version: 66.13
glider: 196
mission: 14
dive: 251
start: 9 5 117 3 4 47
data:
$ID,196
$MISSION,14
$DIVE,251
$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,33
$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,704.0
$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
$GPS1,050917,025152,7456.7334,-15209.9502,41,0.8,42,20.2,0.0,0.0,11,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.7
$GPS2,050917,030414,7456.7656,-15209.8838,8,0.8,10,20.2,0.0,209.4,11,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,6.5,89985,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,194,2220,496,496,0.0,0.0,0,144,0.00,0.00,-91.28,0.000,16386,0.000,0.000,195,2220,2159,2088,2230,0,0,0,0,0,0,14.54,28.83,14.56
$GC,147,-0.57,-145.9,195,2221,2090,2231,3.6,-5.1,9,204,12.77,2.83,-35.72,0.000,18724,0.454,2.141,2377,3598,3963,3947,3979,0,0,0,0,0,0,13.64,12.58,14.14
$GC,375,-0.74,-145.9,2376,3601,3954,3980,46.6,-12.4,54,381,0.12,2.33,0.00,0.000,5254,0.127,0.058,2327,2227,3966,3954,3979,0,0,0,0,0,0,14.19,14.18,14.29
$GC,680,-0.76,-145.9,2327,2227,3955,3980,97.2,-14.2,85,685,0.00,2.40,0.00,0.000,388,0.000,0.086,2319,3598,3966,3954,3979,0,0,0,0,0,0,14.69,14.21,14.71
$GC,750,-0.89,-145.9,2320,3600,3956,3979,106.0,-11.7,99,755,0.00,2.38,0.00,0.000,1158,0.000,0.058,2319,2197,3966,3954,3979,0,0,0,0,0,0,14.35,14.23,14.35
$GC,1070,-0.97,-145.9,2320,2196,3955,3979,145.7,-11.7,113,1071,0.17,0.00,0.00,0.000,4230,0.109,0.000,2252,2196,3966,3954,3979,0,0,0,0,0,0,14.41,14.50,14.48
$GC,1370,-0.95,-145.9,2252,2197,3955,3980,194.7,-16.2,123,1375,0.00,2.45,0.00,0.000,388,0.000,0.088,2242,3599,3967,3955,3979,0,0,0,0,0,0,14.74,14.23,14.76
$GC,1476,-0.99,-145.9,2244,3599,3956,3980,210.6,-14.3,144,1481,0.00,2.35,0.00,0.000,1158,0.000,0.057,2242,2198,3966,3954,3979,0,0,0,0,0,0,14.42,14.30,14.46
$GC,1791,-0.99,-145.9,2243,2198,3955,3980,258.7,-14.6,157,1796,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3597,3966,3954,3979,0,0,0,0,0,0,14.74,14.22,14.76
$GC,1866,-1.06,-145.9,2237,3600,3956,3980,268.7,-12.3,172,1872,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2199,3967,3955,3979,0,0,0,0,0,0,14.42,14.29,14.46
$GC,2182,-1.06,-145.9,2237,2198,3955,3979,309.9,-12.6,185,2187,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3600,3966,3954,3979,0,0,0,0,0,0,14.74,14.22,14.79
$GC,2247,-1.15,-145.9,2236,3601,3955,3980,317.6,-11.0,198,2252,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2199,3966,3954,3979,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2573,-1.18,-145.9,2235,2199,3955,3979,356.3,-11.8,213,2578,0.12,2.45,0.00,0.000,4484,0.146,0.084,2171,3599,3965,3954,3977,0,0,0,0,0,0,14.35,14.22,14.40
$GC,2638,-1.12,-145.9,2172,3600,3955,3978,366.7,-16.6,226,2643,0.20,2.38,0.00,0.000,3206,0.272,0.057,2211,2196,3965,3954,3977,0,0,0,0,0,0,13.85,14.21,14.15
$GC,2963,-1.12,-145.9,2211,2196,3955,3978,411.2,-13.4,241,2968,0.00,2.47,0.00,0.000,260,0.000,0.088,2209,3607,3965,3954,3977,0,0,0,0,0,0,14.74,14.21,14.76
$GC,3053,-1.17,-145.9,2210,3607,3956,3977,422.9,-12.3,259,3058,0.00,2.35,0.00,0.000,1158,0.000,0.055,2209,2199,3965,3954,3977,0,0,0,0,0,0,14.40,14.29,14.45
$GC,3385,-1.17,-145.9,2205,2199,3955,3977,466.9,-13.2,275,3390,0.00,2.47,0.00,0.000,260,0.000,0.086,2201,3598,3965,3954,3976,0,0,0,0,0,0,14.55,14.09,14.57
$GC,3465,-1.19,-145.9,2200,3600,3955,3977,477.7,-12.9,291,3470,0.00,2.40,0.00,0.000,1158,0.000,0.054,2201,2193,3966,3956,3976,0,0,0,0,0,0,14.19,14.06,14.22
$STATE,3502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3502,begin apogee
$GC,3508,-0.13,0.0,2199,2062,3955,3977,483.2,-13.6,294,3736,1.33,0.00,224.82,1.445,10246,0.239,0.000,2529,2060,3364,3395,3333,0,0,0,0,0,0,13.78,13.40,12.60
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3785,begin climb
$GC,3787,0.57,145.9,2530,2062,3383,3326,494.7,0.0,301,4143,0.75,2.58,211.12,1.394,10756,0.061,0.076,2793,728,2753,2796,2710,0,0,0,0,0,0,13.62,12.86,12.23
$GC,4160,0.57,145.9,2792,730,2795,2709,488.3,2.9,303,4165,0.00,2.50,0.00,0.000,1030,0.000,0.074,2792,2099,2751,2794,2708,0,0,0,0,0,0,13.64,13.53,13.67
$GC,4480,0.14,145.9,2792,2100,2793,2707,437.4,15.3,317,4485,0.70,2.47,0.00,0.000,4484,0.308,0.075,2635,3511,2748,2792,2704,0,0,0,0,0,0,13.55,13.93,13.77
$GC,4550,-0.05,146.4,2636,3512,2791,2704,429.6,10.0,331,4556,0.32,2.35,0.00,0.000,5286,0.272,0.057,2570,2131,2746,2790,2703,0,0,0,0,0,0,13.78,14.07,14.09
$GC,4871,0.01,244.4,2570,2127,2792,2704,411.4,5.5,345,5038,0.00,2.67,156.80,1.328,8740,0.000,0.086,2573,700,2360,2419,2302,0,0,0,0,0,0,14.45,13.61,12.85
$GC,5103,0.19,304.6,2572,700,2417,2297,396.2,7.2,391,5205,0.22,2.55,92.55,1.310,11430,0.093,0.081,2661,2102,2116,2175,2057,0,0,0,0,0,0,13.81,13.68,12.70
$MODEM_MSG,CACST,6,1,20170905041205.818189,3,64,00,0092,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,5503,0.15,304.6,2662,2102,2160,2041,343.1,13.5,421,5511,0.12,2.47,0.00,0.000,4740,0.259,0.083,2633,701,2099,2159,2040,0,0,0,0,0,0,13.78,13.94,13.94
$GC,5551,0.22,304.6,2634,702,2157,2041,337.6,10.7,430,5557,0.00,2.47,0.00,0.000,1158,0.000,0.078,2634,2103,2098,2156,2041,0,0,0,0,0,0,14.14,14.01,14.21
$GC,5869,0.25,304.6,2633,2104,2157,2039,303.7,10.4,443,5874,0.00,2.45,0.00,0.000,644,0.000,0.085,2634,700,2097,2156,2039,0,0,0,0,0,0,14.44,14.05,14.45
$GC,5920,0.34,314.6,2634,698,2156,2038,298.6,9.5,453,5932,0.17,2.42,1.95,0.269,11430,0.106,0.076,2700,2101,2084,2140,2028,0,0,0,0,0,0,14.18,14.09,13.73
$GC,6231,0.23,314.6,2701,2101,2150,2044,254.0,14.2,465,6242,0.15,2.53,1.62,0.242,12932,0.229,0.084,2665,697,2083,2137,2030,0,0,0,0,0,0,14.07,14.18,13.88
$GC,6297,0.26,314.6,2669,698,2142,2038,246.5,10.0,478,6303,0.00,2.45,0.00,0.000,1158,0.000,0.077,2669,2108,2089,2142,2037,0,0,0,0,0,0,14.31,14.19,14.35
$GC,6623,0.27,328.3,2669,2110,2147,2038,214.5,9.4,493,6659,0.00,2.50,30.58,1.367,8740,0.000,0.085,2669,698,2024,2076,1973,0,0,0,0,0,0,14.66,13.88,13.27
$GC,6721,0.36,364.4,2668,698,2066,1970,206.0,8.3,512,6795,0.00,2.45,64.32,1.275,9382,0.000,0.078,2669,2103,1872,1911,1834,0,0,0,0,0,0,14.30,14.17,13.16
$GC,7106,0.43,390.0,2669,2103,1898,1825,171.0,8.8,539,7149,0.15,0.00,41.25,1.292,10406,0.122,0.000,2733,2103,1776,1805,1747,0,0,0,0,0,0,14.28,14.04,13.26
$GC,7436,0.38,390.0,2733,2104,1793,1731,129.9,12.3,550,7441,0.00,2.47,0.00,0.000,644,0.000,0.085,2741,693,1760,1791,1730,0,0,0,0,0,0,14.57,14.18,14.59
$GC,7573,0.38,390.0,2741,692,1787,1731,113.6,11.7,577,7578,0.15,2.47,0.00,0.000,5126,0.232,0.079,2710,2106,1758,1786,1730,0,0,0,0,0,0,14.04,14.14,14.31
$GC,7881,0.44,430.1,2710,2108,1787,1728,85.9,8.2,599,7902,0.00,0.00,19.90,0.450,8358,0.000,0.000,2709,2107,1610,1641,1579,0,0,0,0,0,0,14.58,14.16,13.67
$GC,8198,0.58,512.9,2710,2108,1649,1582,61.9,6.2,631,8252,0.17,2.55,44.35,0.383,10916,0.104,0.085,2794,697,1273,1326,1220,0,0,0,0,0,0,14.26,14.07,13.69
$GC,8312,0.62,517.2,2794,698,1327,1224,51.1,9.8,653,8324,0.00,2.45,3.03,0.317,9382,0.000,0.077,2794,2101,1254,1308,1200,0,0,0,0,0,0,14.17,14.05,13.66
$GC,8622,0.71,601.3,2795,2101,1313,1210,26.3,6.1,685,8673,0.00,0.00,45.88,0.285,8870,0.000,0.000,2794,2101,909,979,840,0,0,0,0,0,0,14.55,13.97,13.78
$GC,8972,0.90,680.1,2794,2104,981,846,4.0,6.4,723,9000,0.20,0.00,25.40,0.215,10914,0.104,0.000,2880,2101,721,781,662,0,0,0,0,0,0,14.23,28.83,14.28
$STATE,9000,end climb,SURFACE_DEPTH_REACHED
$STATE,9000,begin surface coast
$FINISH,0.1,1.011093
$STATE,9023,end surface coast,CONTROL_FINISHED_OK
$STATE,9023,begin surface
$SM_CCo,9044,30.73,0.210,0,0,500,702.78
$SM_GC,1.38,8.30,0.17,30.73,0.080,0.109,0.210,194,2230,500,-7.39,-0.65,702.78,0,0,0,0,0,0,14.31,14.31,13.95
$RAFOS_CLK,257
$MODEM,1,1504584725,73.78700,-144.83000,305.068,441937.9
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7457.27,-15208.32,050917,025613
$TT8_MAMPS,0.040446,0.920521
$HUMID,46.85
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,22
$CP_FREE,15965028352.000000
$PM_FREEKB_00,50537088
$24V_AH,12.23,163.133
$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,26.150,84.025,963.575,30.725,0.000,0.000,0.000,419.025,5.500,0.000,11.592,0.000,6309.688,876.518,2346.021,299.566,0.000,2297.611,0.000,1046.333,2212.000,0.539,0.000
$DEVICE_MAMPS,453.645,2141.235,1445.085,210.375,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4929.000,9018.000,8995.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.061,20.000,9.906,0.000
$MEM,323412
$DATA_FILE_SIZE,26749,731
$CAP_FILE_SIZE,103216,0
$CFSIZE,2097872896,2012610560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.3
$CURRENT,0.031,271.20,1
$GPS,050917,053725,7457.743,-15207.271,16,0.7,38,20.2,0.7,35.4,11,5.6