version: 66.13
glider: 196
mission: 14
dive: 80
start: 8 15 117 23 56 29
data:
$ID,196
$MISSION,14
$DIVE,80
$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,28
$R_STBD_OVSHOOT,20
$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,233.0
$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
$GPS1,150817,234455,7222.9541,-14815.6260,14,0.8,24,21.2,1.1,87.1,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.3
$GPS2,150817,235556,7222.8604,-14815.4834,7,0.7,38,21.3,0.4,94.6,11,7.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.4,104845,-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,-145.9,175,2210,517,458,0.0,0.0,0,129,0.00,0.00,-80.97,0.000,16386,0.000,0.000,173,2210,2009,1932,2087,0,0,0,0,0,0,14.38,28.83,14.40
$GC,132,-0.57,-145.9,173,2211,1933,2095,3.0,-3.7,8,189,12.68,2.75,-38.03,0.000,18980,0.454,2.142,2386,792,3965,3950,3980,0,0,0,0,0,0,13.70,12.65,14.12
$GC,295,-0.61,-145.9,2386,792,3959,3981,42.1,-16.3,37,302,0.00,2.55,0.00,0.000,1158,0.000,0.088,2378,2203,3969,3958,3980,0,0,0,0,0,0,14.04,13.93,14.08
$GC,603,-0.61,-145.9,2378,2203,3962,3981,92.0,-13.7,68,607,0.00,2.53,0.00,0.000,260,0.000,0.092,2376,3616,3970,3961,3980,0,0,0,0,0,0,14.32,14.00,14.33
$GC,827,-0.72,-145.9,2376,3617,3962,3982,118.6,-11.0,113,832,0.00,2.42,0.00,0.000,1158,0.000,0.054,2376,2200,3970,3961,3980,0,0,0,0,0,0,14.18,14.08,14.19
$GC,1143,-0.80,-145.9,2376,2200,3962,3981,153.4,-10.6,126,1148,0.15,2.53,0.00,0.000,4484,0.134,0.085,2306,3620,3970,3961,3980,0,0,0,0,0,0,14.02,14.02,14.07
$GC,1259,-0.80,-145.9,2306,3622,3961,3980,169.6,-14.2,149,1265,0.00,2.42,0.00,0.000,1030,0.000,0.054,2306,2195,3971,3961,3981,0,0,0,0,0,0,14.16,14.04,14.19
$GC,1563,-0.78,-145.9,2306,2197,3960,3980,216.4,-14.8,160,1568,0.00,2.53,0.00,0.000,388,0.000,0.087,2297,3620,3969,3961,3978,0,0,0,0,0,0,14.37,14.04,14.38
$GC,1708,-0.81,-145.9,2298,3621,3962,3979,235.8,-13.0,189,1714,0.00,2.45,0.00,0.000,1158,0.000,0.057,2300,2199,3972,3967,3978,0,0,0,0,0,0,14.16,14.06,14.19
$GC,2013,-0.81,-145.9,2297,2193,3962,3977,275.7,-12.8,200,2018,0.00,2.53,0.00,0.000,260,0.000,0.088,2287,3613,3968,3961,3975,0,0,0,0,0,0,14.38,14.00,14.39
$GC,2140,-0.86,-145.9,2288,3613,3962,3975,291.0,-11.8,225,2145,0.00,2.42,0.00,0.000,1158,0.000,0.055,2287,2191,3968,3962,3975,0,0,0,0,0,0,14.19,14.10,14.23
$MODEM_MSG,CACST,6,1,20170816001339.526154,3,8998,39,0971,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170816002141.843544,3,28,14,0215,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,2465,-0.86,-145.9,2288,2190,3962,3973,332.9,-12.6,240,2470,0.00,2.50,0.00,0.000,260,0.000,0.087,2280,3616,3967,3961,3973,0,0,0,0,0,0,14.37,14.02,14.38
$GC,2595,-0.90,-145.9,2281,3615,3962,3972,348.8,-11.9,266,2600,0.00,2.40,0.00,0.000,1158,0.000,0.054,2280,2168,3966,3961,3972,0,0,0,0,0,0,14.17,14.07,14.20
$GC,2917,-0.90,-145.9,2280,2167,3962,3969,389.4,-12.6,280,2922,0.00,2.55,0.00,0.000,260,0.000,0.088,2272,3610,3965,3961,3970,0,0,0,0,0,0,14.45,14.08,14.47
$GC,3059,-0.93,-145.9,2271,3611,3961,3971,407.0,-11.7,308,3064,0.00,2.40,0.00,0.000,1158,0.000,0.055,2271,2193,3967,3965,3970,0,0,0,0,0,0,14.23,14.13,14.26
$GC,3369,-0.91,-145.9,2272,2192,3961,3969,447.2,-12.8,320,3374,0.00,2.50,0.00,0.000,388,0.000,0.089,2267,3610,3965,3961,3969,0,0,0,0,0,0,14.52,14.12,14.54
$GC,3474,-0.93,-145.9,2267,3613,3961,3970,460.5,-12.4,341,3479,0.00,2.40,0.00,0.000,1158,0.000,0.054,2267,2193,3964,3960,3969,0,0,0,0,0,0,14.29,14.18,14.33
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3637,begin apogee
$GC,3642,-0.13,0.0,2268,2072,3961,3969,482.2,-13.2,349,3888,1.05,0.08,242.05,1.365,10246,0.248,0.182,2529,2113,3366,3407,3325,0,0,0,0,0,0,13.95,13.38,12.78
$STATE,3891,end apogee,CONTROL_FINISHED_OK
$STATE,3892,begin climb
$GC,3896,0.57,145.9,2530,2114,3398,3317,494.0,0.0,357,4112,0.75,2.65,201.65,1.340,11012,0.066,0.074,2779,3500,2759,2818,2700,0,0,0,0,0,0,13.52,13.19,12.56
$GC,4182,0.15,145.9,2779,3501,2796,2701,484.3,17.1,408,4189,0.77,2.45,0.00,0.000,5254,0.346,0.055,2633,2124,2748,2796,2700,0,0,0,0,0,0,13.26,13.51,13.54
$GC,4504,0.09,177.1,2634,2124,2798,2697,455.1,8.6,422,4549,0.00,2.65,41.20,1.402,8868,0.000,0.082,2644,690,2637,2695,2579,0,0,0,0,0,0,14.20,13.76,13.05
$GC,4616,0.10,190.3,2644,691,2684,2568,445.0,9.4,444,4636,0.00,2.50,13.75,1.522,9254,0.000,0.079,2644,2092,2586,2652,2520,0,0,0,0,0,0,13.96,13.86,13.04
$GC,4958,0.04,190.3,2644,2093,2644,2502,410.4,10.2,462,4959,0.20,0.00,0.00,0.000,4230,0.246,0.000,2599,2093,2572,2643,2501,0,0,0,0,0,0,13.90,14.19,14.16
$GC,5257,0.13,250.2,2600,2093,2644,2499,388.1,7.2,472,5362,0.00,2.60,95.25,1.323,8868,0.000,0.084,2602,690,2335,2399,2271,0,0,0,0,0,0,14.46,13.78,13.14
$GC,5392,0.31,302.3,2603,690,2400,2270,378.1,7.6,499,5483,0.25,2.53,80.78,1.308,11430,0.092,0.078,2693,2100,2125,2190,2061,0,0,0,0,0,0,13.90,13.85,12.97
$GC,5798,0.25,302.3,2693,2102,2176,2047,321.5,14.2,530,5803,0.12,2.50,0.00,0.000,4740,0.235,0.082,2672,692,2110,2175,2046,0,0,0,0,0,0,13.88,13.97,14.04
$GC,5863,0.30,302.3,2673,691,2173,2046,313.3,11.4,543,5869,0.00,2.50,0.00,0.000,1158,0.000,0.077,2672,2103,2109,2172,2046,0,0,0,0,0,0,14.13,14.02,14.16
$GC,6189,0.30,302.3,2672,2105,2172,2045,274.2,11.9,558,6194,0.00,2.50,0.00,0.000,516,0.000,0.086,2672,690,2107,2171,2044,0,0,0,0,0,0,14.45,14.13,14.47
$GC,6239,0.34,302.3,2673,689,2171,2044,268.5,11.2,568,6245,0.00,2.45,0.00,0.000,1158,0.000,0.077,2672,2098,2107,2170,2044,0,0,0,0,0,0,14.09,13.66,14.23
$GC,6550,0.34,302.3,2672,2100,2171,2045,234.2,10.7,580,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2099,2107,2170,2044,0,0,0,0,0,0,14.52,14.54,14.54
$GC,6850,0.35,312.1,2672,2100,2171,2044,204.6,9.5,590,6860,0.00,2.53,2.28,0.606,8740,0.000,0.086,2672,692,2094,2153,2035,0,0,0,0,0,0,14.54,14.21,12.96
$GC,6925,0.46,350.4,2673,691,2158,2044,198.1,8.2,605,7012,0.17,2.45,79.57,1.264,11430,0.117,0.078,2747,2102,1934,1984,1884,0,0,0,0,0,0,14.26,14.20,13.24
$GC,7332,0.39,350.4,2746,2102,1961,1874,143.0,13.6,636,7338,0.17,2.47,0.00,0.000,4740,0.233,0.081,2712,695,1917,1960,1874,0,0,0,0,0,0,13.93,14.11,14.09
$GC,7383,0.46,357.7,2712,691,1958,1875,137.5,9.7,646,7388,0.00,2.47,1.40,0.263,9382,0.000,0.076,2712,2102,1904,1946,1863,0,0,0,0,0,0,14.25,14.14,13.95
$GC,7694,0.50,374.8,2713,2103,1957,1868,107.8,9.2,658,7734,0.00,0.00,35.55,1.291,8870,0.000,0.000,2712,2103,1833,1871,1795,0,0,0,0,0,0,14.47,13.89,13.36
$GC,8034,0.59,420.2,2712,2104,1860,1785,78.0,7.9,691,8068,0.15,2.55,23.40,0.431,10916,0.116,0.086,2781,695,1649,1685,1614,0,0,0,0,0,0,14.17,14.05,13.70
$GC,8145,0.59,420.2,2782,696,1691,1618,66.0,10.7,712,8151,0.00,2.45,0.00,0.000,1030,0.000,0.079,2781,2095,1653,1689,1618,0,0,0,0,0,0,14.18,14.06,14.21
$GC,8448,0.62,467.8,2781,2097,1690,1618,36.3,7.8,743,8481,0.00,2.50,26.27,0.311,8484,0.000,0.080,2781,3524,1456,1501,1411,0,0,0,0,0,0,14.44,14.01,13.83
$GC,8587,0.67,503.4,2782,3525,1502,1418,24.7,8.4,770,8614,0.00,2.45,20.33,0.280,9382,0.000,0.062,2790,2098,1311,1369,1253,0,0,0,0,0,0,14.17,14.04,13.87
$FREEZE,14.41,5.651,-1.401,0,1,0
$STATE,8889,end climb,NO_VERTICAL_VELOCITY
$STATE,8889,begin surface
$SM_CCo,8941,111.43,0.246,0,0,497,702.78
$SM_GC,1.03,8.00,0.20,0.00,0.087,0.106,0.000,201,2226,492,-7.38,-0.40,704.75,0,0,0,0,0,0,14.27,14.27,14.35
$RAFOS_CLK,396
$MODEM,3,1502842901,74.30400,-153.94400,194.844,282484.6
$MODEM,2,1502842419,73.18300,-149.96500,72.526,105148.6
$RAFOS_FIX,7220.135742,-14822.178711,150817,202000,3,255,0.79
$IRIDIUM_FIX,7221.25,-14814.72,150817,210836
$TT8_MAMPS,0.040446,0.835135
$HUMID,48.66
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.20
$XPDR_PINGS,10
$CP_FREE,0.000000
$PM_FREEKB_00,57067776
$24V_AH,12.56,80.477
$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,24.475,85.500,863.475,111.425,0.000,0.000,0.000,364.500,2.500,0.000,39.314,0.000,6501.753,996.018,2132.248,290.857,0.000,2107.012,0.000,1150.213,2159.000,0.539,0.000
$DEVICE_MAMPS,454.410,2142.000,1522.350,246.330,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8916.000,8960.000,8909.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.391,20.000,16.629,0.000
$MEM,323696
$DATA_FILE_SIZE,26761,803
$CAP_FILE_SIZE,105684,0
$CFSIZE,2097872896,2064220160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.096,242.82,1
$GPS,160817,023156,7223.812,-14817.164,16,0.7,38,21.2,0.6,257.6,11,6.7