version: 66.13
glider: 196
mission: 14
dive: 75
start: 8 15 117 10 17 18
data:
$ID,196
$MISSION,14
$DIVE,75
$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,41
$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,217.0
$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
$GPS1,150817,095624,7217.5864,-14808.3926,12,0.7,15,21.3,0.0,0.0,11,9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.5
$GPS2,150817,101645,7217.5674,-14808.7646,11,0.7,51,21.3,0.0,133.4,11,16.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,322.9,115100,-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,-145.9,153,2226,521,468,0.0,0.0,0,129,0.00,0.00,-81.05,0.000,16386,0.000,0.000,150,2226,2133,2057,2209,0,0,0,0,0,0,14.39,28.83,14.40
$GC,132,-0.57,-145.9,150,2227,2059,2214,3.8,-5.2,8,182,12.85,2.72,-31.90,0.000,18724,0.457,2.144,2375,3592,3964,3949,3980,1,0,0,0,0,0,13.54,12.72,14.15
$GC,272,-0.53,-145.9,2376,3594,3953,3980,44.6,-16.8,35,278,0.15,2.38,0.00,0.000,3206,0.283,0.052,2404,2196,3968,3957,3980,0,0,0,0,0,0,13.87,14.09,14.15
$GC,583,-0.57,-145.9,2404,2196,3961,3985,89.9,-12.2,67,589,0.00,2.45,0.00,0.000,388,0.000,0.085,2401,3590,3970,3960,3980,0,0,0,0,0,0,14.45,14.09,14.47
$GC,706,-0.72,-145.9,2401,3589,3961,3980,101.9,-9.4,91,712,0.17,2.35,0.00,0.000,5286,0.105,0.052,2335,2193,3970,3960,3980,0,0,0,0,0,0,14.19,14.11,14.28
$GC,1037,-0.68,-145.9,2335,2193,3956,3981,154.6,-15.4,107,1043,0.00,2.45,0.00,0.000,388,0.000,0.084,2332,3591,3969,3960,3979,0,0,0,0,0,0,14.51,14.17,14.54
$GC,1108,-0.75,-145.9,2332,3592,3961,3980,164.5,-12.7,121,1113,0.00,2.35,0.00,0.000,1158,0.000,0.056,2332,2202,3971,3960,3982,0,0,0,0,0,0,14.36,14.23,14.36
$GC,1428,-0.75,-145.9,2333,2201,3961,3979,208.0,-13.0,135,1434,0.00,2.42,0.00,0.000,260,0.000,0.084,2325,3592,3969,3960,3979,0,0,0,0,0,0,14.53,14.21,14.55
$GC,1474,-0.83,-145.9,2325,3595,3960,3980,213.7,-12.0,144,1479,0.00,2.35,0.00,0.000,1158,0.000,0.058,2325,2202,3969,3960,3979,0,0,0,0,0,0,14.36,14.20,14.37
$GC,1790,-0.85,-145.9,2325,2201,3961,3977,251.5,-11.7,157,1794,0.00,2.42,0.00,0.000,388,0.000,0.086,2320,3589,3968,3960,3977,0,0,0,0,0,0,14.54,14.20,14.57
$GC,1864,-0.95,-145.9,2320,3590,3960,3977,259.7,-10.4,172,1870,0.15,2.35,0.00,0.000,5254,0.122,0.055,2259,2194,3968,3959,3978,0,0,0,0,0,0,14.28,14.25,14.37
$GC,2180,-0.86,-145.9,2260,2192,3960,3973,310.7,-16.1,185,2185,0.17,2.45,0.00,0.000,2436,0.302,0.082,2289,3594,3967,3960,3974,0,0,0,0,0,0,13.91,14.19,14.10
$GC,2277,-0.90,-145.9,2289,3594,3959,3974,322.7,-11.5,204,2282,0.00,2.38,0.00,0.000,1158,0.000,0.059,2289,2189,3966,3958,3974,0,0,0,0,0,0,14.36,14.25,14.38
$GC,2602,-0.90,-145.9,2289,2190,3959,3973,362.9,-12.2,219,2607,0.00,2.45,0.00,0.000,260,0.000,0.085,2280,3594,3965,3958,3972,0,0,0,0,0,0,14.57,14.20,14.59
$GC,2648,-0.93,-145.9,2280,3595,3957,3973,368.4,-12.1,228,2652,0.00,2.38,0.00,0.000,1158,0.000,0.058,2280,2192,3964,3956,3972,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2963,-0.90,-145.9,2281,2190,3957,3970,408.3,-12.7,241,2968,0.00,2.45,0.00,0.000,388,0.000,0.086,2279,3590,3963,3956,3971,0,0,0,0,0,0,14.57,14.13,14.58
$GC,3053,-0.94,-145.9,2280,3592,3956,3971,419.2,-11.7,259,3059,0.00,2.35,0.00,0.000,1158,0.000,0.057,2279,2198,3963,3957,3970,0,0,0,0,0,0,14.32,14.21,14.35
$GC,3384,-0.94,-145.9,2279,2197,3956,3971,461.2,-12.6,275,3390,0.00,2.45,0.00,0.000,260,0.000,0.084,2276,3598,3962,3955,3970,0,0,0,0,0,0,14.59,14.19,14.57
$GC,3450,-0.98,-145.9,2276,3601,3955,3971,469.3,-11.8,288,3455,0.00,2.38,0.00,0.000,1158,0.000,0.057,2275,2197,3962,3955,3970,0,0,0,0,0,0,14.31,14.19,14.34
$STATE,3562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3562,begin apogee
$GC,3568,-0.13,0.0,2276,2055,3956,3970,483.8,-12.7,296,3779,1.00,0.00,207.75,1.432,10246,0.247,0.000,2528,2054,3366,3395,3338,0,0,0,0,0,0,13.94,13.52,12.85
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$GC,3785,0.57,145.9,2529,2054,3390,3330,493.6,0.0,303,3995,0.75,2.75,197.27,1.385,10500,0.066,0.074,2782,3495,2760,2810,2710,0,0,0,0,0,0,13.59,13.10,12.57
$GC,4004,0.57,145.9,2781,3497,2806,2710,494.6,-0.2,305,4009,0.00,2.45,0.00,0.000,1030,0.000,0.054,2790,2131,2758,2806,2710,0,0,0,0,0,0,13.40,13.33,13.43
$GC,4325,0.19,145.9,2791,2131,2798,2710,440.4,16.8,319,4330,0.62,2.55,0.00,0.000,4740,0.319,0.078,2660,693,2753,2796,2710,0,0,0,0,0,0,13.59,13.86,13.80
$GC,4555,0.11,160.9,2660,693,2796,2711,417.5,9.3,365,4577,0.20,2.45,16.67,1.548,13478,0.284,0.080,2618,2082,2708,2754,2663,0,0,0,0,0,0,13.82,14.04,13.21
$GC,4899,0.10,205.2,2619,2083,2749,2653,390.1,8.0,383,4968,0.00,2.53,64.38,1.400,8868,0.000,0.080,2627,693,2525,2587,2464,0,0,0,0,0,0,14.42,13.84,13.19
$GC,5144,0.18,238.6,2627,693,2582,2458,369.3,8.5,432,5200,0.00,2.47,47.72,1.393,9382,0.000,0.080,2627,2100,2386,2450,2323,0,0,0,0,0,0,14.14,14.03,13.15
$GC,5501,0.22,255.7,2628,2099,2445,2319,336.7,9.2,453,5529,0.00,0.00,23.92,1.454,8358,0.000,0.000,2627,2099,2317,2376,2259,0,0,0,0,0,0,14.37,13.81,13.25
$GC,5829,0.27,277.1,2627,2100,2373,2253,306.6,9.0,464,5862,0.12,0.00,31.92,1.423,10406,0.130,0.000,2681,2105,2232,2289,2176,0,0,0,0,0,0,14.21,14.00,13.28
$GC,6160,0.22,277.1,2682,2100,2282,2167,265.5,12.4,475,6165,0.00,2.47,0.00,0.000,644,0.000,0.085,2685,694,2225,2284,2167,0,0,0,0,0,0,14.35,14.00,14.40
$GC,6210,0.22,277.1,2686,693,2281,2167,259.3,11.6,485,6215,0.12,2.47,0.00,0.000,5126,0.239,0.079,2660,2103,2223,2279,2167,0,0,0,0,0,0,13.93,14.07,14.16
$GC,6521,0.23,288.5,2660,2105,2280,2166,228.5,9.5,497,6537,0.00,0.00,14.50,1.499,8230,0.000,0.000,2660,2103,2188,2244,2132,0,0,0,0,0,0,14.38,14.09,13.33
$GC,6821,0.29,319.5,2660,2104,2239,2125,202.0,8.6,507,6876,0.00,0.00,50.33,1.330,8870,0.000,0.000,2659,2103,2059,2112,2006,0,0,0,0,0,0,14.36,13.76,13.24
$GC,7181,0.40,371.3,2660,2102,2104,1998,173.4,7.6,524,7273,0.17,0.00,86.57,1.245,10406,0.106,0.000,2723,2103,1850,1883,1818,0,0,0,0,0,0,14.08,13.75,13.12
$GC,7571,0.40,371.3,2724,2104,1873,1804,129.0,11.1,537,7576,0.00,2.53,0.00,0.000,516,0.000,0.086,2734,693,1840,1872,1808,0,0,0,0,0,0,14.27,13.89,14.25
$GC,7646,0.46,371.3,2729,693,1870,1804,121.2,10.1,552,7652,0.00,2.50,0.00,0.000,1158,0.000,0.079,2729,2100,1835,1869,1802,0,0,0,0,0,0,14.04,13.95,14.09
$GC,7952,0.46,371.3,2729,2100,1869,1800,89.3,10.2,570,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2100,1834,1868,1800,0,0,0,0,0,0,14.31,14.33,14.33
$GC,8254,0.51,403.0,2729,2100,1869,1798,61.7,8.5,600,8275,0.00,2.50,14.57,0.390,8868,0.000,0.085,2729,691,1720,1751,1690,0,0,0,0,0,0,14.32,14.02,13.66
$MODEM_MSG,CACST,6,1,20170815121345.967146,3,473,26,0384,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170815122148.053255,3,232,23,0260,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$GC,8331,0.65,444.6,2729,692,1753,1692,55.1,8.1,615,8362,0.20,2.50,22.23,0.368,11430,0.101,0.079,2801,2104,1550,1584,1517,0,0,0,0,0,0,14.00,13.93,13.70
$GC,8660,0.65,484.5,2801,2105,1584,1513,23.4,8.2,650,8687,0.00,2.55,20.15,0.285,8612,0.000,0.082,2800,3509,1387,1433,1341,0,0,0,0,0,0,14.28,13.88,13.78
$GC,8844,0.90,682.5,2801,3511,1433,1339,14.6,0.9,686,8950,0.20,2.42,99.28,0.255,11430,0.097,0.059,2884,2089,579,636,522,0,0,0,0,0,0,14.14,14.09,13.78
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9063,begin surface coast
$FINISH,0.1,1.020205
$STATE,9083,end surface coast,CONTROL_FINISHED_OK
$STATE,9083,begin surface
$SM_CCo,9103,9.65,0.220,0,0,501,703.03
$SM_GC,1.98,8.32,0.20,9.65,0.086,0.116,0.220,198,2211,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.18,14.16,13.94
$RAFOS_CLK,141
$MODEM,3,1502799708,74.30400,-153.94400,201.053,291559.1
$MODEM,2,1502799225,73.18300,-149.96500,78.967,114514.9
$RAFOS_FIX,7223.598145,-14745.448242,150817,121246,2,255,2.37
$IRIDIUM_FIX,7217.35,-14806.42,150817,100832
$TT8_MAMPS,0.038948,0.865095
$HUMID,45.78
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,10
$CP_FREE,16006676480.000000
$PM_FREEKB_00,57426432
$24V_AH,12.57,78.167
$10V_AH,12.49,0.000
$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,25.225,79.050,897.275,9.650,0.000,0.000,0.000,730.950,2.500,0.000,53.052,0.000,6739.917,830.038,2475.498,307.018,0.000,2368.069,0.000,1033.189,2196.000,0.540,0.000
$DEVICE_MAMPS,457.470,2143.530,1547.595,219.555,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9109.000,9100.000,9059.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.615,20.000,16.566,0.000
$MEM,323824
$DATA_FILE_SIZE,23445,720
$CAP_FILE_SIZE,108788,0
$CFSIZE,2097872896,2065727488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1451.4
$CURRENT,0.075,249.42,1
$GPS,150817,125051,7218.521,-14810.006,51,0.8,52,21.3,0.9,266.2,10,9.4