101,2025,1919,119.1,10.7,570,7539,0.00,2.50,0.00,0.000,644,0.000,0.085,2729,684,1971,2023,1919,0,0,0,0,0,0,14.34,14.06,14.40
$GC,7595,0.41,339.4,2728,685,2019,1920,112.9,10.1,582,7600,0.00,2.50,0.00,0.000,1158,0.000,0.080,2729,2101,1969,2020,1919,0,0,0,0,0,0,14.20,14.09,14.23
$GC,7907,0.41,344.4,2729,2100,2021,1919,80.8,9.8,608,7909,0.00,0.00,1.02,0.363,8230,0.000,0.000,2729,2101,1961,2013,1910,0,0,0,0,0,0,14.40,14.11,13.68
$GC,8205,0.45,403.8,2729,2101,2016,1915,56.4,7.3,638,8238,0.00,0.00,31.83,0.380,8230,0.000,0.000,2729,2101,1716,1756,1677,0,0,0,0,0,0,14.41,14.15,13.80
$GC,8535,0.63,515.5,2729,2102,1753,1671,36.3,4.8,671,8596,0.17,0.00,55.90,0.311,10406,0.109,0.000,2795,2101,1261,1332,1191,0,0,0,0,0,0,14.18,14.12,13.76
$GC,8895,0.92,708.8,2796,2105,1332,1175,12.6,1.1,707,8995,0.22,2.53,93.80,0.250,10916,0.101,0.086,2887,688,494,536,452,0,0,0,0,0,0,14.12,14.00,13.83
$GC,9016,1.08,780.5,2888,689,537,453,6.8,6.7,730,9022,0.12,2.50,0.00,0.000,3238,0.139,0.079,2940,2100,493,536,451,0,0,0,0,0,0,14.02,13.97,14.12
$STATE,9058,end climb,SURFACE_DEPTH_REACHED
$STATE,9058,begin surface coast
$FINISH,0.0,1.020073
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9068,begin surface
$SM_CCo,9149,0.00,0.000,0,0,493,704.50
$SM_GC,1.14,8.45,0.17,0.00,0.080,0.116,0.000,203,2215,493,-7.38,-0.74,704.50,0,0,0,0,0,0,14.13,14.13,14.23
$RAFOS_CLK,230
$MODEM,4,1502555410,75.71700,-151.21500,309.511,449426.0
$MODEM,2,1502554463,73.18300,-149.96500,116.011,168453.8
$RAFOS_FIX,7146.153809,-14802.952148,120817,161616,2,255,3.40
$IRIDIUM_FIX,7148.85,-14731.20,120817,115957
$TT8_MAMPS,0.040446,0.869589
$HUMID,49.29
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,11
$CP_FREE,16010772480.000000
$PM_FREEKB_00,59228928
$24V_AH,12.62,66.978
$10V_AH,12.56,0.000
$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,25.700,79.450,864.000,0.000,0.000,0.000,0.000,395.700,2.750,0.000,35.339,0.000,6618.000,762.977,2184.969,278.125,0.000,1984.049,0.000,1055.695,2218.000,0.540,0.000
$DEVICE_MAMPS,454.410,2148.885,1507.050,0.000,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8889.000,9084.000,9044.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.078,20.000,16.582,0.000
$MEM,323692
$DATA_FILE_SIZE,26686,736
$CAP_FILE_SIZE,102410,0
$CFSIZE,2097872896,2072674304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.024,135.29,1
$GPS,120817,172433,7151.482,-14733.764,30,0.8,31,21.4,0.0,0.0,11,8.7