version: 66.13
glider: 196
mission: 14
dive: 61
start: 8 13 117 18 57 0
data:
$ID,196
$MISSION,14
$DIVE,61
$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,57
$R_STBD_OVSHOOT,19
$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,179.0
$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
$GPS1,130817,183553,7201.6431,-14747.1455,18,0.7,42,21.3,0.5,56.7,11,9.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.6
$GPS2,130817,185627,7201.7217,-14747.4199,8,0.9,13,21.3,0.8,44.3,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.9,146274,-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
$GC,46,-0.57,-145.9,148,2206,508,465,0.0,0.0,0,129,0.00,0.00,-81.03,0.000,16386,0.000,0.000,145,2206,2187,2114,2261,0,0,0,0,0,0,14.35,28.83,14.36
$GC,132,-0.57,-145.9,145,2208,2117,2262,3.6,-4.9,8,185,12.95,2.80,-30.80,0.000,18724,0.457,2.139,2377,3616,3967,3953,3982,1,0,0,0,0,0,13.52,12.71,14.11
$GC,285,-0.55,-145.9,2377,3616,3960,3976,45.1,-18.7,38,290,0.00,2.38,0.00,0.000,1158,0.000,0.055,2377,2230,3967,3960,3975,0,0,0,0,0,0,14.05,13.95,14.07
$GC,596,-0.55,-145.9,2377,2228,3964,3975,97.7,-15.1,70,601,0.00,2.45,0.00,0.000,260,0.000,0.083,2368,3617,3969,3964,3975,0,0,0,0,0,0,14.40,14.01,14.42
$GC,671,-0.65,-145.9,2368,3619,3964,3976,107.8,-11.7,85,676,0.00,2.40,0.00,0.000,1158,0.000,0.056,2368,2202,3969,3963,3975,0,0,0,0,0,0,14.14,14.02,14.17
$GC,986,-0.68,-145.9,2368,2201,3964,3975,148.3,-12.7,98,991,0.00,2.50,0.00,0.000,388,0.000,0.086,2363,3614,3969,3963,3975,0,0,0,0,0,0,14.49,14.11,14.53
$GC,1021,-0.77,-145.9,2363,3615,3964,3975,152.6,-11.9,105,1026,0.00,2.40,0.00,0.000,1158,0.000,0.057,2362,2201,3969,3963,3975,0,0,0,0,0,0,14.27,14.16,14.30
$GC,1347,-0.84,-145.9,2363,2200,3964,3975,189.3,-10.8,120,1352,0.15,2.50,0.00,0.000,4484,0.125,0.084,2283,3617,3966,3963,3970,0,0,0,0,0,0,14.23,14.16,14.28
$GC,1432,-0.81,-145.9,2283,3619,3964,3974,202.3,-14.9,137,1438,0.15,2.42,0.00,0.000,3206,0.256,0.059,2314,2195,3966,3963,3969,0,0,0,0,0,0,13.98,14.17,14.23
$GC,1737,-0.81,-145.9,2314,2191,3964,3975,241.9,-12.5,148,1742,0.00,2.50,0.00,0.000,260,0.000,0.086,2305,3614,3967,3963,3971,0,0,0,0,0,0,14.54,14.19,14.55
$GC,1817,-0.87,-145.9,2307,3614,3963,3968,251.8,-11.7,164,1822,0.00,2.42,0.00,0.000,1158,0.000,0.059,2306,2186,3966,3962,3971,0,0,0,0,0,0,14.33,14.23,14.36
$GC,2127,-0.87,-145.9,2306,2186,3963,3968,289.3,-11.9,176,2132,0.00,2.50,0.00,0.000,260,0.000,0.086,2300,3613,3964,3962,3967,0,0,0,0,0,0,14.54,14.19,14.56
$GC,2207,-0.94,-145.9,2300,3615,3963,3967,298.6,-10.8,192,2212,0.00,2.40,0.00,0.000,1158,0.000,0.059,2299,2196,3962,3961,3963,0,0,0,0,0,0,14.38,14.23,14.35
$GC,2517,-0.94,-145.9,2300,2195,3963,3965,335.2,-11.8,204,2522,0.00,2.50,0.00,0.000,260,0.000,0.087,2293,3616,3963,3961,3966,0,0,0,0,0,0,14.55,14.19,14.57
$GC,2577,-1.00,-145.9,2294,3616,3961,3966,342.2,-11.3,216,2582,0.12,2.42,0.00,0.000,5254,0.135,0.060,2248,2194,3963,3961,3966,0,0,0,0,0,0,14.26,14.23,14.35
$GC,2908,-0.90,-145.9,2248,2193,3961,3964,394.1,-15.8,232,2913,0.15,2.50,0.00,0.000,2436,0.311,0.083,2272,3614,3961,3961,3962,0,0,0,0,0,0,13.81,14.12,14.00
$GC,3033,-0.90,-145.9,2272,3615,3960,3964,410.9,-12.8,257,3038,0.00,2.42,0.00,0.000,1030,0.000,0.058,2272,2193,3961,3960,3963,0,0,0,0,0,0,14.33,14.21,14.35
$GC,3359,-0.86,-145.9,2271,2194,3960,3961,455.0,-13.5,272,3364,0.12,2.50,0.00,0.000,2436,0.314,0.083,2292,3614,3957,3959,3956,0,0,0,0,0,0,13.92,14.12,14.09
$GC,3466,-0.94,-145.9,2293,3614,3960,3961,466.9,-10.4,293,3471,0.00,2.40,0.00,0.000,1158,0.000,0.057,2292,2190,3960,3959,3961,0,0,0,0,0,0,14.33,14.22,14.36
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3599,begin apogee
$GC,3604,-0.13,0.0,2292,2068,3960,3961,482.5,-11.6,300,3865,0.93,0.05,257.92,1.333,10246,0.234,0.124,2530,2111,3366,3402,3330,0,0,0,0,0,0,13.93,13.26,12.78
$STATE,3871,end apogee,CONTROL_FINISHED_OK
$STATE,3871,begin climb
$GC,3873,0.57,145.9,2530,2111,3395,3322,494.1,0.0,308,4114,0.75,2.65,234.25,1.284,11012,0.067,0.081,2787,731,2766,2823,2709,0,0,0,0,0,0,13.47,13.09,12.64
$GC,4341,0.24,145.9,2786,732,2802,2705,458.7,15.7,408,4346,0.60,2.47,0.00,0.000,5254,0.319,0.076,2662,2096,2753,2802,2704,0,0,0,0,0,0,13.42,13.65,13.73
$GC,4652,0.10,147.4,2663,2097,2804,2698,426.9,9.9,420,4657,0.17,2.45,0.00,0.000,4772,0.308,0.076,2631,716,2752,2802,2702,0,0,0,0,0,0,13.69,13.90,13.87
$GC,4882,0.14,196.8,2632,716,2803,2699,408.6,7.7,466,4962,0.00,2.47,74.12,1.326,9254,0.000,0.079,2631,2107,2557,2627,2487,0,0,0,0,0,0,14.09,13.99,13.11
$GC,5283,0.15,214.4,2631,2107,2614,2470,372.6,9.2,496,5308,0.00,2.47,20.50,1.433,8740,0.000,0.081,2634,719,2486,2556,2416,0,0,0,0,0,0,14.22,13.78,13.24
$GC,5353,0.21,225.7,2634,722,2543,2409,366.1,9.5,510,5364,0.00,2.47,4.07,1.315,9382,0.000,0.079,2635,2108,2445,2512,2379,0,0,0,0,0,0,14.00,13.89,12.98
$GC,5674,0.22,240.7,2634,2107,2523,2396,335.9,9.3,524,5709,0.00,0.00,33.28,1.375,8230,0.000,0.000,2634,2108,2385,2448,2322,0,0,0,0,0,0,14.28,13.92,13.25
$MODEM_MSG,CACST,6,1,20170813201405.874761,3,28,14,0140,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20170813202208.573741,3,30,08,0150,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,6004,0.26,260.9,2634,2109,2433,2316,305.6,9.1,535,6037,0.00,2.55,29.12,1.406,8868,0.000,0.083,2642,718,2299,2359,2239,0,0,0,0,0,0,14.28,13.90,13.24
$GC,6068,0.34,273.0,2642,718,2353,2236,299.8,9.4,542,6089,0.15,2.42,15.38,1.476,11430,0.117,0.079,2698,2103,2252,2311,2193,0,0,0,0,0,0,13.96,13.91,13.19
$GC,6399,0.26,273.0,2698,2104,2302,2177,254.2,13.8,558,6400,0.15,0.00,0.00,0.000,4230,0.232,0.000,2667,2105,2238,2301,2176,0,0,0,0,0,0,13.88,14.12,14.08
$GC,6699,0.26,273.0,2667,2105,2302,2172,221.6,10.4,568,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2105,2236,2300,2173,0,0,0,0,0,0,14.42,14.42,14.44
$GC,6999,0.27,295.7,2667,2105,2300,2172,193.4,9.0,578,7040,0.00,2.50,34.15,1.358,8740,0.000,0.084,2672,720,2153,2211,2095,0,0,0,0,0,0,14.49,14.04,13.38
$GC,7065,0.35,325.2,2672,721,2203,2095,187.9,8.6,591,7121,0.00,2.45,48.40,1.287,9382,0.000,0.080,2672,2109,2034,2088,1981,0,0,0,0,0,0,14.15,14.05,13.23
$GC,7422,0.43,364.8,2672,2109,2077,1969,157.4,8.2,612,7491,0.15,2.50,61.97,1.261,10916,0.127,0.084,2741,720,1872,1911,1833,0,0,0,0,0,0,14.12,13.83,13.21
$GC,7516,0.43,364.8,2741,720,1905,1834,146.1,12.2,621,7521,0.00,2.47,0.00,0.000,1030,0.000,0.078,2741,2102,1866,1901,1832,0,0,0,0,0,0,13.90,13.55,13.92
$GC,7841,0.40,364.8,2741,2103,1902,1824,107.2,11.6,636,7846,0.12,2.45,0.00,0.000,4740,0.242,0.083,2716,716,1861,1899,1823,0,0,0,0,0,0,13.93,14.00,14.07
$GC,7887,0.51,396.9,2713,717,1897,1825,103.1,8.5,645,7944,0.00,2.42,48.33,1.236,9382,0.000,0.078,2713,2103,1741,1774,1709,0,0,0,0,0,0,14.14,14.02,13.28
$GC,8242,0.62,442.0,2713,2104,1770,1696,72.4,7.9,686,8269,0.17,2.45,22.50,0.417,10916,0.109,0.084,2794,720,1561,1599,1523,0,0,0,0,0,0,14.11,13.95,13.69
$GC,8319,0.62,442.0,2794,721,1601,1525,62.9,12.7,701,8325,0.00,2.42,0.00,0.000,1030,0.000,0.078,2794,2099,1562,1600,1524,0,0,0,0,0,0,14.15,14.04,14.18
$GC,8624,0.64,468.4,2795,2099,1601,1522,29.6,8.8,732,8646,0.00,2.50,13.73,0.304,8740,0.000,0.084,2794,719,1453,1498,1408,0,0,0,0,0,0,14.39,14.04,13.88
$GC,8697,0.73,515.5,2795,719,1499,1412,23.8,7.8,746,8730,0.00,2.42,25.50,0.282,9382,0.000,0.077,2791,2105,1262,1320,1204,0,0,0,0,0,0,14.15,14.04,13.84
$FREEZE,13.36,6.573,-1.389,0,1,0
$STATE,8994,end climb,NO_VERTICAL_VELOCITY
$STATE,8994,begin surface
$SM_CCo,9001,98.47,0.249,0,0,501,702.78
$SM_GC,1.24,7.93,0.17,0.00,0.079,0.116,0.000,203,2221,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.29,14.24,14.33
$RAFOS_CLK,238
$MODEM,3,1502655728,74.30400,-153.94400,221.574,321728.3
$MODEM,2,1502655245,73.18300,-149.96500,98.875,143567.6
$RAFOS_FIX,7228.703125,-14627.398438,130817,202006,2,255,13.68
$IRIDIUM_FIX,7200.17,-14749.35,130817,184705
$TT8_MAMPS,0.040446,0.948234
$HUMID,48.38
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,16009003008.000000
$PM_FREEKB_00,58480704
$24V_AH,12.64,71.638
$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,24.775,89.375,923.225,98.475,0.000,0.000,0.000,778.175,3.500,0.000,14.594,0.000,6818.430,795.632,2638.950,301.236,0.000,2537.031,0.000,1125.164,2190.000,0.541,0.000
$DEVICE_MAMPS,456.705,2138.940,1475.685,248.625,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8985.000,9024.000,8969.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.967,20.000,16.575,0.000
$MEM,323728
$DATA_FILE_SIZE,26727,779
$CAP_FILE_SIZE,112379,0
$CFSIZE,2097872896,2069889024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1451.6
$CURRENT,0.052,271.47,1
$GPS,130817,213350,7202.902,-14748.327,59,0.7,59,21.3,0.6,61.2,10,9.6