version: 66.13
glider: 196
mission: 14
dive: 58
start: 8 13 117 10 29 23
data:
$ID,196
$MISSION,14
$DIVE,58
$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,24
$R_STBD_OVSHOOT,31
$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,172.0
$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
$GPS1,130817,101803,7158.2417,-14743.7207,17,0.7,28,21.4,0.6,233.8,11,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.9
$GPS2,130817,102850,7158.1914,-14743.8740,5,0.7,9,21.4,0.0,267.6,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.9,152932,-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,-145.9,177,2221,508,467,0.0,0.0,0,130,0.00,0.00,-81.75,0.000,16386,0.000,0.000,178,2218,2170,2090,2251,0,0,0,0,0,0,14.33,28.83,14.35
$GC,133,-0.57,-145.9,179,2217,2094,2245,4.5,-6.8,8,186,12.70,2.72,-30.75,0.000,18724,0.458,2.146,2376,3598,3965,3950,3980,0,0,0,0,0,0,13.69,12.71,14.09
$GC,296,-0.55,-145.9,2376,3600,3958,3980,48.7,-18.9,40,301,0.00,2.40,0.00,0.000,1158,0.000,0.055,2376,2198,3968,3956,3980,0,0,0,0,0,0,14.09,13.99,14.12
$GC,626,-0.55,-145.9,2376,2196,3962,3980,105.0,-14.6,72,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2196,3970,3961,3979,0,0,0,0,0,0,14.39,14.45,14.45
$GC,926,-0.59,-145.9,2376,2196,3962,3980,143.1,-11.6,82,931,0.00,2.47,0.00,0.000,388,0.000,0.085,2368,3607,3969,3961,3977,0,0,0,0,0,0,14.47,14.12,14.49
$GC,981,-0.73,-145.9,2368,3608,3962,3980,148.9,-9.9,93,987,0.00,2.38,0.00,0.000,1190,0.000,0.054,2368,2197,3970,3962,3979,0,0,0,0,0,0,14.23,14.16,14.23
$GC,1287,-0.80,-145.9,2367,2197,3961,3980,180.9,-10.0,104,1292,0.12,2.47,0.00,0.000,4516,0.144,0.084,2307,3601,3970,3961,3979,0,0,0,0,0,0,14.23,14.18,14.28
$GC,1432,-0.80,-145.9,2308,3601,3962,3980,199.3,-12.4,133,1438,0.00,2.38,0.00,0.000,1030,0.000,0.055,2304,2196,3969,3960,3979,0,0,0,0,0,0,14.28,14.17,14.29
$GC,1737,-0.80,-145.9,2308,2195,3962,3978,238.4,-12.4,144,1742,0.00,2.47,0.00,0.000,260,0.000,0.086,2303,3602,3969,3960,3978,0,0,0,0,0,0,14.52,14.19,14.54
$GC,1883,-0.86,-145.9,2304,3603,3960,3978,255.3,-10.5,173,1890,0.00,2.38,0.00,0.000,1158,0.000,0.056,2303,2202,3968,3958,3978,0,0,0,0,0,0,14.31,14.22,14.33
$GC,2187,-0.86,-145.9,2303,2202,3959,3976,290.4,-11.4,184,2192,0.00,2.47,0.00,0.000,260,0.000,0.086,2295,3603,3967,3958,3976,0,0,0,0,0,0,14.54,14.19,14.56
$GC,2257,-0.93,-145.9,2294,3605,3957,3977,298.4,-11.4,198,2262,0.00,2.40,0.00,0.000,1158,0.000,0.059,2295,2193,3968,3957,3980,0,0,0,0,0,0,14.35,14.22,14.37
$GC,2577,-0.93,-145.9,2295,2193,3957,3974,337.0,-12.1,212,2582,0.00,2.50,0.00,0.000,260,0.000,0.086,2286,3609,3965,3956,3975,0,0,0,0,0,0,14.54,14.19,14.55
$GC,2657,-0.97,-145.9,2286,3610,3956,3976,346.8,-11.7,228,2662,0.00,2.40,0.00,0.000,1158,0.000,0.058,2286,2189,3965,3955,3975,0,0,0,0,0,0,14.34,14.23,14.39
$GC,2967,-0.97,-145.9,2285,2189,3956,3974,386.0,-12.6,240,2972,0.00,2.50,0.00,0.000,260,0.000,0.085,2280,3603,3964,3955,3973,0,0,0,0,0,0,14.54,14.16,14.57
$GC,3032,-1.00,-145.9,2281,3605,3955,3975,394.3,-12.5,253,3037,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2199,3964,3954,3974,0,0,0,0,0,0,14.34,14.23,14.37
$GC,3357,-1.00,-145.9,2280,2199,3954,3979,435.9,-12.8,268,3362,0.00,2.47,0.00,0.000,260,0.000,0.086,2279,3601,3962,3954,3971,0,0,0,0,0,0,14.54,14.18,14.54
$GC,3422,-1.03,-145.9,2279,3601,3955,3973,444.2,-12.5,281,3427,0.12,2.38,0.00,0.000,5254,0.142,0.058,2235,2202,3963,3954,3973,0,0,0,0,0,0,14.22,14.22,14.33
$STATE,3655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3655,begin apogee
$GC,3661,-0.13,0.0,2236,2059,3954,3972,482.8,-16.8,293,3905,1.23,0.05,240.12,1.357,10246,0.284,0.223,2528,2093,3365,3393,3338,0,0,0,0,0,0,13.86,13.41,12.86
$STATE,3909,end apogee,CONTROL_FINISHED_OK
$STATE,3909,begin climb
$GC,3913,0.57,145.9,2529,2094,3384,3330,494.5,0.0,301,4158,0.75,2.60,202.30,1.339,10756,0.065,0.077,2791,730,2751,2798,2705,0,0,0,0,0,0,13.55,13.12,12.62
$GC,4385,0.23,145.9,2791,730,2792,2703,453.7,16.4,348,4392,0.60,2.45,0.00,0.000,5254,0.321,0.076,2664,2100,2750,2792,2708,0,0,0,0,0,0,13.52,13.78,13.83
$GC,4689,0.10,145.9,2664,2102,2792,2698,421.2,10.3,359,4694,0.17,2.42,0.00,0.000,4740,0.309,0.077,2632,725,2745,2792,2698,0,0,0,0,0,0,13.80,13.98,13.97
$GC,4810,0.14,193.7,2632,725,2793,2697,411.3,7.8,383,4884,0.00,2.42,65.65,1.344,9254,0.000,0.080,2632,2101,2569,2628,2510,0,0,0,0,0,0,14.17,14.06,13.17
$GC,5199,0.15,209.0,2632,2101,2618,2492,375.4,9.3,411,5217,0.00,0.00,16.58,1.460,8230,0.000,0.000,2631,2100,2514,2577,2451,0,0,0,0,0,0,14.35,14.02,13.33
$GC,5499,0.16,227.8,2632,2100,2566,2437,347.8,9.1,421,5530,0.00,0.00,25.92,1.445,8230,0.000,0.000,2631,2100,2431,2492,2370,0,0,0,0,0,0,14.32,13.83,13.29
$GC,5829,0.18,251.8,2632,2103,2485,2362,318.1,8.9,432,5865,0.00,0.00,34.62,1.397,8230,0.000,0.000,2632,2101,2341,2396,2287,0,0,0,0,0,0,14.28,13.93,13.25
$GC,6160,0.22,263.5,2632,2101,2384,2272,287.5,9.5,443,6179,0.00,2.45,15.25,1.487,8868,0.000,0.082,2633,719,2286,2340,2232,0,0,0,0,0,0,14.27,13.85,13.28
$GC,6215,0.33,282.4,2633,719,2334,2233,282.3,9.1,454,6252,0.17,2.45,28.35,1.416,11430,0.107,0.078,2703,2105,2211,2262,2161,0,0,0,0,0,0,14.02,13.95,13.18
$GC,6551,0.27,282.4,2698,2106,2258,2152,237.0,13.5,471,6556,0.10,2.47,0.00,0.000,4484,0.245,0.080,2674,3506,2203,2257,2150,0,0,0,0,0,0,13.89,13.98,14.03
$GC,6577,0.21,282.4,2674,3507,2256,2150,233.3,13.8,476,6584,0.00,2.38,0.00,0.000,1158,0.000,0.061,2675,2132,2202,2254,2150,0,0,0,0,0,0,14.11,14.01,14.14
$GC,6881,0.21,282.4,2672,2131,2256,2148,199.9,10.6,487,6886,0.00,2.55,0.00,0.000,516,0.000,0.087,2685,693,2200,2255,2146,0,0,0,0,0,0,14.32,14.02,14.34
$GC,6946,0.25,282.4,2685,694,2254,2148,192.9,10.1,500,6952,0.00,2.50,0.00,0.000,1158,0.000,0.079,2685,2103,2201,2255,2148,0,0,0,0,0,0,14.16,14.06,14.19
$GC,7273,0.27,303.9,2685,2106,2254,2148,161.8,9.0,515,7309,0.00,2.50,32.08,1.359,8484,0.000,0.081,2685,3511,2123,2174,2073,0,0,0,0,0,0,14.35,13.84,13.32
$GC,7344,0.27,303.9,2685,3511,2167,2073,155.1,10.1,529,7349,0.00,2.45,0.00,0.000,1030,0.000,0.063,2685,2100,2119,2166,2073,0,0,0,0,0,0,14.06,13.97,14.08
$MODEM_MSG,CACST,6,1,20170813122212.928441,3,10,03,0166,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,7666,0.32,341.6,2686,2100,2168,2066,127.7,8.3,543,7736,0.00,2.60,60.12,1.267,8868,0.000,0.086,2686,690,1966,2014,1919,0,0,0,0,0,0,14.31,13.77,13.21
$GC,7768,0.47,384.7,2686,690,2011,1919,119.4,8.0,563,7846,0.15,2.47,66.95,1.206,11430,0.124,0.078,2749,2102,1793,1827,1759,0,0,0,0,0,0,13.89,13.85,13.11
$GC,8151,0.47,384.7,2748,2102,1820,1745,75.7,10.7,603,8156,0.00,2.53,0.00,0.000,516,0.000,0.084,2755,693,1781,1819,1744,0,0,0,0,0,0,14.21,13.89,14.23
$GC,8216,0.51,389.9,2756,693,1816,1745,69.1,9.8,616,8223,0.00,2.50,0.00,0.000,1190,0.000,0.079,2752,2096,1779,1814,1744,0,0,0,0,0,0,14.09,13.98,14.10
$GC,8521,0.57,473.7,2756,2096,1815,1742,42.7,6.1,647,8569,0.00,2.50,43.42,0.330,8740,0.000,0.082,2754,690,1430,1481,1379,0,0,0,0,0,0,14.36,13.95,13.76
$GC,8599,0.78,549.3,2756,689,1480,1379,37.5,6.5,662,8642,0.22,2.50,38.40,0.312,11430,0.100,0.078,2843,2104,1122,1195,1050,0,0,0,0,0,0,14.02,13.95,13.79
$GC,8948,0.96,733.9,2844,2104,1196,1039,10.5,1.5,701,9033,0.12,2.55,77.70,0.238,10660,0.133,0.080,2898,3509,497,531,464,0,0,0,0,0,0,14.13,14.02,13.85
$STATE,9060,end climb,SURFACE_DEPTH_REACHED
$STATE,9061,begin surface coast
$FINISH,1.3,1.019947
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9071,begin surface
$SM_CCo,9153,0.00,0.000,0,0,497,703.52
$SM_GC,1.10,8.27,2.33,0.00,0.076,0.067,0.000,203,2203,497,-7.37,0.79,703.52,0,0,0,0,0,0,14.15,14.09,14.22
$RAFOS_CLK,175
$MODEM,3,1502626932,74.30400,-153.94400,225.928,327993.2
$RAFOS_FIX,7155.339844,-14750.280273,130817,080849,2,255,3.63
$IRIDIUM_FIX,7157.35,-14747.17,130817,073806
$TT8_MAMPS,0.040446,0.898051
$HUMID,48.46
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.40
$XPDR_PINGS,10
$CP_FREE,16009494528.000000
$PM_FREEKB_00,58715968
$24V_AH,12.62,70.236
$10V_AH,12.38,0.000
$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,24.750,89.025,947.475,0.000,0.000,0.000,0.000,384.250,2.500,0.000,10.587,0.000,6548.747,848.735,2140.193,275.995,0.000,2098.560,0.000,1040.093,2191.000,0.539,0.000
$DEVICE_MAMPS,458.235,2145.825,1487.160,0.000,0.000,0.000,0.000,186.660,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9096.000,9084.000,9044.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.215,20.000,16.580,0.000
$MEM,323732
$DATA_FILE_SIZE,26707,725
$CAP_FILE_SIZE,103222,0
$CFSIZE,2097872896,2070708224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.4
$CURRENT,0.139,251.96,1
$GPS,130817,130302,7159.210,-14745.328,18,0.7,22,21.3,0.0,0.0,11,9.0