version: 66.13
glider: 196
mission: 14
dive: 56
start: 8 13 117 4 53 58
data:
$ID,196
$MISSION,14
$DIVE,56
$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,23
$R_STBD_OVSHOOT,36
$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,166.0
$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
$GPS1,130817,043602,7155.7998,-14739.6650,15,0.8,31,21.4,0.3,322.5,11,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.0
$GPS2,130817,045325,7155.8618,-14739.7266,5,0.8,11,21.4,0.0,288.6,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,315.0,157785,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$MODEM_MSG,CACST,6,1,20170813041417.194725,3,12327,40,1917,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$GC,46,-0.57,-145.9,184,2218,513,476,0.0,0.0,0,129,0.00,0.00,-81.43,0.000,16386,0.000,0.000,182,2218,2196,2123,2270,0,0,0,0,0,0,14.19,28.83,14.21
$GC,132,-0.57,-145.9,183,2218,2128,2270,3.8,-5.2,8,185,12.68,2.72,-30.80,0.000,18724,0.455,2.132,2379,3598,3962,3947,3977,1,0,0,0,0,0,13.50,12.68,14.07
$GC,410,-0.57,-145.9,2375,3599,3962,3978,68.6,-16.4,63,415,0.00,2.40,0.00,0.000,1030,0.000,0.054,2375,2198,3968,3961,3976,0,0,0,0,0,0,14.09,13.97,14.09
$GC,718,-0.57,-145.9,2375,2197,3964,3979,118.3,-15.0,86,722,0.00,2.47,0.00,0.000,260,0.000,0.082,2365,3601,3970,3963,3978,0,0,0,0,0,0,14.41,14.09,14.42
$GC,788,-0.66,-145.9,2366,3603,3964,3977,127.6,-11.5,100,792,0.00,2.40,0.00,0.000,1158,0.000,0.055,2365,2190,3970,3963,3977,0,0,0,0,0,0,14.26,14.15,14.28
$GC,1108,-0.72,-145.9,2365,2189,3965,3977,161.8,-10.2,114,1112,0.00,2.47,0.00,0.000,388,0.000,0.086,2362,3595,3970,3962,3978,0,0,0,0,0,0,14.49,14.12,14.50
$GC,1188,-0.87,-145.9,2363,3597,3964,3979,169.5,-9.1,130,1193,0.20,2.35,0.00,0.000,5286,0.102,0.053,2281,2196,3970,3963,3977,0,0,0,0,0,0,14.24,14.21,14.31
$GC,1498,-0.80,-145.9,2282,2195,3964,3977,218.6,-15.3,142,1504,0.12,2.47,0.00,0.000,2436,0.282,0.082,2306,3604,3969,3963,3976,0,0,0,0,0,0,13.91,14.12,14.08
$GC,1579,-0.86,-145.9,2307,3607,3963,3977,228.7,-11.6,158,1584,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2202,3969,3962,3976,0,0,0,0,0,0,14.26,14.18,14.31
$GC,1889,-0.86,-145.9,2306,2201,3964,3974,265.8,-12.1,170,1894,0.00,2.45,0.00,0.000,260,0.000,0.086,2302,3601,3967,3962,3973,0,0,0,0,0,0,14.52,14.18,14.53
$GC,1924,-0.90,-145.9,2304,3603,3963,3973,270.0,-12.1,177,1929,0.00,2.38,0.00,0.000,1158,0.000,0.058,2302,2201,3968,3962,3974,0,0,0,0,0,0,14.29,14.18,14.31
$GC,2249,-0.90,-145.9,2303,2201,3961,3971,308.2,-11.7,192,2254,0.00,2.42,0.00,0.000,260,0.000,0.085,2294,3597,3966,3961,3971,0,0,0,0,0,0,14.52,14.18,14.54
$GC,2299,-0.95,-145.9,2294,3599,3961,3972,314.1,-11.6,202,2304,0.00,2.38,0.00,0.000,1158,0.000,0.058,2294,2201,3965,3960,3971,0,0,0,0,0,0,14.29,14.18,14.32
$GC,2609,-0.95,-145.9,2294,2200,3961,3970,351.7,-12.2,214,2614,0.00,2.45,0.00,0.000,260,0.000,0.085,2286,3601,3965,3960,3970,0,0,0,0,0,0,14.53,14.19,14.55
$GC,2669,-0.99,-145.9,2286,3601,3960,3970,359.1,-12.2,226,2674,0.00,2.38,0.00,0.000,1158,0.000,0.060,2286,2197,3964,3958,3970,0,0,0,0,0,0,14.33,14.22,14.35
$GC,2999,-0.99,-145.9,2286,2197,3960,3970,401.4,-12.8,242,3004,0.00,2.45,0.00,0.000,260,0.000,0.085,2280,3598,3963,3959,3968,0,0,0,0,0,0,14.53,14.18,14.55
$GC,3084,-1.01,-145.9,2281,3599,3959,3968,412.1,-12.2,259,3091,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2198,3963,3958,3968,0,0,0,0,0,0,14.30,14.18,14.33
$GC,3389,-0.99,-145.9,2280,2197,3958,3968,451.1,-12.8,270,3394,0.00,2.47,0.00,0.000,388,0.000,0.086,2280,3604,3962,3958,3967,0,0,0,0,0,0,14.53,14.17,14.54
$GC,3459,-1.03,-145.9,2279,3605,3957,3968,459.8,-11.9,284,3464,0.00,2.40,0.00,0.000,1158,0.000,0.058,2282,2193,3961,3956,3967,0,0,0,0,0,0,14.33,14.21,14.34
$STATE,3627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3627,begin apogee
$GC,3633,-0.13,0.0,2279,2066,3957,3967,480.9,-12.4,293,3890,0.98,0.00,253.75,1.337,10246,0.246,0.000,2527,2065,3366,3395,3337,0,0,0,0,0,0,13.95,13.47,12.88
$STATE,3893,end apogee,CONTROL_FINISHED_OK
$STATE,3893,begin climb
$GC,3896,0.57,145.9,2528,2065,3391,3330,492.3,0.0,301,4103,0.75,2.72,198.20,1.354,10500,0.065,0.074,2782,3497,2760,2812,2708,0,0,0,0,0,0,13.54,13.13,12.64
$GC,4334,0.16,145.9,2781,3498,2782,2704,450.1,18.8,347,4339,0.75,2.40,0.00,0.000,5254,0.345,0.057,2638,2122,2742,2781,2703,0,0,0,0,0,0,13.49,13.78,13.82
$GC,4645,0.09,161.8,2638,2121,2782,2700,419.5,9.3,359,4664,0.00,2.50,12.07,1.517,8612,0.000,0.080,2637,3497,2701,2743,2659,0,0,0,0,0,0,14.30,14.00,13.24
$GC,4724,-0.00,161.8,2638,3497,2737,2652,411.2,10.8,375,4730,0.28,2.42,0.00,0.000,5254,0.253,0.057,2583,2091,2695,2736,2654,0,0,0,0,0,0,13.82,14.03,14.07
$GC,5035,0.11,243.5,2584,2091,2736,2651,390.9,6.2,387,5177,0.12,2.60,131.57,1.291,10916,0.139,0.086,2646,695,2364,2418,2310,0,0,0,0,0,0,14.17,13.64,13.08
$GC,5202,0.16,243.5,2646,695,2406,2306,375.2,10.0,420,5208,0.00,2.53,0.00,0.000,1158,0.000,0.078,2645,2087,2354,2405,2304,0,0,0,0,0,0,13.84,13.75,13.86
$GC,5518,0.16,243.5,2646,2089,2404,2294,342.7,10.4,433,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2088,2348,2403,2293,0,0,0,0,0,0,14.30,14.32,14.32
$GC,5818,0.16,243.5,2647,2088,2403,2291,310.9,10.6,443,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2088,2346,2401,2291,0,0,0,0,0,0,14.43,14.45,14.45
$GC,6118,0.16,244.4,2646,2089,2401,2290,280.8,10.0,453,6119,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2088,2345,2400,2290,0,0,0,0,0,0,14.49,14.51,14.51
$GC,6418,0.16,255.4,2646,2088,2399,2289,251.6,9.5,463,6422,0.00,0.00,2.88,0.929,8230,0.000,0.000,2646,2088,2323,2378,2269,0,0,0,0,0,0,14.52,14.22,13.10
$GC,6718,0.17,267.9,2646,2088,2391,2283,223.3,9.4,473,6754,0.00,2.50,29.25,1.327,8740,0.000,0.084,2646,693,2268,2321,2215,0,0,0,0,0,0,14.52,14.09,13.46
$GC,6789,0.27,291.5,2647,694,2315,2212,216.7,8.9,487,6834,0.00,2.47,36.88,1.316,9382,0.000,0.079,2646,2110,2172,2225,2119,0,0,0,0,0,0,14.20,14.09,13.30
$GC,7141,0.35,315.8,2646,2112,2218,2106,185.0,8.9,507,7179,0.15,0.00,35.97,1.327,10406,0.119,0.000,2705,2111,2078,2131,2026,0,0,0,0,0,0,14.17,13.98,13.33
$GC,7469,0.31,315.8,2705,2112,2119,2013,146.4,11.3,518,7470,0.00,0.00,0.00,0.000,134,0.000,0.000,2705,2111,2065,2118,2012,0,0,0,0,0,0,14.38,14.40,14.40
$GC,7769,0.33,333.5,2705,2110,2118,2009,116.4,9.2,528,7791,0.00,0.00,20.42,1.375,8230,0.000,0.000,2704,2111,2006,2058,1955,0,0,0,0,0,0,14.45,14.09,13.43
$GC,8070,0.40,392.1,2710,2110,2051,1944,92.6,7.3,544,8106,0.00,2.55,28.85,0.490,8868,0.000,0.083,2709,692,1767,1805,1729,0,0,0,0,0,0,14.40,14.07,13.67
$GC,8227,0.59,456.1,2708,693,1802,1730,81.6,7.0,575,8265,0.20,2.50,32.42,0.449,11430,0.101,0.079,2783,2101,1504,1551,1457,0,0,0,0,0,0,14.05,13.98,13.71
$GC,8562,0.60,474.8,2785,2101,1551,1444,44.6,9.1,612,8578,0.00,2.55,9.07,0.341,8740,0.000,0.085,2790,691,1427,1484,1371,0,0,0,0,0,0,14.38,14.05,13.80
$GC,8660,0.73,512.3,2791,691,1485,1372,36.4,8.3,631,8687,0.00,2.47,19.58,0.314,9382,0.000,0.079,2791,2097,1274,1335,1213,0,0,0,0,0,0,14.20,14.09,13.79
$GC,8983,1.02,679.7,2791,2100,1338,1205,13.8,2.3,666,9073,0.35,2.50,82.82,0.252,10916,0.086,0.086,2920,693,595,650,540,0,0,0,0,0,0,14.14,13.95,13.81
$STATE,9155,end climb,SURFACE_DEPTH_REACHED
$STATE,9155,begin surface coast
$FINISH,0.6,1.019956
$STATE,9166,end surface coast,CONTROL_FINISHED_OK
$STATE,9166,begin surface
$SM_CCo,9188,11.43,0.220,0,0,498,702.78
$SM_GC,2.18,8.32,2.75,11.43,0.076,0.086,0.220,204,2209,498,-7.37,-0.37,702.78,0,0,0,0,0,0,14.17,14.08,13.93
$RAFOS_CLK,383
$MODEM,2,1502597657,73.18300,-149.96500,110.195,159908.1
$RAFOS_FIX,7202.124023,-14620.304688,130817,000019,2,255,11.06
$IRIDIUM_FIX,7156.25,-14741.30,130817,044438
$TT8_MAMPS,0.040446,0.850864
$HUMID,49.68
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.60
$XPDR_PINGS,21
$CP_FREE,16009822208.000000
$PM_FREEKB_00,58870848
$24V_AH,12.64,69.246
$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,24.900,79.450,893.750,11.425,0.000,0.000,0.000,652.375,5.250,0.000,12.582,0.000,6857.537,797.805,2320.646,281.787,0.000,2259.565,0.000,1010.915,0.000,0.540,0.000
$DEVICE_MAMPS,455.175,2132.055,1516.995,219.555,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8995.000,9182.000,9141.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.516,20.000,16.540,0.000
$MEM,323868
$DATA_FILE_SIZE,23442,702
$CAP_FILE_SIZE,101733,0
$CFSIZE,2097872896,2071298048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.099,298.93,1
$GPS,130817,072826,7157.260,-14742.049,18,0.8,22,21.4,0.4,111.7,10,8.2