version: 66.13
glider: 196
mission: 14
dive: 70
start: 8 14 117 20 19 43
data:
$ID,196
$MISSION,14
$DIVE,70
$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,44
$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,203.0
$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
$GPS1,140817,200436,7211.7876,-14759.7031,36,0.8,39,21.3,0.6,309.8,10,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.6
$GPS2,140817,201910,7211.8540,-14759.7354,8,0.8,10,21.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,313.1,126678,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,165,2227,515,455,0.0,0.0,0,126,0.00,0.00,-78.25,0.000,16386,0.000,0.000,161,2227,2061,1984,2139,0,0,0,0,0,0,14.36,28.83,14.38
$GC,129,-0.57,-145.9,162,2228,1985,2138,3.7,-4.7,8,185,12.68,2.70,-36.53,0.000,18724,0.451,2.146,2376,3582,3965,3950,3981,0,0,0,0,0,0,13.65,12.68,14.04
$GC,411,-0.57,-145.9,2376,3579,3960,3980,63.5,-15.3,64,415,0.00,2.38,0.00,0.000,1030,0.000,0.056,2376,2200,3969,3959,3979,0,0,0,0,0,0,14.04,13.95,14.07
$GC,742,-0.57,-145.9,2376,2198,3962,3979,113.7,-13.9,92,747,0.00,2.47,0.00,0.000,260,0.000,0.082,2365,3595,3972,3965,3979,0,0,0,0,0,0,14.33,14.02,14.33
$GC,879,-0.68,-145.9,2365,3596,3962,3979,129.8,-11.0,119,885,0.00,2.40,0.00,0.000,1158,0.000,0.054,2365,2193,3970,3961,3979,0,0,0,0,0,0,14.17,14.07,14.19
$MODEM_MSG,CACST,6,1,20170814202935.701129,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$GC,1197,-0.73,-145.9,2365,2192,3960,3978,167.0,-11.2,132,1202,0.00,2.45,0.00,0.000,388,0.000,0.085,2362,3603,3969,3961,3978,0,0,0,0,0,0,14.34,14.07,14.35
$GC,1237,-0.86,-145.9,2363,3605,3962,3978,171.6,-10.1,140,1242,0.20,2.40,0.00,0.000,5254,0.102,0.055,2281,2192,3969,3961,3978,0,0,0,0,0,0,14.20,14.12,14.28
$GC,1558,-0.77,-145.9,2281,2192,3962,3976,227.8,-16.7,154,1563,0.17,2.45,0.00,0.000,2436,0.280,0.081,2315,3588,3968,3961,3975,0,0,0,0,0,0,13.89,14.14,14.06
$GC,1650,-0.85,-145.9,2315,3588,3962,3975,239.2,-11.5,172,1654,0.00,2.35,0.00,0.000,1158,0.000,0.055,2315,2193,3968,3961,3975,0,0,0,0,0,0,14.31,14.21,14.35
$GC,1979,-0.85,-145.9,2315,2193,3961,3973,279.4,-11.8,188,1984,0.00,2.45,0.00,0.000,260,0.000,0.085,2307,3594,3966,3961,3971,0,0,0,0,0,0,14.53,14.19,14.55
$GC,2070,-0.93,-145.9,2308,3596,3962,3971,289.3,-10.5,206,2075,0.00,2.35,0.00,0.000,1158,0.000,0.054,2307,2199,3966,3961,3971,0,0,0,0,0,0,14.35,14.24,14.38
$GC,2400,-0.93,-145.9,2306,2198,3962,3969,327.1,-11.3,222,2405,0.00,2.45,0.00,0.000,260,0.000,0.086,2305,3598,3964,3961,3968,0,0,0,0,0,0,14.55,14.19,14.56
$GC,2460,-1.02,-145.9,2307,3598,3962,3969,333.7,-10.4,234,2465,0.17,2.38,0.00,0.000,5254,0.110,0.056,2242,2194,3964,3961,3968,0,0,0,0,0,0,14.31,14.24,14.40
$GC,2790,-0.91,-145.9,2242,2193,3962,3965,388.3,-16.9,250,2795,0.17,2.45,0.00,0.000,2436,0.307,0.082,2271,3601,3963,3961,3965,0,0,0,0,0,0,13.91,14.20,14.11
$GC,2897,-0.91,-145.9,2271,3600,3962,3966,402.8,-12.7,271,2903,0.00,2.38,0.00,0.000,1030,0.000,0.057,2271,2192,3963,3961,3965,0,0,0,0,0,0,14.35,14.24,14.38
$GC,3213,-0.86,-145.9,2271,2191,3961,3965,445.8,-13.5,284,3218,0.12,2.45,0.00,0.000,2436,0.322,0.082,2293,3592,3962,3961,3963,0,0,0,0,0,0,13.97,14.20,14.14
$GC,3305,-0.95,-145.9,2293,3594,3962,3964,455.9,-10.1,302,3310,0.00,2.35,0.00,0.000,1158,0.000,0.055,2293,2201,3962,3960,3964,0,0,0,0,0,0,14.21,14.12,14.24
$STATE,3543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3543,begin apogee
$GC,3548,-0.13,0.0,2294,2069,3962,3961,483.1,-11.3,315,3757,0.93,0.00,203.00,1.447,10246,0.235,0.000,2530,2068,3361,3406,3316,0,0,0,0,0,0,13.95,13.53,12.85
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3763,0.57,145.9,2531,2068,3407,3311,492.4,0.0,322,3977,0.73,2.70,196.73,1.392,10500,0.067,0.074,2776,3487,2759,2817,2702,0,0,0,0,0,0,13.60,13.10,12.57
$GC,4206,0.16,145.9,2776,3487,2806,2703,453.0,17.7,368,4211,0.70,2.35,0.00,0.000,5254,0.343,0.056,2642,2131,2754,2805,2703,0,0,0,0,0,0,13.46,13.80,13.81
$GC,4517,0.08,169.7,2642,2131,2806,2704,423.5,8.9,380,4552,0.12,2.42,29.33,1.512,12708,0.296,0.082,2612,3490,2668,2724,2613,0,0,0,0,0,0,13.86,13.90,13.19
$GC,4584,0.05,189.4,2612,3490,2722,2615,417.9,9.1,393,4619,0.00,2.40,27.38,1.530,9382,0.000,0.059,2616,2099,2590,2654,2526,0,0,0,0,0,0,14.04,13.96,13.12
$GC,4941,0.08,228.1,2616,2100,2651,2515,388.4,8.2,414,5001,0.00,2.60,54.88,1.408,8740,0.000,0.085,2615,690,2431,2500,2363,0,0,0,0,0,0,14.36,13.83,13.16
$GC,5063,0.21,269.2,2616,688,2491,2363,378.3,8.1,438,5132,0.00,2.47,59.85,1.368,9382,0.000,0.078,2616,2077,2264,2330,2198,0,0,0,0,0,0,14.02,13.93,13.04
$GC,5452,0.30,303.0,2616,2077,2323,2187,345.0,8.4,466,5508,0.17,2.58,49.28,1.369,10660,0.105,0.082,2692,3510,2125,2185,2066,0,0,0,0,0,0,14.12,13.83,13.16
$GC,5525,0.22,303.0,2692,3510,2178,2062,335.5,15.2,480,5530,0.20,2.45,0.00,0.000,5254,0.247,0.062,2655,2103,2119,2177,2062,0,0,0,0,0,0,13.75,13.88,13.95
$GC,5845,0.22,303.0,2656,2103,2173,2055,299.7,10.8,494,5850,0.00,2.50,0.00,0.000,516,0.000,0.088,2659,691,2113,2172,2055,0,0,0,0,0,0,14.38,14.07,14.39
$GC,5930,0.30,303.0,2660,691,2170,2054,290.8,10.1,511,5938,0.00,2.50,0.00,0.000,1158,0.000,0.080,2660,2107,2112,2169,2055,0,0,0,0,0,0,14.22,14.09,14.26
$GC,6236,0.32,303.0,2660,2109,2169,2055,258.4,10.4,522,6236,0.00,0.00,0.00,0.000,134,0.000,0.000,2659,2107,2110,2168,2053,0,0,0,0,0,0,14.49,14.51,14.51
$GC,6536,0.35,303.0,2660,2109,2169,2053,227.6,10.1,532,6541,0.12,2.47,0.00,0.000,2692,0.132,0.080,2726,684,2108,2164,2053,0,0,0,0,0,0,14.26,14.19,14.31
$GC,6561,0.31,303.0,2725,684,2167,2050,224.4,12.6,537,6568,0.17,2.47,0.00,0.000,5254,0.248,0.078,2685,2103,2110,2167,2053,0,0,0,0,0,0,14.02,14.18,14.26
$GC,6866,0.31,303.9,2686,2103,2168,2053,192.2,10.0,548,6867,0.00,0.00,0.00,0.000,38,0.000,0.000,2686,2103,2110,2167,2053,0,0,0,0,0,0,14.53,14.57,14.55
$GC,7166,0.33,331.4,2686,2103,2168,2053,164.4,8.7,558,7217,0.00,2.55,42.83,1.331,8740,0.000,0.086,2686,693,2013,2068,1958,0,0,0,0,0,0,14.54,14.03,13.42
$GC,7274,0.46,365.7,2686,694,2055,1959,155.2,8.4,579,7339,0.15,2.50,57.30,1.267,11430,0.124,0.079,2749,2106,1871,1910,1833,0,0,0,0,0,0,14.12,14.07,13.23
$GC,7649,0.41,365.7,2750,2106,1901,1825,107.2,12.5,604,7650,0.15,0.00,0.00,0.000,4230,0.246,0.000,2718,2105,1862,1901,1824,0,0,0,0,0,0,13.95,14.22,14.19
$GC,7951,0.46,387.7,2718,2105,1900,1823,78.9,9.0,628,7966,0.00,2.50,10.85,0.443,8868,0.000,0.083,2726,683,1782,1818,1747,0,0,0,0,0,0,14.42,14.01,13.73
$GC,8026,0.57,414.7,2726,684,1819,1749,72.1,8.8,643,8049,0.12,2.50,15.57,0.421,11430,0.131,0.079,2778,2102,1672,1705,1639,0,0,0,0,0,0,14.18,14.12,13.77
$GC,8354,0.56,433.9,2779,2103,1706,1636,35.3,9.1,678,8371,0.00,2.53,10.20,0.317,8612,0.000,0.083,2779,3505,1595,1632,1558,0,0,0,0,0,0,14.46,14.08,13.83
$GC,8431,0.58,464.4,2780,3506,1633,1559,28.4,8.6,693,8453,0.00,2.42,16.67,0.295,9254,0.000,0.066,2781,2100,1469,1514,1425,0,0,0,0,0,0,14.24,14.14,13.82
$GC,8758,0.86,681.6,2782,2100,1515,1418,12.3,-0.0,728,8882,0.20,2.58,114.47,0.243,10916,0.105,0.088,2876,684,584,651,517,0,0,0,0,0,0,14.18,13.97,13.88
$GC,8934,0.98,705.2,2877,687,653,515,5.4,8.9,761,8951,0.00,2.50,11.80,0.223,9382,0.000,0.078,2876,2103,496,548,445,0,0,0,0,0,0,14.14,14.03,13.88
$STATE,8973,end climb,SURFACE_DEPTH_REACHED
$STATE,8974,begin surface coast
$FINISH,0.1,1.020000
$STATE,8994,end surface coast,CONTROL_FINISHED_OK
$STATE,8994,begin surface
$SM_CCo,9076,0.00,0.000,0,0,494,704.75
$SM_GC,1.32,8.23,0.17,0.00,0.079,0.124,0.000,201,2212,494,-7.38,-0.65,704.75,0,0,0,0,0,0,14.17,14.15,14.24
$RAFOS_CLK,387
$MODEM,4,1502742575,75.71700,-151.21500,274.951,393422.0
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7215.61,-14800.43,140817,200907
$TT8_MAMPS,0.038948,0.867342
$HUMID,48.42
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,12
$CP_FREE,16007495680.000000
$PM_FREEKB_00,57802880
$24V_AH,12.57,75.791
$10V_AH,12.51,0.000
$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,25.525,89.175,900.125,0.000,0.000,0.000,0.000,545.625,3.000,0.000,11.349,0.000,6552.623,722.169,2386.864,300.341,0.000,2201.007,0.000,1105.432,920.000,0.540,0.000
$DEVICE_MAMPS,450.585,2145.825,1530.000,0.000,0.000,0.000,0.000,177.480,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9020.000,9012.000,8971.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.500,20.000,16.556,0.000
$MEM,323600
$DATA_FILE_SIZE,26717,769
$CAP_FILE_SIZE,107128,0
$CFSIZE,2097872896,2067234816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3776.27,0x2341ea,1,24
$SOUNDSPEED,1443.6
$CURRENT,0.048,249.15,1
$GPS,140817,225229,7212.918,-14801.214,40,0.8,43,21.3,0.0,61.0,10,9.8