version: 66.13
glider: 196
mission: 14
dive: 127
start: 8 21 117 12 5 1
data:
$ID,196
$MISSION,14
$DIVE,127
$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,33
$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,360.0
$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
$GPS1,210817,114332,7309.5869,-14945.8115,36,0.8,36,20.8,0.0,0.0,10,9.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.0
$GPS2,210817,120425,7309.6816,-14946.0635,8,0.8,9,20.8,0.0,115.0,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,270.5,6928,-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,-145.9,204,2221,496,489,0.0,0.0,0,126,0.00,0.00,-77.78,0.000,16386,0.000,0.000,204,2225,1916,1843,1990,0,0,0,0,0,0,14.45,28.83,14.46
$GC,129,-0.57,-145.9,204,2221,1845,1991,3.1,-3.1,8,192,12.62,2.88,-44.50,0.000,18980,0.455,2.144,2386,790,3965,3950,3980,0,0,0,0,0,0,13.67,12.63,14.07
$GC,378,-0.64,-145.9,2386,791,3957,3981,54.3,-16.1,57,384,0.00,2.50,0.00,0.000,1158,0.000,0.090,2383,2184,3970,3960,3980,0,0,0,0,0,0,14.14,13.99,14.17
$GC,703,-0.69,-145.9,2383,2185,3959,3981,104.3,-12.6,88,708,0.00,2.55,0.00,0.000,388,0.000,0.091,2376,3613,3972,3958,3986,0,0,0,0,0,0,14.38,14.03,14.40
$GC,878,-0.86,-145.9,2377,3614,3955,3985,122.1,-9.4,123,885,0.25,2.40,0.00,0.000,5286,0.094,0.053,2276,2197,3969,3958,3980,0,0,0,0,0,0,14.12,14.09,14.20
$GC,1183,-0.77,-145.9,2276,2197,3958,3981,180.1,-19.1,134,1188,0.20,2.53,0.00,0.000,2436,0.276,0.086,2318,3617,3969,3958,3980,0,0,0,0,0,0,13.78,14.04,13.97
$GC,1353,-0.86,-145.9,2315,3618,3960,3980,201.9,-11.7,168,1358,0.00,2.42,0.00,0.000,1158,0.000,0.055,2314,2193,3969,3959,3980,0,0,0,0,0,0,14.24,14.14,14.28
$GC,1663,-0.90,-145.9,2314,2190,3959,3988,240.7,-11.8,180,1668,0.00,2.53,0.00,0.000,388,0.000,0.089,2307,3614,3968,3957,3980,0,0,0,0,0,0,14.47,14.04,14.45
$GC,1718,-1.02,-145.9,2308,3615,3960,3981,246.6,-9.9,191,1726,0.17,2.40,0.00,0.000,5286,0.108,0.055,2245,2199,3967,3958,3976,0,0,0,0,0,0,14.12,14.12,14.20
$MODEM_MSG,CACST,6,1,20170821121230.890850,3,4620,36,0111,0150,250,00,00,00,00,-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,6,1,20170821122033.098902,3,4369,30,1076,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$MODEM_MSG,CACST,6,1,20170821122820.172346,3,1863,32,0887,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,2023,-0.94,-145.9,2245,2198,3959,3980,295.9,-16.1,202,2029,0.12,2.47,0.00,0.000,2436,0.291,0.086,2264,3614,3968,3957,3980,0,0,0,0,0,0,13.82,14.06,14.00
$GC,2201,-0.99,-145.9,2264,3614,3957,3980,318.7,-12.2,237,2207,0.00,2.42,0.00,0.000,1158,0.000,0.054,2264,2194,3967,3956,3978,0,0,0,0,0,0,14.12,14.02,14.16
$GC,2504,-0.99,-145.9,2265,2193,3956,3979,358.8,-13.0,248,2509,0.00,2.50,0.00,0.000,260,0.000,0.087,2255,3617,3967,3956,3978,0,0,0,0,0,0,14.59,14.19,14.60
$GC,2584,-1.03,-145.9,2256,3618,3956,3979,369.1,-12.5,264,2589,0.00,2.40,0.00,0.000,1158,0.000,0.055,2255,2195,3967,3956,3978,0,0,0,0,0,0,14.35,14.26,14.40
$GC,2894,-1.01,-145.9,2255,2195,3957,3978,410.8,-13.4,276,2899,0.00,2.50,0.00,0.000,388,0.000,0.088,2246,3621,3966,3956,3977,0,0,0,0,0,0,14.62,14.19,14.63
$GC,3026,-1.03,-145.9,2246,3620,3956,3977,428.3,-13.1,302,3031,0.00,2.40,0.00,0.000,1158,0.000,0.055,2245,2198,3966,3955,3977,0,0,0,0,0,0,14.39,14.25,14.40
$GC,3346,-1.00,-145.9,2246,2197,3956,3977,472.8,-13.7,316,3351,0.00,2.50,0.00,0.000,388,0.000,0.088,2239,3622,3966,3955,3977,0,0,0,0,0,0,14.62,14.20,14.64
$STATE,3399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3407,-0.13,0.0,2240,2100,3956,3977,480.3,-13.2,327,3627,1.15,0.00,216.30,1.436,10246,0.249,0.000,2529,2099,3363,3387,3340,0,0,0,0,0,0,13.98,13.47,12.71
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3633,0.57,145.9,2531,2099,3382,3332,491.3,0.0,334,3998,0.75,2.70,204.05,1.384,10756,0.067,0.076,2791,685,2753,2794,2712,0,0,0,0,0,0,13.56,13.01,12.45
$GC,4167,0.21,145.9,2790,686,2793,2717,448.1,15.5,369,4174,0.62,2.53,0.00,0.000,5254,0.312,0.075,2655,2109,2753,2792,2715,0,0,0,0,0,0,13.56,13.85,13.89
$GC,4472,0.07,160.9,2655,2112,2792,2713,418.0,9.3,380,4494,0.17,2.58,16.42,1.564,12964,0.306,0.082,2616,687,2705,2747,2663,0,0,0,0,0,0,13.84,14.06,13.21
$GC,4539,0.11,213.2,2616,687,2745,2663,412.8,7.6,393,4625,0.00,2.50,78.25,1.392,9254,0.000,0.079,2615,2109,2490,2551,2430,0,0,0,0,0,0,14.14,14.02,13.03
$GC,4924,0.12,237.2,2616,2109,2546,2418,379.2,8.9,420,4964,0.00,2.58,33.40,1.440,8740,0.000,0.086,2615,693,2393,2452,2335,0,0,0,0,0,0,14.41,13.88,13.16
$GC,4984,0.20,277.4,2616,693,2450,2336,374.1,8.1,427,5052,0.00,2.50,61.47,1.402,9382,0.000,0.078,2616,2109,2233,2292,2174,0,0,0,0,0,0,14.09,13.98,13.01
$GC,5377,0.27,305.4,2616,2108,2281,2159,339.4,8.7,455,5424,0.15,2.55,40.60,1.397,10916,0.116,0.085,2686,684,2117,2172,2063,0,0,0,0,0,0,14.19,13.77,13.16
$GC,5461,0.25,305.4,2686,685,2159,2064,328.7,13.5,471,5466,0.00,2.50,0.00,0.000,1158,0.000,0.076,2686,2099,2109,2157,2062,0,0,0,0,0,0,14.08,13.98,14.13
$GC,5772,0.19,305.4,2687,2100,2159,2055,285.7,13.6,483,5773,0.17,0.00,0.00,0.000,4230,0.242,0.000,2647,2100,2105,2157,2054,0,0,0,0,0,0,14.00,14.31,14.26
$GC,6072,0.23,305.4,2648,2101,2157,2051,254.8,10.0,493,6077,0.00,2.47,0.00,0.000,644,0.000,0.087,2647,684,2104,2157,2051,0,0,0,0,0,0,14.58,14.26,14.59
$GC,6167,0.34,330.3,2648,684,2157,2051,246.0,8.9,512,6208,0.12,2.45,36.70,1.399,11430,0.132,0.078,2697,2103,2018,2067,1970,0,0,0,0,0,0,14.33,14.28,13.34
$GC,6525,0.31,330.3,2697,2104,2058,1960,204.8,10.9,533,6530,0.00,2.47,0.00,0.000,644,0.000,0.085,2699,688,2008,2057,1959,0,0,0,0,0,0,14.53,14.21,14.54
$GC,6585,0.31,330.3,2699,688,2057,1960,198.5,10.1,545,6590,0.00,2.45,0.00,0.000,1030,0.000,0.078,2699,2099,2004,2050,1959,0,0,0,0,0,0,14.33,14.21,14.37
$GC,6916,0.31,338.0,2699,2100,2055,1959,165.8,9.6,561,6926,0.00,0.00,9.25,1.564,8230,0.000,0.000,2699,2099,1986,2036,1937,0,0,0,0,0,0,14.59,14.23,13.36
$GC,7216,0.33,357.5,2701,2105,2031,1929,138.1,9.1,571,7256,0.00,2.53,32.45,1.387,8740,0.000,0.086,2699,694,1904,1945,1864,0,0,0,0,0,0,14.58,14.10,13.35
$GC,7271,0.39,379.0,2699,695,1943,1865,133.0,9.0,582,7312,0.00,2.47,36.28,1.323,9382,0.000,0.079,2699,2108,1820,1852,1789,0,0,0,0,0,0,14.23,14.12,13.23
$GC,7640,0.48,414.9,2699,2108,1844,1777,101.5,8.3,605,7706,0.12,2.60,57.72,1.242,10916,0.135,0.086,2768,685,1669,1698,1641,0,0,0,0,0,0,14.25,13.89,13.26
$GC,7791,0.48,414.9,2768,686,1691,1638,83.7,11.4,635,7797,0.15,2.53,0.00,0.000,5126,0.235,0.080,2736,2102,1664,1690,1638,0,0,0,0,0,0,13.86,14.00,14.09
$GC,8102,0.60,499.7,2736,2103,1691,1630,60.1,6.1,667,8151,0.12,2.55,43.70,0.382,10660,0.132,0.082,2793,3518,1327,1379,1276,0,0,0,0,0,0,14.21,14.07,13.79
$GC,8371,0.65,526.1,2794,3518,1380,1271,35.2,8.8,720,8393,0.00,2.45,14.38,0.311,9382,0.000,0.067,2794,2091,1220,1282,1158,0,0,0,0,0,0,14.25,14.14,13.86
$GC,8698,0.87,676.2,2795,2091,1282,1153,14.3,3.1,755,8784,0.17,2.55,80.68,0.247,10916,0.114,0.090,2876,689,606,656,556,0,0,0,0,0,0,14.25,14.12,13.89
$STATE,8882,end climb,SURFACE_DEPTH_REACHED
$STATE,8882,begin surface coast
$FINISH,0.5,1.020508
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8920,14.73,0.218,0,0,498,703.03
$SM_GC,2.28,8.25,2.65,14.73,0.086,0.066,0.218,205,2204,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.26,14.21,14.01
$RAFOS_CLK,392
$MODEM,4,1503318500,75.71700,-151.21500,199.422,288800.5
$MODEM,3,1503318033,74.30400,-153.94400,126.099,182614.6
$MODEM,2,1503317550,73.18300,-149.96500,3.891,5634.7
$RAFOS_FIX,7308.780762,-14947.827148,210817,121227,3,255,2.00
$IRIDIUM_FIX,7312.21,-14959.61,210817,115706
$TT8_MAMPS,0.038948,0.883071
$HUMID,46.41
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.30
$XPDR_PINGS,9
$CP_FREE,15997829120.000000
$PM_FREEKB_00,54243520
$24V_AH,12.45,103.332
$10V_AH,12.34,0.000
$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,25.350,90.650,961.650,14.725,0.000,0.000,0.000,793.175,2.250,0.000,10.566,0.000,6281.539,799.180,2788.844,334.621,0.000,2682.269,0.000,1137.485,1802.000,0.539,0.000
$DEVICE_MAMPS,455.175,2143.530,1564.425,218.025,0.000,0.000,0.000,156.825,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8926.000,8910.000,8872.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.907,20.000,10.028,0.000
$MEM,323580
$DATA_FILE_SIZE,26732,794
$CAP_FILE_SIZE,114055,0
$CFSIZE,2097872896,2049277952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.6
$CURRENT,0.007,54.79,1
$GPS,210817,143520,7310.386,-14948.981,37,0.7,38,20.8,0.3,49.7,11,9.3