version: 66.13
glider: 196
mission: 14
dive: 87
start: 8 16 117 19 36 53
data:
$ID,196
$MISSION,14
$DIVE,87
$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,47
$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,250.0
$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
$GPS1,160817,191917,7229.2104,-14823.8691,12,0.8,14,21.2,0.4,43.8,11,8.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.9
$GPS2,160817,193620,7229.3540,-14823.9551,6,0.7,25,21.2,0.4,330.5,11,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,321.2,92254,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,204,2233,504,457,0.0,0.0,0,130,0.00,0.00,-81.80,0.000,16386,0.000,0.000,203,2232,2079,1997,2161,0,0,0,0,0,0,14.40,28.83,14.40
$GC,133,-0.57,-145.9,204,2234,2001,2162,3.1,-3.5,8,186,12.40,2.85,-36.10,0.000,19236,0.452,2.140,2384,794,3961,3948,3974,0,0,0,0,0,0,13.71,12.68,14.13
$GC,412,-0.62,-145.9,2383,794,3961,3975,58.7,-13.5,63,419,0.00,2.45,0.00,0.000,1158,0.000,0.086,2379,2174,3969,3960,3978,0,0,0,0,0,0,14.22,14.09,14.25
$GC,727,-0.65,-145.9,2379,2174,3962,3974,104.8,-13.2,93,731,0.00,2.55,0.00,0.000,388,0.000,0.092,2376,3608,3966,3958,3974,0,0,0,0,0,0,14.47,14.13,14.50
$GC,882,-0.80,-145.9,2376,3611,3957,3975,121.8,-9.9,124,887,0.17,2.38,0.00,0.000,5286,0.107,0.053,2307,2198,3967,3961,3974,0,0,0,0,0,0,14.22,14.19,14.31
$GC,1207,-0.76,-145.9,2307,2197,3962,3975,176.5,-16.6,139,1213,0.00,2.47,0.00,0.000,388,0.000,0.086,2297,3610,3967,3961,3974,0,0,0,0,0,0,14.56,14.19,14.54
$GC,1353,-0.78,-145.9,2295,3611,3962,3975,195.5,-14.2,164,1358,0.12,2.40,0.00,0.000,3206,0.238,0.056,2322,2196,3967,3961,3974,0,0,0,0,0,0,13.96,14.13,14.18
$GC,1678,-0.81,-145.9,2323,2195,3962,3976,238.5,-11.4,179,1684,0.00,2.53,0.00,0.000,388,0.000,0.088,2320,3617,3966,3961,3971,0,0,0,0,0,0,14.40,14.05,14.42
$GC,1764,-0.93,-145.9,2320,3616,3962,3971,247.5,-9.8,196,1770,0.12,2.42,0.00,0.000,5286,0.138,0.055,2271,2191,3967,3961,3974,0,0,0,0,0,0,14.12,14.09,14.20
$GC,2069,-0.87,-145.9,2266,2189,3962,3967,292.7,-14.7,207,2075,0.15,2.53,0.00,0.000,2436,0.289,0.084,2290,3614,3965,3961,3969,0,0,0,0,0,0,13.84,14.07,14.02
$GC,2200,-0.94,-145.9,2288,3615,3961,3971,307.9,-10.7,233,2205,0.00,2.40,0.00,0.000,1158,0.000,0.053,2290,2199,3964,3960,3969,0,0,0,0,0,0,14.21,14.12,14.25
$GC,2520,-0.94,-145.9,2291,2198,3961,3966,345.6,-11.8,247,2526,0.00,2.50,0.00,0.000,260,0.000,0.088,2281,3609,3962,3960,3965,0,0,0,0,0,0,14.39,14.05,14.40
$GC,2637,-1.00,-145.9,2282,3611,3960,3967,358.9,-10.9,270,2643,0.00,2.40,0.00,0.000,1158,0.000,0.054,2281,2197,3966,3968,3965,0,0,0,0,0,0,14.17,14.05,14.21
$GC,2941,-1.00,-145.9,2282,2197,3961,3964,395.5,-12.0,281,2946,0.00,2.53,0.00,0.000,260,0.000,0.088,2279,3617,3963,3963,3964,0,0,0,0,0,0,14.38,14.04,14.40
$GC,3036,-1.07,-145.9,2280,3619,3959,3965,406.4,-10.9,300,3041,0.15,2.42,0.00,0.000,5254,0.121,0.054,2226,2199,3962,3959,3966,0,0,0,0,0,0,13.87,14.06,14.11
$GC,3362,-0.96,-145.9,2226,2198,3961,3963,460.0,-16.8,315,3368,0.15,2.50,0.00,0.000,2436,0.309,0.083,2250,3608,3960,3958,3963,0,0,0,0,0,0,13.74,14.02,13.95
$STATE,3500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3500,begin apogee
$MODEM_MSG,CACST,6,1,20170816200448.108715,3,387,25,0383,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170816201330.416943,3,977,29,0957,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170816202132.904108,3,85,13,0157,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,3508,-0.13,0.0,2247,2100,3958,3963,480.1,-13.5,343,3722,1.12,0.00,208.27,1.446,10246,0.259,0.000,2526,2098,3363,3397,3330,0,0,0,0,0,0,13.81,13.38,12.70
$STATE,3726,end apogee,CONTROL_FINISHED_OK
$STATE,3726,begin climb
$GC,3729,0.57,145.9,2527,2099,3395,3323,490.7,0.0,350,3936,0.75,2.62,195.20,1.405,10500,0.063,0.073,2778,3517,2765,2821,2709,0,0,0,0,0,0,13.47,13.06,12.49
$GC,4161,0.15,145.9,2778,3519,2802,2711,457.3,16.8,429,4166,0.75,2.50,0.00,0.000,5254,0.344,0.057,2635,2096,2755,2801,2710,0,0,0,0,0,0,13.44,13.74,13.77
$GC,4487,0.08,181.2,2635,2097,2802,2708,428.3,8.4,444,4536,0.00,0.00,47.65,1.441,8358,0.000,0.000,2635,2096,2627,2682,2572,0,0,0,0,0,0,14.33,13.85,13.11
$GC,4817,0.04,197.1,2635,2096,2675,2558,398.1,9.3,455,4843,0.15,2.55,21.02,1.515,12964,0.282,0.084,2603,691,2557,2620,2494,0,0,0,0,0,0,13.83,13.98,13.21
$GC,4900,0.17,256.6,2603,693,2624,2492,391.9,7.3,471,4994,0.00,2.50,88.35,1.374,9382,0.000,0.078,2602,2107,2318,2381,2255,0,0,0,0,0,0,14.14,14.02,13.01
$GC,5299,0.29,307.2,2603,2106,2367,2238,361.4,7.7,501,5375,0.22,0.00,74.00,1.354,10406,0.092,0.000,2689,2107,2113,2171,2055,0,0,0,0,0,0,14.14,13.77,13.08
$GC,5659,0.24,307.2,2689,2108,2157,2041,311.9,13.9,513,5664,0.12,2.50,0.00,0.000,4740,0.246,0.083,2672,691,2098,2156,2040,0,0,0,0,0,0,13.93,14.05,14.10
$GC,5756,0.29,307.2,2673,697,2149,2040,300.6,11.1,532,5761,0.00,2.47,0.00,0.000,1158,0.000,0.077,2672,2106,2096,2152,2040,0,0,0,0,0,0,14.23,14.12,14.27
$GC,6081,0.29,307.2,2673,2108,2152,2038,262.2,11.6,547,6087,0.00,2.50,0.00,0.000,516,0.000,0.086,2672,686,2094,2151,2038,0,0,0,0,0,0,14.50,14.18,14.52
$GC,6127,0.34,307.2,2672,687,2151,2039,257.0,10.9,556,6132,0.00,2.45,0.00,0.000,1158,0.000,0.078,2672,2101,2094,2150,2038,0,0,0,0,0,0,14.33,14.22,14.37
$GC,6442,0.34,307.2,2673,2102,2152,2037,222.6,10.5,569,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2102,2093,2150,2037,0,0,0,0,0,0,14.54,14.57,14.57
$GC,6742,0.37,319.2,2673,2102,2151,2037,193.5,9.4,579,6762,0.00,2.50,13.40,1.505,8868,0.000,0.086,2672,703,2059,2113,2005,0,0,0,0,0,0,14.57,14.21,13.40
$GC,6844,0.48,355.8,2673,700,2109,2005,185.0,8.3,599,6913,0.20,2.45,61.80,1.314,11430,0.107,0.078,2755,2111,1911,1954,1869,0,0,0,0,0,0,14.25,14.18,13.26
$GC,7223,0.39,355.8,2755,2112,1939,1861,132.3,13.5,625,7228,0.17,2.50,0.00,0.000,4740,0.238,0.083,2713,688,1900,1938,1862,0,0,0,0,0,0,13.97,14.08,14.14
$GC,7263,0.45,356.2,2713,689,1937,1863,127.9,10.0,633,7268,0.00,2.47,0.00,0.000,1190,0.000,0.076,2713,2102,1899,1936,1862,0,0,0,0,0,0,14.20,14.08,14.23
$GC,7584,0.49,379.0,2713,2104,1936,1861,97.5,8.9,647,7600,0.00,2.47,11.70,0.503,8868,0.000,0.083,2713,694,1817,1852,1783,0,0,0,0,0,0,14.50,13.82,13.69
$GC,7656,0.62,417.7,2713,694,1853,1785,91.6,8.2,661,7683,0.20,2.45,22.38,0.483,11430,0.099,0.076,2790,2105,1659,1690,1628,0,0,0,0,0,0,14.22,14.17,13.65
$GC,7988,0.56,417.7,2791,2101,1693,1626,49.5,10.3,697,7993,0.00,2.45,0.00,0.000,388,0.000,0.081,2791,3510,1660,1692,1628,0,0,0,0,0,0,14.45,14.12,14.46
$GC,8058,0.50,418.6,2792,3516,1694,1626,42.1,10.0,711,8065,0.22,2.42,0.00,0.000,5286,0.272,0.063,2746,2100,1657,1691,1624,0,0,0,0,0,0,13.84,14.17,14.09
$GC,8370,0.66,536.0,2746,2100,1693,1620,26.2,4.6,743,8439,0.12,2.55,64.40,0.283,10916,0.126,0.086,2806,688,1175,1244,1106,0,0,0,0,0,0,14.23,13.90,13.84
$GC,8505,0.79,576.7,2806,689,1244,1105,16.0,8.1,769,8531,0.00,2.47,22.00,0.256,9382,0.000,0.077,2806,2100,1013,1091,935,0,0,0,0,0,0,14.22,14.09,13.90
$GC,8836,1.10,712.0,2806,2101,1091,925,4.1,3.8,805,8869,0.35,0.00,30.73,0.213,10914,0.083,0.000,2942,2100,780,856,704,0,0,0,0,0,0,14.06,28.83,14.10
$STATE,8870,end climb,SURFACE_DEPTH_REACHED
$STATE,8870,begin surface coast
$FINISH,-0.0,1.020191
$STATE,8884,end surface coast,CONTROL_FINISHED_OK
$STATE,8884,begin surface
$SM_CCo,8905,39.58,0.210,0,0,497,703.28
$SM_GC,1.48,8.48,0.17,39.58,0.085,0.109,0.210,197,2227,497,-7.39,-0.68,703.28,0,0,0,0,0,0,14.23,14.25,13.99
$RAFOS_CLK,336
$MODEM,3,1502914892,74.30400,-153.94400,185.904,269685.6
$MODEM,2,1502914410,73.18300,-149.96500,63.417,91997.1
$MODEM,0,1502913888,75.36600,-145.04601,234.109,339614.5
$RAFOS_FIX,7227.490234,-14826.990234,160817,202016,3,255,1.74
$IRIDIUM_FIX,7229.27,-14825.42,160817,192859
$TT8_MAMPS,0.038948,0.832139
$HUMID,48.85
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,12
$CP_FREE,16004612096.000000
$PM_FREEKB_00,56578432
$24V_AH,12.49,83.793
$10V_AH,12.62,0.000
$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,26.150,85.000,860.900,39.575,0.000,0.000,0.000,613.150,3.000,0.000,27.037,0.000,6429.663,918.241,2327.607,307.357,0.000,2272.376,0.000,1164.232,2217.000,0.540,0.000
$DEVICE_MAMPS,452.115,2139.705,1514.700,210.375,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8912.000,8911.000,8860.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.070,20.000,16.599,0.000
$MEM,323572
$DATA_FILE_SIZE,26697,813
$CAP_FILE_SIZE,112232,0
$CFSIZE,2097872896,2062024704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.049,237.96,1
$GPS,160817,220720,7230.329,-14824.846,35,0.9,35,21.2,0.0,0.0,9,9.7