version: 66.13
glider: 196
mission: 14
dive: 81
start: 8 16 117 2 52 9
data:
$ID,196
$MISSION,14
$DIVE,81
$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,25
$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,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,235.0
$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
$GPS1,160817,023156,7223.8125,-14817.1641,16,0.7,38,21.2,0.6,257.6,11,6.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.7
$GPS2,160817,025134,7223.7285,-14817.4590,7,0.7,9,21.2,0.0,0.0,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,329.1,102921,-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,-145.9,170,2228,511,455,0.0,0.0,0,129,0.00,0.00,-81.68,0.000,16386,0.000,0.000,166,2228,2124,2045,2204,0,0,0,0,0,0,14.44,28.83,14.43
$GC,132,-0.57,-145.9,167,2229,2048,2205,3.8,-5.9,8,185,12.73,2.78,-33.10,0.000,18980,0.457,2.142,2384,793,3966,3954,3978,0,0,0,0,0,0,13.72,12.72,14.14
$GC,275,-0.57,-145.9,2384,794,3959,3978,41.0,-17.0,36,280,0.00,2.47,0.00,0.000,1030,0.000,0.088,2377,2182,3968,3960,3976,0,0,0,0,0,0,14.12,14.00,14.16
$GC,585,-0.57,-145.9,2378,2185,3963,3978,93.3,-13.9,68,590,0.00,2.55,0.00,0.000,260,0.000,0.090,2376,3618,3970,3963,3977,0,0,0,0,0,0,14.45,14.08,14.46
$GC,800,-0.69,-145.9,2376,3621,3964,3978,117.9,-10.6,111,806,0.00,2.40,0.00,0.000,1158,0.000,0.054,2375,2198,3970,3963,3977,0,0,0,0,0,0,14.19,14.09,14.21
$GC,1126,-0.77,-145.9,2376,2196,3964,3978,154.2,-10.8,126,1131,0.12,2.50,0.00,0.000,4484,0.144,0.085,2319,3614,3970,3963,3977,0,0,0,0,0,0,14.24,14.18,14.29
$GC,1228,-0.83,-145.9,2319,3618,3964,3978,167.7,-13.1,146,1232,0.00,2.38,0.00,0.000,1158,0.000,0.054,2319,2199,3968,3959,3977,0,0,0,0,0,0,14.34,14.23,14.37
$GC,1548,-0.83,-145.9,2319,2198,3963,3978,212.6,-13.0,160,1553,0.00,2.50,0.00,0.000,260,0.000,0.088,2311,3617,3969,3962,3977,0,0,0,0,0,0,14.52,14.16,14.54
$GC,1670,-0.90,-145.9,2311,3621,3961,3977,227.0,-11.1,184,1674,0.00,2.40,0.00,0.000,1158,0.000,0.054,2311,2192,3969,3961,3977,0,0,0,0,0,0,14.31,14.20,14.34
$GC,2000,-0.92,-145.9,2314,2192,3962,3977,266.2,-11.5,200,2004,0.00,2.50,0.00,0.000,388,0.000,0.089,2307,3614,3967,3961,3974,0,0,0,0,0,0,14.55,14.19,14.55
$GC,2131,-1.02,-145.9,2308,3615,3960,3974,280.4,-10.5,226,2137,0.17,2.40,0.00,0.000,5254,0.109,0.055,2243,2193,3967,3961,3974,0,0,0,0,0,0,14.28,14.26,14.37
$GC,2452,-0.92,-145.9,2243,2193,3961,3972,333.2,-16.5,240,2457,0.12,2.50,0.00,0.000,2436,0.307,0.083,2260,3618,3965,3960,3970,0,0,0,0,0,0,13.92,14.18,14.10
$GC,2632,-0.92,-145.9,2261,3619,3958,3971,358.3,-13.3,276,2637,0.00,2.40,0.00,0.000,1030,0.000,0.056,2268,2190,3965,3959,3971,0,0,0,0,0,0,14.25,14.20,14.28
$GC,2962,-0.88,-145.9,2260,2190,3960,3970,404.8,-14.1,292,2967,0.12,2.50,0.00,0.000,2436,0.319,0.083,2280,3615,3964,3959,3970,0,0,0,0,0,0,13.90,14.16,14.09
$GC,3103,-0.93,-145.9,2280,3615,3961,3971,421.0,-11.0,320,3108,0.00,2.38,0.00,0.000,1158,0.000,0.054,2280,2199,3964,3958,3970,0,0,0,0,0,0,14.35,14.23,14.37
$GC,3413,-0.93,-145.9,2283,2194,3967,3969,457.9,-12.1,332,3418,0.00,2.47,0.00,0.000,260,0.000,0.087,2274,3614,3963,3958,3968,0,0,0,0,0,0,14.57,14.16,14.58
$GC,3513,-0.98,-145.9,2273,3615,3958,3968,469.7,-11.4,352,3518,0.00,2.38,0.00,0.000,1158,0.000,0.054,2275,2198,3962,3957,3968,0,0,0,0,0,0,14.35,14.23,14.38
$STATE,3620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3620,begin apogee
$GC,3626,-0.13,0.0,2274,2069,3957,3969,483.2,-12.4,359,3835,1.00,0.08,203.43,1.458,10246,0.238,0.179,2529,2114,3364,3394,3334,0,0,0,0,0,0,13.97,13.45,12.81
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3886,0.57,145.9,2530,2115,3393,3330,493.2,0.0,366,4093,0.73,2.65,197.73,1.398,10500,0.066,0.073,2779,3505,2764,2817,2712,0,0,0,0,0,0,13.69,13.05,12.52
$GC,4318,0.15,145.9,2778,3504,2796,2711,460.5,16.9,463,4324,0.73,2.42,0.00,0.000,5254,0.346,0.056,2639,2124,2753,2796,2711,0,0,0,0,0,0,13.40,13.69,13.73
$GC,4644,0.08,172.9,2639,2124,2797,2710,430.3,8.8,478,4685,0.12,2.50,34.53,1.470,12708,0.295,0.081,2610,3508,2657,2704,2610,0,0,0,0,0,0,13.69,13.81,13.09
$GC,4906,0.06,194.8,2611,3513,2696,2605,407.1,9.0,530,4941,0.00,2.42,30.40,1.491,9382,0.000,0.059,2619,2096,2570,2623,2517,0,0,0,0,0,0,14.08,13.99,13.12
$GC,5246,0.09,231.4,2616,2100,2619,2502,378.7,8.3,548,5308,0.00,2.55,52.35,1.424,8740,0.000,0.086,2616,701,2415,2471,2360,0,0,0,0,0,0,14.27,13.77,13.12
$GC,5383,0.20,268.5,2616,702,2468,2360,367.4,8.3,575,5444,0.00,2.47,54.80,1.381,9382,0.000,0.077,2616,2095,2270,2326,2214,0,0,0,0,0,0,13.99,13.88,13.00
$GC,5759,0.30,306.5,2616,2093,2318,2199,336.1,8.2,600,5820,0.20,0.00,56.55,1.365,10406,0.097,0.000,2693,2094,2110,2165,2056,0,0,0,0,0,0,14.02,13.76,13.07
$GC,6119,0.26,306.5,2693,2091,2157,2045,286.8,13.8,612,6124,0.00,2.47,0.00,0.000,644,0.000,0.085,2699,695,2100,2156,2045,0,0,0,0,0,0,14.23,13.96,14.23
$GC,6189,0.26,306.5,2699,696,2156,2045,277.1,13.4,626,6194,0.15,2.47,0.00,0.000,5126,0.226,0.076,2667,2103,2102,2154,2051,0,0,0,0,0,0,13.90,14.02,14.10
$MODEM_MSG,CACST,6,1,20170816041230.404768,3,52,00,0101,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170816042140.286658,3,31,14,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,6509,0.28,306.5,2667,2104,2154,2043,241.4,10.9,640,6514,0.00,2.45,0.00,0.000,644,0.000,0.085,2672,695,2098,2154,2043,0,0,0,0,0,0,14.34,14.02,14.36
$GC,6545,0.33,306.5,2672,696,2153,2044,237.6,10.6,647,6551,0.00,2.42,0.00,0.000,1158,0.000,0.077,2672,2103,2098,2153,2043,0,0,0,0,0,0,14.19,14.08,14.22
$GC,6873,0.34,316.3,2673,2104,2153,2042,205.1,9.5,662,6888,0.00,2.47,9.93,1.563,8740,0.000,0.084,2672,694,2072,2126,2018,0,0,0,0,0,0,14.50,13.95,13.33
$GC,6928,0.45,345.8,2673,694,2122,2018,200.1,8.6,673,6984,0.17,2.45,48.33,1.332,11430,0.112,0.076,2747,2101,1952,1999,1906,0,0,0,0,0,0,14.19,14.14,13.24
$GC,7294,0.36,345.8,2746,2102,1994,1898,150.4,13.3,696,7299,0.17,2.47,0.00,0.000,4740,0.236,0.081,2712,687,1945,1993,1897,0,0,0,0,0,0,13.97,14.12,14.12
$GC,7330,0.41,345.8,2712,687,1991,1897,146.5,10.2,703,7336,0.00,2.47,0.00,0.000,1158,0.000,0.077,2712,2105,1943,1990,1897,0,0,0,0,0,0,14.26,14.15,14.29
$GC,7656,0.42,362.4,2713,2105,1989,1894,115.1,9.2,718,7681,0.00,2.50,18.77,1.397,8740,0.000,0.086,2711,688,1884,1924,1844,0,0,0,0,0,0,14.49,14.16,13.41
$GC,7726,0.54,389.8,2713,689,1919,1844,108.9,8.7,732,7778,0.12,2.45,42.75,1.281,11430,0.131,0.077,2768,2124,1773,1804,1742,0,0,0,0,0,0,14.09,14.04,13.28
$GC,8076,0.50,389.8,2768,2124,1800,1732,65.1,11.5,770,8081,0.00,2.53,0.00,0.000,644,0.000,0.086,2769,693,1764,1795,1733,0,0,0,0,0,0,14.37,14.01,14.39
$GC,8166,0.51,411.9,2769,694,1795,1734,56.2,9.0,788,8182,0.00,2.47,10.85,0.373,9254,0.000,0.079,2769,2105,1684,1714,1654,0,0,0,0,0,0,14.16,14.04,13.76
$GC,8487,0.57,496.6,2769,2105,1717,1652,32.3,6.1,822,8538,0.00,0.00,44.70,0.298,8230,0.000,0.000,2769,2105,1337,1391,1284,0,0,0,0,0,0,14.45,14.15,13.87
$GC,8837,0.96,720.6,2769,2105,1392,1272,14.2,-0.3,857,8953,0.35,2.50,107.18,0.249,10660,0.086,0.080,2900,3518,494,529,460,0,0,0,0,0,0,14.19,13.97,13.88
$GC,8995,0.96,720.6,2900,3520,531,460,4.1,11.3,887,9001,0.00,2.45,0.00,0.000,1030,0.000,0.068,2904,2104,494,529,460,0,0,0,0,0,0,14.16,14.07,14.19
$STATE,9013,end climb,SURFACE_DEPTH_REACHED
$STATE,9013,begin surface coast
$FINISH,1.2,1.020180
$STATE,9024,end surface coast,CONTROL_FINISHED_OK
$STATE,9024,begin surface
$SM_CCo,9104,0.00,0.000,0,0,492,704.01
$SM_GC,0.99,8.62,0.17,0.00,0.108,0.110,0.000,205,2226,492,-7.39,-0.68,704.01,0,0,0,0,0,0,14.16,14.19,14.25
$RAFOS_CLK,223
$MODEM,3,1502857300,74.30400,-153.94400,193.287,280375.1
$MODEM,2,1502856750,73.18300,-149.96500,3.405,4938.8
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7225.39,-14807.22,160817,024609
$TT8_MAMPS,0.039697,0.887565
$HUMID,48.66
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,11
$CP_FREE,16005693440.000000
$PM_FREEKB_00,56990848
$24V_AH,12.52,80.973
$10V_AH,12.45,0.000
$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,25.650,89.525,912.275,0.000,0.000,0.000,0.000,730.425,2.750,0.000,9.979,0.000,6521.620,879.849,2585.164,312.071,0.000,2444.392,0.000,1274.693,2218.000,0.540,0.000
$DEVICE_MAMPS,456.705,2142.000,1562.895,0.000,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9007.000,9053.000,9000.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.478,20.000,16.612,0.000
$MEM,323656
$DATA_FILE_SIZE,30054,891
$CAP_FILE_SIZE,113082,0
$CFSIZE,2097872896,2063892480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.7
$CURRENT,0.073,250.94,1
$GPS,160817,052502,7224.704,-14818.304,22,0.7,23,21.2,0.0,52.3,12,10.0