version: 66.13
glider: 196
mission: 14
dive: 40
start: 8 11 117 6 40 32
data:
$ID,196
$MISSION,14
$DIVE,40
$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,35
$R_STBD_OVSHOOT,48
$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,48
$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,127.0
$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
$GPS1,110817,061220,7142.9580,-14728.0381,19,0.8,41,21.4,0.0,168.4,10,8.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.7
$GPS2,110817,063958,7142.9404,-14728.0098,5,0.7,13,21.4,0.0,0.0,12,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,327.2,181952,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,45,-0.57,-145.9,174,2187,514,477,0.0,0.0,0,128,0.00,0.00,-81.00,0.000,16386,0.000,0.000,173,2187,2179,2106,2252,0,0,0,0,0,0,14.32,28.83,14.35
$GC,131,-0.57,-145.9,174,2187,2109,2252,3.2,-4.4,8,184,12.60,2.65,-33.42,0.000,18980,0.451,2.128,2391,804,3965,3954,3977,0,0,0,0,0,0,13.69,12.99,14.10
$GC,349,-0.57,-145.9,2386,804,3963,3977,52.6,-15.3,51,356,0.00,2.42,0.00,0.000,1030,0.000,0.086,2378,2171,3969,3963,3975,0,0,0,0,0,0,14.12,14.00,14.14
$GC,654,-0.57,-145.9,2379,2172,3965,3976,100.8,-14.0,82,660,0.00,2.55,0.00,0.000,260,0.000,0.089,2376,3614,3970,3964,3977,0,0,0,0,0,0,14.38,14.08,14.40
$GC,815,-0.67,-145.9,2375,3615,3965,3978,119.8,-11.3,114,823,0.00,2.38,0.00,0.000,1158,0.000,0.055,2376,2208,3971,3965,3977,0,0,0,0,0,0,14.12,14.00,14.15
$GC,1138,-0.73,-145.9,2377,2207,3966,3977,157.7,-11.3,128,1143,0.00,2.50,0.00,0.000,388,0.000,0.087,2376,3622,3970,3964,3977,0,0,0,0,0,0,14.45,14.10,14.46
$GC,1178,-0.90,-145.9,2376,3622,3965,3978,161.9,-9.9,136,1183,0.28,2.40,0.00,0.000,5286,0.089,0.056,2266,2202,3970,3964,3977,0,0,0,0,0,0,14.23,14.17,14.31
$GC,1499,-0.76,-145.9,2266,2201,3965,3975,221.5,-17.9,150,1504,0.25,2.47,0.00,0.000,2436,0.288,0.082,2317,3614,3969,3964,3974,0,0,0,0,0,0,13.90,14.16,14.09
$GC,1629,-0.81,-145.9,2317,3614,3965,3974,237.2,-10.8,176,1634,0.00,2.40,0.00,0.000,1158,0.000,0.055,2316,2195,3968,3963,3973,0,0,0,0,0,0,14.30,14.20,14.32
$GC,1949,-0.81,-145.9,2315,2194,3964,3970,274.0,-11.4,190,1954,0.00,2.50,0.00,0.000,260,0.000,0.087,2307,3616,3966,3963,3970,0,0,0,0,0,0,14.50,14.16,14.52
$GC,2049,-0.89,-145.9,2308,3618,3963,3971,285.4,-10.6,210,2054,0.00,2.40,0.00,0.000,1158,0.000,0.057,2308,2196,3966,3962,3970,0,0,0,0,0,0,14.31,14.20,14.33
$GC,2369,-0.89,-145.9,2308,2195,3963,3968,321.9,-11.4,224,2374,0.00,2.50,0.00,0.000,260,0.000,0.087,2301,3617,3965,3962,3968,0,0,0,0,0,0,14.50,14.16,14.52
$GC,2434,-0.96,-145.9,2301,3617,3962,3969,329.2,-10.7,237,2439,0.00,2.40,0.00,0.000,1158,0.000,0.058,2301,2201,3964,3960,3968,0,0,0,0,0,0,14.28,14.16,14.31
$GC,2759,-0.96,-145.9,2301,2200,3962,3966,365.7,-11.3,252,2764,0.00,2.50,0.00,0.000,260,0.000,0.086,2293,3622,3963,3961,3965,0,0,0,0,0,0,14.51,14.15,14.53
$GC,2839,-1.02,-145.9,2294,3622,3962,3965,374.7,-11.0,268,2844,0.12,2.42,0.00,0.000,5254,0.135,0.059,2248,2196,3962,3959,3965,0,0,0,0,0,0,13.87,13.81,14.28
$GC,3150,-0.91,-145.9,2249,2195,3961,3964,424.0,-16.1,280,3155,0.15,2.50,0.00,0.000,2436,0.323,0.083,2270,3619,3962,3959,3965,0,0,0,0,0,0,13.85,14.16,14.05
$GC,3275,-0.91,-145.9,2271,3621,3959,3965,441.0,-12.8,305,3280,0.00,2.42,0.00,0.000,1030,0.000,0.059,2270,2193,3961,3959,3964,0,0,0,0,0,0,14.28,14.16,14.32
$STATE,3568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3568,begin apogee
$GC,3574,-0.13,0.0,2271,2068,3959,3964,481.6,-13.8,319,3781,1.02,0.08,198.32,1.447,10246,0.256,0.181,2526,2112,3364,3401,3327,0,0,0,0,0,0,13.91,13.50,12.93
$STATE,3785,end apogee,CONTROL_FINISHED_OK
$STATE,3785,begin climb
$GC,3787,0.57,145.9,2527,2113,3394,3327,491.1,0.0,326,3991,0.75,2.62,190.20,1.388,11012,0.068,0.080,2787,730,2762,2814,2711,0,0,0,0,0,0,13.64,13.26,12.69
$GC,4217,0.24,145.9,2786,731,2803,2711,456.6,15.9,405,4222,0.57,2.45,0.00,0.000,5254,0.322,0.076,2666,2095,2756,2803,2709,0,0,0,0,0,0,13.50,13.76,13.81
$GC,4542,0.10,145.9,2670,2096,2804,2704,422.4,10.1,420,4547,0.17,2.42,0.00,0.000,4740,0.308,0.077,2634,722,2753,2802,2704,0,0,0,0,0,0,13.74,13.90,13.93
$GC,4787,0.14,191.3,2635,724,2803,2705,402.6,7.9,466,4859,0.00,2.45,61.03,1.391,9254,0.000,0.081,2631,2104,2581,2643,2519,0,0,0,0,0,0,14.13,14.05,13.20
$GC,5159,0.12,204.4,2634,2104,2642,2509,368.6,9.4,490,5182,0.00,2.50,16.45,1.516,8868,0.000,0.082,2643,720,2527,2591,2463,0,0,0,0,0,0,14.21,13.90,13.26
$GC,5302,0.15,221.3,2644,719,2592,2461,355.0,9.2,519,5333,0.00,2.45,23.80,1.464,9382,0.000,0.080,2643,2099,2460,2526,2395,0,0,0,0,0,0,14.01,13.91,13.21
$GC,5638,0.15,221.3,2643,2100,2519,2388,321.0,10.2,536,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2099,2452,2518,2387,0,0,0,0,0,0,14.23,14.26,14.26
$GC,5938,0.15,222.8,2644,2100,2514,2386,290.9,9.9,546,5938,0.00,0.00,0.00,0.000,38,0.000,0.000,2643,2099,2451,2517,2385,0,0,0,0,0,0,14.30,14.33,14.32
$GC,6238,0.17,239.9,2644,2100,2517,2385,262.7,9.2,556,6268,0.00,0.00,26.35,1.427,8230,0.000,0.000,2643,2099,2384,2444,2325,0,0,0,0,0,0,14.33,13.85,13.35
$GC,6568,0.18,256.1,2643,2100,2439,2321,232.2,9.2,567,6599,0.00,0.00,24.08,1.437,8230,0.000,0.000,2643,2099,2317,2373,2261,0,0,0,0,0,0,14.28,13.97,13.31
$GC,6898,0.24,288.5,2644,2100,2369,2258,203.3,8.5,578,6952,0.00,0.00,51.72,1.318,8358,0.000,0.000,2642,2099,2188,2243,2134,0,0,0,0,0,0,14.26,13.83,13.24
$MODEM_MSG,CACST,6,1,20170811082231.815112,3,59,11,0105,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$MODEM_MSG,CACST,6,1,20170811083016.193471,3,26,14,0123,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,7228,0.36,344.3,2644,2099,2238,2120,177.7,7.4,589,7325,0.17,2.47,91.10,1.226,10916,0.108,0.084,2713,717,1956,2006,1907,0,0,0,0,0,0,14.00,13.58,13.11
$GC,7345,0.36,344.3,2713,721,2000,1903,165.3,10.2,602,7351,0.00,2.50,0.00,0.000,1030,0.000,0.079,2711,2103,1952,1999,1905,0,0,0,0,0,0,13.81,13.74,13.82
$GC,7650,0.36,344.3,2713,2101,1997,1897,133.3,10.3,613,7655,0.00,2.45,0.00,0.000,516,0.000,0.086,2713,725,1946,1997,1895,0,0,0,0,0,0,14.26,13.97,14.28
$GC,7715,0.44,356.2,2714,724,1994,1895,126.9,9.4,626,7731,0.00,2.42,10.57,1.436,9382,0.000,0.078,2713,2101,1914,1962,1867,0,0,0,0,0,0,14.14,14.03,13.33
$GC,8032,0.49,379.5,2713,2102,1942,1862,97.6,8.9,642,8045,0.00,0.00,11.43,0.498,8358,0.000,0.000,2713,2101,1817,1854,1781,0,0,0,0,0,0,14.33,14.07,13.66
$GC,8341,0.59,427.2,2714,2102,1858,1780,71.5,7.8,673,8373,0.15,2.47,24.92,0.419,10916,0.121,0.089,2777,719,1621,1656,1586,0,0,0,0,0,0,14.14,14.04,13.74
$GC,8418,0.59,427.2,2781,720,1657,1587,62.8,11.6,688,8425,0.00,2.45,0.00,0.000,1030,0.000,0.080,2781,2101,1619,1656,1582,0,0,0,0,0,0,14.16,14.04,14.19
$GC,8723,0.62,471.9,2782,2102,1657,1578,32.4,7.9,719,8750,0.00,2.58,22.27,0.314,8484,0.000,0.084,2781,3517,1438,1484,1393,0,0,0,0,0,0,14.38,13.81,13.83
$GC,8806,0.69,492.5,2782,3517,1484,1393,25.4,9.0,735,8822,0.00,2.40,10.85,0.296,9382,0.000,0.068,2786,2131,1355,1410,1300,0,0,0,0,0,0,14.19,14.08,13.80
$GC,9128,0.97,696.9,2786,2133,1411,1295,13.2,0.6,769,9238,0.30,2.60,101.35,0.246,10916,0.088,0.088,2903,688,521,564,478,0,0,0,0,0,0,14.10,13.97,13.78
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,0.7,1.020122
$STATE,9312,end surface coast,CONTROL_FINISHED_OK
$STATE,9312,begin surface
$SM_CCo,9335,2.03,0.245,0,0,500,702.78
$SM_GC,2.14,8.32,2.70,2.03,0.077,0.067,0.245,206,2210,500,-7.37,-0.45,702.78,0,0,0,0,0,0,14.09,14.07,13.90
$RAFOS_CLK,215
$MODEM,4,1502440216,75.71700,-151.21500,315.443,457670.4
$MODEM,3,1502439751,74.30400,-153.94400,244.815,355197.1
$RAFOS_FIX,7143.094727,-14732.961914,110817,080823,2,255,0.45
$IRIDIUM_FIX,7143.63,-14732.78,110817,063053
$TT8_MAMPS,0.039697,1.18492
$HUMID,49.44
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.40
$XPDR_PINGS,17
$CP_FREE,16012673024.000000
$PM_FREEKB_00,60002432
$24V_AH,12.69,61.616
$10V_AH,12.62,0.000
$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,24.875,79.625,864.450,2.025,0.000,0.000,0.000,916.700,4.250,0.000,14.620,0.000,6967.456,912.436,2602.775,530.003,0.000,2554.436,0.000,1158.252,2218.000,0.541,0.000
$DEVICE_MAMPS,450.585,2128.230,1516.230,244.800,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9341.000,9344.000,9292.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.739,20.000,16.597,0.000
$MEM,323800
$DATA_FILE_SIZE,26718,805
$CAP_FILE_SIZE,111278,0
$CFSIZE,2097872896,2071363584
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,815.20,0x2341ea,0,24
$INTR,1,3788.35,0x2341ea,1,24
$SOUNDSPEED,1452.0
$CURRENT,0.088,200.35,1
$GPS,110817,091804,7143.624,-14728.267,65,0.8,66,21.4,0.5,322.9,9,9.7