version: 66.13
glider: 196
mission: 14
dive: 4
start: 8 7 117 2 54 27
data:
$ID,196
$MISSION,14
$DIVE,4
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,165
$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,0
$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,692.78448
$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,2595
$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,34
$R_STBD_OVSHOOT,17
$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,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,47.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,070817,025012,7108.3994,-14739.1152,7,0.8,16,21.2,0.0,0.0,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.6
$GPS2,070817,025355,7108.3989,-14739.0449,6,0.8,16,21.2,0.0,0.0,9,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7119.198,-14739.045
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,295.9,20000,-17.9,-10.000,-21.31,2227
$D_GRID,360
$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,55,end surface,CONTROL_FINISHED_OK
$STATE,55,begin dive
$GC,58,-0.57,-145.9,207,2192,538,468,0.0,0.0,0,133,0.00,0.00,-73.18,0.000,16386,0.000,0.000,207,2192,1973,1883,2063,0,0,0,0,0,0,14.39,28.83,14.40
$GC,136,-0.57,-145.9,207,2192,1886,2066,3.4,-7.2,13,195,12.40,2.78,-41.10,0.000,18724,0.455,2.176,2389,3611,3962,3947,3977,0,0,0,0,0,0,13.77,13.14,14.02
$GC,421,-0.46,-145.9,2389,3613,3953,3978,68.9,-19.3,68,428,0.22,2.45,0.00,0.000,3206,0.276,0.066,2436,2205,3965,3953,3977,0,0,0,0,0,0,13.87,14.01,14.12
$GC,608,-0.46,-145.9,2437,2205,3955,3978,97.1,-13.3,105,614,0.00,2.53,0.00,0.000,260,0.000,0.094,2428,3614,3965,3953,3977,0,0,0,0,0,0,14.38,14.07,14.40
$GC,699,-0.58,-145.9,2428,3614,3952,3977,108.1,-11.1,123,706,0.00,2.42,0.00,0.000,1158,0.000,0.066,2428,2202,3965,3953,3977,0,0,0,0,0,0,14.11,14.06,14.14
$GC,886,-0.62,-145.9,2428,2202,3954,3978,131.7,-12.2,160,892,0.00,0.00,0.00,0.000,134,0.000,0.000,2428,2201,3965,3953,3977,0,0,0,0,0,0,14.43,14.45,14.45
$GC,1073,-0.68,-145.9,2428,2201,3954,3977,153.3,-11.2,197,1078,0.15,0.00,0.00,0.000,4230,0.136,0.000,2369,2200,3965,3953,3977,0,0,0,0,0,0,14.10,14.21,14.17
$GC,1258,-0.66,-145.9,2369,2201,3954,3976,180.2,-13.9,234,1264,0.00,2.53,0.00,0.000,388,0.000,0.099,2359,3614,3965,3953,3977,0,0,0,0,0,0,14.45,14.09,14.47
$GC,1299,-0.66,-145.9,2359,3615,3954,3978,186.1,-13.8,242,1306,0.00,2.45,0.00,0.000,1030,0.000,0.067,2359,2194,3965,3953,3977,0,0,0,0,0,0,14.20,14.06,14.23
$GC,1486,-0.63,-145.9,2359,2194,3954,3977,211.4,-12.9,279,1492,0.12,0.00,0.00,0.000,2182,0.296,0.000,2382,2192,3965,3953,3977,0,0,0,0,0,0,13.91,14.23,14.16
$GC,1672,-0.67,-145.9,2382,2193,3954,3978,231.8,-11.0,316,1679,0.00,2.55,0.00,0.000,388,0.000,0.101,2372,3613,3965,3953,3977,0,0,0,0,0,0,14.45,14.07,14.46
$GC,1694,-0.71,-145.9,2372,3615,3954,3978,234.2,-10.7,320,1702,0.00,2.47,0.00,0.000,1158,0.000,0.067,2373,2193,3965,3953,3977,0,0,0,0,0,0,14.11,13.99,14.14
$GC,1882,-0.75,-145.9,2374,2192,3954,3983,254.9,-10.6,357,1888,0.00,0.00,0.00,0.000,134,0.000,0.000,2373,2192,3964,3953,3976,0,0,0,0,0,0,14.45,14.47,14.46
$GC,2068,-0.80,-145.9,2373,2198,3954,3975,273.7,-10.0,394,2074,0.12,2.55,0.00,0.000,4516,0.149,0.099,2320,3613,3964,3953,3975,0,0,0,0,0,0,14.14,14.06,14.19
$GC,2149,-0.78,-145.9,2320,3613,3954,3975,284.5,-13.6,410,2155,0.00,2.45,0.00,0.000,1158,0.000,0.068,2319,2191,3964,3953,3975,0,0,0,0,0,0,14.24,14.12,14.28
$GC,2336,-0.71,-145.9,2319,2190,3954,3973,311.0,-14.1,447,2342,0.15,2.58,0.00,0.000,2436,0.295,0.097,2344,3621,3963,3953,3973,0,0,0,0,0,0,13.82,14.07,14.00
$GC,2402,-0.77,-145.9,2345,3622,3954,3973,318.8,-10.3,460,2409,0.00,2.47,0.00,0.000,1158,0.000,0.069,2344,2201,3961,3949,3973,0,0,0,0,0,0,14.24,14.11,14.27
$GC,2589,-0.77,-145.9,2344,2199,3954,3972,340.5,-11.7,497,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2199,3963,3954,3972,0,0,0,0,0,0,14.49,14.50,14.50
$STATE,2762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2762,begin apogee
$GC,2768,-0.13,0.0,2348,2073,3954,3971,361.0,-11.6,517,3209,0.80,0.05,436.02,1.101,10246,0.252,0.233,2542,2104,3364,3387,3342,0,0,0,0,0,0,13.89,13.40,13.00
$STATE,3212,end apogee,CONTROL_FINISHED_OK
$STATE,3212,begin climb
$GC,3214,0.57,145.9,2543,2104,3383,3337,381.2,0.0,531,3459,0.75,2.70,209.38,1.200,11012,0.075,0.090,2787,3504,2748,2784,2712,0,0,0,0,0,0,13.53,13.23,12.83
$GC,3466,0.35,271.3,2788,3503,2784,2711,377.5,4.2,537,3673,0.43,2.50,197.70,1.151,13478,0.335,0.066,2716,2121,2256,2309,2204,0,0,0,0,0,0,13.30,13.47,12.84
$GC,3853,0.31,271.3,2716,2121,2286,2177,329.6,12.4,609,3859,0.00,2.65,0.00,0.000,644,0.000,0.097,2723,690,2230,2284,2176,0,0,0,0,0,0,13.94,13.67,13.97
$GC,3909,0.31,271.3,2724,690,2281,2183,322.5,12.4,617,3916,0.00,2.60,0.00,0.000,1030,0.000,0.090,2724,2103,2228,2280,2176,0,0,0,0,0,0,13.73,13.62,13.76
$GC,4096,0.26,271.3,2724,2104,2280,2174,297.8,13.3,654,4101,0.17,0.00,0.00,0.000,4230,0.239,0.000,2681,2105,2226,2279,2174,0,0,0,0,0,0,13.64,13.84,13.78
$GC,4282,0.31,294.0,2682,2106,2280,2174,279.7,8.9,691,4317,0.00,0.00,31.27,1.211,8870,0.000,0.000,2681,2105,2163,2214,2113,0,0,0,0,0,0,14.12,13.83,13.28
$GC,4498,0.38,314.4,2682,2105,2200,2096,259.5,9.1,733,4539,0.12,0.00,34.50,1.196,10918,0.143,0.000,2729,2102,2080,2127,2034,0,0,0,0,0,0,13.88,13.69,13.26
$GC,4719,0.35,314.4,2730,2105,2113,2018,231.5,12.6,776,4726,0.00,2.58,0.00,0.000,644,0.000,0.096,2732,692,2065,2111,2019,0,0,0,0,0,0,14.11,13.83,14.12
$GC,4766,0.38,314.4,2732,693,2109,2018,225.7,12.4,785,4772,0.00,2.55,0.00,0.000,1158,0.000,0.090,2732,2101,2063,2108,2018,0,0,0,0,0,0,13.97,13.88,14.02
$GC,4952,0.36,314.4,2732,2101,2108,2020,202.2,12.2,822,4958,0.00,2.58,0.00,0.000,644,0.000,0.094,2746,687,2062,2107,2018,0,0,0,0,0,0,14.18,13.88,14.19
$GC,4993,0.36,314.4,2740,687,2107,2019,197.2,12.0,830,5000,0.00,2.58,0.00,0.000,1030,0.000,0.090,2740,2110,2062,2106,2019,0,0,0,0,0,0,14.02,13.90,14.05
$GC,5180,0.33,314.4,2740,2109,2107,2017,175.5,10.7,867,5186,0.15,0.00,0.00,0.000,4230,0.248,0.000,2704,2109,2061,2105,2017,0,0,0,0,0,0,13.78,13.98,13.92
$GC,5366,0.43,367.8,2705,2110,2106,2017,160.5,7.5,904,5495,0.00,2.70,120.00,1.111,8868,0.000,0.096,2704,686,1859,1887,1832,0,0,0,0,0,0,14.21,13.61,13.18
$GC,5566,0.65,423.9,2704,690,1872,1825,145.1,7.4,940,5673,0.32,2.58,98.40,1.087,11430,0.090,0.090,2812,2099,1632,1657,1607,0,0,0,0,0,0,13.80,13.76,13.09
$GC,5853,0.58,423.9,2813,2100,1644,1576,102.4,14.8,994,5859,0.12,2.58,0.00,0.000,4740,0.250,0.093,2795,692,1608,1642,1574,0,0,0,0,0,0,13.62,13.72,13.77
$GC,5919,0.63,423.9,2796,692,1641,1575,94.0,11.6,1007,5925,0.00,2.58,0.00,0.000,1158,0.000,0.089,2797,2098,1607,1640,1574,0,0,0,0,0,0,13.82,13.71,13.84
$GC,6105,0.63,423.9,2796,2098,1640,1572,72.1,11.5,1044,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1605,1639,1571,0,0,0,0,0,0,14.08,14.10,14.10
$MODEM_MSG,CACST,6,1,20170807042312.860907,3,25,13,0119,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170807042451.982897,3,16,-6,0123,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*20
$MODEM_MSG,CACST,6,1,20170807043104.960468,3,46,16,0102,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,6294,0.65,423.9,2795,2097,1640,1570,51.0,10.4,1081,6300,0.00,0.00,0.00,0.000,134,0.000,0.000,2795,2098,1604,1639,1569,0,0,0,0,0,0,14.12,14.13,14.13
$GC,6482,0.74,468.9,2795,2098,1640,1568,34.4,7.9,1118,6513,0.12,2.62,22.58,0.291,10660,0.142,0.097,2849,3509,1454,1490,1419,0,0,0,0,0,0,13.88,13.78,13.72
$GC,6614,0.70,468.9,2850,3511,1493,1438,19.7,11.0,1143,6621,0.17,2.50,2.42,0.235,13446,0.259,0.073,2822,2095,1451,1485,1418,0,0,0,0,0,0,13.78,13.93,13.80
$GC,6801,0.99,716.2,2823,2094,1501,1426,13.7,-1.4,1180,6959,0.28,2.60,147.38,0.236,10660,0.096,0.095,2920,3513,497,547,448,0,0,0,0,0,0,13.99,13.88,13.78
$STATE,7017,end climb,SURFACE_DEPTH_REACHED
$STATE,7017,begin surface coast
$FINISH,0.1,1.019209
$STATE,7037,end surface coast,CONTROL_FINISHED_OK
$STATE,7037,begin surface
$SM_CCo,7120,0.00,0.000,0,0,491,704.26
$SM_GC,1.38,8.57,2.35,0.00,0.093,0.061,0.000,208,2188,491,-7.42,0.48,704.26,0,0,0,0,0,0,14.00,13.99,14.09
$RAFOS_CLK,108
$MODEM,5,1502080264,74.50000,-149.00000,37.960,55612.1
$MODEM,3,1502079792,74.30400,-153.94400,285.861,418786.2
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7110.79,-14730.71,070817,024533
$TT8_MAMPS,0.038948,0.929509
$HUMID,47.08
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.60
$XPDR_PINGS,4
$CP_FREE,16017719296.000000
$PM_FREEKB_00,62217472
$24V_AH,12.83,44.258
$10V_AH,12.32,0.000
$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,25.200,71.675,1299.650,0.000,0.000,0.000,0.000,0.000,1.000,0.000,17.180,0.000,3266.683,1178.767,2603.730,168.734,0.000,2364.378,0.000,1750.707,2216.000,0.541,0.000
$DEVICE_MAMPS,455.175,2175.660,1210.995,0.000,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7025.000,3812.000,6986.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.545,111.000,16.750,0.000
$MEM,324816
$DATA_FILE_SIZE,39983,1222
$CAP_FILE_SIZE,130702,0
$CFSIZE,2097872896,2087026688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.167,94.77,1
$GPS,070817,045432,7109.139,-14738.651,36,0.7,39,21.2,0.2,0.0,12,9.7