version: 66.13
glider: 196
mission: 14
dive: 154
start: 8 24 117 16 51 54
data:
$ID,196
$MISSION,14
$DIVE,154
$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,24
$R_STBD_OVSHOOT,19
$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,48
$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,432.0
$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
$GPS1,240817,162934,7336.6797,-15056.3750,36,0.9,37,20.4,0.5,303.9,10,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.0
$GPS2,240817,165123,7336.6685,-15056.7158,5,0.7,12,20.4,0.0,193.2,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.5,118529,-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
$MODEM_MSG,CACST,6,1,20170824160356.886992,3,100,13,0161,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170824161305.789284,3,335,25,0276,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170824161949.857767,3,19,12,0118,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,47,-0.57,-145.9,166,2212,495,488,0.0,0.0,0,140,0.00,0.00,-91.68,0.000,16386,0.000,0.000,164,2211,2178,2105,2251,0,0,0,0,0,0,14.34,28.83,14.36
$GC,145,-0.57,-145.9,165,2212,2106,2253,3.7,-4.9,9,198,12.70,2.78,-33.35,0.000,18724,0.452,2.144,2375,3616,3962,3944,3981,1,0,0,0,0,0,13.54,12.89,14.09
$GC,348,-0.65,-145.9,2376,3618,3952,3981,52.2,-16.5,49,353,0.00,2.42,0.00,0.000,1158,0.000,0.062,2375,2198,3966,3951,3981,0,0,0,0,0,0,14.23,14.14,14.25
$GC,678,-0.70,-145.9,2376,2197,3952,3981,104.1,-12.9,81,683,0.00,2.47,0.00,0.000,388,0.000,0.087,2365,3611,3966,3952,3981,0,0,0,0,0,0,14.54,14.19,14.57
$GC,733,-0.86,-145.9,2365,3613,3953,3979,110.4,-10.6,92,741,0.20,2.40,0.00,0.000,5254,0.102,0.056,2282,2187,3966,3951,3981,0,0,0,0,0,0,14.26,14.21,14.33
$GC,1038,-0.79,-145.9,2289,2188,3951,3981,166.9,-18.5,103,1043,0.15,2.50,0.00,0.000,2436,0.286,0.084,2309,3616,3966,3952,3981,0,0,0,0,0,0,13.81,14.23,14.08
$GC,1160,-0.88,-145.9,2309,3618,3952,3985,183.1,-12.4,127,1165,0.00,2.38,0.00,0.000,1158,0.000,0.057,2309,2202,3966,3951,3981,0,0,0,0,0,0,14.40,14.28,14.43
$GC,1490,-0.91,-145.9,2309,2203,3953,3982,226.7,-12.8,143,1491,0.00,0.00,0.00,0.000,134,0.000,0.000,2309,2202,3965,3951,3980,0,0,0,0,0,0,14.62,14.64,14.63
$GC,1790,-0.97,-145.9,2309,2202,3952,3981,261.2,-10.9,153,1796,0.12,2.50,0.00,0.000,4484,0.142,0.087,2248,3614,3966,3952,3981,0,0,0,0,0,0,14.38,14.18,14.39
$GC,1855,-0.97,-145.9,2248,3615,3952,3982,270.6,-14.9,166,1861,0.00,2.38,0.00,0.000,1030,0.000,0.057,2248,2201,3966,3951,3981,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2181,-0.93,-145.9,2249,2199,3952,3981,318.9,-14.4,181,2186,0.12,2.47,0.00,0.000,2436,0.290,0.086,2267,3613,3966,3951,3981,0,0,0,0,0,0,14.02,14.25,14.19
$GC,2278,-1.02,-145.9,2267,3613,3953,3980,330.3,-11.1,200,2284,0.00,2.40,0.00,0.000,1158,0.000,0.058,2267,2189,3965,3951,3980,0,0,0,0,0,0,14.41,14.28,14.44
$GC,2605,-1.04,-145.9,2267,2190,3952,3981,368.8,-11.8,215,2610,0.00,2.50,0.00,0.000,388,0.000,0.088,2258,3615,3965,3951,3980,0,0,0,0,0,0,14.66,14.14,14.69
$GC,2690,-1.13,-145.9,2259,3616,3952,3986,378.6,-10.9,232,2697,0.12,2.40,0.00,0.000,5254,0.135,0.056,2210,2192,3964,3951,3978,0,0,0,0,0,0,14.17,14.16,14.27
$GC,2995,-1.04,-145.9,2211,2192,3951,3981,427.4,-16.1,243,3000,0.12,2.50,0.00,0.000,2436,0.311,0.086,2231,3618,3964,3950,3979,0,0,0,0,0,0,13.97,14.19,14.15
$GC,3117,-1.04,-145.9,2231,3619,3946,3980,443.8,-12.9,267,3122,0.00,2.40,0.00,0.000,1030,0.000,0.056,2231,2201,3964,3950,3979,0,0,0,0,0,0,14.39,14.27,14.42
$STATE,3384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3384,begin apogee
$GC,3390,-0.13,0.0,2232,2057,3951,3980,482.3,-14.3,281,3610,1.17,0.10,215.15,1.432,10246,0.250,0.162,2529,2120,3363,3382,3345,0,0,0,0,0,0,13.97,13.46,12.71
$STATE,3613,end apogee,CONTROL_FINISHED_OK
$STATE,3613,begin climb
$GC,3617,0.57,145.9,2530,2121,3379,3339,493.7,0.0,288,3840,0.75,2.15,207.35,1.375,11012,0.064,0.078,2784,719,2760,2800,2721,0,0,0,0,0,0,13.59,12.99,12.40
$GC,4065,0.21,145.9,2785,721,2794,2717,466.9,15.2,335,4072,0.62,2.47,0.00,0.000,5254,0.317,0.076,2652,2092,2754,2794,2715,0,0,0,0,0,0,13.43,13.72,13.78
$GC,4370,0.07,159.5,2653,2093,2794,2711,437.2,9.4,346,4391,0.17,2.53,14.27,1.577,12708,0.285,0.084,2610,3517,2710,2752,2669,0,0,0,0,0,0,13.83,14.04,13.13
$GC,4532,-0.00,179.2,2610,3517,2745,2668,422.6,9.1,378,4567,0.15,2.35,28.67,1.492,13478,0.282,0.058,2586,2131,2631,2677,2586,0,0,0,0,0,0,13.90,14.13,13.16
$GC,4884,0.07,240.0,2587,2132,2675,2576,397.3,7.2,398,4983,0.00,2.60,91.55,1.375,8868,0.000,0.088,2588,693,2381,2433,2329,0,0,0,0,0,0,14.52,13.83,13.07
$GC,5049,0.23,291.2,2589,693,2430,2326,384.8,7.6,431,5131,0.20,2.50,76.72,1.343,11430,0.103,0.080,2669,2099,2178,2229,2128,0,0,0,0,0,0,14.01,13.94,12.91
$GC,5456,0.19,291.2,2670,2099,2216,2110,332.4,12.8,462,5461,0.00,2.50,0.00,0.000,644,0.000,0.087,2672,691,2162,2215,2110,0,0,0,0,0,0,14.41,14.09,14.43
$GC,5501,0.19,291.2,2673,691,2213,2109,326.7,12.5,471,5506,0.00,2.47,0.00,0.000,1030,0.000,0.079,2672,2101,2160,2212,2108,0,0,0,0,0,0,14.22,14.13,14.26
$GC,5816,0.16,291.2,2672,2103,2213,2111,287.4,12.2,484,5821,0.15,2.45,0.00,0.000,4740,0.262,0.081,2645,691,2160,2212,2108,0,0,0,0,0,0,14.03,14.21,14.20
$GC,5872,0.25,302.8,2645,692,2211,2108,281.7,9.5,495,5888,0.00,2.45,12.80,1.535,9382,0.000,0.079,2645,2106,2130,2181,2080,0,0,0,0,0,0,14.35,14.23,13.32
$GC,6211,0.30,329.1,2645,2107,2175,2073,250.7,8.8,512,6260,0.00,2.50,43.15,1.369,8868,0.000,0.084,2645,691,2021,2065,1977,0,0,0,0,0,0,14.56,13.87,13.29
$GC,6302,0.45,364.7,2642,691,2060,1971,242.8,8.4,530,6367,0.25,2.47,56.38,1.304,11430,0.095,0.079,2744,2101,1878,1913,1844,0,0,0,0,0,0,14.11,14.06,13.14
$GC,6692,0.36,364.7,2744,2102,1899,1835,184.5,14.6,558,6698,0.17,2.47,0.00,0.000,4740,0.239,0.083,2709,687,1866,1898,1834,0,0,0,0,0,0,14.00,14.13,14.14
$GC,6773,0.40,364.7,2709,687,1896,1834,175.5,10.2,574,6778,0.00,2.47,0.00,0.000,1158,0.000,0.077,2709,2100,1864,1895,1833,0,0,0,0,0,0,14.18,14.09,14.24
$GC,7083,0.40,364.7,2709,2104,1895,1834,142.6,10.2,586,7088,0.00,2.47,0.00,0.000,516,0.000,0.086,2709,687,1862,1893,1832,0,0,0,0,0,0,14.61,14.22,14.62
$GC,7138,0.48,374.8,2709,685,1893,1832,137.2,9.5,597,7154,0.00,2.45,11.43,1.475,9382,0.000,0.078,2709,2102,1837,1866,1809,0,0,0,0,0,0,14.37,14.23,13.37
$GC,7477,0.52,391.2,2709,2102,1861,1803,105.1,9.2,614,7506,0.12,0.00,22.25,1.378,10406,0.135,0.000,2768,2102,1768,1793,1744,0,0,0,0,0,0,14.35,14.16,13.38
$GC,7805,0.48,419.8,2768,2103,1789,1738,68.8,8.7,643,7822,0.12,0.00,15.18,0.412,12710,0.265,0.000,2739,2101,1651,1676,1626,0,0,0,0,0,0,13.91,14.14,13.73
$GC,8127,0.65,553.9,2740,2103,1678,1622,50.7,3.8,677,8202,0.12,2.58,68.85,0.354,10916,0.132,0.088,2795,689,1105,1172,1039,0,0,0,0,0,0,14.24,14.13,13.78
$GC,8252,0.80,597.1,2796,683,1171,1035,41.7,8.0,701,8280,0.15,2.47,22.58,0.330,11430,0.122,0.079,2860,2099,930,1001,859,0,0,0,0,0,0,14.09,14.02,13.82
$GC,8586,0.86,674.2,2860,2100,1002,849,7.8,6.4,737,8628,0.00,0.00,41.15,0.230,8230,0.000,0.000,2860,2098,614,663,565,0,0,0,0,0,0,14.53,14.20,13.94
$STATE,8663,end climb,SURFACE_DEPTH_REACHED
$STATE,8663,begin surface coast
$FINISH,0.1,1.020608
$STATE,8683,end surface coast,CONTROL_FINISHED_OK
$STATE,8683,begin surface
$SM_CCo,8750,16.10,0.214,0,0,498,703.03
$SM_GC,1.31,8.07,0.17,16.10,0.074,0.119,0.214,198,2218,498,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.30,14.02
$RAFOS_CLK,382
$MODEM,3,1503591589,74.30400,-153.94400,82.858,119948.3
$MODEM,2,1503591185,73.18300,-149.96500,38.789,56152.9
$MODEM,0,1503590636,75.36600,-145.04601,182.887,264754.7
$RAFOS_FIX,7335.062012,-15057.400391,240817,161616,3,255,0.00
$IRIDIUM_FIX,7335.21,-15059.68,240817,164456
$TT8_MAMPS,0.039697,0.929509
$HUMID,46.96
$INTERNAL_PRESSURE,7.72292
$TCM_TEMP,13.20
$XPDR_PINGS,19
$CP_FREE,0.000000
$PM_FREEKB_00,53424640
$24V_AH,12.40,116.417
$10V_AH,12.26,0.000
$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,25.800,79.325,927.475,16.100,0.000,0.000,0.000,776.000,4.750,0.000,13.512,0.000,6382.905,821.682,2563.238,320.898,0.000,2454.493,0.000,1075.258,0.000,0.539,0.000
$DEVICE_MAMPS,452.115,2144.295,1577.430,214.200,0.000,0.000,0.000,161.415,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8711.000,8749.000,8706.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.499,20.000,9.908,0.000
$MEM,323664
$DATA_FILE_SIZE,26708,747
$CAP_FILE_SIZE,107599,0
$CFSIZE,2097872896,2040528896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.038,277.89,1
$GPS,240817,191926,7337.687,-15059.813,40,0.8,40,20.4,0.8,257.2,10,10.0