version: 66.13
glider: 196
mission: 13
dive: 3
start: 6 14 117 19 46 31
data:
$ID,196
$MISSION,13
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,55
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55142
$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,627.77997
$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,2
$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,2650
$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,2300
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$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
$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,200.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,4.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,140617,194236,4744.8755,-12224.1914,5,0.8,9,16.3,0.0,7.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.4
$GPS2,140617,194559,4744.9248,-12224.1777,7,0.8,10,16.3,0.0,15.0,10,9.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,172.7,2831,-17.9,-10.000,-21.28,2227
$D_GRID,177
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,35,-0.57,-146.6,198,2323,558,536,0.0,0.0,0,165,0.00,0.00,-127.75,0.000,16386,0.000,0.000,196,2324,3553,3493,3614,0,0,0,0,0,0,14.64,28.83,14.69
$GC,168,-0.57,-146.6,199,2325,3494,3616,3.8,-7.9,22,188,11.55,2.55,-2.88,0.000,18724,0.416,2.098,2449,3703,3699,3664,3734,0,0,0,0,0,0,14.12,13.24,14.45
$GC,368,-0.50,-146.6,2449,3706,3668,3734,46.8,-16.0,61,376,0.15,2.40,0.00,0.000,3206,0.263,0.069,2478,2295,3701,3670,3733,0,0,0,0,0,0,14.06,14.23,14.28
$GC,556,-0.46,-146.6,2478,2294,3672,3732,69.8,-10.9,98,562,0.00,2.38,0.00,0.000,644,0.000,0.068,2478,882,3701,3671,3732,0,0,0,0,0,0,14.59,14.30,14.61
$GC,593,-0.49,-146.6,2479,881,3672,3728,73.7,-9.9,105,600,0.00,2.42,0.00,0.000,1190,0.000,0.090,2478,2276,3702,3674,3731,0,0,0,0,0,0,14.42,14.30,14.42
$GC,794,-0.49,-146.6,2479,2277,3672,3732,93.6,-12.1,142,800,0.00,2.50,0.00,0.000,260,0.000,0.084,2472,3718,3701,3671,3731,0,0,0,0,0,0,14.53,14.26,14.55
$GC,886,-0.58,-146.6,2473,3719,3672,3731,102.8,-9.0,160,892,0.00,2.42,0.00,0.000,1190,0.000,0.064,2472,2290,3701,3671,3731,0,0,0,0,0,0,14.33,14.23,14.36
$GC,1072,-0.58,-146.6,2472,2289,3672,3731,122.3,-11.2,197,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2289,3701,3671,3731,0,0,0,0,0,0,14.52,14.55,14.54
$GC,1258,-0.58,-146.6,2471,2290,3672,3731,144.8,-12.0,234,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2289,3700,3671,3730,0,0,0,0,0,0,14.51,14.52,14.55
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1424,-0.13,0.0,2470,1976,3673,3729,165.4,-13.2,266,1619,0.50,0.00,186.48,1.003,10246,0.220,0.000,2602,1975,3092,3100,3084,0,0,0,0,0,0,14.12,13.85,13.50
$STATE,1623,end apogee,CONTROL_FINISHED_OK
$STATE,1623,begin climb
$GC,1625,0.57,146.6,2604,1975,3098,3079,175.8,0.0,300,1776,0.70,2.60,139.07,1.000,11012,0.072,0.073,2844,3418,2486,2516,2456,0,0,0,0,0,0,14.02,13.91,13.47
$GC,1781,0.23,146.6,2844,3420,2505,2452,169.0,14.8,318,1788,0.55,2.40,0.00,0.000,5254,0.295,0.057,2732,2025,2478,2502,2455,0,0,0,0,0,0,13.82,13.95,14.01
$GC,1968,0.19,153.6,2732,2025,2502,2442,151.6,9.7,355,1974,0.00,0.00,0.00,0.000,166,0.000,0.000,2732,2024,2467,2501,2434,0,0,0,0,0,0,14.35,14.37,14.36
$GC,2154,0.18,179.3,2732,2024,2501,2435,134.6,8.8,392,2190,0.00,2.40,29.42,0.995,8612,0.000,0.074,2731,3417,2357,2386,2328,0,0,0,0,0,0,14.43,14.09,13.71
$GC,2210,0.14,179.3,2732,3417,2368,2323,129.2,12.7,402,2216,0.17,2.42,0.00,0.000,5254,0.236,0.066,2702,1996,2345,2370,2321,0,0,0,0,0,0,14.03,14.12,14.21
$GC,2397,0.23,191.8,2702,1995,2370,2312,113.4,9.4,439,2403,0.00,0.00,3.45,0.783,8358,0.000,0.000,2702,1995,2315,2344,2286,0,0,0,0,0,0,14.44,14.26,13.58
$GC,2583,0.32,192.3,2702,1996,2364,2294,96.4,10.0,476,2590,0.15,2.53,1.83,0.183,10660,0.106,0.076,2776,3418,2315,2347,2283,0,0,0,0,0,0,14.21,14.14,14.12
$GC,2611,0.24,192.3,2777,3421,2354,2289,92.5,15.6,481,2618,0.25,2.42,0.00,0.000,5254,0.261,0.064,2729,1996,2319,2350,2289,0,0,0,0,0,0,14.00,14.14,14.21
$GC,2798,0.24,192.3,2729,1992,2363,2290,71.4,10.0,518,2804,0.00,0.00,1.67,0.203,8198,0.000,0.000,2729,1992,2313,2345,2281,0,0,0,0,0,0,14.46,14.26,14.12
$MODEM_MSG,CACST,6,1,20170614202645.259349,3,18,00,0112,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,2984,0.31,240.5,2730,1992,2362,2288,54.5,7.8,555,3017,0.00,2.45,26.33,0.310,8612,0.000,0.074,2728,3415,2116,2148,2085,0,0,0,0,0,0,14.45,14.21,14.03
$GC,3034,0.41,291.0,2730,3417,2151,2095,50.7,7.7,563,3066,0.15,2.40,26.25,0.304,11430,0.099,0.065,2800,1999,1910,1921,1899,0,0,0,0,0,0,14.27,14.22,14.03
$GC,3246,0.41,291.0,2800,1999,1940,1901,23.0,12.8,604,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1998,1919,1939,1900,0,0,0,0,0,0,14.43,14.45,14.45
$STATE,3409,end climb,SURFACE_DEPTH_REACHED
$STATE,3409,begin surface coast
$FINISH,0.3,1.020883
$STATE,3427,end surface coast,CONTROL_FINISHED_OK
$STATE,3427,begin surface
$SM_CCo,3446,164.85,0.158,0,0,539,627.97
$SM_GC,1.07,7.75,0.52,164.85,0.065,0.084,0.158,199,2313,539,-7.61,-0.59,627.97,0,0,0,0,0,0,14.31,14.28,14.16
$RAFOS_CLK,45
$MODEM,2,1497472005,74.38900,-147.59100,378.259,554149.9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4745.33,-12219.67,140617,193932
$TT8_MAMPS,0.086135,0.827645
$HUMID,42.16
$INTERNAL_PRESSURE,8.15263
$TCM_TEMP,18.30
$XPDR_PINGS,20
$SC_FREEKB,4016004
$CP_FREE,16017915904.000000
$PM_FREEKB,62263424
$24V_AH,13.24,39.710
$10V_AH,13.36,0.000
$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,21.925,35.300,414.500,164.850,0.000,0.000,0.000,0.000,5.000,0.000,10.969,0.000,1608.492,630.905,1355.318,102.921,0.000,1204.232,0.000,922.696,2217.000,0.547,0.000
$DEVICE_MAMPS,416.160,2097.630,1002.915,158.355,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3416.000,3408.000,3392.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.511,111.000,17.016,0.000
$MEM,300816
$DATA_FILE_SIZE,20084,640
$CAP_FILE_SIZE,103029,0
$CFSIZE,2097872896,2092105728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.9
$CURRENT,0.220,354.90,1
$GPS,140617,204744,4744.908,-12224.404,4,1.1,20,16.3,0.5,1.7,8,9.7