version: 66.13
glider: 196
mission: 14
dive: 54
start: 8 12 117 23 9 9
data:
$ID,196
$MISSION,14
$DIVE,54
$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,32
$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,161.0
$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
$GPS1,120817,225933,7153.2695,-14735.7607,27,0.7,28,21.4,0.0,0.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.4
$GPS2,120817,230835,7153.2026,-14735.9092,6,0.8,10,21.4,0.0,223.2,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.6,163094,-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,-145.9,198,2215,502,479,0.0,0.0,0,130,0.00,0.00,-81.47,0.000,16386,0.000,0.000,198,2215,2103,2034,2173,0,0,0,0,0,0,14.37,28.83,14.42
$GC,133,-0.57,-145.9,198,2216,2036,2175,3.5,-4.6,8,186,12.43,2.70,-34.20,0.000,18724,0.456,2.151,2375,3599,3963,3945,3981,0,0,0,0,0,0,13.72,13.00,14.12
$GC,411,-0.57,-145.9,2376,3601,3956,3983,64.9,-15.9,63,418,0.00,2.38,0.00,0.000,1030,0.000,0.057,2376,2197,3968,3955,3981,0,0,0,0,0,0,14.28,14.17,14.29
$GC,728,-0.57,-145.9,2376,2197,3959,3982,112.7,-13.8,89,733,0.00,2.40,0.00,0.000,260,0.000,0.082,2365,3606,3970,3959,3982,0,0,0,0,0,0,14.52,14.16,14.54
$GC,865,-0.67,-145.9,2366,3608,3959,3986,128.9,-11.0,116,870,0.00,2.38,0.00,0.000,1158,0.000,0.054,2366,2195,3969,3958,3981,0,0,0,0,0,0,14.32,14.21,14.33
$GC,1180,-0.73,-145.9,2366,2194,3959,3982,165.2,-11.0,129,1181,0.00,0.00,0.00,0.000,134,0.000,0.000,2365,2194,3970,3959,3981,0,0,0,0,0,0,14.58,14.60,14.58
$GC,1480,-0.82,-145.9,2366,2195,3959,3982,194.7,-9.3,139,1481,0.15,0.00,0.00,0.000,4262,0.127,0.000,2305,2194,3969,3958,3981,0,0,0,0,0,0,14.30,14.40,14.38
$GC,1780,-0.82,-145.9,2305,2195,3958,3982,234.1,-12.8,149,1785,0.00,2.47,0.00,0.000,260,0.000,0.086,2295,3606,3968,3955,3981,0,0,0,0,0,0,14.60,14.21,14.64
$GC,1865,-0.87,-145.9,2297,3608,3956,3982,244.9,-12.0,166,1871,0.00,2.35,0.00,0.000,1158,0.000,0.057,2295,2199,3968,3955,3981,0,0,0,0,0,0,14.41,14.30,14.43
$GC,2170,-0.87,-145.9,2296,2199,3955,3981,284.0,-12.9,177,2174,0.00,2.45,0.00,0.000,260,0.000,0.086,2287,3601,3967,3954,3980,0,0,0,0,0,0,14.62,14.20,14.64
$GC,2225,-0.90,-145.9,2288,3603,3955,3980,291.1,-12.6,188,2231,0.00,2.35,0.00,0.000,1158,0.000,0.057,2288,2201,3967,3954,3980,0,0,0,0,0,0,14.41,14.30,14.44
$GC,2530,-0.90,-145.9,2288,2199,3954,3979,331.4,-13.2,199,2536,0.00,2.47,0.00,0.000,260,0.000,0.086,2280,3608,3966,3953,3979,0,0,0,0,0,0,14.63,14.20,14.64
$GC,2596,-0.93,-145.9,2281,3608,3953,3976,340.0,-12.5,212,2601,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2199,3966,3953,3979,0,0,0,0,0,0,14.40,14.31,14.45
$GC,2921,-0.90,-145.9,2281,2195,3954,3978,383.3,-13.2,227,2927,0.00,2.45,0.00,0.000,388,0.000,0.086,2279,3601,3966,3952,3980,0,0,0,0,0,0,14.62,14.24,14.64
$GC,2992,-0.93,-145.9,2280,3601,3952,3977,392.4,-12.2,241,2997,0.00,2.38,0.00,0.000,1158,0.000,0.059,2280,2190,3964,3951,3977,0,0,0,0,0,0,14.38,14.26,14.40
$GC,3314,-0.91,-145.9,2280,2189,3952,3977,433.4,-12.8,255,3320,0.00,2.47,0.00,0.000,388,0.000,0.086,2276,3601,3963,3951,3976,0,0,0,0,0,0,14.47,14.14,14.49
$GC,3400,-0.93,-145.9,2277,3602,3952,3976,444.4,-12.2,272,3406,0.00,2.40,0.00,0.000,1158,0.000,0.057,2276,2196,3964,3951,3977,0,0,0,0,0,0,14.21,14.12,14.25
$STATE,3702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3702,begin apogee
$GC,3708,-0.13,0.0,2277,2069,3952,3976,483.8,-12.8,283,3916,1.00,0.00,205.40,1.448,10246,0.249,0.000,2527,2066,3363,3391,3336,0,0,0,0,0,0,13.88,13.46,12.83
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3922,0.57,145.9,2528,2067,3385,3331,493.2,0.0,290,4132,0.75,2.58,197.95,1.388,10756,0.067,0.080,2779,727,2762,2808,2716,0,0,0,0,0,0,13.51,13.10,12.60
$GC,4359,0.24,145.9,2782,727,2799,2715,458.5,15.6,336,4364,0.55,2.47,0.00,0.000,5254,0.320,0.076,2667,2094,2755,2797,2714,0,0,0,0,0,0,13.43,13.67,13.73
$GC,4669,0.10,145.9,2668,2095,2798,2708,425.5,10.3,348,4674,0.17,2.45,0.00,0.000,4740,0.301,0.077,2634,715,2753,2798,2708,0,0,0,0,0,0,13.67,13.90,13.84
$GC,4781,0.12,193.7,2635,716,2798,2708,416.3,7.8,370,4852,0.00,2.45,65.47,1.399,9382,0.000,0.080,2634,2099,2574,2630,2519,0,0,0,0,0,0,14.05,13.95,13.06
$GC,5150,0.10,205.3,2635,2098,2626,2503,381.7,9.5,394,5165,0.00,0.00,13.85,1.559,8358,0.000,0.000,2635,2099,2528,2589,2468,0,0,0,0,0,0,14.19,13.92,13.18
$MODEM_MSG,CACST,6,1,20170813001419.131302,3,165,16,0177,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170813002220.639074,3,21,07,0123,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,5450,0.10,215.8,2635,2100,2582,2459,353.1,9.5,404,5471,0.00,2.47,12.55,1.598,8740,0.000,0.081,2643,733,2484,2544,2425,0,0,0,0,0,0,14.25,13.95,13.23
$GC,5503,0.13,220.8,2644,734,2541,2427,348.2,9.8,414,5514,0.00,2.40,4.15,1.614,9382,0.000,0.079,2643,2115,2465,2521,2409,0,0,0,0,0,0,14.05,13.95,13.05
$GC,5813,0.11,220.8,2644,2116,2528,2410,316.9,10.1,426,5813,0.00,0.00,0.00,0.000,134,0.000,0.000,2643,2115,2468,2527,2409,0,0,0,0,0,0,14.35,14.37,14.37
$GC,6111,0.11,220.8,2644,2115,2528,2408,286.3,10.3,436,6116,0.00,2.45,0.00,0.000,516,0.000,0.083,2646,714,2468,2527,2409,0,0,0,0,0,0,14.45,14.14,14.47
$GC,6166,0.15,226.0,2646,714,2528,2410,280.8,9.8,447,6182,0.00,2.42,10.52,1.636,9382,0.000,0.079,2646,2101,2441,2500,2382,0,0,0,0,0,0,14.28,14.15,13.36
$GC,6502,0.15,230.0,2646,2101,2496,2378,247.4,9.8,464,6506,0.00,0.00,2.78,1.223,8230,0.000,0.000,2646,2101,2429,2488,2370,0,0,0,0,0,0,14.47,14.19,12.97
$GC,6802,0.17,249.1,2644,2101,2490,2373,219.6,9.1,474,6838,0.00,0.00,34.05,1.453,8486,0.000,0.000,2646,2100,2354,2410,2299,0,0,0,0,0,0,14.48,14.07,13.38
$GC,7132,0.19,284.7,2646,2102,2394,2291,191.1,8.4,490,7194,0.00,2.53,57.33,1.323,8740,0.000,0.083,2642,726,2202,2253,2152,0,0,0,0,0,0,14.41,13.89,13.28
$GC,7246,0.34,322.5,2647,726,2246,2151,181.7,8.3,512,7316,0.15,2.45,60.97,1.261,11430,0.119,0.080,2707,2105,2042,2091,1994,0,0,0,0,0,0,13.99,13.94,13.16
$GC,7614,0.34,322.5,2705,2106,2086,1987,140.2,10.5,536,7619,0.00,2.45,0.00,0.000,516,0.000,0.083,2710,727,2035,2085,1986,0,0,0,0,0,0,14.29,13.98,14.31
$GC,7741,0.37,328.0,2713,727,2081,1988,127.5,9.7,561,7746,0.00,2.42,0.00,0.000,1190,0.000,0.079,2712,2102,2033,2081,1986,0,0,0,0,0,0,14.09,13.68,14.14
$GC,8066,0.41,373.7,2713,2103,2082,1983,99.1,7.9,576,8098,0.00,2.47,24.70,0.515,8484,0.000,0.083,2712,3511,1840,1877,1803,0,0,0,0,0,0,14.41,14.07,13.71
$GC,8193,0.47,399.7,2712,3512,1877,1804,87.9,8.8,601,8211,0.00,2.40,13.52,0.473,9382,0.000,0.063,2712,2123,1735,1770,1700,0,0,0,0,0,0,14.18,14.05,13.67
$GC,8508,0.62,466.6,2713,2123,1772,1693,64.7,6.9,634,8547,0.17,2.53,33.58,0.401,10916,0.104,0.086,2794,695,1460,1506,1414,0,0,0,0,0,0,13.81,13.99,13.73
$GC,8622,0.66,466.6,2794,700,1503,1413,52.4,10.4,656,8627,0.00,2.47,0.00,0.000,1158,0.000,0.078,2794,2105,1457,1503,1412,0,0,0,0,0,0,14.10,14.00,14.14
$GC,8932,0.72,518.6,2794,2106,1504,1403,23.2,7.6,688,8965,0.00,2.53,25.75,0.288,8868,0.000,0.086,2794,691,1248,1310,1187,0,0,0,0,0,0,14.40,14.06,13.83
$GC,9027,0.95,591.0,2794,692,1309,1188,16.5,6.7,706,9070,0.28,2.50,36.58,0.265,11430,0.093,0.079,2893,2110,955,1029,881,0,0,0,0,0,0,14.06,14.02,13.83
$STATE,9293,end climb,SURFACE_DEPTH_REACHED
$STATE,9293,begin surface coast
$FINISH,-0.0,1.009635
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9343,55.90,0.215,0,0,502,703.03
$SM_GC,0.95,8.18,0.15,55.90,0.073,0.130,0.215,203,2213,502,-7.37,-0.71,703.03,0,0,0,0,0,0,14.21,14.19,13.96
$RAFOS_CLK,283
$MODEM,3,1502583740,74.30400,-153.94400,233.639,340952.4
$MODEM,2,1502583259,73.18300,-149.96500,112.131,163634.6
$RAFOS_FIX,7202.124023,-14620.304688,130817,000019,2,255,11.06
$IRIDIUM_FIX,7153.39,-14729.61,120817,202007
$TT8_MAMPS,0.038948,0.873334
$HUMID,50.55
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,13
$CP_FREE,16010149888.000000
$PM_FREEKB_00,59013184
$24V_AH,12.60,68.337
$10V_AH,12.53,0.000
$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,23.825,78.775,799.150,55.900,0.000,0.000,0.000,299.450,3.250,0.000,10.596,0.000,6878.376,761.579,2060.912,256.117,0.000,1883.277,0.000,1059.630,2142.000,0.539,0.000
$DEVICE_MAMPS,455.940,2151.180,1635.570,214.965,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5422.000,9341.000,9298.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.120,20.000,16.556,0.000
$MEM,323804
$DATA_FILE_SIZE,26715,740
$CAP_FILE_SIZE,101326,0
$CFSIZE,2097872896,2071855104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.7
$CURRENT,0.024,343.37,1
$GPS,130817,014656,7154.473,-14737.228,17,0.7,20,21.4,0.2,285.0,12,9.4