version: 66.13
glider: 196
mission: 14
dive: 74
start: 8 15 117 7 25 11
data:
$ID,196
$MISSION,14
$DIVE,74
$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,26
$R_STBD_OVSHOOT,38
$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,215.0
$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
$GPS1,150817,070825,7216.4683,-14806.6270,23,0.7,34,21.3,0.8,62.9,12,7.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.8
$GPS2,150817,072437,7216.5127,-14807.0195,7,0.8,15,21.3,0.5,284.0,10,8.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,322.9,117257,-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,-145.9,169,2233,515,471,0.0,0.0,0,130,0.00,0.00,-81.43,0.000,16386,0.000,0.000,167,2232,2117,2039,2196,0,0,0,0,0,0,14.39,28.83,14.41
$GC,133,-0.57,-145.9,167,2232,2042,2197,3.9,-5.2,8,186,12.73,2.70,-33.12,0.000,18724,0.457,2.154,2375,3594,3967,3952,3983,0,0,0,0,0,0,13.71,12.69,14.13
$GC,411,-0.57,-145.9,2376,3595,3962,3977,64.7,-15.7,63,418,0.00,2.40,0.00,0.000,1030,0.000,0.057,2377,2194,3969,3961,3977,0,0,0,0,0,0,14.09,14.00,14.13
$GC,728,-0.57,-145.9,2376,2190,3963,3978,112.7,-14.0,89,733,0.00,2.47,0.00,0.000,260,0.000,0.083,2365,3601,3970,3963,3977,0,0,0,0,0,0,14.46,14.14,14.47
$GC,843,-0.67,-145.9,2366,3602,3963,3978,126.6,-11.1,112,849,0.00,2.38,0.00,0.000,1158,0.000,0.053,2365,2193,3970,3963,3977,0,0,0,0,0,0,14.26,14.17,14.29
$GC,1148,-0.71,-145.9,2367,2193,3965,3978,163.9,-11.9,123,1154,0.00,2.47,0.00,0.000,388,0.000,0.085,2359,3600,3969,3962,3977,0,0,0,0,0,0,14.51,14.15,14.52
$GC,1209,-0.87,-145.9,2362,3601,3963,3978,170.4,-9.5,135,1216,0.20,2.35,0.00,0.000,5286,0.105,0.054,2284,2200,3970,3964,3977,0,0,0,0,0,0,14.26,14.23,14.34
$GC,1541,-0.79,-145.9,2285,2199,3964,3975,227.3,-16.7,151,1547,0.12,2.45,0.00,0.000,2436,0.297,0.082,2305,3600,3968,3962,3974,0,0,0,0,0,0,14.00,14.15,14.17
$GC,1627,-0.85,-145.9,2306,3601,3961,3976,238.8,-11.9,168,1633,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2202,3967,3959,3975,0,0,0,0,0,0,14.31,14.19,14.33
$GC,1932,-0.85,-145.9,2306,2201,3963,3972,277.1,-12.2,179,1938,0.00,2.45,0.00,0.000,260,0.000,0.086,2300,3601,3967,3962,3973,0,0,0,0,0,0,14.56,14.20,14.59
$GC,1983,-0.90,-145.9,2301,3601,3963,3973,283.2,-11.5,189,1988,0.00,2.38,0.00,0.000,1158,0.000,0.058,2300,2199,3967,3961,3973,0,0,0,0,0,0,14.35,14.24,14.38
$GC,2293,-0.90,-145.9,2300,2199,3962,3972,320.3,-11.9,201,2298,0.00,2.47,0.00,0.000,260,0.000,0.085,2293,3597,3966,3961,3971,0,0,0,0,0,0,14.43,14.10,14.45
$GC,2358,-0.96,-145.9,2294,3598,3962,3971,327.9,-11.0,214,2363,0.00,2.40,0.00,0.000,1158,0.000,0.057,2294,2196,3966,3961,3971,0,0,0,0,0,0,14.24,14.13,14.26
$GC,2683,-0.96,-145.9,2294,2194,3962,3969,366.7,-11.9,229,2688,0.00,2.47,0.00,0.000,260,0.000,0.086,2294,3594,3965,3961,3970,0,0,0,0,0,0,14.40,14.06,14.41
$GC,2753,-1.04,-145.9,2294,3595,3962,3970,374.6,-10.7,243,2759,0.15,2.38,0.00,0.000,5254,0.125,0.056,2240,2199,3965,3961,3969,0,0,0,0,0,0,14.12,14.10,14.21
$GC,3074,-0.93,-145.9,2241,2198,3961,3968,425.9,-16.3,257,3079,0.17,2.47,0.00,0.000,2436,0.303,0.081,2269,3598,3964,3960,3968,0,0,0,0,0,0,13.78,14.01,13.97
$GC,3204,-0.93,-145.9,2269,3600,3961,3968,443.4,-12.7,283,3210,0.00,2.40,0.00,0.000,1030,0.000,0.057,2269,2200,3963,3960,3967,0,0,0,0,0,0,14.19,14.08,14.22
$STATE,3493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3493,begin apogee
$GC,3499,-0.13,0.0,2269,2060,3960,3968,483.1,-13.7,296,3780,1.05,0.00,277.08,1.301,10246,0.256,0.000,2527,2057,3366,3397,3335,0,0,0,0,0,0,13.81,13.33,12.72
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3786,0.57,145.9,2527,2057,3395,3328,496.7,0.0,305,3998,0.75,2.75,199.45,1.335,11012,0.063,0.076,2773,3491,2762,2819,2706,0,0,0,0,0,0,13.40,13.16,12.55
$GC,4223,0.16,145.9,2776,3492,2788,2705,459.6,17.3,387,4229,0.70,2.40,0.00,0.000,5254,0.343,0.057,2642,2125,2746,2788,2704,0,0,0,0,0,0,13.40,13.70,13.73
$MODEM_MSG,CACST,6,1,20170815081347.603845,3,194,22,0323,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$GC,4535,0.08,166.9,2642,2126,2789,2704,430.0,9.0,399,4567,0.15,0.00,25.23,1.428,12454,0.298,0.000,2611,2125,2680,2730,2630,0,0,0,0,0,0,13.75,13.67,13.15
$GC,4866,0.11,210.1,2612,2125,2719,2613,403.8,8.0,410,4932,0.00,0.00,63.88,1.346,8230,0.000,0.000,2611,2125,2508,2570,2446,0,0,0,0,0,0,14.33,13.83,13.16
$GC,5225,0.17,247.1,2612,2125,2552,2423,373.8,8.3,422,5286,0.00,2.58,53.75,1.343,8868,0.000,0.085,2615,693,2348,2405,2292,0,0,0,0,0,0,14.35,13.85,13.19
$GC,5333,0.32,289.5,2615,694,2394,2288,365.2,8.0,443,5402,0.22,2.47,62.17,1.311,11430,0.093,0.079,2698,2086,2182,2240,2124,0,0,0,0,0,0,13.98,13.93,13.07
$GC,5707,0.25,289.5,2698,2087,2221,2101,310.8,14.8,468,5708,0.15,0.00,0.00,0.000,4230,0.234,0.000,2666,2087,2160,2221,2100,0,0,0,0,0,0,13.91,14.18,14.13
$GC,6007,0.25,289.5,2667,2088,2218,2098,274.9,11.7,478,6012,0.00,2.47,0.00,0.000,516,0.000,0.086,2672,688,2157,2218,2097,0,0,0,0,0,0,14.45,14.13,14.46
$GC,6067,0.30,289.5,2672,689,2216,2098,268.2,10.8,490,6072,0.00,2.45,0.00,0.000,1158,0.000,0.079,2672,2099,2156,2216,2097,0,0,0,0,0,0,14.30,14.19,14.35
$GC,6397,0.30,289.5,2672,2101,2216,2098,230.7,11.0,506,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2100,2156,2215,2097,0,0,0,0,0,0,14.52,14.53,14.53
$GC,6697,0.31,303.7,2673,2100,2216,2096,201.2,9.3,516,6702,0.00,0.00,3.92,1.322,8230,0.000,0.000,2672,2100,2129,2187,2071,0,0,0,0,0,0,14.54,14.22,13.03
$GC,6997,0.36,340.1,2673,2101,2202,2085,175.5,8.3,526,7082,0.00,2.53,79.05,1.247,8868,0.000,0.083,2672,691,1973,2026,1921,0,0,0,0,0,0,14.54,13.78,13.29
$GC,7148,0.53,386.0,2673,692,2012,1919,163.6,7.9,556,7233,0.25,2.50,77.78,1.202,11430,0.095,0.080,2769,2099,1788,1821,1756,0,0,0,0,0,0,14.02,13.96,13.13
$GC,7538,0.46,386.0,2769,2100,1806,1736,107.5,14.0,584,7543,0.15,2.50,0.00,0.000,4740,0.272,0.081,2743,689,1770,1805,1735,0,0,0,0,0,0,13.75,13.98,13.90
$GC,7573,0.49,386.0,2743,690,1803,1736,103.1,11.6,591,7579,0.00,2.50,0.00,0.000,1158,0.000,0.078,2743,2097,1769,1803,1735,0,0,0,0,0,0,13.69,13.71,13.95
$GC,7879,0.49,390.3,2744,2099,1804,1733,70.0,9.8,624,7880,0.00,0.00,0.00,0.000,38,0.000,0.000,2743,2098,1768,1803,1733,0,0,0,0,0,0,14.40,14.42,14.43
$GC,8181,0.55,438.9,2744,2098,1803,1732,43.9,7.8,654,8213,0.00,2.50,24.77,0.336,8612,0.000,0.082,2740,3518,1573,1610,1537,0,0,0,0,0,0,14.45,14.04,13.82
$GC,8439,0.70,513.7,2744,3519,1611,1544,25.8,6.5,705,8482,0.17,2.42,38.85,0.288,11430,0.103,0.063,2816,2103,1270,1327,1214,0,0,0,0,0,0,14.19,14.15,13.87
$FREEZE,13.02,5.428,-1.418,0,1,0
$STATE,8785,end climb,NO_VERTICAL_VELOCITY
$STATE,8785,begin surface
$SM_CCo,8792,96.93,0.248,0,0,500,702.78
$SM_CCo,9012,0.00,0.000,0,0,500,702.78
$SM_GC,1.19,8.05,0.17,0.00,0.085,0.114,0.000,206,2223,500,-7.37,-0.68,702.78,0,0,0,0,0,0,14.23,14.26,14.50
$RAFOS_CLK,309
$MODEM,2,1502784827,73.18300,-149.96500,80.604,116920.4
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7217.35,-14806.42,150817,071806
$TT8_MAMPS,0.038948,0.885318
$HUMID,48.54
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.30
$XPDR_PINGS,6
$CP_FREE,16006840320.000000
$PM_FREEKB_00,57506368
$24V_AH,12.55,77.680
$10V_AH,12.46,0.000
$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,25.025,69.450,905.925,96.925,0.000,0.000,0.000,580.300,1.500,0.000,16.285,0.000,6540.864,1016.360,2158.945,285.480,0.000,2287.642,0.000,1067.068,2199.000,0.540,0.000
$DEVICE_MAMPS,456.705,2154.240,1428.255,247.860,0.000,0.000,0.000,159.120,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8811.000,8812.000,8761.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.427,20.000,16.588,0.000
$MEM,323700
$DATA_FILE_SIZE,26714,744
$CAP_FILE_SIZE,101559,0
$CFSIZE,2097872896,2066022400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.071,262.53,1
$GPS,150817,095624,7217.586,-14808.393,12,0.7,15,21.3,0.0,0.0,11,9.0