version: 66.13
glider: 196
mission: 14
dive: 97
start: 8 17 117 23 35 32
data:
$ID,196
$MISSION,14
$DIVE,97
$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,29
$R_STBD_OVSHOOT,22
$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,278.0
$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
$GPS1,170817,232025,7239.7769,-14834.4922,23,0.8,34,21.2,0.0,237.3,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-79.1
$GPS2,170817,233456,7239.7578,-14834.4082,7,0.7,15,21.2,0.0,0.0,12,7.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.4,73282,-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,-145.9,203,2210,510,456,0.0,0.0,0,129,0.00,0.00,-81.53,0.000,16386,0.000,0.000,205,2209,2037,1958,2116,0,0,0,0,0,0,14.41,28.83,14.43
$GC,132,-0.57,-145.9,203,2210,1959,2118,3.1,-3.5,8,189,12.45,2.80,-36.95,0.000,18724,0.452,2.146,2377,3603,3964,3946,3982,0,0,0,0,0,0,13.69,12.63,14.11
$GC,414,-0.62,-145.9,2377,3605,3955,3983,66.4,-14.6,64,419,0.00,2.38,0.00,0.000,1158,0.000,0.054,2377,2201,3968,3955,3982,0,0,0,0,0,0,14.16,14.07,14.19
$GC,746,-0.66,-145.9,2376,2200,3957,3990,112.3,-12.4,92,751,0.00,2.50,0.00,0.000,388,0.000,0.090,2376,3615,3969,3956,3982,0,0,0,0,0,0,14.51,14.17,14.52
$GC,901,-0.81,-145.9,2376,3614,3958,3982,128.2,-9.9,123,907,0.20,2.38,0.00,0.000,5286,0.103,0.054,2295,2197,3969,3957,3982,0,0,0,0,0,0,14.26,14.21,14.33
$GC,1228,-0.75,-145.9,2295,2197,3957,3983,185.4,-17.6,138,1233,0.15,2.47,0.00,0.000,2436,0.284,0.084,2321,3609,3969,3957,3982,0,0,0,0,0,0,13.87,14.16,14.04
$GC,1388,-0.85,-145.9,2321,3610,3957,3983,205.7,-11.4,170,1393,0.00,2.38,0.00,0.000,1158,0.000,0.055,2322,2195,3968,3955,3982,0,0,0,0,0,0,14.35,14.25,14.38
$GC,1710,-0.88,-145.9,2320,2195,3957,3983,244.3,-11.7,184,1715,0.00,2.53,0.00,0.000,388,0.000,0.090,2319,3610,3969,3956,3982,0,0,0,0,0,0,14.43,14.07,14.45
$GC,1817,-1.00,-145.9,2319,3611,3956,3983,255.5,-9.9,205,1822,0.20,2.40,0.00,0.000,5286,0.101,0.055,2247,2194,3968,3955,3981,0,0,0,0,0,0,14.20,14.16,14.27
$GC,2132,-0.91,-145.9,2247,2194,3954,3982,307.0,-16.4,218,2137,0.15,2.50,0.00,0.000,2436,0.299,0.083,2270,3609,3968,3954,3982,0,0,0,0,0,0,13.81,14.06,14.00
$GC,2277,-0.95,-145.9,2271,3609,3953,3982,326.2,-12.3,247,2284,0.00,2.40,0.00,0.000,1158,0.000,0.054,2270,2202,3967,3952,3982,0,0,0,0,0,0,14.19,14.12,14.21
$GC,2582,-0.95,-145.9,2270,2202,3954,3981,366.4,-12.9,258,2587,0.00,2.50,0.00,0.000,260,0.000,0.088,2267,3608,3966,3952,3980,0,0,0,0,0,0,14.41,14.04,14.42
$GC,2687,-0.98,-145.9,2267,3610,3951,3981,379.6,-12.0,279,2693,0.00,2.40,0.00,0.000,1158,0.000,0.055,2267,2200,3969,3958,3980,0,0,0,0,0,0,14.23,14.12,14.27
$GC,3003,-0.98,-145.9,2267,2200,3947,3980,420.2,-12.8,292,3008,0.00,2.50,0.00,0.000,260,0.000,0.087,2259,3608,3965,3951,3979,0,0,0,0,0,0,14.41,14.04,14.46
$GC,3125,-1.00,-145.9,2259,3613,3951,3980,435.3,-12.2,316,3129,0.00,2.40,0.00,0.000,1158,0.000,0.055,2258,2198,3964,3950,3979,0,0,0,0,0,0,14.19,14.07,14.21
$GC,3455,-0.97,-145.9,2259,2196,3951,3976,479.1,-13.2,332,3460,0.00,2.53,0.00,0.000,388,0.000,0.087,2249,3616,3964,3950,3979,0,0,0,0,0,0,14.41,13.98,14.42
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$MODEM_MSG,CACST,6,1,20170818001316.561867,3,5322,37,0357,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$MODEM_MSG,CACST,6,1,20170818002119.890315,3,100,20,0181,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170818002901.771044,3,204,05,0171,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$GC,3470,-0.13,0.0,2250,2102,3951,3977,480.4,-13.3,334,3697,1.15,0.00,221.15,1.407,10246,0.263,0.000,2530,2101,3362,3385,3340,0,0,0,0,0,0,13.83,13.39,12.68
$STATE,3701,end apogee,CONTROL_FINISHED_OK
$STATE,3701,begin climb
$GC,3703,0.57,145.9,2530,2102,3377,3332,490.9,0.0,341,3916,0.75,2.70,198.50,1.379,10500,0.063,0.076,2780,3517,2758,2800,2716,0,0,0,0,0,0,13.45,13.14,12.50
$GC,4142,0.14,145.9,2782,3517,2782,2715,455.8,17.6,421,4147,0.77,2.50,0.00,0.000,5254,0.347,0.057,2633,2094,2749,2782,2716,0,0,0,0,0,0,13.44,13.72,13.77
$GC,4462,0.07,176.0,2633,2094,2782,2715,426.7,8.6,435,4507,0.00,2.50,40.80,1.422,8868,0.000,0.082,2643,691,2643,2684,2602,0,0,0,0,0,0,14.33,13.71,13.13
$GC,4548,0.05,189.2,2644,690,2679,2591,419.0,9.4,447,4569,0.20,2.50,16.12,1.519,13478,0.258,0.079,2600,2100,2594,2647,2541,0,0,0,0,0,0,13.74,13.92,13.12
$GC,4886,0.12,243.1,2600,2100,2640,2520,393.3,7.5,464,4975,0.00,0.00,83.35,1.360,8358,0.000,0.000,2600,2100,2368,2422,2314,0,0,0,0,0,0,14.40,13.62,13.08
$GC,5274,0.23,296.4,2600,2100,2415,2303,363.7,7.5,477,5365,0.15,2.58,84.25,1.324,10916,0.116,0.086,2672,685,2148,2198,2099,0,0,0,0,0,0,14.15,13.63,13.09
$GC,5402,0.23,296.4,2673,686,2188,2096,348.4,12.2,497,5407,0.00,2.53,0.00,0.000,1030,0.000,0.077,2672,2098,2140,2187,2094,0,0,0,0,0,0,13.95,13.84,13.97
$GC,5727,0.21,296.4,2673,2105,2186,2080,307.4,12.4,512,5732,0.00,2.50,0.00,0.000,644,0.000,0.087,2672,688,2134,2185,2084,0,0,0,0,0,0,14.40,14.11,14.42
$GC,5777,0.24,296.4,2673,689,2184,2084,301.3,11.9,522,5782,0.00,2.47,0.00,0.000,1158,0.000,0.079,2672,2105,2133,2183,2083,0,0,0,0,0,0,14.27,14.15,14.28
$GC,6087,0.24,296.4,2673,2108,2184,2082,264.7,11.7,534,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2106,2132,2183,2082,0,0,0,0,0,0,14.52,14.54,14.54
$GC,6387,0.24,296.4,2673,2105,2183,2081,230.5,10.9,544,6392,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,691,2131,2182,2081,0,0,0,0,0,0,14.57,14.24,14.61
$GC,6452,0.30,300.0,2673,690,2182,2081,223.9,9.8,557,6457,0.00,2.45,0.00,0.000,1190,0.000,0.079,2672,2105,2131,2181,2081,0,0,0,0,0,0,14.39,14.27,14.42
$GC,6778,0.32,327.2,2673,2106,2181,2082,193.6,8.7,572,6832,0.00,2.55,47.80,1.313,8740,0.000,0.086,2676,693,2024,2070,1978,0,0,0,0,0,0,14.58,14.04,13.35
$GC,6903,0.46,375.1,2672,693,2060,1975,183.5,7.8,597,6994,0.17,2.47,84.68,1.224,11430,0.116,0.080,2745,2102,1834,1865,1804,0,0,0,0,0,0,14.04,14.00,13.16
$GC,7319,0.41,375.1,2746,2103,1852,1782,129.4,12.9,630,7324,0.12,2.47,0.00,0.000,4740,0.235,0.082,2728,691,1817,1852,1782,0,0,0,0,0,0,14.01,13.97,13.93
$GC,7364,0.46,375.1,2729,692,1850,1782,124.4,10.5,639,7370,0.00,2.47,0.00,0.000,1158,0.000,0.078,2728,2107,1815,1849,1781,0,0,0,0,0,0,14.25,14.14,14.28
$GC,7671,0.46,376.0,2728,2108,1850,1779,93.0,10.0,655,7676,0.00,2.50,0.00,0.000,548,0.000,0.086,2729,687,1813,1849,1778,0,0,0,0,0,0,14.48,14.14,14.50
$GC,7706,0.52,385.9,2727,688,1847,1780,89.4,9.5,662,7718,0.00,2.47,3.25,0.352,9382,0.000,0.077,2729,2108,1793,1824,1763,0,0,0,0,0,0,14.27,14.16,13.71
$GC,8023,0.60,442.3,2729,2109,1834,1766,62.4,7.4,695,8058,0.15,0.00,33.03,0.386,10406,0.119,0.000,2791,2108,1561,1594,1528,0,0,0,0,0,0,14.26,14.13,13.76
$GC,8353,0.63,488.7,2792,2108,1599,1528,31.6,7.9,728,8385,0.00,2.47,25.60,0.295,8484,0.000,0.080,2791,3513,1371,1418,1324,0,0,0,0,0,0,14.46,14.07,13.87
$GC,8411,0.65,511.6,2791,3514,1419,1329,26.9,8.9,739,8428,0.00,2.45,13.68,0.282,9254,0.000,0.065,2794,2096,1277,1330,1224,0,0,0,0,0,0,14.23,14.12,13.88
$GC,8726,0.96,744.0,2795,2096,1331,1226,13.9,-0.7,772,8842,0.28,2.58,106.10,0.243,11172,0.088,0.080,2896,3517,497,532,462,0,0,0,0,0,0,14.14,14.01,13.90
$STATE,8902,end climb,SURFACE_DEPTH_REACHED
$STATE,8902,begin surface coast
$FINISH,0.5,1.020045
$STATE,8912,end surface coast,CONTROL_FINISHED_OK
$STATE,8912,begin surface
$SM_CCo,8995,0.00,0.000,0,0,492,704.75
$SM_GC,1.05,8.23,2.30,0.00,0.073,0.059,0.000,206,2200,492,-7.38,0.82,704.75,0,0,0,0,0,0,14.21,14.16,14.28
$RAFOS_CLK,336
$MODEM,4,1503016141,75.71700,-151.21500,241.021,349507.0
$MODEM,3,1503015679,74.30400,-153.94400,172.890,250710.0
$MODEM,2,1503015196,73.18300,-149.96500,49.562,71870.2
$RAFOS_FIX,7241.503418,-14833.470703,180817,000012,3,255,1.18
$IRIDIUM_FIX,7239.45,-14838.67,170817,232457
$TT8_MAMPS,0.038948,0.888314
$HUMID,48.93
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.50
$XPDR_PINGS,7
$CP_FREE,16002940928.000000
$PM_FREEKB_00,55882496
$24V_AH,12.50,88.758
$10V_AH,12.47,0.000
$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,25.125,89.625,958.300,0.000,0.000,0.000,0.000,531.450,1.750,0.000,16.791,0.000,6377.673,973.781,2230.430,297.525,0.000,2254.795,0.000,1157.357,2133.000,0.539,0.000
$DEVICE_MAMPS,452.115,2145.825,1519.290,0.000,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8942.000,8940.000,8890.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.717,20.000,16.614,0.000
$MEM,323572
$DATA_FILE_SIZE,26692,808
$CAP_FILE_SIZE,108445,0
$CFSIZE,2097872896,2058911744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.5
$CURRENT,0.061,234.55,1
$GPS,180817,020649,7240.703,-14836.106,29,0.8,39,21.2,0.0,247.8,10,7.0