version: 66.13
glider: 196
mission: 14
dive: 152
start: 8 24 117 11 15 40
data:
$ID,196
$MISSION,14
$DIVE,152
$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,31
$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,426.0
$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
$GPS1,240817,110428,7334.3481,-15049.8115,38,0.8,40,20.5,0.4,251.1,11,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.6
$GPS2,240817,111506,7334.3335,-15050.2412,5,0.8,10,20.5,0.6,254.3,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,298.3,123806,-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,-145.9,191,2208,507,490,0.0,0.0,0,140,0.00,0.00,-91.82,0.000,16386,0.000,0.000,190,2208,2206,2137,2276,0,0,0,0,0,0,14.45,28.83,14.47
$GC,143,-0.57,-145.9,191,2209,2140,2276,4.5,-7.2,9,196,12.70,2.78,-32.62,0.000,18724,0.458,2.149,2375,3604,3964,3948,3981,0,0,0,0,0,0,13.68,12.59,14.14
$GC,406,-0.64,-145.9,2376,3605,3955,3980,60.1,-15.2,61,411,0.00,2.42,0.00,0.000,1158,0.000,0.063,2374,2198,3967,3954,3980,0,0,0,0,0,0,13.81,13.63,14.02
$GC,736,-0.69,-145.9,2375,2197,3956,3981,108.2,-12.4,91,741,0.00,2.47,0.00,0.000,388,0.000,0.086,2365,3601,3967,3955,3980,0,0,0,0,0,0,14.61,14.06,14.60
$GC,781,-0.85,-145.9,2365,3601,3956,3980,113.2,-10.3,100,788,0.20,2.40,0.00,0.000,5254,0.102,0.057,2286,2188,3967,3955,3980,0,0,0,0,0,0,14.09,14.21,14.28
$GC,1098,-0.79,-145.9,2285,2187,3956,3981,171.2,-18.0,113,1103,0.12,2.50,0.00,0.000,2436,0.283,0.084,2306,3610,3967,3955,3980,0,0,0,0,0,0,13.99,14.22,14.15
$GC,1205,-0.88,-145.9,2306,3609,3956,3981,185.7,-12.2,134,1210,0.00,2.38,0.00,0.000,1158,0.000,0.059,2306,2201,3968,3956,3980,0,0,0,0,0,0,14.39,14.26,14.42
$GC,1520,-0.91,-145.9,2306,2201,3956,3980,228.8,-13.3,147,1525,0.00,2.45,0.00,0.000,388,0.000,0.088,2299,3601,3967,3955,3979,0,0,0,0,0,0,14.64,14.24,14.65
$GC,1565,-1.01,-145.9,2299,3602,3956,3981,234.5,-11.7,156,1572,0.15,2.38,0.00,0.000,5254,0.122,0.060,2243,2194,3967,3955,3980,0,0,0,0,0,0,14.33,14.27,14.42
$GC,1882,-0.94,-145.9,2242,2194,3956,3981,287.4,-16.2,169,1887,0.12,2.47,0.00,0.000,2436,0.300,0.083,2264,3607,3967,3955,3980,0,0,0,0,0,0,13.97,14.20,14.14
$GC,2012,-0.99,-145.9,2261,3609,3955,3981,304.4,-12.2,195,2017,0.00,2.40,0.00,0.000,1158,0.000,0.057,2261,2195,3967,3955,3980,0,0,0,0,0,0,14.38,14.26,14.41
$GC,2332,-0.99,-145.9,2261,2195,3956,3980,345.9,-12.7,209,2337,0.00,2.45,0.00,0.000,260,0.000,0.087,2252,3599,3967,3955,3979,0,0,0,0,0,0,14.66,14.23,14.67
$GC,2412,-1.04,-145.9,2252,3600,3956,3980,355.9,-12.1,225,2417,0.00,2.35,0.00,0.000,1158,0.000,0.057,2248,2200,3966,3954,3979,0,0,0,0,0,0,14.42,14.29,14.45
$GC,2722,-1.04,-145.9,2252,2199,3956,3978,396.2,-12.8,237,2727,0.00,2.47,0.00,0.000,260,0.000,0.088,2236,3603,3966,3955,3978,0,0,0,0,0,0,14.54,14.13,14.55
$GC,2807,-1.07,-145.9,2242,3604,3956,3979,407.1,-12.5,254,2813,0.00,2.40,0.00,0.000,1158,0.000,0.057,2242,2203,3966,3955,3978,0,0,0,0,0,0,14.21,14.11,14.24
$GC,3112,-1.07,-145.9,2242,2203,3956,3976,447.8,-13.3,265,3117,0.00,2.50,0.00,0.000,260,0.000,0.089,2236,3607,3965,3954,3977,0,0,0,0,0,0,14.48,14.06,14.53
$GC,3182,-1.10,-145.9,2237,3607,3959,3977,457.0,-12.7,279,3187,0.00,2.42,0.00,0.000,1158,0.000,0.059,2237,2196,3966,3955,3977,0,0,0,0,0,0,14.25,14.13,14.28
$STATE,3350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3350,begin apogee
$GC,3356,-0.13,0.0,2236,2068,3956,3977,480.1,-13.6,288,3584,1.17,0.00,224.50,1.414,10246,0.246,0.000,2529,2066,3367,3395,3339,0,0,0,0,0,0,13.84,13.36,12.62
$STATE,3587,end apogee,CONTROL_FINISHED_OK
$STATE,3587,begin climb
$GC,3590,0.57,145.9,2532,2066,3389,3326,491.2,0.0,295,3812,0.75,2.22,208.93,1.363,10756,0.064,0.085,2781,729,2760,2809,2711,0,0,0,0,0,0,13.45,13.08,12.37
$GC,3937,0.21,145.9,2782,730,2802,2709,479.7,14.9,322,3943,0.62,2.53,0.00,0.000,5254,0.324,0.076,2655,2092,2753,2801,2706,0,0,0,0,0,0,13.21,13.49,13.54
$GC,4253,0.06,156.1,2655,2094,2801,2701,448.3,9.5,335,4264,0.20,2.50,3.42,1.327,12964,0.281,0.085,2613,723,2732,2781,2684,0,0,0,0,0,0,13.66,13.91,12.59
$GC,4319,0.11,222.0,2608,724,2786,2695,443.4,7.0,348,4435,0.00,2.45,106.10,1.389,9254,0.000,0.080,2607,2100,2453,2521,2385,0,0,0,0,0,0,14.05,13.95,12.82
$GC,4734,0.16,256.7,2609,2100,2512,2374,409.3,8.4,381,4789,0.00,2.50,48.72,1.411,8868,0.000,0.085,2607,719,2314,2376,2253,0,0,0,0,0,0,14.22,13.77,13.00
$MODEM_MSG,CACST,6,1,20170824121952.395585,3,396,25,0282,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$GC,4821,0.28,292.1,2608,721,2371,2252,402.1,8.4,398,4881,0.20,2.47,52.62,1.388,11430,0.099,0.079,2682,2099,2174,2235,2114,0,0,0,0,0,0,13.87,13.80,12.83
$GC,5191,0.21,292.1,2683,2099,2224,2099,350.6,14.2,421,5197,0.12,2.40,0.00,0.000,4740,0.261,0.082,2660,724,2160,2222,2098,0,0,0,0,0,0,13.78,13.98,13.93
$GC,5232,0.23,292.1,2660,725,2219,2100,345.2,12.2,429,5237,0.00,2.40,0.00,0.000,1158,0.000,0.078,2660,2109,2156,2218,2094,0,0,0,0,0,0,14.10,13.95,14.13
$GC,5552,0.23,292.1,2660,2111,2218,2098,306.3,12.0,443,5557,0.00,2.42,0.00,0.000,516,0.000,0.086,2660,726,2157,2218,2097,0,0,0,0,0,0,14.52,14.17,14.54
$GC,5612,0.27,292.1,2661,726,2217,2097,299.6,10.2,455,5617,0.00,2.40,0.00,0.000,1158,0.000,0.078,2660,2109,2155,2216,2095,0,0,0,0,0,0,14.32,14.20,14.36
$GC,5942,0.27,292.1,2660,2111,2217,2098,263.3,10.7,471,5947,0.00,2.42,0.00,0.000,516,0.000,0.085,2668,722,2156,2216,2096,0,0,0,0,0,0,14.62,14.23,14.63
$GC,5982,0.30,292.1,2668,722,2215,2097,259.0,10.4,479,5987,0.00,2.40,0.00,0.000,1158,0.000,0.081,2668,2107,2155,2214,2097,0,0,0,0,0,0,14.35,14.23,14.39
$GC,6302,0.31,298.4,2668,2109,2215,2098,227.0,9.7,493,6303,0.00,0.00,0.00,0.000,38,0.000,0.000,2668,2108,2154,2214,2095,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6602,0.33,332.8,2667,2109,2215,2097,200.6,8.4,503,6673,0.00,2.45,64.85,1.315,8740,0.000,0.083,2672,721,2004,2055,1953,0,0,0,0,0,0,14.63,13.84,13.26
$GC,6733,0.45,374.7,2673,722,2048,1953,189.7,8.1,529,6809,0.17,2.45,69.93,1.263,11430,0.114,0.080,2746,2109,1837,1871,1804,0,0,0,0,0,0,14.13,14.07,13.07
$GC,7114,0.39,374.7,2745,2110,1859,1792,140.2,12.7,555,7119,0.15,2.42,0.00,0.000,4740,0.235,0.083,2713,726,1823,1855,1791,0,0,0,0,0,0,13.99,14.12,14.12
$GC,7179,0.47,386.0,2713,726,1855,1791,133.5,9.5,568,7199,0.00,2.40,13.30,1.437,9382,0.000,0.076,2713,2101,1788,1819,1757,0,0,0,0,0,0,14.12,13.92,13.25
$GC,7505,0.51,407.0,2712,2103,1815,1746,102.7,9.0,583,7541,0.00,2.47,29.75,1.313,8868,0.000,0.086,2710,730,1699,1727,1672,0,0,0,0,0,0,14.55,14.03,13.33
$GC,7598,0.65,444.9,2711,731,1726,1673,94.9,8.2,601,7625,0.25,2.40,19.77,0.494,11430,0.091,0.078,2803,2101,1550,1581,1520,0,0,0,0,0,0,14.15,14.13,13.65
$GC,7930,0.60,467.5,2803,2102,1582,1513,54.4,9.0,637,7946,0.00,2.50,11.75,0.369,8868,0.000,0.085,2805,718,1457,1497,1418,0,0,0,0,0,0,14.50,14.14,13.75
$GC,8076,0.64,515.2,2805,720,1497,1419,42.3,7.8,666,8107,0.00,2.42,25.25,0.332,9254,0.000,0.078,2804,2107,1267,1324,1210,0,0,0,0,0,0,14.31,14.19,13.83
$GC,8413,0.75,602.9,2805,2109,1318,1203,15.9,5.9,703,8463,0.00,0.00,45.47,0.259,8614,0.000,0.000,2805,2107,906,978,835,0,0,0,0,0,0,14.53,14.07,13.89
$STATE,8710,end climb,SURFACE_DEPTH_REACHED
$STATE,8710,begin surface coast
$FINISH,0.3,1.020721
$STATE,8760,end surface coast,CONTROL_FINISHED_OK
$STATE,8760,begin surface
$SM_CCo,8780,55.33,0.210,0,0,499,702.78
$SM_GC,1.24,8.00,0.17,55.33,0.083,0.118,0.210,196,2226,499,-7.39,-0.48,702.78,0,0,0,0,0,0,14.34,14.33,14.03
$RAFOS_CLK,274
$MODEM,3,1503577192,74.30400,-153.94400,85.396,123664.9
$RAFOS_FIX,7332.196777,-15037.294922,240817,040412,3,255,0.40
$IRIDIUM_FIX,7331.40,-15050.10,240817,083214
$TT8_MAMPS,0.038948,0.983437
$HUMID,46.92
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15993700352.000000
$PM_FREEKB_00,53475776
$24V_AH,12.37,115.484
$10V_AH,12.22,0.000
$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,24.950,88.225,924.375,55.325,0.000,0.000,0.000,365.025,3.500,0.000,11.371,0.000,6225.769,859.244,2119.292,287.968,0.000,2085.781,0.000,1061.386,2191.000,0.540,0.000
$DEVICE_MAMPS,458.235,2148.885,1437.435,209.610,0.000,0.000,0.000,184.365,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8790.000,8779.000,8736.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.781,20.000,9.958,0.000
$MEM,323348
$DATA_FILE_SIZE,26674,740
$CAP_FILE_SIZE,103319,0
$CFSIZE,2097872896,2041249792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.051,273.45,1
$GPS,240817,134411,7335.484,-15053.162,29,0.7,31,20.4,0.5,331.9,12,8.9