version: 66.13
glider: 196
mission: 14
dive: 245
start: 9 4 117 10 47 7
data:
$ID,196
$MISSION,14
$DIVE,245
$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,63
$R_STBD_OVSHOOT,30
$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,688.0
$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
$GPS1,040917,102425,7451.8242,-15223.7461,40,0.9,43,20.0,0.0,319.1,10,8.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.9
$GPS2,040917,104639,7451.9033,-15223.9990,8,0.8,10,20.0,0.0,198.8,10,8.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.0,100572,-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,50,-0.57,-145.9,198,2217,483,497,0.0,0.0,0,143,0.00,0.00,-91.30,0.000,16386,0.000,0.000,198,2217,2144,2073,2215,0,0,0,0,0,0,14.50,28.83,14.54
$GC,146,-0.57,-145.9,198,2217,2075,2216,3.3,-4.2,9,203,12.73,2.78,-37.97,0.000,18724,0.451,2.140,2381,3601,3966,3951,3982,0,0,0,0,0,0,13.63,12.61,14.13
$GC,389,-0.73,-145.9,2376,3604,3958,3983,47.6,-12.9,57,394,0.00,2.33,0.00,0.000,1158,0.000,0.057,2376,2234,3970,3958,3982,0,0,0,0,0,0,14.33,14.17,14.33
$GC,699,-0.85,-145.9,2375,2232,3960,3983,85.5,-10.2,89,701,0.22,0.00,0.00,0.000,4230,0.101,0.000,2288,2237,3970,3959,3982,0,0,0,0,0,0,14.16,14.28,14.25
$GC,999,-0.85,-145.9,2289,2232,3961,3982,132.8,-15.0,105,1004,0.00,2.42,0.00,0.000,260,0.000,0.086,2279,3601,3970,3959,3982,0,0,0,0,0,0,14.64,14.16,14.65
$GC,1099,-0.94,-145.9,2280,3602,3961,3982,146.3,-12.6,125,1104,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2201,3970,3960,3981,0,0,0,0,0,0,14.25,14.19,14.26
$GC,1419,-0.96,-145.9,2280,2200,3960,3983,191.5,-13.7,139,1424,0.00,2.47,0.00,0.000,388,0.000,0.086,2269,3608,3970,3959,3982,0,0,0,0,0,0,14.66,14.18,14.67
$GC,1480,-1.06,-145.9,2270,3609,3961,3979,199.5,-12.2,151,1484,0.00,2.38,0.00,0.000,1158,0.000,0.057,2269,2198,3970,3959,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1809,-1.08,-145.9,2270,2197,3961,3981,243.4,-12.9,167,1815,0.12,2.47,0.00,0.000,4484,0.142,0.084,2209,3605,3970,3959,3982,0,0,0,0,0,0,14.25,14.17,14.28
$GC,1860,-1.06,-145.9,2210,3607,3960,3983,251.3,-16.0,177,1865,0.12,2.38,0.00,0.000,3206,0.260,0.057,2232,2196,3970,3959,3982,0,0,0,0,0,0,13.93,14.23,14.17
$GC,2170,-1.06,-145.9,2233,2195,3960,3982,295.0,-13.4,189,2175,0.00,2.47,0.00,0.000,260,0.000,0.087,2226,3604,3970,3959,3982,0,0,0,0,0,0,14.67,14.17,14.69
$GC,2255,-1.09,-145.9,2226,3606,3960,3983,306.3,-12.9,206,2261,0.00,2.40,0.00,0.000,1158,0.000,0.056,2226,2194,3970,3959,3982,0,0,0,0,0,0,14.10,13.98,14.15
$GC,2560,-1.09,-145.9,2226,2194,3959,3982,347.5,-13.2,217,2565,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3601,3971,3960,3982,0,0,0,0,0,0,14.67,14.16,14.69
$GC,2650,-1.14,-145.9,2224,3603,3958,3983,359.0,-12.3,235,2655,0.00,2.38,0.00,0.000,1158,0.000,0.056,2223,2194,3970,3958,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2980,-1.14,-145.9,2222,2195,3959,3982,401.1,-12.6,251,2985,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3601,3969,3957,3981,0,0,0,0,0,0,14.67,14.15,14.69
$GC,3097,-1.21,-145.9,2222,3601,3958,3981,414.6,-11.3,274,3103,0.00,2.40,0.00,0.000,1158,0.000,0.056,2222,2194,3968,3957,3980,0,0,0,0,0,0,13.93,13.95,13.93
$GC,3400,-1.21,-145.9,2222,2194,3958,3981,451.6,-12.1,285,3405,0.10,2.47,0.00,0.000,4356,0.177,0.084,2172,3601,3968,3957,3979,0,0,0,0,0,0,14.34,14.16,14.39
$GC,3460,-1.16,-145.9,2173,3603,3957,3981,460.8,-15.9,297,3466,0.15,2.38,0.00,0.000,3206,0.271,0.057,2201,2194,3968,3956,3980,0,0,0,0,0,0,13.90,14.23,14.20
$STATE,3608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3608,begin apogee
$GC,3614,-0.13,0.0,2202,2066,3957,3978,481.9,-13.7,307,3837,1.30,0.00,219.68,1.455,10246,0.242,0.000,2532,2064,3366,3389,3344,0,0,0,0,0,0,13.86,13.47,12.62
$STATE,3841,end apogee,CONTROL_FINISHED_OK
$STATE,3841,begin climb
$GC,3843,0.57,145.9,2532,2064,3380,3335,493.1,0.0,314,4061,0.73,2.60,206.02,1.395,10756,0.063,0.080,2781,726,2761,2806,2717,0,0,0,0,0,0,13.61,13.08,12.28
$GC,4271,0.20,145.9,2781,727,2791,2715,469.5,15.2,393,4277,0.62,2.47,0.00,0.000,5254,0.318,0.075,2654,2100,2751,2790,2713,0,0,0,0,0,0,13.38,13.71,13.76
$GC,4597,0.03,148.4,2654,2102,2791,2709,436.2,9.9,408,4599,0.25,0.00,0.00,0.000,4262,0.275,0.000,2597,2101,2749,2790,2708,0,0,0,0,0,0,13.78,14.12,14.06
$GC,4897,0.02,211.0,2598,2101,2791,2707,414.5,7.1,418,4998,0.00,0.00,98.05,1.372,8870,0.000,0.000,2597,2101,2505,2565,2445,0,0,0,0,0,0,14.45,13.79,13.02
$GC,5287,0.05,245.5,2598,2102,2552,2426,382.4,8.4,436,5348,0.00,2.53,51.67,1.382,8740,0.000,0.083,2602,727,2357,2410,2304,0,0,0,0,0,0,14.41,13.93,13.12
$GC,5400,0.16,278.5,2603,727,2406,2300,373.0,8.5,458,5458,0.00,2.42,51.83,1.362,9382,0.000,0.079,2602,2100,2228,2284,2173,0,0,0,0,0,0,14.04,13.93,13.00
$GC,5770,0.25,304.5,2602,2101,2272,2149,340.2,8.8,482,5811,0.20,0.00,37.80,1.389,10406,0.096,0.000,2683,2101,2122,2174,2071,0,0,0,0,0,0,14.19,13.95,13.16
$GC,6098,0.18,304.5,2684,2101,2161,2055,294.2,14.0,493,6103,0.15,2.45,0.00,0.000,4740,0.249,0.083,2653,717,2107,2160,2054,0,0,0,0,0,0,13.90,13.98,14.04
$GC,6189,0.23,304.5,2654,716,2158,2054,284.3,10.4,511,6194,0.00,2.42,0.00,0.000,1158,0.000,0.078,2653,2100,2105,2157,2054,0,0,0,0,0,0,13.78,13.81,13.78
$GC,6519,0.23,304.5,2653,2101,2158,2052,250.1,10.1,527,6524,0.00,2.45,0.00,0.000,516,0.000,0.084,2654,724,2104,2157,2052,0,0,0,0,0,0,14.50,13.54,14.51
$MODEM_MSG,CACST,6,1,20170904120839.457539,3,50,-13,0094,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*19
$GC,6581,0.31,328.1,2655,725,2157,2053,244.2,8.9,539,6621,0.00,2.40,32.75,1.388,9382,0.000,0.079,2654,2120,2026,2074,1978,0,0,0,0,0,0,14.23,14.14,13.25
$GC,6942,0.37,356.0,2662,2125,2069,1968,211.5,8.7,561,6989,0.12,0.00,45.28,1.349,10662,0.129,0.000,2719,2119,1915,1953,1877,0,0,0,0,0,0,14.14,13.97,13.19
$GC,7271,0.33,356.0,2713,2120,1939,1867,171.1,11.9,577,7276,0.00,2.45,0.00,0.000,644,0.000,0.086,2717,727,1902,1938,1866,0,0,0,0,0,0,14.55,14.18,14.57
$GC,7381,0.33,356.0,2717,728,1936,1867,158.7,10.7,599,7386,0.00,2.40,0.00,0.000,1030,0.000,0.076,2717,2111,1898,1931,1866,0,0,0,0,0,0,14.35,14.23,14.40
$GC,7692,0.30,356.0,2717,2112,1936,1865,125.0,10.6,611,7697,0.12,2.42,0.00,0.000,4740,0.237,0.083,2685,722,1899,1935,1864,0,0,0,0,0,0,14.02,14.21,14.13
$GC,7789,0.43,402.7,2686,722,1933,1865,117.0,7.8,630,7870,0.00,2.40,75.28,1.274,9382,0.000,0.078,2685,2099,1724,1750,1699,0,0,0,0,0,0,14.21,14.09,13.22
$GC,8178,0.56,459.6,2686,2099,1745,1682,87.2,7.4,667,8209,0.22,0.00,29.30,0.465,10918,0.095,0.000,2776,2099,1491,1524,1458,0,0,0,0,0,0,14.25,14.11,13.64
$GC,8506,0.58,485.6,2777,2100,1524,1446,50.3,8.8,701,8526,0.00,0.00,14.05,0.353,8230,0.000,0.000,2776,2099,1385,1426,1344,0,0,0,0,0,0,14.56,14.12,13.74
$GC,8826,0.67,562.4,2778,2099,1428,1338,27.9,6.5,733,8873,0.00,2.47,40.53,0.292,8868,0.000,0.088,2778,728,1071,1135,1008,0,0,0,0,0,0,14.57,14.11,13.81
$GC,8959,0.92,653.3,2778,730,1133,1008,19.4,5.8,759,9013,0.30,2.40,47.90,0.265,11430,0.084,0.079,2887,2099,699,753,646,0,0,0,0,0,0,14.12,14.05,13.81
$STATE,9118,end climb,SURFACE_DEPTH_REACHED
$STATE,9118,begin surface coast
$FINISH,0.1,1.021297
$STATE,9126,end surface coast,CONTROL_FINISHED_OK
$STATE,9126,begin surface
$SM_CCo,9147,27.52,0.211,0,0,499,702.78
$SM_GC,1.42,8.35,0.17,27.52,0.083,0.119,0.211,201,2213,499,-7.38,-0.74,702.78,0,0,0,0,0,0,14.29,14.29,14.00
$RAFOS_CLK,229
$MODEM,1,1504526919,73.78700,-144.83000,98.708,142955.3
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7451.20,-15219.85,040917,104006
$TT8_MAMPS,0.040446,0.886816
$HUMID,45.98
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,23
$CP_FREE,15967682560.000000
$PM_FREEKB_00,50710784
$24V_AH,12.28,160.321
$10V_AH,12.33,0.000
$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,25.825,73.675,950.125,27.525,0.000,0.000,0.000,828.500,5.750,0.000,11.772,0.000,6774.273,980.576,2434.238,330.627,0.000,2541.357,0.000,1119.079,2209.000,0.540,0.000
$DEVICE_MAMPS,451.350,2140.470,1455.030,211.140,0.000,0.000,0.000,169.830,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9160.000,9131.000,9100.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.494,20.000,9.891,0.000
$MEM,323380
$DATA_FILE_SIZE,26761,781
$CAP_FILE_SIZE,108685,0
$CFSIZE,2097872896,2014085120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,7851.72,0x2341e8,1,24
$SOUNDSPEED,1448.4
$CURRENT,0.094,264.45,1
$GPS,040917,132108,7452.619,-15221.617,15,0.8,20,20.0,0.5,328.0,10,8.6