version: 66.13
glider: 196
mission: 14
dive: 53
start: 8 12 117 20 25 36
data:
$ID,196
$MISSION,14
$DIVE,53
$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,26
$R_STBD_OVSHOOT,20
$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,159.0
$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
$GPS1,120817,200755,7152.3608,-14734.3838,22,0.8,38,21.4,0.3,190.0,10,7.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.1
$GPS2,120817,202501,7152.2705,-14734.4111,5,0.8,16,21.4,0.0,0.0,10,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.7,164996,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,202,2187,517,467,0.0,0.0,0,131,0.00,0.00,-81.53,0.000,16386,0.000,0.000,201,2187,2155,2073,2237,0,0,0,0,0,0,14.22,28.83,14.23
$GC,134,-0.57,-145.9,202,2187,2076,2237,3.4,-4.4,8,186,12.62,2.80,-32.65,0.000,18724,0.457,2.138,2374,3609,3962,3951,3973,0,0,0,0,0,0,13.62,12.90,14.01
$GC,346,-0.54,-145.9,2376,3609,3960,3973,54.3,-18.4,50,351,0.12,2.45,0.00,0.000,3206,0.275,0.057,2398,2187,3969,3960,3979,0,0,0,0,0,0,13.82,13.97,14.06
$MODEM_MSG,CACST,6,1,20170812203007.217320,3,50,10,0090,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$GC,656,-0.57,-145.9,2399,2187,3963,3973,98.3,-12.1,82,664,0.00,2.50,0.00,0.000,388,0.000,0.084,2393,3609,3967,3961,3973,0,0,0,0,0,0,14.33,14.00,14.36
$GC,755,-0.73,-145.9,2394,3609,3963,3973,108.5,-9.7,101,760,0.15,2.38,0.00,0.000,5286,0.112,0.053,2336,2185,3964,3956,3973,0,0,0,0,0,0,14.09,14.04,14.16
$GC,1080,-0.70,-145.9,2336,2185,3963,3974,157.8,-14.8,116,1086,0.00,2.47,0.00,0.000,388,0.000,0.084,2332,3610,3967,3962,3973,0,0,0,0,0,0,14.35,14.00,14.37
$GC,1178,-0.78,-145.9,2333,3611,3962,3973,170.1,-11.9,135,1183,0.00,2.40,0.00,0.000,1158,0.000,0.055,2332,2196,3967,3962,3973,0,0,0,0,0,0,14.26,14.15,14.28
$GC,1503,-0.80,-145.9,2332,2197,3963,3971,210.2,-11.5,150,1508,0.00,2.50,0.00,0.000,388,0.000,0.087,2332,3620,3966,3962,3971,0,0,0,0,0,0,14.51,14.16,14.53
$GC,1528,-0.85,-145.9,2333,3620,3962,3971,213.0,-11.3,155,1534,0.00,2.40,0.00,0.000,1158,0.000,0.058,2332,2201,3966,3961,3972,0,0,0,0,0,0,14.32,14.21,14.34
$GC,1833,-0.91,-145.9,2332,2200,3962,3970,245.4,-10.5,166,1838,0.12,2.47,0.00,0.000,4484,0.138,0.086,2266,3610,3965,3961,3969,0,0,0,0,0,0,14.28,14.19,14.32
$GC,1909,-0.88,-145.9,2267,3613,3960,3970,256.1,-14.3,181,1913,0.00,2.40,0.00,0.000,1158,0.000,0.058,2267,2190,3964,3961,3968,0,0,0,0,0,0,14.34,14.23,14.38
$GC,2224,-0.81,-145.9,2267,2190,3961,3967,303.4,-14.8,194,2229,0.20,2.50,0.00,0.000,2436,0.297,0.083,2304,3619,3963,3960,3966,0,0,0,0,0,0,13.88,14.21,14.10
$GC,2335,-0.89,-145.9,2304,3621,3960,3967,315.8,-10.2,216,2341,0.00,2.40,0.00,0.000,1158,0.000,0.057,2304,2194,3962,3959,3966,0,0,0,0,0,0,14.35,14.25,14.38
$GC,2646,-0.89,-145.9,2305,2194,3961,3964,350.8,-11.3,228,2652,0.00,2.50,0.00,0.000,260,0.000,0.086,2300,3621,3961,3959,3964,0,0,0,0,0,0,14.59,14.21,14.60
$GC,2717,-0.97,-145.9,2300,3622,3960,3964,358.8,-10.8,242,2722,0.00,2.40,0.00,0.000,1158,0.000,0.057,2300,2196,3961,3958,3964,0,0,0,0,0,0,14.36,14.26,14.39
$GC,3037,-0.97,-145.9,2299,2196,3959,3964,395.7,-11.4,256,3043,0.00,2.47,0.00,0.000,260,0.000,0.086,2294,3609,3960,3958,3962,0,0,0,0,0,0,14.59,14.17,14.61
$GC,3103,-1.04,-145.9,2294,3610,3958,3963,403.2,-11.0,269,3108,0.15,2.38,0.00,0.000,5254,0.123,0.058,2239,2199,3960,3957,3963,0,0,0,0,0,0,14.28,14.24,14.37
$GC,3428,-0.93,-145.9,2240,2198,3957,3961,456.2,-16.7,284,3434,0.17,2.47,0.00,0.000,2436,0.310,0.082,2267,3613,3958,3956,3961,0,0,0,0,0,0,13.87,14.19,14.07
$GC,3551,-0.93,-145.9,2267,3615,3954,3962,473.0,-13.2,308,3556,0.00,2.38,0.00,0.000,1030,0.000,0.057,2267,2201,3958,3955,3961,0,0,0,0,0,0,14.34,14.23,14.39
$STATE,3609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3609,begin apogee
$GC,3615,-0.13,0.0,2268,2062,3956,3961,481.5,-13.9,315,3826,1.05,0.08,207.52,1.426,10246,0.255,0.181,2531,2109,3364,3395,3334,0,0,0,0,0,0,13.95,13.49,12.90
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3832,0.57,145.9,2531,2110,3391,3326,491.7,0.0,322,4040,0.73,2.62,194.23,1.414,10756,0.066,0.078,2782,730,2762,2815,2709,0,0,0,0,0,0,13.61,13.22,12.62
$GC,4265,0.25,145.9,2784,730,2803,2708,459.2,15.5,402,4271,0.55,2.45,0.00,0.000,5254,0.317,0.075,2667,2094,2753,2801,2706,0,0,0,0,0,0,13.50,13.74,13.81
$GC,4586,0.11,145.9,2667,2095,2801,2703,425.0,10.4,416,4592,0.17,2.42,0.00,0.000,4740,0.307,0.076,2634,722,2751,2801,2702,0,0,0,0,0,0,13.77,13.50,13.95
$GC,4737,0.12,193.8,2635,721,2802,2703,412.7,7.8,446,4813,0.00,2.42,67.18,1.415,9382,0.000,0.079,2634,2099,2569,2635,2504,0,0,0,0,0,0,14.16,14.05,13.14
$GC,5128,0.10,204.9,2634,2100,2628,2489,376.3,9.5,474,5140,0.00,0.00,11.12,1.634,8358,0.000,0.000,2634,2099,2527,2596,2459,0,0,0,0,0,0,14.34,14.03,13.24
$GC,5428,0.10,215.6,2634,2099,2590,2446,347.8,9.5,484,5447,0.00,2.47,11.73,1.599,8740,0.000,0.082,2642,724,2483,2551,2415,0,0,0,0,0,0,14.40,14.09,13.31
$GC,5478,0.14,221.6,2643,724,2549,2415,342.9,9.7,494,5490,0.00,2.42,7.05,1.703,9382,0.000,0.080,2645,2098,2462,2530,2395,0,0,0,0,0,0,14.19,14.07,13.21
$GC,5788,0.14,221.6,2642,2102,2525,2390,311.9,10.0,506,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2101,2456,2524,2389,0,0,0,0,0,0,14.42,14.45,14.44
$GC,6088,0.15,230.8,2643,2101,2524,2388,282.7,9.6,516,6101,0.00,0.00,12.18,1.636,8230,0.000,0.000,2642,2101,2426,2492,2360,0,0,0,0,0,0,14.48,14.16,13.38
$GC,6388,0.16,242.9,2642,2102,2485,2356,254.4,9.4,526,6413,0.00,2.42,18.70,1.585,8740,0.000,0.083,2646,720,2371,2432,2311,0,0,0,0,0,0,14.46,14.08,13.38
$GC,6468,0.24,265.3,2647,721,2428,2310,247.0,9.0,542,6509,0.00,2.42,34.28,1.436,9382,0.000,0.080,2646,2105,2281,2338,2224,0,0,0,0,0,0,14.21,14.10,13.27
$GC,6810,0.28,288.1,2646,2107,2334,2215,215.8,8.9,560,6853,0.00,2.53,35.85,1.397,8868,0.000,0.082,2642,718,2184,2241,2127,0,0,0,0,0,0,14.35,13.93,13.29
$GC,6888,0.42,329.2,2646,717,2237,2129,209.0,8.1,571,6961,0.22,2.45,64.22,1.294,11430,0.098,0.080,2734,2099,2021,2072,1970,0,0,0,0,0,0,14.02,13.97,13.11
$GC,7258,0.34,329.2,2734,2100,2062,1959,157.8,13.2,595,7263,0.15,2.45,0.00,0.000,4740,0.239,0.081,2699,719,2009,2061,1958,0,0,0,0,0,0,13.87,14.04,14.00
$GC,7355,0.41,345.0,2699,720,2059,1959,148.3,9.3,614,7384,0.00,2.42,21.15,1.425,9382,0.000,0.077,2699,2100,1955,2005,1905,0,0,0,0,0,0,14.16,14.06,13.28
$GC,7711,0.47,374.6,2699,2100,2004,1898,114.3,8.6,635,7761,0.00,2.53,44.50,1.327,8868,0.000,0.083,2699,723,1833,1872,1795,0,0,0,0,0,0,14.37,13.92,13.30
$GC,7818,0.63,413.1,2699,724,1865,1795,105.2,8.2,656,7885,0.25,2.45,59.53,1.216,11430,0.090,0.078,2791,2102,1677,1714,1640,0,0,0,0,0,0,13.97,13.90,13.19
$GC,8181,0.57,413.1,2791,2103,1711,1627,55.3,12.1,699,8186,0.00,2.50,0.00,0.000,388,0.000,0.083,2791,3511,1668,1710,1627,0,0,0,0,0,0,14.25,13.98,14.27
$GC,8281,0.49,413.1,2791,3512,1709,1628,43.4,10.3,719,8286,0.25,2.40,0.00,0.000,5254,0.273,0.064,2740,2130,1667,1708,1626,0,0,0,0,0,0,13.82,14.02,14.09
$GC,8592,0.67,523.1,2740,2130,1709,1621,27.2,4.9,751,8656,0.15,2.58,56.30,0.285,10916,0.114,0.088,2808,686,1232,1298,1166,0,0,0,0,0,0,14.13,14.00,13.84
$GC,8716,0.82,571.3,2808,686,1296,1164,17.2,7.8,775,8749,0.12,2.50,25.58,0.260,11430,0.134,0.079,2863,2100,1034,1110,958,0,0,0,0,0,0,14.09,14.05,13.81
$STATE,9034,end climb,SURFACE_DEPTH_REACHED
$STATE,9034,begin surface coast
$FINISH,0.0,1.019729
$STATE,9074,end surface coast,CONTROL_FINISHED_OK
$STATE,9074,begin surface
$SM_CCo,9095,69.25,0.212,0,0,498,702.78
$SM_GC,1.41,8.18,0.17,69.25,0.081,0.126,0.212,203,2211,498,-7.38,-0.79,702.78,0,0,0,0,0,0,14.20,14.19,13.97
$RAFOS_CLK,384
$MODEM,4,1502569807,75.71700,-151.21500,306.467,444882.5
$RAFOS_FIX,7146.153809,-14802.952148,120817,161616,2,255,3.40
$IRIDIUM_FIX,7151.67,-14733.32,120817,201652
$TT8_MAMPS,0.038948,0.820904
$HUMID,50.51
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.60
$XPDR_PINGS,23
$CP_FREE,16010379264.000000
$PM_FREEKB_00,59088896
$24V_AH,12.62,67.909
$10V_AH,12.55,0.000
$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,25.375,89.175,871.100,69.250,0.000,0.000,0.000,633.125,5.750,0.000,17.599,0.000,6625.830,957.932,2316.104,306.435,0.000,2347.565,0.000,1164.129,0.000,0.540,0.000
$DEVICE_MAMPS,457.470,2138.175,1702.890,211.905,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5279.000,9100.000,9049.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.085,20.000,16.561,0.000
$MEM,323828
$DATA_FILE_SIZE,26719,814
$CAP_FILE_SIZE,113776,0
$CFSIZE,2097872896,2072150016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3845.76,0x2341ea,1,24
$SOUNDSPEED,1459.3
$CURRENT,0.029,141.26,1
$GPS,120817,225933,7153.270,-14735.761,27,0.7,28,21.4,0.0,0.0,11,8.2