version: 66.13
glider: 196
mission: 14
dive: 68
start: 8 14 117 14 28 27
data:
$ID,196
$MISSION,14
$DIVE,68
$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,25
$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
$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,197.0
$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
$GPS1,140817,141632,7209.2725,-14756.9688,19,0.7,35,21.3,0.2,56.4,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,140817,142752,7209.2769,-14757.1514,5,0.7,12,21.3,0.6,258.0,12,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,323.6,131508,-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
$GC,46,-0.57,-145.9,165,2214,510,472,0.0,0.0,0,129,0.00,0.00,-81.57,0.000,16386,0.000,0.000,161,2214,2152,2075,2230,0,0,0,0,0,0,14.34,28.83,14.39
$GC,132,-0.57,-145.9,161,2214,2081,2231,4.0,-5.2,8,185,12.60,2.75,-32.15,0.000,18724,0.450,2.147,2377,3607,3965,3952,3978,1,0,0,0,0,0,13.51,12.68,14.11
$GC,410,-0.57,-145.9,2378,3608,3962,3978,63.7,-14.9,63,417,0.00,2.40,0.00,0.000,1030,0.000,0.057,2377,2200,3970,3962,3978,0,0,0,0,0,0,14.12,14.04,14.14
$GC,716,-0.57,-145.9,2378,2199,3965,3979,108.9,-13.8,90,721,0.00,2.47,0.00,0.000,260,0.000,0.086,2375,3601,3971,3964,3978,0,0,0,0,0,0,14.44,14.12,14.46
$GC,786,-0.70,-145.9,2377,3603,3965,3978,117.6,-10.7,104,791,0.00,2.42,0.00,0.000,1158,0.000,0.055,2376,2192,3970,3963,3978,0,0,0,0,0,0,14.28,14.18,14.30
$GC,1107,-0.77,-145.9,2376,2191,3965,3978,154.9,-11.4,118,1112,0.15,2.47,0.00,0.000,4484,0.131,0.083,2305,3601,3973,3963,3983,0,0,0,0,0,0,13.94,14.13,14.01
$GC,1192,-0.77,-145.9,2307,3603,3964,3978,167.8,-15.0,135,1199,0.00,2.38,0.00,0.000,1030,0.000,0.057,2306,2201,3969,3963,3975,0,0,0,0,0,0,14.29,14.19,14.32
$GC,1497,-0.72,-145.9,2306,2202,3964,3979,216.2,-15.0,146,1502,0.17,2.47,0.00,0.000,2436,0.280,0.081,2337,3607,3970,3963,3978,0,0,0,0,0,0,13.85,14.13,14.03
$GC,1589,-0.85,-145.9,2337,3608,3964,3979,226.0,-9.7,164,1594,0.00,2.38,0.00,0.000,1190,0.000,0.057,2337,2199,3970,3963,3978,0,0,0,0,0,0,14.31,14.20,14.34
$GC,1919,-0.91,-145.9,2337,2202,3964,3976,259.3,-9.9,180,1921,0.15,0.00,0.00,0.000,4262,0.128,0.000,2275,2201,3969,3962,3976,0,0,0,0,0,0,14.28,14.39,14.36
$GC,2219,-0.86,-145.9,2276,2202,3962,3975,301.8,-14.2,190,2224,0.00,2.45,0.00,0.000,388,0.000,0.086,2266,3600,3967,3961,3974,0,0,0,0,0,0,14.54,14.19,14.54
$GC,2350,-0.86,-145.9,2267,3601,3961,3974,319.9,-13.6,216,2356,0.15,2.38,0.00,0.000,3078,0.272,0.058,2297,2195,3966,3959,3974,0,0,0,0,0,0,13.99,14.23,14.26
$GC,2671,-0.86,-145.9,2297,2195,3961,3974,358.3,-11.8,230,2675,0.00,2.47,0.00,0.000,260,0.000,0.086,2291,3604,3966,3960,3973,0,0,0,0,0,0,14.54,14.15,14.56
$GC,2761,-0.93,-145.9,2292,3605,3961,3973,368.6,-11.0,248,2766,0.00,2.38,0.00,0.000,1158,0.000,0.057,2292,2201,3966,3960,3972,0,0,0,0,0,0,14.31,14.19,14.34
$GC,3091,-0.93,-145.9,2293,2200,3961,3971,408.4,-12.1,264,3095,0.00,2.45,0.00,0.000,260,0.000,0.085,2283,3607,3965,3959,3971,0,0,0,0,0,0,14.54,14.15,14.56
$GC,3141,-0.97,-145.9,2283,3603,3960,3971,414.5,-11.9,274,3146,0.00,2.38,0.00,0.000,1158,0.000,0.059,2282,2198,3965,3959,3971,0,0,0,0,0,0,14.22,14.15,14.26
$GC,3451,-0.97,-145.9,2283,2198,3960,3970,454.1,-12.6,286,3456,0.00,2.47,0.00,0.000,260,0.000,0.086,2280,3607,3964,3959,3970,0,0,0,0,0,0,14.54,14.14,14.55
$GC,3521,-1.02,-145.9,2280,3607,3959,3970,462.5,-11.7,300,3526,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2200,3964,3958,3970,0,0,0,0,0,0,14.33,14.21,14.36
$STATE,3689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3689,begin apogee
$GC,3694,-0.13,0.0,2280,2058,3959,3971,483.7,-12.5,309,3903,0.98,0.08,203.48,1.443,10246,0.241,0.181,2528,2102,3365,3395,3335,0,0,0,0,0,0,13.90,13.45,12.86
$STATE,3907,end apogee,CONTROL_FINISHED_OK
$STATE,3907,begin climb
$GC,3909,0.57,145.9,2529,2103,3394,3334,493.5,0.0,316,4119,0.75,2.67,198.80,1.386,10500,0.067,0.075,2781,3506,2762,2814,2711,0,0,0,0,0,0,13.60,13.10,12.58
$GC,4346,0.16,145.9,2782,3506,2798,2711,456.1,17.8,362,4351,0.75,2.40,0.00,0.000,5254,0.342,0.057,2637,2132,2753,2796,2711,0,0,0,0,0,0,13.47,13.78,13.81
$GC,4656,0.08,169.7,2638,2132,2797,2711,427.0,8.9,374,4692,0.00,2.45,29.35,1.467,8612,0.000,0.081,2637,3505,2671,2717,2625,0,0,0,0,0,0,14.30,13.91,13.18
$GC,4917,-0.01,169.7,2638,3506,2709,2623,399.9,10.5,426,4922,0.28,2.40,0.00,0.000,5254,0.248,0.058,2582,2099,2665,2708,2622,0,0,0,0,0,0,13.88,14.09,14.14
$GC,5228,0.12,254.7,2582,2099,2710,2621,380.4,6.1,438,5359,0.12,0.00,128.12,1.333,10662,0.137,0.000,2641,2098,2325,2379,2271,0,0,0,0,0,0,14.21,13.66,13.04
$GC,5647,0.12,254.7,2641,2099,2364,2253,338.9,10.1,462,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2098,2309,2366,2253,0,0,0,0,0,0,14.19,14.21,14.21
$GC,5948,0.14,260.8,2641,2098,2366,2252,309.6,9.7,472,5949,0.00,0.00,0.70,0.317,8358,0.000,0.000,2641,2103,2300,2356,2245,0,0,0,0,0,0,14.31,14.12,13.90
$GC,6247,0.15,274.4,2640,2099,2360,2249,281.1,9.4,482,6279,0.00,2.50,24.70,1.419,8740,0.000,0.083,2646,685,2241,2295,2187,0,0,0,0,0,0,14.36,13.90,13.33
$GC,6324,0.25,295.5,2646,684,2296,2187,274.0,9.0,497,6359,0.00,2.50,30.77,1.390,9382,0.000,0.080,2646,2101,2164,2218,2111,0,0,0,0,0,0,14.07,13.98,13.20
$GC,6671,0.32,312.6,2646,2102,2210,2097,241.4,9.2,516,6701,0.12,0.00,26.80,1.396,10406,0.132,0.000,2697,2100,2089,2143,2036,0,0,0,0,0,0,14.11,13.95,13.28
$GC,6999,0.29,312.6,2697,2101,2137,2028,202.2,11.5,527,7004,0.00,2.53,0.00,0.000,644,0.000,0.086,2698,686,2081,2135,2028,0,0,0,0,0,0,14.29,13.99,14.31
$GC,7049,0.32,312.6,2699,686,2134,2029,197.0,10.1,537,7055,0.00,2.50,0.00,0.000,1158,0.000,0.078,2698,2100,2080,2133,2028,0,0,0,0,0,0,14.07,13.96,14.09
$GC,7360,0.32,314.5,2695,2101,2134,2027,165.6,9.9,549,7361,0.00,0.00,0.00,0.000,38,0.000,0.000,2698,2104,2079,2133,2026,0,0,0,0,0,0,14.35,14.37,14.36
$MODEM_MSG,CACST,6,1,20170814162154.964986,3,160,22,0183,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01
$GC,7660,0.33,329.2,2699,2101,2133,2026,137.1,9.3,559,7695,0.00,2.50,25.20,1.393,8740,0.000,0.082,2699,691,2019,2069,1969,0,0,0,0,0,0,14.37,13.88,13.34
$GC,7730,0.43,361.2,2699,692,2066,1970,130.9,8.5,572,7787,0.00,2.45,52.22,1.278,9382,0.000,0.078,2698,2105,1893,1934,1852,0,0,0,0,0,0,14.12,14.00,13.20
$GC,8085,0.51,391.9,2699,2105,1923,1839,100.0,8.6,593,8106,0.15,0.00,15.15,0.513,10406,0.121,0.000,2754,2105,1766,1799,1734,0,0,0,0,0,0,14.02,13.83,13.54
$GC,8405,0.48,391.9,2762,2105,1803,1733,62.6,10.4,625,8410,0.00,2.50,0.00,0.000,644,0.000,0.085,2768,691,1766,1801,1732,0,0,0,0,0,0,14.39,14.00,14.39
$GC,8471,0.51,394.7,2768,692,1797,1732,56.0,9.9,638,8477,0.00,2.50,0.00,0.000,1190,0.000,0.078,2768,2106,1764,1796,1732,0,0,0,0,0,0,14.18,14.09,14.21
$GC,8776,0.55,460.1,2768,2106,1797,1729,29.0,7.0,669,8818,0.00,2.53,34.50,0.303,8740,0.000,0.085,2768,687,1489,1531,1447,0,0,0,0,0,0,14.44,14.08,13.86
$GC,8900,0.74,553.9,2769,686,1530,1445,21.2,5.7,693,8953,0.15,2.50,47.28,0.275,11430,0.126,0.079,2829,2108,1104,1178,1031,0,0,0,0,0,0,14.04,14.03,13.85
$GC,9249,0.92,729.0,2830,2108,1178,1018,9.8,1.9,733,9333,0.12,2.53,74.80,0.234,10660,0.133,0.081,2889,3509,499,540,458,0,0,0,0,0,0,14.16,13.95,13.92
$GC,9350,0.97,729.0,2890,3510,541,459,2.2,10.9,752,9356,0.00,2.45,0.00,0.000,1158,0.000,0.068,2890,2099,501,541,461,0,0,0,0,0,0,14.13,14.02,14.17
$STATE,9361,end climb,SURFACE_DEPTH_REACHED
$STATE,9361,begin surface coast
$FINISH,0.2,1.020180
$STATE,9381,end surface coast,CONTROL_FINISHED_OK
$STATE,9381,begin surface
$SM_CCo,9462,0.00,0.000,0,0,497,703.28
$SM_GC,1.26,8.32,0.20,0.00,0.086,0.138,0.000,205,2207,497,-7.37,-0.42,703.28,0,0,0,0,0,0,14.19,14.12,14.26
$RAFOS_CLK,190
$MODEM,3,1502727714,74.30400,-153.94400,207.965,301890.5
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7206.48,-14753.74,140817,113857
$TT8_MAMPS,0.038948,0.884569
$HUMID,48.89
$INTERNAL_PRESSURE,7.81082
$TCM_TEMP,13.70
$XPDR_PINGS,7
$CP_FREE,16007790592.000000
$PM_FREEKB_00,57949184
$24V_AH,12.58,74.881
$10V_AH,12.52,0.000
$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,24.975,79.450,891.875,0.000,0.000,0.000,0.000,413.725,1.750,0.000,13.431,0.000,6875.992,795.787,2211.836,277.018,0.000,2052.848,0.000,1089.309,2218.000,0.539,0.000
$DEVICE_MAMPS,449.820,2147.355,1467.270,0.000,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9409.000,9403.000,9358.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.524,20.000,16.577,0.000
$MEM,323664
$DATA_FILE_SIZE,26700,756
$CAP_FILE_SIZE,104020,0
$CFSIZE,2097872896,2067824640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.066,281.08,1
$GPS,140817,170752,7210.481,-14758.698,17,0.8,57,21.3,0.8,245.6,11,11.3