version: 66.13
glider: 196
mission: 14
dive: 6
start: 8 7 117 7 18 24
data:
$ID,196
$MISSION,14
$DIVE,6
$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,28
$R_STBD_OVSHOOT,16
$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,60.0
$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
$GPS1,070817,070527,7109.7891,-14737.9541,7,0.8,17,21.2,0.0,0.0,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-79.0
$GPS2,070817,071749,7109.7373,-14737.8750,5,0.8,19,21.2,0.0,0.0,10,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,7120.536,-14737.875
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.8,20000,-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,-145.9,206,2189,517,453,0.0,0.0,0,110,0.00,0.00,-84.22,0.000,16386,0.000,0.000,205,2189,2176,2099,2254,0,0,0,0,0,0,14.20,28.83,14.23
$GC,113,-0.57,-145.9,206,2190,2102,2255,3.7,-8.8,15,167,12.32,2.85,-32.55,0.000,18724,0.448,2.154,2371,3611,3963,3947,3979,0,0,0,0,0,0,13.64,12.77,13.89
$GC,393,-0.46,-145.9,2371,3614,3956,3977,72.1,-19.8,69,399,0.25,2.45,0.00,0.000,3206,0.275,0.063,2424,2204,3966,3954,3978,0,0,0,0,0,0,13.78,13.98,14.00
$GC,579,-0.46,-145.9,2424,2203,3956,3982,100.2,-13.5,106,586,0.00,2.55,0.00,0.000,260,0.000,0.095,2416,3614,3968,3956,3980,0,0,0,0,0,0,14.29,13.97,14.28
$GC,698,-0.57,-145.9,2416,3615,3956,3980,114.1,-11.2,129,704,0.00,2.45,0.00,0.000,1158,0.000,0.063,2416,2196,3968,3956,3981,0,0,0,0,0,0,14.12,14.02,14.14
$GC,884,-0.63,-145.9,2416,2197,3956,3981,136.1,-11.4,166,891,0.12,0.00,0.00,0.000,4230,0.145,0.000,2368,2201,3966,3954,3978,0,0,0,0,0,0,14.06,14.15,14.14
$GC,1071,-0.63,-145.9,2368,2197,3956,3982,163.6,-14.2,203,1077,0.00,2.58,0.00,0.000,260,0.000,0.097,2354,3622,3968,3955,3981,0,0,0,0,0,0,14.35,14.01,14.37
$GC,1137,-0.67,-145.9,2359,3622,3957,3981,172.6,-12.6,216,1143,0.00,2.47,0.00,0.000,1158,0.000,0.065,2358,2199,3968,3956,3981,0,0,0,0,0,0,14.16,14.04,14.18
$GC,1323,-0.67,-145.9,2360,2199,3957,3981,196.4,-12.1,253,1329,0.00,2.50,0.00,0.000,516,0.000,0.090,2358,791,3967,3956,3979,0,0,0,0,0,0,14.38,13.78,14.39
$GC,1349,-0.67,-145.9,2359,792,3957,3981,199.6,-12.7,258,1357,0.00,2.55,0.00,0.000,1030,0.000,0.098,2352,2204,3968,3956,3980,0,0,0,0,0,0,14.16,14.03,14.19
$GC,1537,-0.67,-145.9,2352,2205,3956,3981,222.2,-12.3,295,1543,0.00,2.55,0.00,0.000,260,0.000,0.099,2346,3611,3970,3956,3984,0,0,0,0,0,0,14.38,14.01,14.39
$GC,1650,-0.75,-145.9,2346,3614,3957,3980,235.2,-10.9,317,1656,0.00,2.45,0.00,0.000,1158,0.000,0.066,2346,2197,3967,3955,3980,0,0,0,0,0,0,14.16,14.04,14.19
$GC,1835,-0.75,-145.9,2346,2198,3957,3978,257.2,-11.8,354,1843,0.00,2.58,0.00,0.000,260,0.000,0.099,2335,3614,3964,3951,3978,0,0,0,0,0,0,14.39,13.94,14.41
$GC,1903,-0.82,-145.9,2340,3614,3957,3978,265.0,-11.1,367,1909,0.00,2.47,0.00,0.000,1158,0.000,0.069,2339,2192,3966,3955,3978,0,0,0,0,0,0,14.17,14.05,14.20
$GC,2089,-0.82,-145.9,2340,2191,3960,3978,286.6,-11.6,404,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2191,3966,3955,3977,0,0,0,0,0,0,14.39,14.41,14.44
$GC,2274,-0.82,-145.9,2340,2191,3956,3975,308.1,-11.4,441,2281,0.00,2.55,0.00,0.000,260,0.000,0.099,2332,3610,3965,3955,3975,0,0,0,0,0,0,14.40,14.03,14.42
$GC,2351,-0.87,-145.9,2333,3610,3956,3975,316.7,-10.9,456,2357,0.00,2.45,0.00,0.000,1158,0.000,0.067,2333,2199,3964,3954,3975,0,0,0,0,0,0,14.14,14.06,14.19
$GC,2552,-0.87,-145.9,2333,2200,3956,3975,339.6,-10.8,493,2559,0.12,2.55,0.00,0.000,4356,0.144,0.097,2275,3611,3964,3955,3974,0,0,0,0,0,0,14.03,13.94,14.11
$GC,2635,-0.79,-145.9,2275,3613,3955,3974,351.5,-14.9,509,2641,0.22,2.47,0.00,0.000,3206,0.272,0.067,2323,2192,3964,3954,3974,0,0,0,0,0,0,13.77,13.97,14.04
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2709,-0.13,0.0,2329,2084,3952,3975,360.6,-12.6,513,2928,0.85,0.00,215.62,1.341,10246,0.256,0.000,2532,2082,3364,3389,3339,0,0,0,0,0,0,13.78,13.46,12.93
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2934,0.57,145.9,2533,2081,3383,3333,368.6,0.0,520,3151,0.73,2.60,206.25,1.255,10756,0.074,0.090,2781,713,2764,2806,2722,0,0,0,0,0,0,13.52,13.24,12.76
$GC,3237,0.31,145.9,2781,712,2798,2717,355.4,14.8,580,3242,0.45,2.60,0.00,0.000,5254,0.311,0.089,2694,2105,2753,2792,2715,0,0,0,0,0,0,13.35,13.50,13.58
$GC,3422,0.20,145.9,2689,2107,2796,2708,335.8,10.0,612,3428,0.15,2.58,0.00,0.000,4740,0.296,0.087,2662,703,2752,2795,2709,0,0,0,0,0,0,13.42,13.66,13.58
$GC,3463,0.22,176.0,2659,703,2797,2709,332.1,8.6,620,3511,0.00,2.58,40.85,1.309,9254,0.000,0.090,2664,2102,2644,2691,2597,0,0,0,0,0,0,13.79,13.69,13.07
$GC,3691,0.21,198.0,2664,2103,2683,2580,311.6,9.0,664,3727,0.00,2.62,29.92,1.330,8612,0.000,0.093,2659,3519,2552,2607,2498,0,0,0,0,0,0,13.97,13.53,13.13
$GC,3767,0.18,198.0,2664,3521,2594,2495,304.0,10.8,678,3774,0.15,2.50,0.00,0.000,5254,0.285,0.070,2644,2120,2543,2592,2494,0,0,0,0,0,0,13.57,13.70,13.78
$GC,3955,0.24,240.4,2644,2120,2593,2492,288.6,8.0,715,4031,0.00,2.72,68.03,1.256,8868,0.000,0.097,2649,688,2376,2420,2333,0,0,0,0,0,0,14.04,13.54,13.08
$GC,4088,0.40,284.4,2651,689,2418,2327,277.8,8.0,739,4166,0.20,2.62,71.62,1.213,11430,0.110,0.091,2719,2111,2206,2252,2160,0,0,0,0,0,0,13.71,13.68,13.00
$GC,4346,0.36,284.4,2721,2112,2236,2138,244.3,12.9,788,4352,0.00,0.00,0.00,0.000,134,0.000,0.000,2719,2111,2185,2236,2135,0,0,0,0,0,0,13.93,13.97,13.95
$GC,4532,0.32,284.4,2720,2110,2234,2133,220.5,12.4,825,4538,0.12,2.60,0.00,0.000,4740,0.239,0.090,2699,685,2183,2233,2133,0,0,0,0,0,0,13.63,13.79,13.75
$GC,4584,0.39,284.4,2700,686,2232,2133,214.8,10.5,835,4590,0.00,2.58,0.00,0.000,1158,0.000,0.090,2699,2106,2181,2230,2133,0,0,0,0,0,0,13.90,13.80,13.92
$MODEM_MSG,CACST,6,1,20170807080714.395458,3,52,-6,0101,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2E
$MODEM_MSG,CACST,6,1,20170807081512.923666,3,27,14,0108,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170807082309.423262,3,15,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20170807083103.987814,3,84,13,0105,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$GC,4774,0.39,284.4,2699,2103,2231,2131,193.8,10.6,872,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2103,2180,2230,2131,0,0,0,0,0,0,14.12,14.13,14.16
$GC,4962,0.40,299.3,2699,2105,2231,2131,175.7,9.3,909,4981,0.00,2.60,14.60,1.356,8740,0.000,0.093,2699,682,2142,2192,2093,0,0,0,0,0,0,14.15,13.88,13.31
$GC,5052,0.51,329.4,2700,684,2180,2091,167.5,8.6,926,5109,0.15,2.58,51.70,1.215,11430,0.129,0.090,2759,2105,2022,2064,1981,0,0,0,0,0,0,13.92,13.85,13.18
$GC,5291,0.46,329.4,2759,2104,2046,1959,139.1,11.5,971,5297,0.12,2.58,0.00,0.000,4740,0.250,0.090,2737,688,2005,2045,1965,0,0,0,0,0,0,13.78,13.87,13.91
$GC,5394,0.54,352.5,2738,683,2041,1961,129.2,8.9,991,5436,0.00,2.55,33.97,1.223,9382,0.000,0.090,2737,2100,1923,1960,1887,0,0,0,0,0,0,14.02,13.90,13.26
$GC,5616,0.59,367.0,2738,2100,1947,1875,108.3,9.3,1034,5641,0.00,2.58,18.85,1.252,8868,0.000,0.092,2743,682,1863,1894,1833,0,0,0,0,0,0,14.18,13.76,13.32
$GC,5676,0.71,387.6,2743,682,1880,1829,102.8,9.0,1045,5713,0.20,2.58,31.10,1.185,11430,0.110,0.090,2809,2103,1784,1806,1762,0,0,0,0,0,0,13.68,13.65,13.26
$GC,5894,0.63,387.6,2809,2104,1794,1742,73.0,13.3,1087,5899,0.00,0.00,0.00,0.000,134,0.000,0.000,2808,2104,1767,1793,1741,0,0,0,0,0,0,14.14,14.16,14.15
$GC,6080,0.58,387.6,2809,2106,1793,1738,50.0,11.1,1124,6085,0.17,0.00,0.00,0.000,4230,0.238,0.000,2767,2103,1764,1792,1737,0,0,0,0,0,0,13.79,14.00,13.93
$GC,6266,0.71,466.8,2767,2104,1793,1735,36.8,6.3,1161,6319,0.12,2.55,46.47,0.304,10660,0.139,0.096,2813,3510,1457,1495,1419,0,0,0,0,0,0,13.98,13.90,13.75
$GC,6410,0.76,484.5,2813,3515,1496,1429,23.5,9.2,1188,6429,0.00,2.47,11.82,0.266,9382,0.000,0.071,2822,2097,1386,1433,1340,0,0,0,0,0,0,14.02,13.93,13.77
$GC,6609,1.04,711.5,2822,2099,1439,1346,14.2,-0.5,1227,6753,0.25,2.58,134.77,0.235,10660,0.101,0.094,2913,3512,499,544,454,0,0,0,0,0,0,14.02,13.87,13.76
$STATE,6813,end climb,SURFACE_DEPTH_REACHED
$STATE,6813,begin surface coast
$FINISH,0.3,1.018808
$STATE,6833,end surface coast,CONTROL_FINISHED_OK
$STATE,6833,begin surface
$SM_CCo,6915,0.00,0.000,0,0,501,702.54
$SM_GC,1.21,8.55,2.33,0.00,0.093,0.061,0.000,207,2196,501,-7.37,0.88,702.54,0,0,0,0,0,0,14.01,14.00,14.09
$RAFOS_CLK,161
$MODEM,5,1502094663,74.50000,-149.00000,36.988,53641.1
$MODEM,3,1502094189,74.30400,-153.94400,282.423,409580.8
$MODEM,2,1502093712,73.18300,-149.96500,165.924,240628.7
$MODEM,1,1502093234,73.78700,-144.83000,13.645,19789.2
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7111.25,-14745.54,070817,045838
$TT8_MAMPS,0.039697,0.86135
$HUMID,48.42
$INTERNAL_PRESSURE,7.79129
$TCM_TEMP,13.50
$XPDR_PINGS,1
$CP_FREE,0.000000
$PM_FREEKB_00,62130624
$24V_AH,12.76,45.161
$10V_AH,12.70,0.000
$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,25.275,92.000,975.600,0.000,0.000,0.000,0.000,482.175,0.250,0.000,20.845,0.000,3338.517,1018.752,2965.745,349.272,0.000,2537.169,0.000,1822.940,2217.000,0.540,0.000
$DEVICE_MAMPS,448.290,2154.240,1355.580,0.000,0.000,0.000,0.000,188.955,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6858.000,6836.000,6830.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.917,111.000,16.724,0.000
$MEM,324784
$DATA_FILE_SIZE,43313,1267
$CAP_FILE_SIZE,130627,0
$CFSIZE,2097872896,2086436864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.2
$CURRENT,0.190,74.70,1
$GPS,070817,091506,7110.640,-14737.279,37,0.8,39,21.2,0.0,0.0,10,8.3