version: 66.13
glider: 196
mission: 14
dive: 8
start: 8 7 117 11 34 10
data:
$ID,196
$MISSION,14
$DIVE,8
$N_DIVES,10
$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,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,22
$R_STBD_OVSHOOT,32
$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,64.0
$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
$GPS1,070817,112259,7111.6064,-14736.4668,7,0.9,32,21.2,0.0,50.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.9
$GPS2,070817,113337,7111.6709,-14736.3887,6,1.0,30,21.2,0.3,21.7,9,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7122.470,-14736.389
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,294.9,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.57,-145.9,210,2215,565,506,0.0,0.0,0,104,0.00,0.00,-78.62,0.000,16386,0.000,0.000,209,2212,2045,1965,2126,0,0,0,0,0,0,14.21,28.83,14.23
$GC,107,-0.57,-145.9,210,2216,1969,2129,3.1,-5.8,14,167,12.32,2.78,-37.72,0.000,18724,0.449,2.157,2375,3599,3963,3946,3980,0,0,0,0,0,0,13.64,12.76,13.88
$GC,392,-0.49,-145.9,2375,3601,3955,3984,72.4,-19.1,69,399,0.20,2.45,0.00,0.000,3206,0.272,0.063,2416,2192,3970,3956,3984,0,0,0,0,0,0,13.79,13.97,14.03
$GC,580,-0.51,-145.9,2415,2191,3957,3985,100.6,-13.5,106,586,0.00,2.55,0.00,0.000,388,0.000,0.094,2408,3604,3972,3956,3988,0,0,0,0,0,0,14.27,13.87,14.29
$GC,733,-0.62,-145.9,2408,3600,3957,3984,117.9,-10.5,136,739,0.00,2.42,0.00,0.000,1158,0.000,0.063,2408,2198,3970,3957,3983,0,0,0,0,0,0,14.12,14.00,14.14
$GC,919,-0.69,-145.9,2408,2196,3958,3984,138.4,-10.2,173,926,0.15,2.53,0.00,0.000,4740,0.130,0.086,2349,783,3970,3957,3984,0,0,0,0,0,0,14.06,14.02,14.10
$GC,941,-0.69,-145.9,2350,782,3958,3983,141.3,-12.9,177,949,0.00,2.55,0.00,0.000,1030,0.000,0.095,2345,2189,3970,3957,3984,0,0,0,0,0,0,14.14,13.99,14.16
$GC,1129,-0.66,-145.9,2345,2191,3957,3985,169.1,-14.5,214,1135,0.00,2.58,0.00,0.000,388,0.000,0.097,2337,3616,3969,3957,3981,0,0,0,0,0,0,14.38,14.00,14.36
$GC,1170,-0.66,-145.9,2338,3617,3958,3984,175.2,-14.4,222,1176,0.00,2.47,0.00,0.000,1030,0.000,0.067,2338,2202,3968,3953,3984,0,0,0,0,0,0,14.07,13.94,14.07
$GC,1357,-0.63,-145.9,2337,2201,3958,3984,200.6,-12.9,259,1363,0.15,2.55,0.00,0.000,2436,0.295,0.094,2361,3615,3970,3957,3984,0,0,0,0,0,0,13.80,13.98,13.97
$GC,1418,-0.74,-145.9,2361,3616,3957,3983,207.1,-9.7,271,1424,0.00,2.47,0.00,0.000,1190,0.000,0.067,2361,2192,3970,3957,3984,0,0,0,0,0,0,14.14,14.00,14.18
$GC,1618,-0.79,-145.9,2361,2193,3957,3983,226.8,-9.4,308,1623,0.12,0.00,0.00,0.000,4262,0.151,0.000,2311,2190,3969,3957,3982,0,0,0,0,0,0,13.96,14.04,14.02
$GC,1804,-0.74,-145.9,2312,2193,3958,3981,251.0,-13.7,345,1811,0.12,2.60,0.00,0.000,2436,0.279,0.095,2324,3617,3968,3956,3981,0,0,0,0,0,0,13.78,13.91,14.00
$GC,1903,-0.79,-145.9,2325,3619,3959,3983,262.8,-11.5,364,1909,0.00,2.50,0.00,0.000,1158,0.000,0.066,2324,2193,3968,3956,3981,0,0,0,0,0,0,14.04,13.98,14.09
$GC,2089,-0.79,-145.9,2325,2192,3958,3980,286.2,-12.5,401,2096,0.00,2.58,0.00,0.000,260,0.000,0.098,2316,3614,3968,3957,3979,0,0,0,0,0,0,14.21,13.90,14.25
$GC,2131,-0.81,-145.9,2317,3611,3955,3979,291.5,-12.6,409,2138,0.00,2.47,0.00,0.000,1158,0.000,0.067,2316,2199,3968,3957,3980,0,0,0,0,0,0,14.00,13.88,14.04
$GC,2318,-0.79,-145.9,2316,2199,3957,3979,315.6,-13.2,446,2324,0.00,2.58,0.00,0.000,388,0.000,0.096,2306,3611,3967,3957,3978,0,0,0,0,0,0,14.22,13.73,14.23
$GC,2379,-0.79,-145.9,2307,3613,3958,3978,323.8,-13.0,458,2385,0.00,2.50,0.00,0.000,1030,0.000,0.068,2306,2194,3967,3957,3978,0,0,0,0,0,0,14.04,13.93,14.06
$GC,2566,-0.75,-145.9,2307,2195,3964,3977,348.5,-13.3,495,2572,0.12,2.58,0.00,0.000,2436,0.284,0.095,2319,3611,3967,3960,3975,0,0,0,0,0,0,13.45,13.47,13.47
$GC,2612,-0.80,-145.9,2320,3613,3959,3978,354.2,-11.6,504,2617,0.00,2.47,0.00,0.000,1158,0.000,0.067,2317,2199,3966,3955,3977,0,0,0,0,0,0,14.03,13.95,14.08
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2690,-0.13,0.0,2320,2077,3958,3977,363.0,-11.8,509,2908,0.85,0.00,214.95,1.343,10246,0.252,0.000,2527,2075,3364,3390,3339,0,0,0,0,0,0,13.74,13.43,12.88
$STATE,2912,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2914,0.57,145.9,2528,2075,3385,3333,372.6,0.0,516,3130,0.75,2.80,204.95,1.259,10500,0.073,0.089,2774,3511,2763,2810,2716,0,0,0,0,0,0,13.47,13.21,12.78
$GC,3357,0.22,145.9,2774,3513,2787,2715,335.3,16.9,604,3364,0.62,2.47,0.00,0.000,5254,0.337,0.063,2657,2119,2753,2791,2715,0,0,0,0,0,0,13.40,13.65,13.70
$GC,3544,0.18,187.2,2658,2119,2787,2713,317.7,8.1,641,3609,0.00,2.60,58.50,1.276,8612,0.000,0.090,2657,3511,2595,2644,2546,0,0,0,0,0,0,13.99,13.49,13.06
$MODEM_MSG,CACST,6,1,20170807121510.838758,3,62,17,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170807123101.249029,3,75,00,0127,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$GC,3835,0.14,187.2,2658,3511,2629,2540,289.0,10.4,697,3843,0.15,2.50,0.00,0.000,5254,0.272,0.066,2634,2101,2583,2628,2539,0,0,0,0,0,0,13.60,13.76,13.83
$GC,4023,0.21,239.0,2634,2101,2630,2539,274.3,7.6,734,4114,0.00,2.60,84.05,1.235,8868,0.000,0.091,2639,693,2385,2433,2337,0,0,0,0,0,0,14.05,13.50,13.08
$GC,4157,0.37,290.5,2643,694,2422,2334,263.9,7.6,757,4251,0.17,2.60,82.47,1.202,11430,0.111,0.090,2705,2113,2175,2225,2125,0,0,0,0,0,0,13.69,13.66,12.97
$GC,4433,0.35,290.5,2705,2107,2213,2107,228.5,13.5,808,4439,0.00,2.58,0.00,0.000,388,0.000,0.092,2702,3515,2160,2212,2108,0,0,0,0,0,0,13.97,13.71,13.98
$GC,4459,0.30,290.5,2705,3517,2211,2108,224.3,15.1,813,4467,0.15,2.55,0.00,0.000,5254,0.256,0.072,2683,2099,2158,2209,2108,0,0,0,0,0,0,13.59,13.68,13.79
$GC,4648,0.33,295.8,2683,2100,2210,2106,203.4,9.8,850,4653,0.00,2.58,0.00,0.000,676,0.000,0.097,2685,682,2156,2209,2104,0,0,0,0,0,0,14.12,13.84,14.14
$GC,4709,0.43,323.2,2684,682,2209,2105,197.7,8.7,862,4763,0.10,2.55,49.15,1.220,11430,0.162,0.088,2724,2096,2047,2095,2000,0,0,0,0,0,0,13.81,13.78,13.21
$GC,4944,0.41,323.2,2724,2097,2079,1983,168.8,12.4,907,4949,0.00,0.00,0.00,0.000,134,0.000,0.000,2724,2094,2034,2086,1982,0,0,0,0,0,0,14.12,14.18,14.14
$GC,5130,0.41,323.2,2723,2097,2077,1980,148.0,10.9,944,5136,0.00,2.55,0.00,0.000,516,0.000,0.091,2730,682,2028,2077,1979,0,0,0,0,0,0,14.23,13.87,14.24
$GC,5236,0.44,323.2,2730,683,2074,1983,136.9,10.2,965,5243,0.00,2.55,0.00,0.000,1158,0.000,0.088,2729,2103,2026,2074,1979,0,0,0,0,0,0,14.07,13.95,14.11
$GC,5423,0.45,341.5,2730,2103,2074,1978,118.3,9.2,1002,5453,0.00,2.62,25.12,1.274,8740,0.000,0.093,2736,685,1964,2011,1918,0,0,0,0,0,0,14.27,13.94,13.41
$GC,5535,0.53,361.6,2736,685,1998,1918,108.2,9.1,1023,5571,0.00,2.55,29.73,1.242,9382,0.000,0.089,2736,2103,1888,1923,1853,0,0,0,0,0,0,14.06,13.95,13.33
$GC,5752,0.58,371.3,2737,2103,1913,1836,87.1,9.6,1065,5759,0.10,0.00,3.58,0.328,10406,0.156,0.000,2776,2103,1850,1887,1814,0,0,0,0,0,0,13.90,13.96,13.59
$GC,5940,0.55,371.3,2776,2104,1896,1825,67.0,10.6,1102,5947,0.00,2.60,2.08,0.248,8580,0.000,0.093,2776,3511,1847,1884,1810,0,0,0,0,0,0,14.23,13.95,13.73
$GC,6012,0.50,371.3,2776,3512,1885,1826,59.3,10.1,1116,6018,0.17,2.50,0.00,0.000,5254,0.277,0.070,2748,2097,1855,1885,1825,0,0,0,0,0,0,13.80,14.00,14.04
$GC,6199,0.62,456.6,2749,2097,1888,1825,47.0,6.1,1153,6254,0.00,0.00,52.92,0.339,8358,0.000,0.000,2748,2097,1501,1545,1457,0,0,0,0,0,0,14.26,13.97,13.71
$GC,6434,0.87,567.6,2747,2098,1547,1459,33.1,4.9,1198,6512,0.32,2.60,68.40,0.289,10916,0.093,0.099,2876,697,1048,1124,973,0,0,0,0,0,0,14.00,13.88,13.73
$GC,6572,0.91,567.6,2877,696,1124,971,17.0,10.8,1223,6579,0.00,2.55,0.00,0.000,1158,0.000,0.090,2878,2107,1045,1122,969,0,0,0,0,0,0,14.04,13.92,14.07
$GC,6759,1.02,684.8,2876,2108,1123,964,8.6,4.6,1260,6835,0.00,0.00,71.03,0.223,8358,0.000,0.000,2876,2107,568,621,515,0,0,0,0,0,0,14.23,13.93,13.78
$STATE,6873,end climb,SURFACE_DEPTH_REACHED
$STATE,6873,begin surface coast
$FINISH,0.2,1.020057
$STATE,6899,end surface coast,CONTROL_FINISHED_OK
$STATE,6899,begin surface
$SM_CCo,6919,4.00,0.228,0,0,540,693.22
$SM_GC,2.34,8.38,0.17,4.00,0.088,0.123,0.228,204,2216,540,-7.38,-0.54,693.22,0,0,0,0,0,0,14.02,14.04,13.85
$RAFOS_CLK,210
$MODEM,5,1502109061,74.50000,-149.00000,34.249,49655.5
$MODEM,2,1502108110,73.18300,-149.96500,163.839,237539.6
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7111.25,-14745.54,070817,091851
$TT8_MAMPS,0.040446,0.850864
$HUMID,48.11
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,4
$CP_FREE,0.000000
$PM_FREEKB_00,62037440
$24V_AH,12.76,46.021
$10V_AH,12.85,0.000
$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,24.975,92.325,946.925,4.000,0.000,0.000,0.000,390.550,1.000,0.000,31.362,0.000,3343.865,998.822,2896.908,335.372,0.000,2434.602,0.000,1840.965,2218.000,0.539,0.000
$DEVICE_MAMPS,449.055,2156.535,1343.340,227.970,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6923.000,6886.000,6896.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.096,111.000,16.598,0.000
$MEM,324696
$DATA_FILE_SIZE,43371,1286
$CAP_FILE_SIZE,130647,0
$CFSIZE,2097872896,2085847040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.8
$CURRENT,0.216,53.45,1
$GPS,070817,133056,7112.786,-14735.766,7,0.8,34,21.2,0.4,61.7,10,9.9