version: 66.13
glider: 196
mission: 14
dive: 257
start: 9 5 117 19 20 10
data:
$ID,196
$MISSION,14
$DIVE,257
$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,60
$R_STBD_OVSHOOT,18
$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,1.4
$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,721.0
$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
$GPS1,050917,191342,7503.3672,-15156.1201,18,0.8,21,20.3,0.5,332.9,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.3
$GPS2,050917,191937,7503.4189,-15156.0967,5,0.7,17,20.3,0.0,27.9,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,7.8,76373,-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,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,51,-0.57,-145.9,192,2203,509,490,0.0,0.0,0,143,0.00,0.00,-91.20,0.000,16386,0.000,0.000,191,2203,2155,2090,2221,0,0,0,0,0,0,14.58,28.83,14.60
$GC,146,-0.57,-145.9,192,2203,2095,2221,3.7,-5.0,9,203,12.88,2.88,-36.72,0.000,18724,0.457,2.143,2375,3610,3963,3947,3980,0,0,0,0,0,0,13.62,12.53,14.15
$GC,343,-0.72,-145.9,2376,3610,3953,3980,41.3,-13.4,48,350,0.00,2.35,0.00,0.000,1158,0.000,0.059,2375,2230,3965,3951,3980,0,0,0,0,0,0,14.23,14.04,14.28
$GC,651,-0.83,-145.9,2376,2228,3954,3979,82.0,-11.1,79,656,0.17,2.50,0.00,0.000,4740,0.122,0.082,2301,789,3966,3953,3980,0,0,0,0,0,0,14.30,14.22,14.35
$GC,681,-0.85,-145.9,2301,789,3953,3981,86.7,-16.1,85,686,0.00,2.50,0.00,0.000,1158,0.000,0.089,2299,2204,3966,3953,3980,0,0,0,0,0,0,14.38,14.21,14.41
$GC,1011,-0.88,-145.9,2299,2206,3953,3981,136.3,-14.0,103,1016,0.00,2.47,0.00,0.000,388,0.000,0.091,2295,3616,3966,3953,3980,0,0,0,0,0,0,14.72,14.22,14.75
$GC,1128,-1.01,-145.9,2296,3617,3954,3980,150.2,-11.4,126,1134,0.12,2.38,0.00,0.000,5254,0.130,0.057,2244,2199,3966,3953,3980,0,0,0,0,0,0,14.33,14.28,14.43
$GC,1432,-0.97,-145.9,2245,2198,3954,3980,201.9,-16.6,137,1436,0.00,2.47,0.00,0.000,388,0.000,0.088,2236,3614,3966,3953,3980,0,0,0,0,0,0,14.73,14.22,14.74
$GC,1527,-1.02,-145.9,2236,3615,3954,3980,216.7,-14.1,156,1533,0.00,2.40,0.00,0.000,1158,0.000,0.058,2236,2199,3966,3953,3979,0,0,0,0,0,0,14.35,14.23,14.40
$GC,1853,-1.02,-145.9,2237,2198,3954,3980,265.7,-14.3,171,1858,0.00,2.47,0.00,0.000,260,0.000,0.090,2235,3614,3966,3953,3980,0,0,0,0,0,0,14.73,14.21,14.73
$GC,1933,-1.09,-145.9,2237,3614,3954,3980,276.1,-11.9,187,1938,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2198,3966,3953,3980,0,0,0,0,0,0,14.38,14.26,14.39
$GC,2243,-1.09,-145.9,2236,2197,3952,3981,316.0,-12.5,199,2248,0.00,2.50,0.00,0.000,260,0.000,0.090,2235,3616,3966,3952,3980,0,0,0,0,0,0,14.73,14.21,14.76
$GC,2358,-1.18,-145.9,2236,3617,3954,3979,329.1,-10.8,219,2363,0.00,2.42,0.00,0.000,1158,0.000,0.056,2235,2194,3966,3952,3980,0,0,0,0,0,0,14.26,14.15,14.30
$GC,2679,-1.22,-145.9,2236,2194,3953,3980,366.9,-11.6,233,2684,0.12,2.55,0.00,0.000,4484,0.147,0.086,2172,3614,3965,3951,3979,0,0,0,0,0,0,14.11,14.04,14.15
$GC,2739,-1.18,-145.9,2173,3614,3953,3979,376.3,-16.1,245,2744,0.00,2.42,0.00,0.000,1158,0.000,0.057,2172,2199,3965,3952,3978,0,0,0,0,0,0,14.23,14.10,14.26
$GC,3069,-1.08,-145.9,2172,2198,3954,3978,433.3,-17.2,261,3074,0.22,2.55,0.00,0.000,2436,0.296,0.085,2214,3621,3965,3952,3978,0,0,0,0,0,0,13.70,14.02,13.89
$GC,3199,-1.16,-145.9,2214,3622,3954,3979,449.5,-11.3,287,3204,0.00,2.42,0.00,0.000,1158,0.000,0.057,2214,2201,3965,3952,3978,0,0,0,0,0,0,14.19,14.04,14.23
$STATE,3457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3457,begin apogee
$GC,3463,-0.13,0.0,2214,2059,3953,3979,481.8,-12.4,299,3690,1.23,0.10,223.73,1.437,10246,0.230,0.158,2527,2122,3365,3389,3341,0,0,0,0,0,0,13.76,13.39,12.59
$STATE,3693,end apogee,CONTROL_FINISHED_OK
$STATE,3693,begin climb
$GC,3696,0.57,145.9,2528,2123,3380,3332,493.0,0.0,306,4089,0.75,2.70,213.45,1.370,10756,0.062,0.079,2782,733,2751,2792,2711,0,0,0,0,0,0,13.52,12.83,12.24
$GC,4179,0.19,145.9,2781,734,2793,2711,469.6,14.0,325,4184,0.65,2.45,0.00,0.000,5254,0.323,0.075,2647,2092,2750,2792,2709,0,0,0,0,0,0,13.35,13.68,13.72
$GC,4505,0.03,167.8,2647,2091,2791,2704,439.0,9.0,340,4537,0.22,0.00,27.65,1.469,12454,0.259,0.000,2596,2091,2673,2723,2624,0,0,0,0,0,0,13.81,13.99,13.18
$MODEM_MSG,CACST,6,1,20170905202101.826665,3,33,-8,0094,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F
$GC,4835,0.03,219.6,2598,2093,2715,2617,413.9,7.6,351,4922,0.00,2.40,79.22,1.369,8868,0.000,0.083,2602,729,2467,2528,2406,0,0,0,0,0,0,14.44,13.65,13.07
$GC,4977,0.11,257.7,2603,730,2518,2398,402.3,8.2,379,5042,0.00,2.40,57.80,1.372,9382,0.000,0.078,2602,2105,2310,2368,2252,0,0,0,0,0,0,14.02,13.90,12.93
$GC,5349,0.16,279.9,2603,2105,2355,2234,368.9,9.0,403,5381,0.00,0.00,30.38,1.416,8358,0.000,0.000,2602,2105,2226,2285,2168,0,0,0,0,0,0,14.52,14.04,13.21
$GC,5679,0.23,306.4,2603,2105,2268,2147,339.7,8.8,414,5729,0.12,2.50,41.50,1.372,10916,0.130,0.087,2672,731,2106,2158,2054,0,0,0,0,0,0,14.31,14.08,13.24
$GC,5776,0.23,306.4,2673,732,2153,2052,327.4,13.1,433,5781,0.00,2.40,0.00,0.000,1030,0.000,0.080,2672,2099,2100,2150,2051,0,0,0,0,0,0,14.24,14.12,14.27
$GC,6101,0.17,306.4,2673,2100,2150,2047,284.2,13.0,448,6107,0.12,2.40,0.00,0.000,4740,0.274,0.082,2647,727,2096,2149,2044,0,0,0,0,0,0,14.00,14.19,14.16
$GC,6147,0.21,306.4,2647,728,2148,2045,279.0,10.2,457,6152,0.00,2.40,0.00,0.000,1158,0.000,0.078,2647,2106,2096,2147,2046,0,0,0,0,0,0,14.38,14.24,14.42
$GC,6462,0.22,314.0,2647,2107,2148,2043,247.8,9.7,470,6468,0.00,2.50,1.50,0.259,8484,0.000,0.084,2647,3506,2082,2134,2031,0,0,0,0,0,0,14.66,14.23,13.94
$GC,6493,0.22,314.0,2647,3507,2135,2038,244.4,10.8,476,6499,0.00,2.33,0.00,0.000,1030,0.000,0.062,2654,2132,2086,2136,2037,0,0,0,0,0,0,14.39,14.28,14.43
$GC,6824,0.24,343.7,2654,2132,2143,2040,214.4,8.6,492,6895,0.00,2.60,62.60,1.313,8740,0.000,0.089,2654,700,1956,2003,1910,0,0,0,0,0,0,14.66,14.02,13.21
$GC,7050,0.36,386.1,2655,700,1993,1906,196.2,8.0,537,7132,0.15,2.47,74.30,1.249,11430,0.117,0.080,2712,2101,1790,1819,1761,0,0,0,0,0,0,14.10,14.02,13.13
$GC,7457,0.36,386.1,2713,2106,1808,1743,148.5,11.2,568,7462,0.00,2.50,0.00,0.000,516,0.000,0.086,2713,694,1774,1806,1742,0,0,0,0,0,0,14.56,14.13,14.57
$GC,7523,0.41,386.1,2713,695,1805,1743,141.6,10.2,581,7528,0.00,2.45,0.00,0.000,1158,0.000,0.077,2713,2105,1772,1803,1742,0,0,0,0,0,0,14.28,14.21,14.33
$GC,7848,0.41,388.1,2712,2106,1803,1741,108.0,9.9,596,7849,0.00,0.00,0.00,0.000,38,0.000,0.000,2713,2105,1771,1803,1740,0,0,0,0,0,0,14.62,14.64,14.64
$GC,8148,0.44,431.4,2713,2105,1804,1738,81.7,8.0,620,8175,0.00,2.58,22.12,0.438,8740,0.000,0.086,2712,692,1605,1637,1574,0,0,0,0,0,0,14.60,13.43,13.62
$GC,8300,0.58,488.0,2713,693,1643,1576,69.9,7.4,650,8338,0.17,2.47,31.23,0.405,11430,0.103,0.079,2782,2102,1370,1418,1323,0,0,0,0,0,0,14.12,14.07,13.68
$GC,8643,0.62,548.6,2783,2102,1420,1332,39.4,7.2,688,8680,0.00,2.58,32.70,0.316,8740,0.000,0.086,2792,685,1127,1190,1065,0,0,0,0,0,0,14.57,14.07,13.80
$GC,8737,0.74,593.8,2792,687,1192,1070,32.2,7.9,706,8769,0.00,2.47,25.17,0.295,9382,0.000,0.079,2792,2100,942,1011,874,0,0,0,0,0,0,14.28,14.14,13.75
$GC,9065,0.93,700.3,2792,2101,1014,881,9.4,5.1,742,9132,0.28,2.53,58.30,0.229,10660,0.085,0.079,2896,3505,508,531,485,0,0,0,0,0,0,14.29,13.93,13.87
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9135,begin surface coast
$FINISH,0.2,1.021314
$STATE,9145,end surface coast,CONTROL_FINISHED_OK
$STATE,9145,begin surface
$SM_CCo,9169,0.82,0.297,0,0,501,702.78
$SM_GC,1.21,8.27,2.25,0.82,0.071,0.048,0.297,201,2194,501,-7.37,0.74,702.78,0,0,0,0,0,0,14.28,14.21,13.94
$RAFOS_CLK,307
$MODEM,3,1504642861,74.30400,-153.94400,154.827,223889.0
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7505.16,-15152.70,050917,163937
$TT8_MAMPS,0.040446,0.917525
$HUMID,47.12
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,17
$CP_FREE,15962472448.000000
$PM_FREEKB_00,50358144
$24V_AH,12.24,165.946
$10V_AH,12.10,0.000
$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,25.500,89.350,981.650,0.825,0.000,0.000,0.000,156.225,4.250,0.000,18.574,0.000,6346.229,857.167,2104.807,229.414,0.000,2057.084,0.000,1076.170,2215.000,0.539,0.000
$DEVICE_MAMPS,456.705,2142.765,1468.800,296.820,0.000,0.000,0.000,136.935,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5075.000,9138.000,9123.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.478,20.000,9.899,0.000
$MEM,323596
$DATA_FILE_SIZE,26695,752
$CAP_FILE_SIZE,101433,0
$CFSIZE,2097872896,2011136000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.7
$CURRENT,0.065,301.73,1
$GPS,050917,215422,7504.521,-15153.675,35,1.9,37,20.3,0.7,332.7,4,10.0