version: 66.13
glider: 196
mission: 14
dive: 86
start: 8 16 117 16 49 22
data:
$ID,196
$MISSION,14
$DIVE,86
$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,44
$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,247.0
$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
$GPS1,160817,163703,7228.1846,-14822.2236,26,0.8,27,21.2,0.0,290.0,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.9
$GPS2,160817,164847,7228.2222,-14822.6074,7,0.8,8,21.2,0.0,309.3,10,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,323.3,94406,-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,44,begin dive
$MODEM_MSG,CACST,6,1,20170816161332.670450,3,32767,45,0914,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02
$MODEM_MSG,CACST,6,1,20170816162134.865929,3,5626,31,1349,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,46,-0.57,-145.9,194,2227,512,482,0.0,0.0,0,129,0.00,0.00,-80.90,0.000,16386,0.000,0.000,193,2227,2033,1957,2109,0,0,0,0,0,0,14.24,28.83,14.26
$GC,134,-0.57,-145.9,194,2226,1960,2111,3.2,-3.8,8,191,12.60,2.85,-36.38,0.000,18980,0.454,2.140,2386,795,3963,3947,3979,0,0,0,0,0,0,13.66,12.63,14.07
$GC,416,-0.60,-145.9,2386,795,3956,3981,60.8,-15.6,64,421,0.00,2.45,0.00,0.000,1158,0.000,0.086,2379,2175,3967,3955,3980,0,0,0,0,0,0,14.16,14.07,14.20
$GC,746,-0.63,-145.9,2379,2176,3959,3982,108.5,-13.1,94,751,0.00,2.55,0.00,0.000,388,0.000,0.092,2376,3614,3970,3959,3981,0,0,0,0,0,0,14.45,14.10,14.47
$GC,873,-0.78,-145.9,2377,3615,3959,3980,122.3,-10.2,119,879,0.15,2.40,0.00,0.000,5254,0.116,0.054,2317,2195,3969,3958,3980,0,0,0,0,0,0,14.20,14.17,14.30
$GC,1199,-0.75,-145.9,2317,2195,3959,3983,174.0,-15.5,134,1204,0.00,2.50,0.00,0.000,388,0.000,0.087,2307,3609,3970,3962,3979,0,0,0,0,0,0,14.52,14.19,14.54
$GC,1311,-0.80,-145.9,2307,3611,3958,3980,189.8,-13.2,156,1316,0.00,2.38,0.00,0.000,1158,0.000,0.054,2307,2199,3968,3958,3979,0,0,0,0,0,0,14.34,14.23,14.36
$GC,1621,-0.80,-145.9,2307,2198,3959,3980,233.6,-13.4,168,1626,0.00,2.50,0.00,0.000,260,0.000,0.089,2304,3619,3970,3962,3979,0,0,0,0,0,0,14.53,14.17,14.54
$GC,1763,-0.87,-145.9,2305,3620,3959,3979,250.3,-11.3,196,1768,0.00,2.40,0.00,0.000,1158,0.000,0.056,2308,2194,3968,3958,3979,0,0,0,0,0,0,14.33,14.21,14.37
$GC,2073,-0.87,-145.9,2303,2194,3958,3979,287.7,-11.7,208,2078,0.00,2.50,0.00,0.000,260,0.000,0.090,2296,3613,3967,3957,3978,0,0,0,0,0,0,14.57,14.16,14.57
$GC,2158,-0.96,-145.9,2302,3613,3957,3978,297.0,-10.4,225,2164,0.00,2.40,0.00,0.000,1158,0.000,0.054,2301,2189,3966,3955,3977,0,0,0,0,0,0,14.30,14.19,14.33
$GC,2463,-0.99,-145.9,2302,2189,3958,3976,331.3,-11.1,236,2468,0.12,2.53,0.00,0.000,4484,0.141,0.086,2240,3616,3966,3956,3976,0,0,0,0,0,0,14.29,14.21,14.34
$GC,2565,-0.94,-145.9,2240,3616,3956,3976,346.4,-15.3,256,2571,0.15,2.38,0.00,0.000,3206,0.265,0.057,2269,2202,3965,3955,3976,0,0,0,0,0,0,14.00,14.26,14.27
$GC,2886,-0.94,-145.9,2270,2203,3955,3976,389.1,-13.0,270,2891,0.00,2.47,0.00,0.000,260,0.000,0.088,2267,3614,3964,3954,3975,0,0,0,0,0,0,14.57,14.21,14.59
$GC,2998,-0.96,-145.9,2267,3614,3955,3975,403.0,-12.4,292,3002,0.00,2.38,0.00,0.000,1158,0.000,0.054,2266,2201,3968,3954,3983,0,0,0,0,0,0,14.33,14.22,14.35
$GC,3308,-0.94,-145.9,2267,2200,3955,3975,444.0,-13.2,304,3312,0.00,2.47,0.00,0.000,388,0.000,0.087,2258,3613,3964,3954,3975,0,0,0,0,0,0,14.59,14.09,14.60
$GC,3417,-0.94,-145.9,2258,3615,3953,3981,458.7,-12.9,326,3422,0.00,2.40,0.00,0.000,1030,0.000,0.055,2258,2191,3963,3953,3974,0,0,0,0,0,0,14.32,14.21,14.35
$STATE,3575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3575,begin apogee
$GC,3581,-0.13,0.0,2259,2065,3954,3974,480.7,-13.8,333,3804,1.08,0.08,220.00,1.429,10246,0.248,0.182,2529,2109,3367,3394,3340,0,0,0,0,0,0,13.87,13.43,12.78
$STATE,3808,end apogee,CONTROL_FINISHED_OK
$STATE,3808,begin climb
$GC,3812,0.57,145.9,2530,2110,3385,3330,491.6,0.0,340,4022,0.75,2.70,202.02,1.401,10500,0.067,0.075,2781,3513,2763,2809,2717,0,0,0,0,0,0,13.56,13.21,12.52
$GC,4249,0.14,145.9,2781,3514,2784,2714,457.8,17.3,386,4254,0.77,2.42,0.00,0.000,5254,0.347,0.057,2633,2129,2748,2783,2714,0,0,0,0,0,0,13.47,13.77,13.80
$GC,4560,0.08,177.0,2633,2128,2785,2710,429.8,8.6,398,4605,0.00,2.55,41.38,1.441,8612,0.000,0.080,2633,3513,2637,2680,2594,0,0,0,0,0,0,14.32,13.85,13.12
$GC,4667,-0.00,177.0,2633,3515,2670,2586,419.4,10.6,419,4673,0.25,2.45,0.00,0.000,5254,0.249,0.058,2584,2100,2627,2669,2585,0,0,0,0,0,0,13.76,13.95,14.00
$GC,4983,0.11,255.9,2584,2101,2670,2581,398.4,6.4,432,5114,0.00,2.65,125.03,1.336,8868,0.000,0.087,2588,690,2314,2366,2263,0,0,0,0,0,0,14.42,13.65,12.99
$GC,5166,0.33,323.4,2585,690,2356,2258,386.3,6.9,468,5277,0.30,2.53,103.15,1.307,11430,0.083,0.079,2696,2094,2043,2093,1993,0,0,0,0,0,0,13.83,13.77,12.81
$GC,5590,0.28,323.4,2696,2095,2076,1974,325.6,14.7,502,5594,0.00,2.53,0.00,0.000,644,0.000,0.086,2698,693,2024,2075,1973,0,0,0,0,0,0,14.20,13.92,14.22
$GC,5634,0.28,323.4,2699,693,2074,1975,318.9,14.4,511,5639,0.00,2.50,0.00,0.000,1030,0.000,0.076,2699,2107,2023,2073,1974,0,0,0,0,0,0,14.09,13.98,14.12
$GC,5950,0.23,323.4,2699,2108,2073,1970,272.9,14.4,524,5955,0.17,2.50,0.00,0.000,4740,0.230,0.085,2659,688,2021,2072,1970,0,0,0,0,0,0,13.90,14.12,14.04
$GC,6037,0.33,323.9,2660,689,2071,1971,263.5,10.0,541,6044,0.00,2.47,0.00,0.000,1190,0.000,0.077,2660,2106,2020,2070,1970,0,0,0,0,0,0,14.19,14.11,14.21
$GC,6341,0.38,325.5,2660,2108,2069,1971,232.3,9.9,552,6342,0.12,0.00,0.00,0.000,2214,0.133,0.000,2712,2106,2020,2070,1970,0,0,0,0,0,0,14.29,14.40,14.38
$GC,6640,0.33,325.5,2709,2109,2071,1971,194.2,12.3,562,6645,0.00,2.47,0.00,0.000,644,0.000,0.086,2713,688,2022,2075,1970,0,0,0,0,0,0,14.55,14.23,14.57
$GC,6700,0.33,325.5,2713,689,2068,1971,187.6,10.7,574,6705,0.00,2.45,0.00,0.000,1030,0.000,0.076,2713,2101,2018,2067,1970,0,0,0,0,0,0,14.37,14.25,14.40
$GC,7030,0.31,325.5,2713,2103,2066,1970,151.8,10.6,590,7035,0.12,2.45,0.00,0.000,4740,0.233,0.083,2685,692,2017,2066,1969,0,0,0,0,0,0,14.05,14.23,14.16
$GC,7111,0.44,367.5,2686,692,2067,1969,144.9,8.1,606,7192,0.12,2.45,73.60,1.256,11430,0.137,0.079,2742,2108,1864,1900,1828,0,0,0,0,0,0,14.29,14.26,13.30
$GC,7512,0.40,367.5,2743,2108,1889,1814,98.4,11.3,636,7517,0.12,2.50,0.00,0.000,4740,0.235,0.083,2725,691,1848,1889,1808,0,0,0,0,0,0,13.98,14.02,14.19
$GC,7563,0.49,381.3,2731,690,1880,1814,93.4,9.4,646,7574,0.00,2.47,5.85,0.434,9382,0.000,0.079,2725,2099,1809,1843,1776,0,0,0,0,0,0,14.13,14.02,13.66
$GC,7873,0.56,431.8,2725,2100,1854,1789,66.2,7.7,678,7906,0.10,2.58,27.60,0.402,10916,0.149,0.086,2781,684,1603,1638,1569,0,0,0,0,0,0,14.21,14.07,13.76
$GC,7973,0.59,431.8,2781,685,1643,1572,55.9,10.6,697,7980,0.00,2.50,0.00,0.000,1158,0.000,0.079,2781,2105,1607,1643,1571,0,0,0,0,0,0,14.12,14.02,14.14
$GC,8276,0.63,494.0,2781,2106,1643,1569,30.5,7.1,728,8310,0.00,0.00,32.58,0.304,8230,0.000,0.000,2781,2105,1348,1401,1296,0,0,0,0,0,0,14.45,14.18,13.87
$GC,8606,0.95,721.4,2781,2105,1404,1298,15.6,-0.5,761,8719,0.30,0.00,107.75,0.259,11174,0.090,0.000,2897,2106,495,531,460,0,0,0,0,0,0,14.20,14.04,13.78
$STATE,8833,end climb,SURFACE_DEPTH_REACHED
$STATE,8834,begin surface coast
$FINISH,-0.0,1.020305
$STATE,8854,end surface coast,CONTROL_FINISHED_OK
$STATE,8854,begin surface
$SM_CCo,8935,0.00,0.000,0,0,488,705.73
$SM_GC,0.97,8.27,0.17,0.00,0.080,0.112,0.000,208,2232,488,-7.36,-0.57,705.73,0,0,0,0,0,0,14.19,14.21,14.28
$RAFOS_CLK,378
$MODEM,3,1502900494,74.30400,-153.94400,187.866,272472.2
$MODEM,2,1502900012,73.18300,-149.96500,65.670,95245.4
$RAFOS_FIX,7256.990723,-14713.501953,160817,161633,2,255,0.00
$IRIDIUM_FIX,7226.88,-14829.16,160817,135326
$TT8_MAMPS,0.040446,0.841876
$HUMID,49.88
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.40
$XPDR_PINGS,19
$CP_FREE,16004775936.000000
$PM_FREEKB_00,56642240
$24V_AH,12.52,83.317
$10V_AH,12.44,0.000
$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,25.525,85.125,938.950,0.000,0.000,0.000,0.000,431.625,4.750,0.000,8.964,0.000,6303.670,807.555,2259.188,286.837,0.000,2118.958,0.000,1134.564,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2139.705,1441.260,0.000,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8882.000,8875.000,8830.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.080,20.000,16.554,0.000
$MEM,323712
$DATA_FILE_SIZE,26743,792
$CAP_FILE_SIZE,102391,0
$CFSIZE,2097872896,2062319616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.7
$CURRENT,0.069,246.34,1
$GPS,160817,191917,7229.210,-14823.869,12,0.8,14,21.2,0.4,43.8,11,8.7