version: 66.13
glider: 196
mission: 14
dive: 96
start: 8 17 117 20 47 48
data:
$ID,196
$MISSION,14
$DIVE,96
$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,29
$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,275.0
$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
$GPS1,170817,203320,7238.6025,-14833.5146,14,0.7,35,21.2,0.3,344.2,11,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.5
$GPS2,170817,204715,7238.7300,-14833.4814,7,0.8,8,21.2,0.5,270.2,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.6,75097,-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
$MODEM_MSG,CACST,6,1,20170817200432.872686,3,1133,30,0358,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170817201313.460371,3,1778,32,0152,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170817202116.681473,3,4309,36,0542,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$MODEM_MSG,CACST,6,1,20170817202856.599474,3,62,05,0108,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31
$GC,46,-0.57,-145.9,197,2213,512,474,0.0,0.0,0,129,0.00,0.00,-81.22,0.000,16386,0.000,0.000,197,2214,2077,1994,2160,0,0,0,0,0,0,14.28,28.83,14.29
$GC,132,-0.57,-145.9,199,2215,1997,2162,3.7,-5.0,8,185,12.62,2.75,-34.17,0.000,18724,0.457,2.145,2376,3602,3964,3951,3977,0,0,0,0,0,0,13.67,12.90,14.09
$GC,410,-0.62,-145.9,2376,3604,3961,3980,66.2,-14.9,63,417,0.00,2.40,0.00,0.000,1158,0.000,0.055,2375,2199,3969,3960,3979,0,0,0,0,0,0,14.13,14.02,14.16
$GC,737,-0.65,-145.9,2376,2197,3962,3979,112.3,-12.9,90,742,0.00,2.47,0.00,0.000,388,0.000,0.087,2367,3601,3970,3962,3979,0,0,0,0,0,0,14.48,14.17,14.50
$GC,917,-0.79,-145.9,2368,3603,3963,3979,132.0,-10.1,126,922,0.15,2.38,0.00,0.000,5254,0.120,0.054,2308,2195,3970,3961,3979,0,0,0,0,0,0,14.25,14.22,14.33
$GC,1247,-0.75,-145.9,2308,2196,3962,3979,185.6,-15.8,142,1252,0.12,2.47,0.00,0.000,2436,0.288,0.088,2330,3601,3970,3962,3979,0,0,0,0,0,0,13.94,14.17,14.13
$GC,1364,-0.86,-145.9,2331,3602,3962,3980,199.5,-10.8,165,1370,0.00,2.38,0.00,0.000,1158,0.000,0.056,2331,2188,3970,3961,3979,0,0,0,0,0,0,14.25,14.14,14.28
$GC,1668,-0.91,-145.9,2331,2192,3962,3978,235.1,-11.2,176,1673,0.12,2.47,0.00,0.000,4484,0.140,0.086,2266,3601,3969,3962,3977,0,0,0,0,0,0,14.25,14.18,14.26
$GC,1748,-0.91,-145.9,2267,3602,3963,3976,246.5,-14.7,192,1753,0.00,2.35,0.00,0.000,1030,0.000,0.056,2266,2202,3968,3961,3976,0,0,0,0,0,0,14.38,14.27,14.40
$GC,2058,-0.86,-145.9,2266,2202,3962,3975,293.0,-14.4,204,2063,0.12,2.45,0.00,0.000,2436,0.316,0.084,2285,3601,3967,3961,3974,0,0,0,0,0,0,13.99,14.19,14.17
$GC,2183,-0.92,-145.9,2285,3603,3962,3975,307.8,-11.1,229,2188,0.00,2.38,0.00,0.000,1158,0.000,0.056,2285,2193,3967,3961,3974,0,0,0,0,0,0,14.38,14.28,14.42
$GC,2508,-0.92,-145.9,2285,2192,3962,3971,346.6,-11.9,244,2513,0.00,2.47,0.00,0.000,260,0.000,0.090,2280,3604,3966,3961,3971,0,0,0,0,0,0,14.59,14.19,14.61
$GC,2608,-0.98,-145.9,2281,3606,3962,3971,358.2,-11.2,264,2613,0.00,2.38,0.00,0.000,1158,0.000,0.055,2280,2193,3966,3961,3971,0,0,0,0,0,0,14.39,14.28,14.42
$GC,2928,-0.98,-145.9,2280,2193,3962,3971,396.2,-11.8,278,2933,0.00,2.47,0.00,0.000,260,0.000,0.090,2280,3601,3965,3961,3970,0,0,0,0,0,0,14.64,14.18,14.62
$GC,3033,-1.06,-145.9,2280,3603,3962,3970,407.7,-10.4,299,3039,0.12,2.35,0.00,0.000,5254,0.141,0.055,2234,2199,3965,3961,3969,0,0,0,0,0,0,14.25,14.23,14.33
$GC,3350,-0.97,-145.9,2234,2198,3962,3969,456.6,-15.7,312,3355,0.12,2.47,0.00,0.000,2436,0.311,0.084,2252,3610,3964,3960,3968,0,0,0,0,0,0,13.95,14.21,14.14
$GC,3500,-0.97,-145.9,2252,3613,3961,3969,476.9,-12.9,342,3505,0.00,2.38,0.00,0.000,1030,0.000,0.055,2252,2203,3965,3962,3968,0,0,0,0,0,0,14.38,14.28,14.41
$STATE,3522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3528,-0.13,0.0,2253,2063,3962,3968,480.3,-13.8,347,3740,1.12,0.05,207.27,1.445,10246,0.259,0.218,2532,2094,3365,3404,3326,0,0,0,0,0,0,13.97,13.38,12.77
$STATE,3743,end apogee,CONTROL_FINISHED_OK
$STATE,3743,begin climb
$GC,3748,0.57,145.9,2533,2095,3399,3321,490.5,0.0,354,3957,0.73,2.65,200.80,1.392,10500,0.064,0.073,2778,3513,2764,2824,2704,0,0,0,0,0,0,13.59,13.05,12.50
$GC,4149,0.14,145.9,2777,3513,2803,2703,463.0,17.4,393,4154,0.75,2.45,0.00,0.000,5254,0.345,0.057,2634,2128,2753,2803,2703,0,0,0,0,0,0,13.43,13.73,13.76
$GC,4465,0.07,171.3,2634,2129,2803,2704,433.7,8.8,406,4502,0.12,2.55,32.47,1.457,12964,0.298,0.084,2606,697,2662,2718,2607,0,0,0,0,0,0,13.81,13.74,13.14
$GC,4582,0.14,220.7,2607,696,2712,2605,424.6,7.7,429,4659,0.00,2.50,70.57,1.398,9382,0.000,0.079,2606,2103,2465,2536,2395,0,0,0,0,0,0,14.03,13.93,12.99
$GC,4979,0.21,251.9,2607,2103,2526,2382,390.9,8.6,458,5026,0.12,0.00,44.78,1.418,10406,0.135,0.000,2664,2102,2338,2402,2275,0,0,0,0,0,0,14.11,13.87,13.13
$GC,5309,0.16,251.9,2664,2104,2391,2265,350.5,12.3,469,5314,0.12,2.47,0.00,0.000,4740,0.271,0.082,2644,694,2327,2390,2265,0,0,0,0,0,0,13.95,14.06,14.08
$GC,5384,0.21,259.1,2644,695,2390,2265,342.6,9.7,484,5394,0.00,2.47,4.57,1.639,9382,0.000,0.078,2644,2112,2311,2374,2248,0,0,0,0,0,0,14.26,14.14,13.10
$GC,5700,0.21,259.1,2643,2113,2375,2251,309.9,10.2,497,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2112,2312,2374,2250,0,0,0,0,0,0,14.50,14.51,14.52
$GC,6000,0.21,259.6,2644,2114,2375,2249,279.7,10.0,507,6005,0.00,2.47,0.00,0.000,548,0.000,0.084,2646,690,2311,2374,2248,0,0,0,0,0,0,14.55,14.22,14.57
$GC,6066,0.29,276.9,2646,689,2375,2250,273.5,9.2,520,6106,0.00,2.47,31.62,1.440,9382,0.000,0.078,2646,2106,2233,2295,2171,0,0,0,0,0,0,14.35,14.23,13.37
$GC,6423,0.33,296.5,2646,2107,2293,2164,240.3,9.1,541,6458,0.12,0.00,29.80,1.408,10918,0.130,0.000,2703,2106,2153,2211,2095,0,0,0,0,0,0,14.28,14.09,13.33
$GC,6785,0.27,296.5,2704,2106,2207,2088,198.0,11.1,563,6791,0.12,2.47,0.00,0.000,4740,0.246,0.083,2674,697,2146,2205,2088,0,0,0,0,0,0,13.97,14.16,14.09
$GC,6898,0.35,336.9,2674,696,2203,2089,188.2,8.1,585,6972,0.00,2.45,67.03,1.299,9382,0.000,0.079,2679,2106,1987,2040,1934,0,0,0,0,0,0,14.30,14.19,13.25
$GC,7298,0.44,381.4,2674,2107,2032,1925,155.5,7.9,615,7375,0.12,0.00,75.03,1.248,10662,0.138,0.000,2735,2107,1808,1848,1768,0,0,0,0,0,0,14.21,13.88,13.20
$GC,7659,0.44,381.4,2735,2107,1836,1758,113.3,11.3,637,7664,0.00,2.50,0.00,0.000,516,0.000,0.086,2742,697,1795,1834,1757,0,0,0,0,0,0,14.38,14.09,14.40
$GC,7714,0.47,381.4,2742,698,1832,1758,107.4,10.5,648,7720,0.00,2.47,0.00,0.000,1158,0.000,0.080,2742,2104,1792,1826,1758,0,0,0,0,0,0,14.20,14.10,14.25
$GC,8021,0.47,381.4,2742,2104,1832,1757,75.0,10.0,673,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2105,1793,1831,1756,0,0,0,0,0,0,14.45,14.48,14.48
$GC,8321,0.55,456.9,2742,2106,1832,1754,50.4,6.5,703,8364,0.00,2.55,36.95,0.356,8868,0.000,0.083,2742,696,1500,1547,1454,0,0,0,0,0,0,14.48,14.13,13.83
$GC,8454,0.73,538.5,2743,695,1544,1454,42.1,6.2,729,8502,0.22,2.47,41.33,0.327,11430,0.098,0.080,2828,2105,1168,1242,1095,0,0,0,0,0,0,14.19,14.11,13.81
$GC,8807,0.95,756.3,2829,2105,1242,1085,13.7,-0.1,769,8898,0.15,2.47,83.47,0.250,10916,0.116,0.084,2902,697,494,532,456,0,0,0,0,0,0,14.21,14.04,13.87
$STATE,8970,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$FINISH,-0.0,1.020097
$STATE,8991,end surface coast,CONTROL_FINISHED_OK
$STATE,8991,begin surface
$SM_CCo,9074,0.00,0.000,0,0,491,704.99
$SM_GC,1.00,8.25,2.67,0.00,0.076,0.073,0.000,204,2206,491,-7.38,-0.40,704.99,0,0,0,0,0,0,14.23,14.16,14.30
$RAFOS_CLK,386
$MODEM,4,1503001736,75.71700,-151.21500,235.849,342037.7
$MODEM,3,1503001276,74.30400,-153.94400,169.681,246078.4
$MODEM,2,1503000793,73.18300,-149.96500,46.460,67378.6
$MODEM,0,1503000272,75.36600,-145.04601,218.873,317417.3
$RAFOS_FIX,7240.355469,-14839.696289,170817,202059,4,255,0.00
$IRIDIUM_FIX,7242.28,-14841.08,170817,203751
$TT8_MAMPS,0.040446,0.857605
$HUMID,49.52
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,13
$CP_FREE,16003104768.000000
$PM_FREEKB_00,55948224
$24V_AH,12.50,88.273
$10V_AH,12.43,0.000
$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,25.375,79.375,925.700,0.000,0.000,0.000,0.000,506.050,3.250,0.000,8.979,0.000,6493.702,795.541,2336.942,296.798,0.000,2185.556,0.000,1152.911,0.000,0.540,0.000
$DEVICE_MAMPS,457.470,2145.060,1639.395,0.000,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9019.000,9006.000,8966.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.490,20.000,16.548,0.000
$MEM,323760
$DATA_FILE_SIZE,26694,805
$CAP_FILE_SIZE,105147,0
$CFSIZE,2097872896,2059206656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.1
$CURRENT,0.032,235.33,1
$GPS,170817,232025,7239.777,-14834.492,23,0.8,34,21.2,0.0,237.3,10,9.0