version: 66.13
glider: 196
mission: 14
dive: 60
start: 8 13 117 16 0 6
data:
$ID,196
$MISSION,14
$DIVE,60
$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,28
$R_STBD_OVSHOOT,14
$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,177.0
$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
$GPS1,130817,154655,7200.3188,-14746.2344,21,0.7,27,21.3,0.5,236.0,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.4
$GPS2,130817,155931,7200.3574,-14746.6270,6,0.7,35,21.3,0.0,296.2,11,4.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.5,148699,-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,45,begin dive
$GC,48,-0.57,-145.9,172,2194,509,464,0.0,0.0,0,126,0.00,0.00,-77.50,0.000,16386,0.000,0.000,170,2194,2033,1961,2105,0,0,0,0,0,0,14.35,28.83,14.36
$GC,129,-0.57,-145.9,171,2193,1967,2110,3.6,-4.5,8,185,12.85,2.83,-37.25,0.000,18724,0.457,2.144,2376,3623,3965,3951,3979,0,0,0,0,0,0,13.62,12.74,14.00
$GC,413,-0.57,-145.9,2375,3621,3962,3986,63.2,-15.6,64,418,0.00,2.45,0.00,0.000,1030,0.000,0.057,2377,2196,3970,3961,3979,0,0,0,0,0,0,14.09,13.99,14.12
$GC,743,-0.57,-145.9,2377,2198,3962,3980,113.2,-13.7,92,748,0.00,2.53,0.00,0.000,260,0.000,0.084,2363,3618,3971,3963,3979,0,0,0,0,0,0,14.29,14.01,14.31
$GC,823,-0.67,-145.9,2367,3620,3964,3979,122.8,-11.2,108,828,0.00,2.42,0.00,0.000,1158,0.000,0.057,2366,2199,3969,3964,3975,0,0,0,0,0,0,14.15,14.05,14.18
$GC,1133,-0.71,-145.9,2363,2199,3962,3980,161.1,-11.9,120,1138,0.00,2.53,0.00,0.000,388,0.000,0.087,2358,3617,3971,3963,3979,0,0,0,0,0,0,14.33,13.98,14.34
$GC,1173,-0.84,-145.9,2358,3619,3964,3980,165.5,-10.5,128,1178,0.15,2.42,0.00,0.000,5254,0.120,0.057,2294,2198,3971,3963,3979,0,0,0,0,0,0,14.09,14.07,14.14
$GC,1493,-0.78,-145.9,2295,2197,3964,3978,216.1,-15.3,142,1498,0.12,2.53,0.00,0.000,2436,0.291,0.084,2319,3618,3969,3963,3976,0,0,0,0,0,0,13.85,14.00,14.01
$GC,1629,-0.86,-145.9,2320,3620,3959,3976,232.1,-11.0,169,1633,0.00,2.42,0.00,0.000,1158,0.000,0.057,2319,2199,3969,3963,3976,0,0,0,0,0,0,14.15,14.04,14.17
$GC,1943,-0.88,-145.9,2319,2198,3964,3973,267.4,-10.9,182,1948,0.00,2.53,0.00,0.000,388,0.000,0.088,2319,3616,3968,3963,3973,0,0,0,0,0,0,14.35,14.01,14.36
$GC,2009,-1.00,-145.9,2319,3617,3963,3974,274.1,-9.6,195,2015,0.20,2.45,0.00,0.000,5286,0.106,0.059,2252,2196,3967,3962,3973,0,0,0,0,0,0,14.09,14.04,14.16
$MODEM_MSG,CACST,6,1,20170813160520.587632,3,186,22,0277,0150,250,00,00,00,00,-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,6,1,20170813161409.224621,3,96,13,0105,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$MODEM_MSG,CACST,6,1,20170813162211.744627,3,1024,30,0453,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,2335,-0.89,-145.9,2247,2196,3963,3971,327.3,-16.4,210,2340,0.17,2.47,0.00,0.000,2436,0.304,0.083,2279,3617,3965,3963,3967,0,0,0,0,0,0,13.76,14.00,13.94
$GC,2455,-0.89,-145.9,2280,3620,3963,3970,343.1,-12.3,234,2460,0.00,2.45,0.00,0.000,1030,0.000,0.059,2280,2195,3966,3962,3970,0,0,0,0,0,0,14.14,14.04,14.16
$GC,2787,-0.86,-145.9,2279,2193,3963,3968,386.7,-13.1,250,2792,0.00,2.53,0.00,0.000,388,0.000,0.086,2270,3623,3964,3962,3967,0,0,0,0,0,0,14.44,14.08,14.46
$GC,2877,-0.86,-145.9,2271,3625,3963,3967,398.8,-12.8,268,2882,0.12,2.42,0.00,0.000,3078,0.263,0.059,2294,2201,3964,3962,3966,0,0,0,0,0,0,13.93,14.13,14.16
$GC,3208,-0.86,-145.9,2294,2201,3960,3966,437.1,-11.4,284,3212,0.00,2.50,0.00,0.000,260,0.000,0.086,2287,3621,3964,3962,3966,0,0,0,0,0,0,14.50,14.12,14.52
$GC,3268,-0.92,-145.9,2287,3621,3963,3966,444.0,-11.2,296,3272,0.00,2.40,0.00,0.000,1158,0.000,0.060,2286,2207,3963,3962,3965,0,0,0,0,0,0,14.31,14.19,14.33
$STATE,3595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3595,begin apogee
$GC,3601,-0.13,0.0,2287,2061,3962,3965,483.1,-11.9,312,3820,0.95,0.10,215.90,1.405,10246,0.236,0.158,2530,2124,3364,3406,3323,0,0,0,0,0,0,13.93,13.45,12.84
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3828,0.57,145.9,2531,2125,3396,3313,493.2,0.0,319,4038,0.75,2.62,197.05,1.347,10756,0.067,0.079,2793,720,2762,2822,2702,0,0,0,0,0,0,13.57,13.22,12.61
$GC,4263,0.23,145.9,2794,721,2802,2700,457.7,16.5,400,4269,0.62,2.47,0.00,0.000,5254,0.323,0.076,2662,2098,2749,2801,2698,0,0,0,0,0,0,13.49,13.74,13.81
$GC,4580,0.09,145.9,2663,2099,2802,2695,424.5,10.0,413,4585,0.17,2.42,0.00,0.000,4740,0.307,0.077,2630,723,2748,2801,2696,0,0,0,0,0,0,13.77,14.00,13.95
$GC,4790,0.12,187.7,2630,723,2801,2697,407.9,8.1,455,4855,0.00,2.42,58.45,1.350,9254,0.000,0.079,2630,2107,2596,2661,2532,0,0,0,0,0,0,14.19,14.07,13.21
$GC,5181,0.11,207.2,2630,2108,2650,2509,372.6,9.1,483,5205,0.00,0.00,23.48,1.435,8358,0.000,0.000,2630,2107,2525,2593,2457,0,0,0,0,0,0,14.35,14.01,13.33
$GC,5481,0.13,227.5,2630,2108,2577,2434,345.3,9.1,493,5511,0.00,0.00,27.27,1.408,8230,0.000,0.000,2630,2107,2435,2503,2368,0,0,0,0,0,0,14.39,14.00,13.32
$GC,5811,0.14,244.9,2631,2107,2492,2357,314.6,9.2,504,5842,0.00,0.00,25.92,1.427,8230,0.000,0.000,2630,2107,2358,2418,2298,0,0,0,0,0,0,14.40,13.86,13.32
$GC,6141,0.18,266.6,2630,2107,2414,2290,285.0,9.0,515,6174,0.00,0.00,31.50,1.388,8358,0.000,0.000,2630,2107,2278,2340,2217,0,0,0,0,0,0,14.40,14.01,13.32
$GC,6471,0.25,290.0,2630,2108,2331,2202,255.3,8.9,526,6512,0.00,2.53,33.90,1.372,8868,0.000,0.085,2630,723,2177,2238,2116,0,0,0,0,0,0,14.41,13.96,13.30
$GC,6547,0.42,326.0,2630,723,2232,2115,248.7,8.3,541,6608,0.28,2.45,54.38,1.307,11430,0.090,0.079,2735,2110,2035,2088,1983,0,0,0,0,0,0,14.04,14.02,13.17
$GC,6924,0.33,326.0,2735,2112,2076,1971,191.6,14.6,566,6929,0.17,2.45,0.00,0.000,4740,0.240,0.081,2699,724,2023,2076,1970,0,0,0,0,0,0,13.90,14.00,14.05
$GC,6959,0.36,326.0,2700,723,2075,1970,187.4,11.1,573,6964,0.00,2.42,0.00,0.000,1158,0.000,0.078,2699,2103,2022,2074,1970,0,0,0,0,0,0,14.19,14.04,14.20
$GC,7284,0.36,326.0,2699,2106,2075,1971,153.0,10.2,588,7290,0.00,2.42,0.00,0.000,516,0.000,0.085,2699,725,2021,2073,1969,0,0,0,0,0,0,14.45,14.09,14.47
$GC,7325,0.42,327.2,2699,725,2073,1970,148.9,9.9,596,7331,0.00,2.40,0.00,0.000,1190,0.000,0.079,2699,2103,2020,2072,1969,0,0,0,0,0,0,14.30,14.17,14.33
$GC,7646,0.44,357.6,2699,2104,2073,1968,119.8,8.6,610,7693,0.00,0.00,45.38,1.288,8230,0.000,0.000,2699,2103,1909,1953,1865,0,0,0,0,0,0,14.50,14.00,13.38
$GC,7978,0.53,409.7,2700,2103,1942,1855,93.1,7.6,627,8011,0.12,2.50,27.10,0.492,10916,0.134,0.085,2768,723,1693,1728,1659,0,0,0,0,0,0,14.12,14.02,13.62
$GC,8056,0.53,409.7,2768,724,1729,1660,84.2,11.7,642,8062,0.00,2.42,0.00,0.000,1030,0.000,0.080,2769,2099,1693,1728,1659,0,0,0,0,0,0,14.16,14.04,14.19
$GC,8361,0.53,409.7,2769,2100,1729,1652,49.3,10.3,673,8366,0.00,2.42,0.00,0.000,516,0.000,0.086,2768,724,1690,1728,1652,0,0,0,0,0,0,14.38,14.08,14.42
$GC,8411,0.59,428.7,2769,725,1727,1652,44.4,9.1,683,8428,0.00,2.42,9.98,0.338,9382,0.000,0.078,2768,2109,1616,1656,1577,0,0,0,0,0,0,14.23,14.09,13.79
$GC,8733,0.68,508.3,2769,2109,1656,1574,22.2,6.3,717,8781,0.00,2.45,42.08,0.275,8868,0.000,0.083,2768,724,1288,1349,1227,0,0,0,0,0,0,14.43,13.98,13.81
$GC,9006,1.09,707.0,2769,725,1346,1222,14.1,0.8,771,9116,0.52,2.42,102.25,0.247,11430,0.109,0.078,2937,2110,497,534,460,0,0,0,0,0,0,14.07,14.11,13.88
$STATE,9170,end climb,SURFACE_DEPTH_REACHED
$STATE,9170,begin surface coast
$FINISH,0.2,1.020062
$STATE,9181,end surface coast,CONTROL_FINISHED_OK
$STATE,9181,begin surface
$SM_CCo,9261,0.00,0.000,0,0,496,703.77
$SM_GC,1.10,8.35,0.17,0.00,0.071,0.143,0.000,199,2203,496,-7.39,-0.57,703.77,0,0,0,0,0,0,14.14,14.09,14.21
$RAFOS_CLK,394
$MODEM,3,1502641331,74.30400,-153.94400,224.745,326299.8
$MODEM,2,1502640849,73.18300,-149.96500,102.225,148416.8
$MODEM,0,1502640320,75.36600,-145.04601,266.588,387050.3
$RAFOS_FIX,7158.345215,-14751.309570,130817,161653,3,255,5.35
$IRIDIUM_FIX,7205.95,-14924.97,130817,130637
$TT8_MAMPS,0.039697,1.01639
$HUMID,49.52
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.30
$XPDR_PINGS,6
$CP_FREE,16009166848.000000
$PM_FREEKB_00,58559936
$24V_AH,12.61,71.122
$10V_AH,12.66,0.000
$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,25.575,79.600,894.625,0.000,0.000,0.000,0.000,460.225,1.500,0.000,36.662,0.000,6664.571,859.824,2227.782,279.631,0.000,2101.037,0.000,1155.715,2097.000,0.539,0.000
$DEVICE_MAMPS,457.470,2144.295,1435.140,0.000,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9208.000,9208.000,9154.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.550,20.000,16.585,0.000
$MEM,323660
$DATA_FILE_SIZE,26709,799
$CAP_FILE_SIZE,104660,0
$CFSIZE,2097872896,2070183936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.084,281.20,1
$GPS,130817,183553,7201.643,-14747.146,18,0.7,42,21.3,0.5,56.7,11,9.2