version: 66.13
glider: 196
mission: 14
dive: 84
start: 8 16 117 11 17 39
data:
$ID,196
$MISSION,14
$DIVE,84
$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,23
$R_STBD_OVSHOOT,43
$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,242.0
$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
$GPS1,160817,110557,7226.5391,-14819.7910,55,0.7,56,21.2,0.0,0.0,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.6
$GPS2,160817,111705,7226.4585,-14819.6387,6,0.8,9,21.2,0.0,239.6,10,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.8,98015,-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,-145.9,178,2229,508,463,0.0,0.0,0,129,0.00,0.00,-81.62,0.000,16386,0.000,0.000,176,2228,2033,1954,2113,0,0,0,0,0,0,14.36,28.83,14.38
$GC,132,-0.57,-145.9,178,2228,1957,2115,3.1,-3.7,8,189,12.68,2.85,-37.62,0.000,18980,0.455,2.142,2385,770,3964,3950,3979,0,0,0,0,0,0,13.70,12.65,14.10
$GC,294,-0.57,-145.9,2386,770,3958,3979,40.8,-17.6,40,299,0.00,2.50,0.00,0.000,1030,0.000,0.087,2379,2176,3968,3957,3979,0,0,0,0,0,0,14.09,13.99,14.15
$GC,604,-0.57,-145.9,2379,2177,3962,3979,92.2,-14.1,72,609,0.00,2.55,0.00,0.000,260,0.000,0.091,2375,3614,3970,3961,3979,0,0,0,0,0,0,14.45,14.00,14.46
$GC,829,-0.70,-145.9,2375,3615,3961,3980,117.9,-10.7,117,834,0.00,2.42,0.00,0.000,1158,0.000,0.054,2375,2181,3970,3960,3980,0,0,0,0,0,0,14.22,14.12,14.25
$GC,1145,-0.78,-145.9,2375,2181,3961,3978,152.3,-10.6,130,1150,0.15,2.53,0.00,0.000,4484,0.131,0.086,2306,3616,3969,3961,3978,0,0,0,0,0,0,14.25,14.20,14.30
$GC,1275,-0.82,-145.9,2306,3616,3962,3979,170.9,-13.8,156,1280,0.00,2.40,0.00,0.000,1158,0.000,0.055,2306,2194,3969,3960,3979,0,0,0,0,0,0,14.26,14.17,14.32
$GC,1595,-0.79,-145.9,2306,2193,3962,3977,219.5,-14.3,170,1600,0.00,2.50,0.00,0.000,388,0.000,0.087,2297,3617,3968,3960,3976,0,0,0,0,0,0,14.55,14.12,14.57
$GC,1775,-0.83,-145.9,2297,3618,3961,3977,242.7,-12.0,206,1779,0.00,2.40,0.00,0.000,1158,0.000,0.055,2296,2192,3968,3961,3976,0,0,0,0,0,0,14.36,14.26,14.41
$GC,2105,-0.83,-145.9,2296,2191,3962,3973,284.3,-12.3,222,2109,0.00,2.50,0.00,0.000,260,0.000,0.088,2287,3617,3966,3960,3973,0,0,0,0,0,0,14.57,14.21,14.58
$GC,2250,-0.89,-145.9,2287,3620,3960,3974,301.3,-11.2,251,2257,0.00,2.40,0.00,0.000,1158,0.000,0.055,2287,2193,3965,3958,3972,0,0,0,0,0,0,14.34,14.23,14.37
$GC,2555,-0.89,-145.9,2287,2192,3962,3970,338.6,-12.3,262,2559,0.00,2.50,0.00,0.000,260,0.000,0.088,2280,3612,3965,3960,3970,0,0,0,0,0,0,14.50,14.13,14.48
$GC,2660,-0.93,-145.9,2280,3614,3961,3971,351.2,-11.6,283,2665,0.00,2.40,0.00,0.000,1158,0.000,0.054,2283,2190,3964,3960,3969,0,0,0,0,0,0,14.27,14.17,14.28
$GC,2976,-0.93,-145.9,2280,2190,3961,3970,390.1,-12.2,296,2980,0.00,2.53,0.00,0.000,260,0.000,0.087,2273,3616,3964,3960,3969,0,0,0,0,0,0,14.42,14.08,14.43
$GC,3087,-0.97,-145.9,2273,3617,3961,3969,403.3,-11.8,318,3092,0.00,2.40,0.00,0.000,1158,0.000,0.054,2273,2199,3964,3960,3968,0,0,0,0,0,0,14.23,14.13,14.26
$GC,3397,-0.97,-145.9,2273,2198,3961,3967,442.0,-12.4,330,3402,0.00,2.53,0.00,0.000,260,0.000,0.088,2267,3616,3963,3960,3967,0,0,0,0,0,0,14.38,14.02,14.40
$GC,3524,-1.00,-145.9,2267,3617,3961,3967,457.4,-12.1,355,3530,0.00,2.42,0.00,0.000,1158,0.000,0.054,2267,2190,3963,3960,3967,0,0,0,0,0,0,14.11,14.00,14.13
$STATE,3697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3697,begin apogee
$GC,3703,-0.13,0.0,2268,2066,3968,3965,480.2,-12.9,365,3929,1.05,0.08,222.10,1.392,10246,0.244,0.179,2530,2111,3365,3406,3324,0,0,0,0,0,0,13.83,13.33,12.72
$STATE,3933,end apogee,CONTROL_FINISHED_OK
$STATE,3933,begin climb
$GC,3938,0.57,145.9,2531,2112,3398,3313,490.4,0.0,372,4154,0.75,2.67,202.70,1.353,10500,0.063,0.075,2782,3498,2756,2813,2700,0,0,0,0,0,0,13.46,13.14,12.52
$GC,4379,0.15,145.9,2783,3504,2791,2701,453.8,17.7,455,4386,0.77,2.42,0.00,0.000,5254,0.344,0.056,2635,2123,2743,2787,2699,0,0,0,0,0,0,13.41,13.68,13.71
$MODEM_MSG,CACST,6,1,20170816121333.161120,3,225,11,0330,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$GC,4685,0.08,178.6,2635,2124,2792,2699,426.2,8.5,466,4737,0.00,2.53,43.00,1.389,8612,0.000,0.080,2632,3497,2627,2682,2573,0,0,0,0,0,0,14.20,13.76,13.09
$GC,4868,-0.00,178.6,2636,3497,2673,2566,408.0,10.4,502,4873,0.25,2.38,0.00,0.000,5254,0.247,0.057,2587,2106,2618,2672,2565,0,0,0,0,0,0,13.71,13.91,13.94
$GC,5199,0.11,255.1,2587,2106,2672,2563,386.2,6.5,518,5325,0.00,2.60,119.85,1.300,8868,0.000,0.086,2589,687,2319,2380,2258,0,0,0,0,0,0,14.29,13.65,13.02
$GC,5383,0.32,318.7,2588,687,2368,2252,373.7,7.1,554,5492,0.30,2.55,100.05,1.282,11430,0.083,0.079,2696,2096,2059,2118,2001,0,0,0,0,0,0,13.78,13.71,12.83
$GC,5804,0.28,318.7,2696,2097,2100,1988,312.9,14.7,588,5809,0.00,2.53,0.00,0.000,644,0.000,0.086,2699,690,2043,2100,1987,0,0,0,0,0,0,14.22,13.93,14.23
$GC,5864,0.28,318.7,2699,689,2096,1988,304.3,14.0,600,5869,0.00,2.50,0.00,0.000,1030,0.000,0.076,2699,2101,2041,2096,1987,0,0,0,0,0,0,14.11,14.00,14.14
$GC,6194,0.23,318.7,2699,2103,2096,1986,257.5,13.9,616,6199,0.15,2.50,0.00,0.000,4740,0.233,0.086,2661,685,2040,2095,1985,0,0,0,0,0,0,14.02,14.14,14.15
$GC,6239,0.33,318.7,2662,686,2094,1985,252.5,10.2,625,6245,0.00,2.47,0.00,0.000,1158,0.000,0.078,2662,2109,2037,2090,1985,0,0,0,0,0,0,14.29,14.17,14.33
$GC,6556,0.39,329.5,2662,2111,2101,1985,221.3,9.5,638,6566,0.12,2.53,2.33,0.644,10916,0.135,0.084,2725,693,2027,2080,1974,0,0,0,0,0,0,14.21,14.21,12.93
$GC,6596,0.34,329.5,2727,693,2083,1979,216.5,12.8,646,6602,0.15,2.45,1.52,0.305,13446,0.252,0.079,2694,2107,2022,2075,1970,0,0,0,0,0,0,14.07,14.23,13.70
$GC,6917,0.34,329.5,2695,2107,2086,1979,182.1,10.2,660,6922,0.00,2.55,1.75,0.272,8708,0.000,0.085,2699,687,2021,2074,1968,0,0,0,0,0,0,14.55,14.19,13.91
$GC,6952,0.37,329.7,2699,688,2078,1976,178.5,10.0,667,6957,0.00,2.45,0.00,0.000,1190,0.000,0.077,2699,2100,2026,2078,1975,0,0,0,0,0,0,14.33,14.22,14.35
$GC,7277,0.38,339.3,2699,2101,2085,1977,146.9,9.6,682,7309,0.00,2.47,25.48,1.362,8740,0.000,0.083,2697,691,1976,2029,1924,0,0,0,0,0,0,14.57,13.99,13.43
$GC,7366,0.47,366.4,2699,692,2018,1922,139.0,8.7,699,7420,0.10,2.47,44.78,1.290,11430,0.155,0.076,2747,2103,1870,1908,1832,0,0,0,0,0,0,14.14,14.13,13.28
$GC,7720,0.44,366.4,2747,2103,1897,1823,96.6,11.6,723,7721,0.00,0.00,0.00,0.000,134,0.000,0.000,2747,2102,1859,1896,1822,0,0,0,0,0,0,14.39,14.41,14.41
$GC,8022,0.45,390.2,2748,2103,1896,1820,65.6,8.9,753,8034,0.00,0.00,11.07,0.391,8230,0.000,0.000,2747,2103,1774,1808,1741,0,0,0,0,0,0,14.45,14.19,13.80
$GC,8330,0.55,489.4,2747,2103,1816,1745,43.3,5.4,784,8389,0.00,2.47,53.60,0.331,8612,0.000,0.083,2750,3508,1369,1432,1307,0,0,0,0,0,0,14.46,14.02,13.81
$GC,8446,0.72,546.8,2748,3510,1430,1311,35.8,7.4,806,8482,0.17,2.45,31.25,0.305,11430,0.105,0.064,2820,2096,1130,1205,1056,0,0,0,0,0,0,14.15,14.11,13.76
$GC,8788,0.95,720.2,2820,2096,1210,1058,11.2,2.0,844,8878,0.17,2.50,83.30,0.236,10916,0.106,0.090,2902,685,496,537,455,0,0,0,0,0,0,14.15,13.97,13.86
$STATE,8921,end climb,SURFACE_DEPTH_REACHED
$STATE,8921,begin surface coast
$FINISH,0.2,1.020131
$STATE,8936,end surface coast,CONTROL_FINISHED_OK
$STATE,8936,begin surface
$SM_CCo,9019,0.00,0.000,0,0,496,703.77
$SM_GC,1.09,8.35,2.67,0.00,0.085,0.067,0.000,202,2201,496,-7.37,-0.74,703.77,0,0,0,0,0,0,14.19,14.14,14.26
$RAFOS_CLK,283
$MODEM,2,1502885613,73.18300,-149.96500,66.161,96030.7
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7226.19,-14838.96,160817,082215
$TT8_MAMPS,0.039697,0.89131
$HUMID,48.85
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.60
$XPDR_PINGS,15
$CP_FREE,16005103616.000000
$PM_FREEKB_00,56765952
$24V_AH,12.52,82.385
$10V_AH,12.52,0.000
$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,25.175,90.225,942.775,0.000,0.000,0.000,0.000,395.575,3.750,0.000,10.969,0.000,6284.370,923.676,2199.121,292.134,0.000,2125.822,0.000,1249.094,2209.000,0.539,0.000
$DEVICE_MAMPS,455.175,2142.000,1392.300,0.000,0.000,0.000,0.000,186.660,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8964.000,8964.000,8912.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.719,20.000,16.631,0.000
$MEM,323704
$DATA_FILE_SIZE,30004,873
$CAP_FILE_SIZE,107530,0
$CFSIZE,2097872896,2062942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.2
$CURRENT,0.092,230.01,1
$GPS,160817,134858,7227.262,-14821.021,16,0.7,17,21.2,0.5,202.9,12,9.9