version: 66.13
glider: 196
mission: 14
dive: 10
start: 8 7 117 15 50 47
data:
$ID,196
$MISSION,14
$DIVE,10
$N_DIVES,12
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,165
$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,0
$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,692.78448
$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,20
$R_STBD_OVSHOOT,21
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,68.0
$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
$GPS1,070817,153912,7113.9756,-14735.6182,7,0.9,18,21.2,0.3,76.3,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.4
$GPS2,070817,155015,7113.9858,-14735.3770,14,0.9,23,21.2,0.2,82.9,8,9.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7124.785,-14735.377
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,315.2,20000,-17.9,-10.000,-21.31,2227
$D_GRID,360
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-145.9,206,2216,523,463,0.0,0.0,0,106,0.00,0.00,-83.55,0.000,16386,0.000,0.000,205,2215,2153,2076,2231,0,0,0,0,0,0,14.22,28.83,14.24
$GC,109,-0.57,-145.9,206,2216,2080,2232,3.5,-7.8,15,163,12.43,2.75,-32.65,0.000,18724,0.451,2.143,2378,3607,3964,3945,3983,0,0,0,0,0,0,13.64,12.78,13.89
$GC,388,-0.51,-145.9,2378,3609,3954,3984,73.4,-18.1,69,395,0.15,2.45,0.00,0.000,3206,0.268,0.063,2407,2196,3968,3954,3983,0,0,0,0,0,0,13.78,13.94,14.00
$GC,591,-0.51,-145.9,2409,2196,3956,3984,103.6,-13.2,106,598,0.00,2.55,0.00,0.000,260,0.000,0.092,2400,3608,3974,3955,3994,0,0,0,0,0,0,14.21,13.92,14.22
$GC,715,-0.64,-145.9,2401,3609,3956,3982,116.8,-10.0,130,722,0.00,2.45,0.00,0.000,1158,0.000,0.063,2400,2202,3969,3955,3983,0,0,0,0,0,0,14.00,13.88,14.01
$GC,902,-0.72,-145.9,2400,2201,3956,3984,136.7,-9.9,167,908,0.15,2.53,0.00,0.000,4772,0.131,0.086,2344,787,3969,3955,3983,0,0,0,0,0,0,13.97,13.91,14.02
$GC,963,-0.72,-145.9,2344,787,3956,3982,144.5,-13.2,179,970,0.00,2.58,0.00,0.000,1030,0.000,0.095,2340,2200,3972,3956,3988,0,0,0,0,0,0,14.08,13.92,14.07
$GC,1150,-0.72,-145.9,2341,2200,3956,3983,171.2,-13.4,216,1156,0.00,2.55,0.00,0.000,260,0.000,0.097,2337,3613,3968,3955,3982,0,0,0,0,0,0,14.21,13.90,14.22
$GC,1251,-0.78,-145.9,2337,3612,3956,3983,183.8,-11.6,236,1257,0.00,2.47,0.00,0.000,1158,0.000,0.066,2337,2199,3969,3956,3983,0,0,0,0,0,0,14.04,13.94,14.07
$GC,1437,-0.78,-145.9,2338,2200,3956,3982,206.5,-12.1,273,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2199,3967,3954,3981,0,0,0,0,0,0,14.21,14.23,14.23
$GC,1623,-0.80,-145.9,2337,2200,3956,3982,228.6,-11.3,310,1629,0.00,2.58,0.00,0.000,388,0.000,0.096,2333,3616,3967,3955,3980,0,0,0,0,0,0,14.21,13.85,14.23
$GC,1736,-0.89,-145.9,2333,3617,3963,3981,240.5,-10.2,332,1743,0.12,2.50,0.00,0.000,5254,0.138,0.066,2282,2189,3965,3951,3980,0,0,0,0,0,0,13.96,13.93,14.04
$GC,1923,-0.80,-145.9,2287,2188,3956,3978,267.5,-15.1,369,1929,0.15,0.00,0.00,0.000,2182,0.282,0.000,2320,2188,3966,3955,3978,0,0,0,0,0,0,13.73,13.97,13.89
$GC,2109,-0.80,-145.9,2320,2188,3955,3977,290.6,-12.1,406,2116,0.00,2.58,0.00,0.000,260,0.000,0.096,2312,3608,3966,3955,3977,0,0,0,0,0,0,14.21,13.89,14.21
$GC,2196,-0.84,-145.9,2312,3608,3951,3977,300.9,-11.7,423,2202,0.00,2.47,0.00,0.000,1158,0.000,0.064,2311,2200,3969,3961,3977,0,0,0,0,0,0,14.04,13.94,14.07
$GC,2382,-0.84,-145.9,2311,2200,3955,3976,323.7,-12.4,460,2388,0.00,2.55,0.00,0.000,260,0.000,0.096,2305,3608,3965,3955,3976,0,0,0,0,0,0,14.21,13.88,14.22
$GC,2428,-0.87,-145.9,2306,3609,3956,3975,329.3,-12.1,469,2434,0.00,2.47,0.00,0.000,1158,0.000,0.067,2304,2196,3965,3954,3976,0,0,0,0,0,0,14.03,13.92,14.09
$GC,2624,-0.85,-145.9,2305,2196,3955,3976,354.3,-12.5,503,2625,0.00,0.00,0.00,0.000,134,0.000,0.000,2305,2195,3967,3954,3980,0,0,0,0,0,0,14.23,14.23,14.23
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$MODEM_MSG,CACST,6,1,20170807160621.801799,3,105,14,0143,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170807161509.548298,3,70,12,0104,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$GC,2688,-0.13,0.0,2305,2072,3955,3976,361.8,-12.5,505,2917,0.90,0.05,224.05,1.325,10246,0.249,0.226,2526,2103,3364,3388,3341,0,0,0,0,0,0,13.75,13.33,12.89
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2921,begin climb
$GC,2923,0.57,145.9,2528,2103,3380,3332,371.8,0.0,512,3135,0.75,2.67,196.75,1.269,11012,0.073,0.086,2782,709,2760,2803,2718,0,0,0,0,0,0,13.47,13.21,12.74
$GC,3362,0.29,145.9,2782,709,2793,2713,337.9,14.4,597,3368,0.47,2.55,0.00,0.000,5254,0.310,0.085,2681,2101,2751,2792,2711,0,0,0,0,0,0,13.47,13.66,13.75
$GC,3549,0.17,148.9,2681,2102,2793,2708,318.1,9.9,634,3556,0.17,2.50,0.00,0.000,4772,0.296,0.084,2649,712,2749,2791,2708,0,0,0,0,0,0,13.60,13.82,13.79
$GC,3782,0.19,187.8,2650,713,2792,2709,299.4,8.2,680,3848,0.00,2.50,60.85,1.289,9254,0.000,0.090,2649,2104,2596,2649,2544,0,0,0,0,0,0,14.04,13.93,13.19
$GC,4028,0.20,200.1,2649,2106,2640,2524,276.1,9.4,727,4046,0.00,2.53,11.43,1.474,8740,0.000,0.089,2654,712,2545,2601,2489,0,0,0,0,0,0,14.16,13.85,13.28
$GC,4118,0.26,229.7,2655,712,2599,2485,268.1,8.6,744,4172,0.00,2.50,46.45,1.300,9382,0.000,0.088,2654,2099,2424,2481,2367,0,0,0,0,0,0,13.97,13.88,13.19
$GC,4352,0.27,241.1,2655,2101,2470,2354,246.1,9.5,789,4370,0.00,2.60,11.07,1.453,8484,0.000,0.094,2654,3504,2377,2431,2323,0,0,0,0,0,0,14.16,13.81,13.31
$GC,4385,0.27,241.1,2655,3505,2425,2322,242.6,10.8,795,4392,0.00,2.45,0.00,0.000,1030,0.000,0.069,2657,2117,2372,2423,2322,0,0,0,0,0,0,13.96,13.87,13.98
$GC,4572,0.30,245.6,2655,2118,2421,2322,224.5,9.8,832,4578,0.00,2.58,0.00,0.000,676,0.000,0.096,2655,690,2370,2420,2320,0,0,0,0,0,0,14.19,13.91,14.21
$GC,4648,0.40,269.4,2655,689,2419,2321,217.4,8.9,847,4703,0.17,2.55,45.40,1.291,11430,0.119,0.090,2719,2109,2262,2309,2215,0,0,0,0,0,0,13.95,13.90,13.24
$GC,4883,0.33,269.4,2718,2109,2302,2202,186.2,13.9,892,4889,0.12,2.53,0.00,0.000,4484,0.236,0.089,2688,3507,2251,2301,2201,0,0,0,0,0,0,13.83,13.88,13.94
$GC,4910,0.29,269.4,2689,3508,2300,2200,182.7,13.4,897,4916,0.00,2.47,0.00,0.000,1158,0.000,0.068,2696,2099,2250,2299,2201,0,0,0,0,0,0,14.03,13.93,14.06
$GC,5096,0.26,269.4,2696,2100,2300,2200,162.5,10.5,934,5103,0.12,2.55,0.00,0.000,4740,0.281,0.095,2674,690,2248,2299,2198,0,0,0,0,0,0,13.84,13.97,14.02
$GC,5173,0.37,313.4,2675,688,2298,2200,155.9,8.0,949,5251,0.00,2.53,72.47,1.223,9382,0.000,0.088,2674,2103,2086,2135,2038,0,0,0,0,0,0,14.10,14.00,13.24
$GC,5432,0.48,358.0,2675,2103,2121,2020,135.3,7.9,998,5511,0.15,2.67,72.00,1.183,10916,0.130,0.092,2742,691,1901,1938,1864,0,0,0,0,0,0,13.95,13.64,13.19
$GC,5537,0.48,358.0,2743,691,1925,1862,123.7,11.4,1016,5543,0.00,2.58,0.00,0.000,1030,0.000,0.086,2743,2103,1891,1922,1861,0,0,0,0,0,0,13.85,13.74,13.85
$GC,5723,0.48,358.0,2743,2104,1920,1852,102.4,10.1,1053,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1886,1922,1851,0,0,0,0,0,0,14.13,14.15,14.14
$GC,5909,0.49,383.5,2743,2103,1922,1847,84.5,8.8,1090,5927,0.00,0.00,12.45,0.430,8230,0.000,0.000,2743,2103,1801,1833,1770,0,0,0,0,0,0,14.22,13.85,13.60
$GC,6107,0.57,426.8,2743,2104,1841,1777,66.8,8.0,1129,6138,0.00,2.62,26.38,0.396,8868,0.000,0.093,2743,687,1623,1656,1590,0,0,0,0,0,0,14.23,13.95,13.70
$GC,6183,0.77,472.0,2743,687,1660,1592,60.8,7.9,1143,6219,0.28,2.55,26.75,0.379,11430,0.099,0.089,2842,2105,1439,1484,1395,0,0,0,0,0,0,13.95,13.88,13.68
$GC,6399,0.72,472.0,2842,2105,1485,1398,33.2,11.7,1185,6405,0.12,0.00,0.00,0.000,4230,0.256,0.000,2818,2104,1441,1484,1399,0,0,0,0,0,0,13.82,14.04,14.00
$GC,6585,0.82,532.0,2819,2106,1485,1396,17.3,7.2,1222,6628,0.00,2.58,34.67,0.252,8868,0.000,0.092,2824,680,1194,1259,1129,0,0,0,0,0,0,14.28,13.95,13.79
$GC,6705,1.15,715.5,2819,681,1255,1136,13.8,1.5,1244,6812,0.40,2.55,101.03,0.236,11430,0.086,0.086,2957,2109,497,529,466,0,0,0,0,0,0,14.01,13.96,13.79
$STATE,6840,end climb,SURFACE_DEPTH_REACHED
$STATE,6840,begin surface coast
$FINISH,0.1,1.009904
$STATE,6855,end surface coast,CONTROL_FINISHED_OK
$STATE,6855,begin surface
$SM_CCo,6936,0.00,0.000,0,0,492,704.75
$SM_GC,1.10,8.65,0.17,0.00,0.089,0.123,0.000,206,2215,492,-7.37,-0.37,704.75,0,0,0,0,0,0,14.00,14.01,14.09
$RAFOS_CLK,234
$MODEM,2,1502122509,73.18300,-149.96500,162.548,235763.0
$MODEM,0,1502121981,75.36600,-145.04601,327.802,475449.8
$RAFOS_FIX,7109.520996,-14750.911133,070817,161645,2,255,10.14
$IRIDIUM_FIX,7123.95,-15046.25,070817,133455
$TT8_MAMPS,0.040446,0.877828
$HUMID,47.95
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,2
$CP_FREE,0.000000
$PM_FREEKB_00,61931200
$24V_AH,12.74,46.894
$10V_AH,12.67,0.000
$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,25.325,86.925,941.750,0.000,0.000,0.000,0.000,422.900,0.500,0.000,24.746,0.000,3403.790,990.142,2878.407,331.333,0.000,2447.676,0.000,1824.167,2216.000,0.539,0.000
$DEVICE_MAMPS,451.350,2142.765,1474.155,0.000,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6880.000,6838.000,6856.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.781,111.000,16.577,0.000
$MEM,324744
$DATA_FILE_SIZE,43331,1271
$CAP_FILE_SIZE,126719,0
$CFSIZE,2097872896,2085257216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.109,23.97,1
$GPS,070817,174736,7115.193,-14735.216,32,0.8,33,21.2,0.0,0.0,11,10.0