version: 66.13
glider: 196
mission: 14
dive: 44
start: 8 11 117 19 28 46
data:
$ID,196
$MISSION,14
$DIVE,44
$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,22
$R_STBD_OVSHOOT,21
$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,136.0
$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
$GPS1,110817,192135,7144.9814,-14728.6162,26,1.1,28,21.4,0.5,132.0,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.1
$GPS2,110817,192814,7144.9219,-14728.6006,5,1.0,20,21.4,0.4,185.5,8,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.2,178525,-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,-145.9,197,2200,510,478,0.0,0.0,0,130,0.00,0.00,-81.55,0.000,16386,0.000,0.000,195,2200,2029,1954,2104,0,0,0,0,0,0,14.40,28.83,14.42
$GC,133,-0.57,-145.9,196,2200,1960,2106,3.5,-4.8,8,187,12.52,2.83,-36.22,0.000,18980,0.459,2.161,2386,784,3961,3941,3982,0,0,0,0,0,0,13.73,12.74,14.14
$GC,233,-0.50,-145.9,2386,785,3948,3984,33.1,-22.1,27,241,0.17,2.50,0.00,0.000,3206,0.297,0.085,2411,2198,3965,3948,3982,0,0,0,0,0,0,13.86,14.08,14.14
$GC,537,-0.54,-145.9,2412,2199,3955,3983,80.0,-12.5,58,541,0.00,2.50,0.00,0.000,388,0.000,0.089,2402,3618,3968,3954,3982,0,0,0,0,0,0,14.49,14.15,14.51
$GC,663,-0.68,-145.9,2406,3620,3954,3984,93.7,-10.4,83,671,0.15,2.42,0.00,0.000,5254,0.119,0.057,2345,2194,3968,3954,3982,0,0,0,0,0,0,14.25,14.21,14.33
$GC,977,-0.68,-145.9,2346,2192,3955,3982,142.0,-14.7,97,981,0.00,2.47,0.00,0.000,260,0.000,0.086,2336,3613,3969,3957,3982,0,0,0,0,0,0,14.53,14.20,14.57
$GC,1027,-0.73,-145.9,2335,3614,3955,3983,149.2,-13.7,107,1033,0.00,2.40,0.00,0.000,1158,0.000,0.057,2336,2194,3968,3954,3982,0,0,0,0,0,0,14.36,14.25,14.38
$GC,1338,-0.73,-145.9,2336,2194,3955,3983,192.5,-13.2,119,1343,0.00,2.47,0.00,0.000,260,0.000,0.088,2332,3613,3968,3954,3982,0,0,0,0,0,0,14.57,14.21,14.59
$GC,1378,-0.80,-145.9,2333,3614,3955,3982,197.5,-11.8,127,1384,0.00,2.40,0.00,0.000,1158,0.000,0.058,2333,2194,3968,3954,3983,0,0,0,0,0,0,14.38,14.26,14.40
$GC,1700,-0.84,-145.9,2333,2193,3955,3983,234.0,-11.0,141,1704,0.00,2.50,0.00,0.000,388,0.000,0.089,2332,3617,3968,3954,3982,0,0,0,0,0,0,14.59,14.22,14.59
$GC,1795,-0.93,-145.9,2333,3618,3955,3982,243.3,-9.5,160,1800,0.17,2.40,0.00,0.000,5286,0.116,0.057,2266,2198,3967,3954,3981,0,0,0,0,0,0,14.26,14.21,14.32
$GC,2122,-0.85,-145.9,2265,2196,3954,3981,293.6,-15.7,175,2128,0.15,2.50,0.00,0.000,2436,0.297,0.083,2289,3616,3967,3953,3981,0,0,0,0,0,0,13.87,14.05,14.05
$GC,2229,-0.88,-145.9,2289,3616,3953,3981,307.4,-12.0,196,2234,0.00,2.42,0.00,0.000,1158,0.000,0.059,2289,2199,3966,3952,3981,0,0,0,0,0,0,14.17,14.08,14.20
$GC,2544,-0.88,-145.9,2289,2198,3953,3979,347.3,-12.6,209,2549,0.00,2.53,0.00,0.000,260,0.000,0.086,2280,3616,3966,3953,3979,0,0,0,0,0,0,14.41,14.02,14.42
$GC,2624,-0.88,-145.9,2281,3618,3953,3979,357.7,-12.7,225,2629,0.00,2.42,0.00,0.000,1030,0.000,0.060,2280,2197,3965,3952,3979,0,0,0,0,0,0,14.21,14.09,14.23
$GC,2934,-0.85,-145.9,2281,2196,3953,3978,399.1,-13.3,237,2939,0.00,2.53,0.00,0.000,388,0.000,0.086,2273,3616,3965,3952,3978,0,0,0,0,0,0,14.39,13.99,14.41
$GC,3024,-0.85,-145.9,2273,3617,3951,3979,411.0,-13.0,255,3030,0.12,2.45,0.00,0.000,3078,0.263,0.058,2298,2193,3965,3952,3978,0,0,0,0,0,0,13.83,14.03,14.07
$GC,3356,-0.85,-145.9,2298,2193,3953,3977,449.6,-11.6,271,3361,0.00,2.53,0.00,0.000,260,0.000,0.086,2293,3613,3964,3951,3977,0,0,0,0,0,0,14.38,14.03,14.39
$GC,3426,-0.93,-145.9,2293,3613,3952,3977,457.8,-10.9,285,3431,0.00,2.42,0.00,0.000,1158,0.000,0.057,2293,2190,3964,3951,3977,0,0,0,0,0,0,14.18,14.07,14.21
$STATE,3624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3624,begin apogee
$GC,3630,-0.13,0.0,2293,2069,3952,3977,481.2,-11.8,295,3840,0.93,0.08,207.00,1.437,10246,0.236,0.181,2527,2114,3363,3390,3337,0,0,0,0,0,0,13.83,13.40,12.84
$STATE,3844,end apogee,CONTROL_FINISHED_OK
$STATE,3844,begin climb
$GC,3846,0.57,145.9,2528,2114,3386,3330,491.0,0.0,302,4055,0.75,2.65,200.45,1.377,10500,0.067,0.075,2780,3505,2763,2809,2717,0,0,0,0,0,0,13.52,13.11,12.64
$MODEM_MSG,CACST,6,1,20170811201430.055859,3,28,08,0186,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31
$MODEM_MSG,CACST,6,1,20170811202231.364472,3,73,00,0140,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$GC,4284,0.16,145.9,2781,3506,2789,2716,451.8,18.1,391,4291,0.75,2.42,0.00,0.000,5254,0.345,0.057,2639,2126,2752,2788,2716,0,0,0,0,0,0,13.39,13.68,13.70
$GC,4589,0.10,171.3,2637,2126,2789,2716,423.3,8.8,402,4628,0.00,2.47,32.53,1.453,8612,0.000,0.082,2639,3501,2661,2703,2619,0,0,0,0,0,0,14.20,13.83,13.16
$GC,4788,0.01,171.3,2639,3505,2695,2616,402.2,10.9,442,4794,0.25,2.42,0.00,0.000,5254,0.259,0.059,2591,2102,2654,2695,2614,0,0,0,0,0,0,13.71,13.89,13.95
$GC,5099,0.11,243.1,2592,2102,2696,2612,380.7,6.7,454,5214,0.00,2.62,106.60,1.345,8868,0.000,0.086,2591,692,2366,2416,2317,0,0,0,0,0,0,14.37,13.67,13.09
$GC,5250,0.33,306.5,2592,691,2411,2320,370.2,7.1,484,5350,0.30,2.55,92.22,1.315,11430,0.084,0.080,2697,2100,2113,2163,2063,0,0,0,0,0,0,13.82,13.77,12.95
$GC,5673,0.28,306.5,2697,2101,2152,2049,309.6,14.4,518,5677,0.00,2.53,0.00,0.000,644,0.000,0.088,2699,689,2101,2154,2048,0,0,0,0,0,0,14.19,13.91,14.21
$GC,5707,0.28,306.5,2699,690,2151,2048,304.6,14.3,525,5712,0.00,2.53,0.00,0.000,1030,0.000,0.078,2699,2108,2099,2151,2048,0,0,0,0,0,0,14.07,13.95,14.09
$GC,6033,0.23,306.5,2698,2110,2151,2046,259.2,13.7,540,6038,0.15,2.50,0.00,0.000,4740,0.240,0.083,2669,689,2098,2150,2046,0,0,0,0,0,0,13.94,14.08,14.07
$GC,6078,0.30,306.5,2670,689,2148,2046,253.8,11.0,549,6083,0.00,2.47,0.00,0.000,1158,0.000,0.080,2670,2099,2096,2148,2045,0,0,0,0,0,0,14.23,14.12,14.26
$GC,6393,0.30,306.5,2671,2100,2148,2045,218.5,11.0,562,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2100,2095,2147,2044,0,0,0,0,0,0,14.45,14.47,14.47
$GC,6693,0.33,308.3,2671,2101,2147,2045,188.0,9.9,572,6694,0.00,0.00,0.00,0.000,166,0.000,0.000,2670,2101,2095,2147,2044,0,0,0,0,0,0,14.48,14.50,14.50
$GC,6993,0.41,342.2,2670,2101,2148,2044,161.6,8.4,582,7055,0.12,2.50,55.05,1.291,10916,0.139,0.083,2729,693,1965,2012,1919,0,0,0,0,0,0,14.24,13.88,13.40
$GC,7120,0.43,342.2,2727,694,2003,1921,147.4,11.0,607,7126,0.00,2.50,0.00,0.000,1158,0.000,0.079,2729,2105,1960,2002,1918,0,0,0,0,0,0,14.11,14.00,14.14
$GC,7446,0.41,342.2,2728,2112,2004,1912,110.6,10.8,622,7451,0.00,2.50,0.00,0.000,644,0.000,0.085,2730,693,1957,2003,1912,0,0,0,0,0,0,14.38,14.07,14.40
$GC,7496,0.45,343.8,2730,692,2003,1914,105.4,9.9,632,7501,0.00,2.47,0.00,0.000,1190,0.000,0.079,2728,2105,1956,2001,1912,0,0,0,0,0,0,14.23,14.12,14.26
$GC,7806,0.46,358.5,2729,2106,2002,1911,75.3,9.3,660,7817,0.00,0.00,7.05,0.428,8230,0.000,0.000,2734,2105,1904,1945,1863,0,0,0,0,0,0,14.40,14.12,13.71
$GC,8117,0.55,433.7,2729,2106,1949,1864,50.7,6.5,691,8158,0.00,0.00,39.12,0.359,8614,0.000,0.000,2729,2105,1595,1636,1554,0,0,0,0,0,0,14.42,14.07,13.76
$GC,8457,0.77,544.9,2730,2105,1637,1545,31.0,4.9,727,8519,0.30,0.00,55.20,0.301,10918,0.093,0.000,2838,2105,1142,1212,1073,0,0,0,0,0,0,14.12,14.01,13.79
$GC,8817,0.94,691.7,2838,2105,1213,1062,6.7,3.2,765,8896,0.12,2.47,73.22,0.225,10660,0.132,0.077,2893,3512,542,585,499,0,0,0,0,0,0,14.06,13.93,13.82
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8901,begin surface coast
$FINISH,0.1,1.019992
$STATE,8909,end surface coast,CONTROL_FINISHED_OK
$STATE,8909,begin surface
$SM_CCo,8932,5.57,0.220,0,0,499,702.78
$SM_GC,1.86,8.32,2.33,5.57,0.080,0.062,0.220,197,2193,499,-7.38,0.71,702.78,0,0,0,0,0,0,14.14,14.09,13.90
$RAFOS_CLK,319
$MODEM,3,1502482951,74.30400,-153.94400,244.364,354779.8
$MODEM,2,1502482470,73.18300,-149.96500,123.056,178658.2
$RAFOS_FIX,7154.283203,-14647.455078,110817,202030,2,255,9.74
$IRIDIUM_FIX,7143.63,-14732.78,110817,164906
$TT8_MAMPS,0.040446,0.899549
$HUMID,50.15
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,10
$CP_FREE,16011952128.000000
$PM_FREEKB_00,59716992
$24V_AH,12.64,63.767
$10V_AH,12.56,0.000
$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,25.300,84.875,868.450,5.575,0.000,0.000,0.000,180.175,2.500,0.000,21.426,0.000,6414.236,768.804,1944.822,224.220,0.000,1791.694,0.000,1120.302,2217.000,0.539,0.000
$DEVICE_MAMPS,459.000,2161.125,1452.735,220.320,0.000,0.000,0.000,141.525,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5040.000,8935.000,8883.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.060,20.000,16.590,0.000
$MEM,323764
$DATA_FILE_SIZE,26729,783
$CAP_FILE_SIZE,102621,0
$CFSIZE,2097872896,2074705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.7
$CURRENT,0.110,191.57,1
$GPS,110817,215930,7145.586,-14729.310,54,0.8,58,21.4,0.0,243.0,10,9.9