version: 66.13
glider: 196
mission: 14
dive: 42
start: 8 11 117 13 22 53
data:
$ID,196
$MISSION,14
$DIVE,42
$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,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,48
$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,131.0
$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
$GPS1,110817,122222,7144.2319,-14728.7139,41,0.8,43,21.4,0.0,0.0,11,8.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.9
$GPS2,110817,132223,7143.7925,-14727.7578,5,0.8,13,21.4,0.5,135.8,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,329.2,180598,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$MODEM_MSG,CACST,6,1,20170811121430.945044,3,215,23,0151,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,46,-0.57,-145.9,151,2203,507,480,0.0,0.0,0,129,0.00,0.00,-81.45,0.000,16386,0.000,0.000,149,2203,2226,2155,2298,0,0,0,0,0,0,14.18,28.83,14.19
$GC,132,-0.57,-145.9,150,2203,2157,2297,3.2,-4.0,8,185,12.70,2.72,-32.55,0.000,18980,0.447,2.117,2385,795,3966,3955,3977,1,0,0,0,0,0,13.51,12.71,14.04
$GC,255,-0.53,-145.9,2390,794,3962,3978,36.0,-18.9,32,260,0.15,2.50,0.00,0.000,3206,0.297,0.083,2404,2205,3969,3960,3978,0,0,0,0,0,0,13.69,13.90,13.70
$GC,565,-0.56,-145.9,2406,2206,3965,3978,84.5,-12.6,64,570,0.00,2.47,0.00,0.000,388,0.000,0.086,2401,3610,3971,3964,3978,0,0,0,0,0,0,14.38,14.00,14.39
$GC,670,-0.69,-145.9,2402,3610,3965,3978,95.9,-10.3,85,677,0.12,2.38,0.00,0.000,5254,0.124,0.051,2347,2196,3971,3965,3978,0,0,0,0,0,0,14.10,14.07,14.17
$GC,975,-0.69,-145.9,2347,2197,3962,3978,141.6,-14.4,98,980,0.00,2.50,0.00,0.000,260,0.000,0.085,2345,3618,3970,3964,3977,0,0,0,0,0,0,14.45,14.11,14.47
$GC,1066,-0.78,-145.9,2345,3619,3965,3978,152.9,-11.7,116,1070,0.00,2.40,0.00,0.000,1158,0.000,0.053,2346,2194,3971,3964,3978,0,0,0,0,0,0,14.28,14.17,14.30
$GC,1396,-0.81,-145.9,2346,2192,3965,3974,194.6,-12.3,132,1400,0.00,2.50,0.00,0.000,388,0.000,0.087,2345,3610,3968,3964,3972,0,0,0,0,0,0,14.50,14.11,14.52
$GC,1481,-0.92,-145.9,2346,3612,3965,3974,203.9,-10.2,149,1487,0.20,2.40,0.00,0.000,5254,0.101,0.054,2272,2195,3968,3962,3974,0,0,0,0,0,0,14.11,14.14,14.19
$GC,1786,-0.82,-145.9,2267,2193,3965,3971,254.3,-16.5,160,1791,0.17,2.50,0.00,0.000,2436,0.286,0.081,2300,3619,3967,3964,3970,0,0,0,0,0,0,13.91,14.16,14.09
$GC,1911,-0.85,-145.9,2300,3621,3963,3971,270.4,-12.0,185,1916,0.00,2.42,0.00,0.000,1158,0.000,0.055,2303,2192,3969,3963,3976,0,0,0,0,0,0,14.26,14.15,14.29
$GC,2236,-0.85,-145.9,2301,2192,3964,3966,310.4,-12.2,200,2241,0.00,2.50,0.00,0.000,260,0.000,0.086,2293,3616,3964,3963,3966,0,0,0,0,0,0,14.53,14.19,14.55
$GC,2341,-0.89,-145.9,2293,3616,3963,3966,322.9,-11.5,221,2346,0.00,2.40,0.00,0.000,1158,0.000,0.055,2293,2193,3963,3961,3966,0,0,0,0,0,0,14.30,14.19,14.33
$GC,2656,-0.89,-145.9,2294,2193,3962,3964,360.8,-12.0,234,2661,0.00,2.50,0.00,0.000,260,0.000,0.086,2287,3617,3962,3961,3964,0,0,0,0,0,0,14.53,14.19,14.58
$GC,2731,-0.93,-145.9,2288,3620,3961,3965,369.9,-11.7,249,2736,0.00,2.40,0.00,0.000,1158,0.000,0.056,2287,2196,3962,3960,3964,0,0,0,0,0,0,14.27,14.17,14.30
$GC,3046,-0.93,-145.9,2288,2196,3960,3962,409.0,-12.5,262,3051,0.00,2.50,0.00,0.000,260,0.000,0.085,2280,3620,3960,3960,3961,0,0,0,0,0,0,14.54,14.17,14.55
$GC,3141,-0.95,-145.9,2280,3621,3959,3962,421.0,-12.1,281,3146,0.00,2.40,0.00,0.000,1158,0.000,0.056,2280,2195,3959,3958,3961,0,0,0,0,0,0,14.28,14.18,14.32
$GC,3466,-0.92,-145.9,2281,2194,3959,3961,463.8,-13.2,296,3471,0.00,2.50,0.00,0.000,388,0.000,0.086,2280,3613,3959,3958,3960,0,0,0,0,0,0,14.53,14.17,14.55
$GC,3566,-0.95,-145.9,2279,3615,3957,3961,476.7,-12.3,316,3571,0.00,2.40,0.00,0.000,1158,0.000,0.055,2279,2190,3958,3956,3960,0,0,0,0,0,0,14.33,14.21,14.37
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3620,-0.13,0.0,2280,2065,3957,3956,483.1,-12.9,321,3819,1.00,0.08,195.55,1.448,10246,0.247,0.184,2532,2110,3362,3396,3328,0,0,0,0,0,0,13.95,13.52,12.95
$STATE,3823,end apogee,CONTROL_FINISHED_OK
$STATE,3823,begin climb
$GC,3825,0.57,145.9,2533,2110,3395,3322,492.1,0.0,327,4026,0.73,2.65,187.07,1.394,10500,0.066,0.076,2777,3503,2762,2816,2709,0,0,0,0,0,0,13.65,13.27,12.69
$GC,4211,0.17,145.9,2778,3505,2799,2710,461.3,17.8,397,4216,0.70,2.40,0.00,0.000,5254,0.343,0.056,2644,2126,2753,2798,2709,0,0,0,0,0,0,13.44,13.75,13.76
$GC,4522,0.09,166.3,2644,2126,2800,2706,431.6,9.1,409,4553,0.15,0.00,24.33,1.475,12454,0.294,0.000,2613,2125,2683,2736,2631,0,0,0,0,0,0,13.81,13.94,13.26
$GC,4851,0.13,215.6,2613,2125,2731,2627,406.0,7.7,420,4927,0.00,2.58,69.38,1.395,8740,0.000,0.085,2615,695,2482,2543,2421,0,0,0,0,0,0,14.35,13.78,13.19
$GC,4977,0.25,260.7,2615,695,2539,2418,396.1,7.9,445,5048,0.15,2.50,63.45,1.369,11430,0.112,0.079,2676,2093,2301,2358,2244,0,0,0,0,0,0,13.92,13.87,13.07
$GC,5363,0.20,260.7,2676,2094,2346,2231,347.8,12.7,472,5364,0.00,0.00,0.00,0.000,134,0.000,0.000,2676,2093,2287,2345,2230,0,0,0,0,0,0,14.27,14.28,14.28
$GC,5663,0.16,260.7,2676,2093,2344,2228,310.3,12.3,482,5668,0.15,2.47,0.00,0.000,4740,0.265,0.080,2648,693,2285,2343,2228,0,0,0,0,0,0,13.95,14.12,14.11
$GC,5694,0.20,260.7,2648,694,2342,2229,307.0,10.0,488,5700,0.00,2.47,0.00,0.000,1158,0.000,0.079,2646,2102,2284,2341,2228,0,0,0,0,0,0,14.23,14.12,14.26
$GC,6025,0.20,260.7,2648,2103,2341,2228,273.6,10.1,504,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2102,2284,2341,2227,0,0,0,0,0,0,14.47,14.49,14.51
$GC,6325,0.23,266.6,2649,2102,2341,2227,243.9,9.7,514,6326,0.00,0.00,0.00,0.000,166,0.000,0.000,2648,2102,2283,2340,2227,0,0,0,0,0,0,14.49,14.51,14.54
$GC,6625,0.27,282.3,2649,2102,2341,2227,215.4,9.3,524,6661,0.00,2.53,29.38,1.384,8868,0.000,0.084,2651,695,2209,2265,2154,0,0,0,0,0,0,14.51,14.11,13.47
$GC,6708,0.39,314.4,2654,697,2260,2154,208.2,8.5,540,6766,0.17,2.47,50.83,1.301,11430,0.111,0.080,2722,2108,2080,2131,2030,0,0,0,0,0,0,14.12,14.08,13.31
$GC,7076,0.34,314.4,2721,2109,2122,2020,160.7,12.3,564,7077,0.00,0.00,0.00,0.000,134,0.000,0.000,2722,2108,2070,2121,2019,0,0,0,0,0,0,14.35,14.37,14.36
$GC,7377,0.30,314.4,2722,2109,2118,2018,127.1,10.7,574,7378,0.17,0.00,0.00,0.000,4230,0.226,0.000,2682,2108,2068,2120,2017,0,0,0,0,0,0,14.01,14.28,14.28
$GC,7677,0.41,378.6,2682,2109,2120,2014,105.0,7.0,584,7789,0.00,2.60,103.35,1.198,8868,0.000,0.087,2683,702,1815,1849,1782,0,0,0,0,0,0,14.47,13.74,13.27
$GC,7836,0.62,443.0,2682,703,1842,1783,93.8,7.0,615,7875,0.30,2.50,31.77,0.490,11430,0.088,0.080,2790,2098,1557,1597,1517,0,0,0,0,0,0,13.89,13.83,13.56
$GC,8171,0.60,443.0,2791,2099,1598,1507,48.9,11.7,652,8177,0.00,2.50,0.00,0.000,644,0.000,0.086,2790,694,1551,1597,1506,0,0,0,0,0,0,14.28,13.93,14.30
$GC,8294,0.67,479.7,2795,694,1591,1506,37.3,8.3,676,8316,0.00,2.50,17.67,0.330,9382,0.000,0.080,2794,2111,1406,1456,1357,0,0,0,0,0,0,14.16,14.06,13.75
$GC,8612,0.87,629.9,2794,2111,1457,1351,15.1,3.1,710,8693,0.17,0.00,73.60,0.255,10662,0.113,0.000,2870,2110,794,871,718,0,0,0,0,0,0,14.14,14.10,13.86
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$FINISH,0.1,1.020026
$STATE,8840,end surface coast,CONTROL_FINISHED_OK
$STATE,8840,begin surface
$SM_CCo,8861,38.65,0.209,0,0,499,702.78
$SM_GC,1.31,8.23,0.15,38.65,0.081,0.103,0.209,207,2217,499,-7.36,-0.76,702.78,0,0,0,0,0,0,14.16,14.19,13.95
$RAFOS_CLK,333
$MODEM,2,1502453670,73.18300,-149.96500,123.945,179959.6
$RAFOS_FIX,7143.094727,-14732.961914,110817,080823,2,255,0.45
$IRIDIUM_FIX,7147.54,-14740.70,110817,130211
$TT8_MAMPS,0.039697,1.14297
$HUMID,49.40
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.40
$XPDR_PINGS,98
$CP_FREE,16012345344.000000
$PM_FREEKB_00,59862912
$24V_AH,12.69,62.691
$10V_AH,12.57,0.000
$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,25.275,74.950,846.375,38.650,0.000,0.000,0.000,2917.250,24.500,0.000,14.608,0.000,6707.080,883.178,4322.205,597.918,0.000,4504.652,0.000,1059.117,0.000,0.542,0.000
$DEVICE_MAMPS,446.760,2116.755,1474.920,208.845,0.000,0.000,0.000,204.255,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8832.000,8869.000,8816.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.686,20.000,16.540,0.000
$MEM,323640
$DATA_FILE_SIZE,26765,738
$CAP_FILE_SIZE,117086,0
$CFSIZE,2097872896,2073133056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,3838.67,0x2341ea,1,24
$SOUNDSPEED,1451.7
$CURRENT,0.097,213.80,1
$GPS,110817,155230,7144.633,-14728.538,24,0.6,33,21.4,0.0,126.3,12,9.8