version: 66.13
glider: 196
mission: 14
dive: 63
start: 8 14 117 0 37 57
data:
$ID,196
$MISSION,14
$DIVE,63
$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,22
$R_STBD_OVSHOOT,21
$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,183.0
$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
$GPS1,140817,002351,7203.8862,-14750.3076,62,0.8,63,21.3,1.1,271.9,11,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.0
$GPS2,140817,003726,7203.8213,-14750.6797,8,0.8,12,21.3,0.0,241.0,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.7,142024,-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
$MODEM_MSG,CACST,6,1,20170814000516.253436,3,55,11,0103,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$GC,45,-0.57,-145.9,163,2190,511,465,0.0,0.0,0,128,0.00,0.00,-81.05,0.000,16386,0.000,0.000,161,2189,2119,2044,2194,0,0,0,0,0,0,14.19,28.83,14.21
$GC,131,-0.57,-145.9,161,2190,2045,2198,3.1,-3.4,8,186,12.85,2.80,-34.22,0.000,18724,0.457,2.133,2377,3610,3968,3956,3980,0,0,0,0,0,0,13.63,12.88,14.00
$GC,321,-0.57,-145.9,2380,3612,3964,3983,48.6,-17.4,45,327,0.00,2.45,0.00,0.000,1030,0.000,0.059,2377,2198,3970,3963,3978,0,0,0,0,0,0,14.05,13.95,14.07
$GC,626,-0.57,-145.9,2376,2197,3967,3981,98.5,-14.6,76,631,0.00,2.50,0.00,0.000,260,0.000,0.083,2366,3610,3973,3967,3980,0,0,0,0,0,0,14.38,14.04,14.40
$GC,691,-0.67,-145.9,2368,3612,3968,3981,107.3,-12.3,89,696,0.00,2.42,0.00,0.000,1158,0.000,0.056,2367,2189,3973,3966,3980,0,0,0,0,0,0,14.24,14.12,14.25
$GC,1016,-0.70,-145.9,2367,2185,3970,3981,149.4,-12.6,104,1021,0.00,2.50,0.00,0.000,388,0.000,0.085,2363,3609,3973,3966,3980,0,0,0,0,0,0,14.47,14.14,14.49
$GC,1066,-0.84,-145.9,2367,3611,3966,3981,155.1,-10.6,114,1071,0.17,2.40,0.00,0.000,5254,0.110,0.056,2289,2196,3973,3966,3980,0,0,0,0,0,0,14.23,14.19,14.31
$GC,1377,-0.76,-145.9,2289,2197,3967,3980,209.1,-17.0,126,1382,0.15,2.47,0.00,0.000,2436,0.287,0.082,2316,3610,3972,3966,3978,0,0,0,0,0,0,13.89,14.15,14.04
$GC,1532,-0.83,-145.9,2316,3612,3967,3979,227.7,-11.2,157,1537,0.00,2.38,0.00,0.000,1158,0.000,0.056,2316,2201,3972,3966,3978,0,0,0,0,0,0,14.33,14.23,14.35
$GC,1857,-0.83,-145.9,2316,2200,3967,3976,266.0,-11.5,172,1862,0.00,2.47,0.00,0.000,260,0.000,0.085,2306,3610,3970,3966,3975,0,0,0,0,0,0,14.54,14.13,14.55
$GC,1932,-0.91,-145.9,2308,3611,3966,3976,274.6,-10.9,187,1938,0.00,2.38,0.00,0.000,1158,0.000,0.058,2308,2204,3970,3966,3974,0,0,0,0,0,0,14.25,14.14,14.29
$GC,2248,-0.91,-145.9,2308,2203,3973,3973,311.0,-11.3,200,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2202,3968,3965,3972,0,0,0,0,0,0,14.54,14.54,14.56
$GC,2548,-0.93,-145.9,2308,2203,3967,3971,344.9,-11.1,210,2553,0.00,2.47,0.00,0.000,388,0.000,0.089,2307,3610,3968,3967,3970,0,0,0,0,0,0,14.55,14.19,14.57
$GC,2608,-1.03,-145.9,2308,3611,3967,3970,351.4,-10.3,222,2613,0.20,2.40,0.00,0.000,5254,0.104,0.059,2236,2198,3967,3965,3970,0,0,0,0,0,0,14.26,14.23,14.35
$GC,2939,-0.91,-145.9,2236,2196,3966,3970,407.5,-17.4,238,2944,0.17,2.50,0.00,0.000,2436,0.309,0.083,2266,3619,3967,3965,3969,0,0,0,0,0,0,13.88,14.15,14.05
$GC,3063,-0.91,-145.9,2266,3620,3965,3969,424.9,-12.9,263,3070,0.00,2.42,0.00,0.000,1030,0.000,0.058,2266,2195,3966,3963,3969,0,0,0,0,0,0,14.30,14.19,14.33
$GC,3390,-0.86,-145.9,2267,2194,3965,3967,470.4,-13.9,278,3395,0.15,2.50,0.00,0.000,2436,0.310,0.083,2291,3620,3965,3964,3967,0,0,0,0,0,0,13.90,14.15,14.08
$STATE,3473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3473,begin apogee
$GC,3480,-0.13,0.0,2292,2101,3965,3967,480.1,-10.2,295,3704,0.93,0.00,220.40,1.404,10246,0.226,0.000,2531,2105,3362,3403,3322,0,0,0,0,0,0,13.97,13.49,12.83
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3708,begin climb
$GC,3711,0.57,145.9,2532,2100,3395,3312,490.3,0.0,302,3920,0.73,2.70,198.75,1.347,10756,0.067,0.080,2781,691,2762,2822,2702,0,0,0,0,0,0,13.56,13.12,12.61
$GC,3929,0.57,145.9,2782,691,2813,2700,491.2,0.2,304,3934,0.00,2.62,0.00,0.000,1030,0.000,0.076,2781,2099,2755,2811,2699,0,0,0,0,0,0,13.40,13.31,13.43
$GC,4249,0.21,145.9,2781,2101,2802,2696,438.6,16.3,318,4254,0.57,2.53,0.00,0.000,4484,0.321,0.077,2655,3519,2747,2801,2694,0,0,0,0,0,0,13.59,13.85,13.79
$GC,4475,0.04,145.9,2655,3519,2796,2695,412.5,11.0,363,4481,0.28,2.45,0.00,0.000,5254,0.287,0.060,2602,2096,2745,2795,2695,0,0,0,0,0,0,13.83,14.04,14.09
$GC,4791,0.09,216.8,2602,2095,2797,2695,390.7,6.7,376,4905,0.00,2.62,105.40,1.307,8740,0.000,0.086,2602,687,2474,2542,2406,0,0,0,0,0,0,14.43,13.74,13.14
$GC,4941,0.26,275.5,2603,687,2532,2402,380.0,7.3,406,5038,0.20,2.53,89.25,1.283,11430,0.100,0.079,2679,2095,2237,2303,2172,0,0,0,0,0,0,13.88,13.83,12.97
$GC,5363,0.21,275.5,2680,2100,2285,2149,326.7,12.8,440,5364,0.00,0.00,0.00,0.000,134,0.000,0.000,2679,2099,2217,2286,2148,0,0,0,0,0,0,14.23,14.23,14.24
$GC,5663,0.18,275.5,2680,2099,2283,2147,288.7,12.8,450,5668,0.15,2.47,0.00,0.000,4740,0.268,0.084,2645,693,2217,2286,2148,0,0,0,0,0,0,13.91,14.09,14.07
$GC,5744,0.27,286.7,2647,694,2281,2148,280.5,9.5,466,5756,0.00,2.47,2.62,0.788,9382,0.000,0.080,2647,2109,2195,2261,2130,0,0,0,0,0,0,14.26,14.14,13.00
$GC,6054,0.30,292.3,2647,2109,2271,2142,249.7,9.7,478,6074,0.00,2.45,15.15,1.418,8612,0.000,0.082,2647,3512,2168,2232,2105,0,0,0,0,0,0,14.49,14.00,13.43
$GC,6109,0.34,292.3,2647,3513,2220,2105,244.0,10.8,489,6115,0.12,2.42,0.00,0.000,3206,0.125,0.063,2704,2097,2161,2219,2103,0,0,0,0,0,0,14.14,14.14,14.13
$GC,6414,0.29,292.3,2704,2096,2219,2102,204.8,12.7,500,6419,0.12,2.47,0.00,0.000,4740,0.256,0.085,2679,680,2160,2219,2101,0,0,0,0,0,0,14.04,14.18,14.17
$GC,6506,0.34,307.5,2680,680,2218,2102,195.9,9.3,518,6536,0.00,2.47,21.33,1.388,9382,0.000,0.080,2679,2100,2106,2163,2049,0,0,0,0,0,0,14.21,14.10,13.43
$GC,6834,0.36,331.9,2680,2101,2157,2043,165.2,8.9,534,6874,0.00,0.00,38.12,1.342,8230,0.000,0.000,2679,2100,2012,2066,1959,0,0,0,0,0,0,14.45,14.02,13.33
$GC,7164,0.44,371.2,2680,2099,2056,1945,137.3,8.2,545,7232,0.12,0.00,66.22,1.263,10406,0.137,0.000,2736,2098,1852,1892,1812,0,0,0,0,0,0,14.19,13.88,13.25
$GC,7524,0.44,371.2,2735,2101,1877,1800,97.6,10.7,557,7530,0.00,2.50,0.00,0.000,516,0.000,0.086,2742,690,1837,1876,1798,0,0,0,0,0,0,14.33,14.04,14.35
$GC,7590,0.48,374.8,2742,690,1873,1799,90.9,9.8,570,7596,0.00,2.47,0.00,0.000,1190,0.000,0.080,2742,2098,1835,1871,1799,0,0,0,0,0,0,14.18,14.07,14.19
$GC,7895,0.49,389.0,2742,2100,1874,1797,60.0,9.3,601,7907,0.00,2.58,7.60,0.386,8740,0.000,0.085,2742,681,1776,1814,1739,0,0,0,0,0,0,14.41,14.08,13.78
$GC,7942,0.58,416.1,2742,683,1820,1744,55.9,8.7,610,7964,0.00,2.50,15.75,0.374,9382,0.000,0.078,2742,2107,1666,1701,1631,0,0,0,0,0,0,14.23,14.12,13.78
$GC,8269,0.73,515.4,2742,2108,1701,1626,32.9,5.4,645,8327,0.20,2.60,52.40,0.306,10916,0.107,0.087,2827,682,1263,1328,1198,0,0,0,0,0,0,14.13,14.04,13.85
$GC,8374,0.76,515.4,2827,682,1328,1198,23.0,11.1,661,8378,0.00,2.50,0.00,0.000,1158,0.000,0.079,2827,2101,1262,1326,1198,0,0,0,0,0,0,14.18,14.07,14.21
$FREEZE,15.39,6.571,-1.399,0,1,0
$STATE,8663,end climb,NO_VERTICAL_VELOCITY
$STATE,8663,begin surface
$SM_CCo,8669,100.28,0.250,0,0,497,703.28
$SM_GC,1.20,8.00,0.17,0.00,0.076,0.117,0.000,206,2223,493,-7.37,-0.68,704.26,0,0,0,0,0,0,14.18,14.25,14.29
$RAFOS_CLK,375
$MODEM,0,1502669116,75.36600,-145.04601,262.253,380723.0
$RAFOS_FIX,7228.703125,-14627.398438,130817,202006,2,255,13.68
$IRIDIUM_FIX,7205.39,-14747.82,140817,002822
$TT8_MAMPS,0.041195,0.920521
$HUMID,49.96
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.30
$XPDR_PINGS,20
$CP_FREE,16008675328.000000
$PM_FREEKB_00,58331904
$24V_AH,12.61,72.543
$10V_AH,12.54,0.000
$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,25.125,85.275,833.000,100.275,0.000,0.000,0.000,479.175,5.000,0.000,13.598,0.000,6528.867,860.474,2141.501,272.184,0.000,2127.604,0.000,992.268,0.000,0.540,0.000
$DEVICE_MAMPS,456.705,2132.820,1417.545,250.155,0.000,0.000,0.000,192.015,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8693.000,8682.000,8640.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.543,20.000,16.570,0.000
$MEM,323640
$DATA_FILE_SIZE,23435,691
$CAP_FILE_SIZE,101384,0
$CFSIZE,2097872896,2069233664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1450.9
$CURRENT,0.080,267.63,1
$GPS,140817,030919,7204.953,-14752.221,22,0.7,59,21.3,0.3,328.1,11,5.9