version: 66.13
glider: 196
mission: 14
dive: 90
start: 8 17 117 3 56 4
data:
$ID,196
$MISSION,14
$DIVE,90
$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,28
$R_STBD_OVSHOOT,21
$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,257.0
$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
$GPS1,170817,034502,7232.0708,-14826.9258,27,0.7,27,21.2,0.0,0.0,12,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.1
$GPS2,170817,035529,7232.0620,-14827.3047,7,0.8,9,21.2,0.5,261.1,12,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,321.8,87080,-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,-145.9,202,2229,553,458,0.0,0.0,0,129,0.00,0.00,-81.18,0.000,16386,0.000,0.000,201,2229,2075,2016,2135,0,0,0,0,0,0,14.40,28.83,14.42
$GC,132,-0.57,-145.9,202,2226,2018,2135,3.5,-4.4,8,195,12.55,2.75,-34.88,0.000,18724,0.457,2.148,2379,3608,3965,3946,3985,0,0,0,0,0,0,13.72,12.94,14.15
$GC,422,-0.63,-145.9,2381,3608,3951,3984,64.7,-15.1,62,427,0.00,2.42,0.00,0.000,1158,0.000,0.056,2378,2195,3967,3951,3983,0,0,0,0,0,0,14.14,14.03,14.16
$GC,754,-0.67,-145.9,2378,2194,3953,3984,112.5,-12.9,90,758,0.00,2.47,0.00,0.000,388,0.000,0.088,2376,3614,3967,3953,3982,0,0,0,0,0,0,14.33,14.00,14.35
$GC,866,-0.83,-145.9,2376,3614,3954,3983,124.3,-9.7,112,871,0.22,2.40,0.00,0.000,5286,0.095,0.053,2286,2195,3967,3953,3982,0,0,0,0,0,0,14.13,14.09,14.21
$GC,1176,-0.74,-145.9,2287,2195,3954,3982,183.7,-19.1,124,1181,0.20,2.53,0.00,0.000,2436,0.275,0.084,2325,3617,3967,3953,3982,0,0,0,0,0,0,13.83,14.08,14.02
$GC,1306,-0.85,-145.9,2331,3619,3954,3983,200.4,-11.3,150,1311,0.00,2.42,0.00,0.000,1158,0.000,0.055,2325,2198,3967,3952,3983,0,0,0,0,0,0,14.21,14.11,14.23
$GC,1626,-0.89,-145.9,2325,2193,3953,3982,239.8,-11.7,164,1631,0.00,2.53,0.00,0.000,388,0.000,0.089,2319,3614,3969,3956,3982,0,0,0,0,0,0,14.38,14.01,14.40
$GC,1743,-1.00,-145.9,2320,3616,3954,3983,251.7,-10.1,187,1750,0.20,2.42,0.00,0.000,5254,0.101,0.055,2247,2189,3966,3953,3980,0,0,0,0,0,0,14.13,14.07,14.21
$GC,2046,-0.91,-145.9,2248,2190,3953,3979,302.8,-16.8,198,2051,0.12,2.53,0.00,0.000,2436,0.301,0.083,2265,3616,3966,3951,3982,0,0,0,0,0,0,13.84,14.08,14.01
$GC,2191,-0.93,-145.9,2265,3618,3952,3976,322.8,-12.9,227,2199,0.00,2.42,0.00,0.000,1158,0.000,0.056,2269,2200,3966,3951,3981,0,0,0,0,0,0,14.15,14.05,14.18
$MODEM_MSG,CACST,6,1,20170817040444.199748,3,267,24,0356,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$MODEM_MSG,CACST,6,1,20170817041325.439643,3,425,26,0106,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170817042128.262823,3,73,18,0192,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170817042912.231646,3,514,27,0331,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$GC,2497,-0.90,-145.9,2266,2197,3952,3977,365.1,-13.6,238,2501,0.00,2.47,0.00,0.000,388,0.000,0.086,2255,3614,3963,3951,3975,0,0,0,0,0,0,14.40,14.04,14.40
$GC,2632,-0.90,-145.9,2255,3616,3952,3977,383.2,-13.2,265,2637,0.15,2.40,0.00,0.000,3078,0.257,0.055,2285,2183,3964,3951,3978,0,0,0,0,0,0,13.85,14.06,14.12
$GC,2949,-0.90,-145.9,2285,2181,3951,3978,419.4,-11.3,278,2954,0.00,2.53,0.00,0.000,260,0.000,0.087,2280,3610,3963,3951,3976,0,0,0,0,0,0,14.50,14.14,14.50
$GC,3061,-0.98,-145.9,2280,3612,3951,3977,431.5,-10.3,300,3065,0.00,2.38,0.00,0.000,1158,0.000,0.055,2280,2200,3963,3950,3976,0,0,0,0,0,0,14.31,14.19,14.33
$GC,3371,-0.98,-145.9,2280,2199,3951,3976,467.6,-11.7,312,3376,0.00,2.50,0.00,0.000,260,0.000,0.090,2280,3614,3962,3950,3975,0,0,0,0,0,0,14.55,14.14,14.57
$GC,3471,-1.07,-145.9,2280,3616,3951,3975,478.6,-10.6,332,3476,0.15,2.40,0.00,0.000,5254,0.122,0.056,2224,2189,3962,3950,3975,0,0,0,0,0,0,14.26,14.23,14.35
$STATE,3483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3483,begin apogee
$GC,3489,-0.13,0.0,2225,2067,3951,3975,480.3,-10.7,335,3998,1.25,0.05,502.80,1.140,10246,0.278,0.218,2527,2104,3364,3390,3338,0,0,0,0,0,0,13.91,13.21,12.67
$STATE,4004,end apogee,CONTROL_FINISHED_OK
$STATE,4004,begin climb
$GC,4006,0.57,145.9,2527,2104,3388,3333,508.3,0.0,352,4547,0.73,2.62,424.65,1.086,10756,0.064,0.079,2782,727,2756,2798,2715,0,0,0,0,0,0,13.38,13.12,12.66
$GC,4776,0.22,145.9,2782,727,2796,2714,468.3,14.0,399,4784,0.57,2.42,0.00,0.000,5254,0.319,0.075,2660,2099,2753,2795,2712,0,0,0,0,0,0,13.61,13.88,13.93
$GC,5081,0.07,162.7,2661,2099,2796,2708,439.3,9.2,410,5114,0.20,2.47,23.00,1.369,12964,0.299,0.081,2612,725,2695,2741,2649,0,0,0,0,0,0,13.85,14.03,13.31
$GC,5339,0.11,221.5,2616,724,2737,2639,420.2,7.3,461,5460,0.00,2.40,114.50,1.226,9254,0.000,0.079,2616,2101,2463,2524,2402,0,0,0,0,0,0,14.26,14.15,13.09
$GC,5775,0.13,253.7,2616,2101,2507,2379,383.4,8.5,498,5840,0.00,2.53,57.65,1.247,8740,0.000,0.082,2612,720,2324,2382,2266,0,0,0,0,0,0,14.38,13.85,13.21
$GC,5887,0.26,289.5,2616,720,2374,2265,374.0,8.3,520,5957,0.15,2.45,61.30,1.247,11430,0.114,0.076,2678,2106,2182,2240,2125,0,0,0,0,0,0,13.99,13.94,13.08
$GC,6256,0.21,289.5,2679,2106,2225,2106,326.1,13.0,544,6260,0.00,2.45,0.00,0.000,644,0.000,0.083,2685,714,2164,2224,2104,0,0,0,0,0,0,14.35,14.06,14.35
$GC,6301,0.19,289.5,2686,714,2223,2105,320.1,13.0,553,6306,0.17,2.45,0.00,0.000,5254,0.239,0.078,2646,2109,2163,2222,2105,0,0,0,0,0,0,13.93,14.10,14.19
$GC,6616,0.19,289.5,2648,2109,2223,2103,287.3,10.2,566,6621,0.00,2.42,0.00,0.000,516,0.000,0.084,2647,721,2162,2222,2103,0,0,0,0,0,0,14.50,14.21,14.52
$GC,6651,0.25,294.9,2646,723,2219,2104,283.8,9.8,573,6656,0.00,2.40,0.00,0.000,1190,0.000,0.076,2649,2101,2160,2217,2103,0,0,0,0,0,0,14.23,14.12,14.26
$GC,6976,0.29,303.2,2647,2102,2220,2103,252.2,9.6,588,6981,0.00,0.00,4.15,1.313,8358,0.000,0.000,2647,2103,2132,2189,2075,0,0,0,0,0,0,14.55,14.21,13.21
$GC,7276,0.36,340.5,2647,2104,2205,2089,225.9,8.3,598,7381,0.12,2.47,98.05,1.200,10916,0.129,0.084,2709,723,1970,2021,1920,0,0,0,0,0,0,14.32,13.88,13.25
$GC,7428,0.36,340.5,2710,723,2009,1915,208.4,12.0,628,7433,0.00,2.45,0.00,0.000,1030,0.000,0.076,2709,2107,1962,2008,1916,0,0,0,0,0,0,14.02,13.93,14.06
$GC,7759,0.33,340.5,2710,2102,2008,1907,171.1,10.9,644,7763,0.00,2.42,0.00,0.000,644,0.000,0.084,2717,720,1957,2007,1907,0,0,0,0,0,0,14.42,14.12,14.45
$GC,7824,0.36,346.1,2709,720,2005,1906,164.6,9.7,657,7829,0.00,2.42,0.00,0.000,1190,0.000,0.076,2709,2106,1955,2004,1907,0,0,0,0,0,0,14.29,14.18,14.30
$GC,8149,0.36,352.4,2709,2107,2005,1906,132.2,9.7,672,8154,0.00,0.00,3.90,1.222,8230,0.000,0.000,2709,2106,1924,1969,1879,0,0,0,0,0,0,14.50,14.21,13.09
$GC,8449,0.38,380.6,2710,2106,1989,1893,105.4,8.7,682,8533,0.00,2.55,76.15,1.203,8740,0.000,0.083,2712,719,1810,1844,1776,0,0,0,0,0,0,14.53,13.87,13.28
$GC,8564,0.50,416.3,2710,719,1835,1773,95.4,8.4,705,8586,0.00,2.45,17.92,0.472,9382,0.000,0.077,2709,2102,1668,1704,1633,0,0,0,0,0,0,14.03,13.93,13.51
$GC,8891,0.63,492.2,2709,2103,1713,1641,70.0,6.5,740,8940,0.20,2.50,41.03,0.405,10916,0.103,0.087,2794,729,1359,1415,1304,0,0,0,0,0,0,14.15,14.03,13.72
$GC,9039,0.63,492.2,2795,727,1416,1312,53.5,11.0,769,9046,0.00,2.42,0.00,0.000,1030,0.000,0.077,2794,2104,1364,1416,1312,0,0,0,0,0,0,14.19,14.08,14.21
$GC,9345,0.67,539.0,2795,2105,1417,1311,26.1,7.8,800,9376,0.00,0.00,26.33,0.288,8230,0.000,0.000,2794,2105,1165,1234,1097,0,0,0,0,0,0,14.45,14.05,13.86
$GC,9675,0.99,750.7,2796,2102,1235,1111,15.5,0.2,833,9771,0.30,2.55,89.68,0.252,10660,0.090,0.083,2904,3511,501,545,458,0,0,0,0,0,0,14.20,13.96,13.88
$GC,9816,0.99,750.7,2908,3510,543,451,5.6,11.6,860,9822,0.00,2.40,0.00,0.000,1030,0.000,0.068,2913,2129,494,538,450,0,0,0,0,0,0,14.10,14.00,14.13
$STATE,9849,end climb,SURFACE_DEPTH_REACHED
$STATE,9849,begin surface coast
$FINISH,0.4,1.020171
$STATE,9859,end surface coast,CONTROL_FINISHED_OK
$STATE,9859,begin surface
$SM_CCo,9939,0.00,0.000,0,0,493,704.01
$SM_GC,1.02,8.35,0.12,0.00,0.082,0.140,0.000,200,2222,493,-7.38,-0.82,704.01,0,0,0,0,0,0,14.21,14.19,14.29
$RAFOS_CLK,413
$MODEM,4,1502944152,75.71700,-151.21500,251.482,364897.0
$MODEM,3,1502943688,74.30400,-153.94400,181.263,263010.3
$MODEM,2,1502943205,73.18300,-149.96500,58.440,84795.3
$MODEM,0,1502942684,75.36600,-145.04601,230.200,334017.2
$RAFOS_FIX,7231.175781,-14831.150391,170817,040412,4,255,2.07
$IRIDIUM_FIX,7231.02,-14821.67,170817,010144
$TT8_MAMPS,0.040446,0.895055
$HUMID,49.25
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,11
$CP_FREE,16004055040.000000
$PM_FREEKB_00,56366208
$24V_AH,12.66,85.379
$10V_AH,12.51,0.000
$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,25.650,89.175,1541.100,0.000,0.000,0.000,0.000,357.250,2.750,0.000,10.008,0.000,6476.643,1156.613,2647.445,301.139,0.000,2812.269,0.000,1237.958,2219.000,0.539,0.000
$DEVICE_MAMPS,456.705,2148.120,1369.350,0.000,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9885.000,9871.000,9836.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.104,20.000,16.638,0.000
$MEM,323716
$DATA_FILE_SIZE,30074,865
$CAP_FILE_SIZE,112848,0
$CFSIZE,2097872896,2061074432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.054,245.69,1
$GPS,170817,064302,7233.112,-14828.011,33,0.8,34,21.2,0.0,301.5,10,7.9