version: 66.13
glider: 196
mission: 14
dive: 65
start: 8 14 117 6 14 3
data:
$ID,196
$MISSION,14
$DIVE,65
$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,28
$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,189.0
$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
$GPS1,140817,060718,7206.3184,-14753.5664,15,0.7,24,21.3,1.2,41.0,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.8
$GPS2,140817,061331,7206.3418,-14753.6104,8,0.7,37,21.3,0.0,65.3,11,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.4,137178,-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,43,end surface,CONTROL_FINISHED_OK
$STATE,43,begin dive
$GC,46,-0.57,-145.9,178,2220,512,477,0.0,0.0,0,129,0.00,0.00,-81.18,0.000,16386,0.000,0.000,174,2220,2049,1980,2118,0,0,0,0,0,0,14.43,28.83,14.45
$GC,132,-0.57,-145.9,175,2219,1982,2119,3.0,-2.9,8,186,12.70,2.75,-36.58,0.000,18724,0.459,2.156,2373,3603,3964,3945,3984,0,0,0,0,0,0,13.76,12.74,14.02
$GC,411,-0.57,-145.9,2374,3604,3956,3980,64.1,-15.1,63,418,0.00,2.42,0.00,0.000,1030,0.000,0.058,2374,2187,3969,3955,3984,0,0,0,0,0,0,14.21,14.09,14.24
$GC,738,-0.57,-145.9,2373,2186,3959,3985,113.5,-14.1,90,743,0.00,2.50,0.00,0.000,260,0.000,0.083,2365,3608,3969,3957,3982,0,0,0,0,0,0,14.45,14.12,14.47
$GC,893,-0.67,-145.9,2364,3609,3959,3985,131.9,-11.5,121,898,0.00,2.40,0.00,0.000,1158,0.000,0.057,2365,2193,3968,3953,3984,0,0,0,0,0,0,14.27,14.16,14.29
$GC,1218,-0.73,-145.9,2365,2192,3959,3984,171.1,-11.8,136,1219,0.00,0.00,0.00,0.000,134,0.000,0.000,2365,2191,3971,3958,3984,0,0,0,0,0,0,14.51,14.53,14.52
$GC,1518,-0.81,-145.9,2365,2191,3959,3984,203.1,-10.2,146,1523,0.15,2.47,0.00,0.000,4484,0.126,0.084,2293,3602,3971,3958,3984,0,0,0,0,0,0,14.21,14.19,14.24
$GC,1598,-0.81,-145.9,2293,3604,3958,3985,214.3,-14.2,162,1603,0.00,2.40,0.00,0.000,1030,0.000,0.059,2293,2189,3971,3958,3984,0,0,0,0,0,0,14.26,14.17,14.29
$GC,1908,-0.77,-145.9,2293,2189,3958,3984,258.8,-13.9,174,1914,0.15,2.50,0.00,0.000,2436,0.275,0.083,2319,3602,3970,3957,3983,0,0,0,0,0,0,13.97,14.16,14.13
$GC,1979,-0.87,-145.9,2320,3603,3958,3983,266.5,-9.8,188,1985,0.00,2.38,0.00,0.000,1190,0.000,0.057,2319,2199,3969,3956,3983,0,0,0,0,0,0,14.34,14.23,14.38
$GC,2300,-0.91,-145.9,2319,2199,3957,3983,300.8,-10.6,202,2305,0.00,2.47,0.00,0.000,388,0.000,0.088,2319,3605,3969,3956,3982,0,0,0,0,0,0,14.54,14.16,14.56
$GC,2350,-1.03,-145.9,2319,3606,3956,3983,305.8,-9.6,212,2356,0.22,2.40,0.00,0.000,5286,0.100,0.060,2238,2192,3968,3955,3982,0,0,0,0,0,0,14.25,14.20,14.33
$GC,2662,-0.91,-145.9,2238,2191,3955,3981,358.1,-17.0,224,2667,0.17,2.47,0.00,0.000,2436,0.310,0.082,2267,3605,3967,3954,3981,0,0,0,0,0,0,13.86,14.16,14.07
$GC,2774,-0.91,-145.9,2268,3606,3955,3981,373.6,-13.1,246,2779,0.00,2.38,0.00,0.000,1030,0.000,0.058,2267,2200,3967,3954,3981,0,0,0,0,0,0,14.33,14.22,14.36
$GC,3084,-0.86,-145.9,2267,2200,3952,3982,417.8,-14.3,258,3089,0.12,2.47,0.00,0.000,2436,0.317,0.082,2285,3610,3966,3954,3978,0,0,0,0,0,0,13.89,14.16,14.09
$GC,3164,-0.91,-145.9,2286,3610,3955,3980,427.8,-11.6,274,3169,0.00,2.38,0.00,0.000,1158,0.000,0.059,2285,2201,3966,3953,3980,0,0,0,0,0,0,14.16,14.11,14.23
$GC,3474,-0.91,-145.9,2285,2201,3954,3979,466.0,-12.4,286,3479,0.00,2.47,0.00,0.000,260,0.000,0.085,2280,3610,3965,3953,3978,0,0,0,0,0,0,14.54,14.15,14.56
$GC,3545,-0.96,-145.9,2280,3610,3954,3979,474.5,-11.7,300,3550,0.00,2.40,0.00,0.000,1158,0.000,0.059,2280,2194,3966,3953,3979,0,0,0,0,0,0,14.31,14.21,14.35
$STATE,3593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3593,begin apogee
$GC,3599,-0.13,0.0,2283,2070,3953,3980,480.7,-12.4,305,3816,0.98,0.00,213.85,1.431,10246,0.245,0.000,2528,2069,3365,3392,3339,0,0,0,0,0,0,13.95,13.49,12.83
$STATE,3820,end apogee,CONTROL_FINISHED_OK
$STATE,3820,begin climb
$GC,3822,0.57,145.9,2529,2069,3384,3330,490.9,0.0,312,4031,0.75,2.70,197.38,1.379,10500,0.068,0.075,2781,3504,2763,2811,2716,0,0,0,0,0,0,13.56,13.10,12.59
$GC,4256,0.15,145.9,2781,3506,2792,2715,454.7,17.6,393,4263,0.75,2.42,0.00,0.000,5254,0.347,0.058,2637,2120,2752,2790,2715,0,0,0,0,0,0,13.45,13.77,13.78
$GC,4573,0.09,179.5,2637,2120,2791,2716,426.1,8.5,406,4623,0.00,2.55,45.78,1.418,8612,0.000,0.082,2638,3504,2628,2675,2581,0,0,0,0,0,0,14.29,13.83,13.13
$GC,4709,0.01,179.5,2638,3505,2666,2578,412.7,10.5,433,4715,0.25,2.45,0.00,0.000,5254,0.249,0.060,2589,2097,2621,2665,2577,0,0,0,0,0,0,13.76,13.94,14.00
$GC,5025,0.11,253.7,2590,2097,2666,2574,391.4,6.6,446,5140,0.00,2.58,109.50,1.349,8868,0.000,0.086,2589,694,2326,2378,2274,0,0,0,0,0,0,14.38,13.57,13.06
$GC,5175,0.33,320.0,2589,689,2375,2273,381.1,6.9,476,5281,0.30,2.55,97.57,1.311,11430,0.087,0.080,2696,2097,2057,2108,2006,0,0,0,0,0,0,13.80,13.76,12.87
$GC,5598,0.28,320.0,2696,2098,2095,1991,320.6,14.5,510,5603,0.00,2.53,0.00,0.000,644,0.000,0.086,2699,689,2042,2095,1990,0,0,0,0,0,0,14.19,13.85,14.21
$GC,5638,0.28,320.0,2699,689,2093,1990,314.8,14.2,518,5643,0.00,2.50,0.00,0.000,1030,0.000,0.077,2699,2099,2040,2091,1990,0,0,0,0,0,0,14.06,13.92,14.07
$GC,5958,0.24,320.0,2698,2104,2092,1988,268.6,14.6,532,5963,0.15,2.50,0.00,0.000,4740,0.234,0.086,2661,691,2039,2091,1988,0,0,0,0,0,0,13.95,14.10,14.12
$GC,5993,0.32,320.0,2662,691,2091,1988,264.4,10.9,539,5998,0.00,2.47,0.00,0.000,1158,0.000,0.079,2662,2108,2038,2089,1988,0,0,0,0,0,0,14.25,14.16,14.28
$GC,6338,0.35,320.0,2663,2109,2090,1987,229.6,10.3,554,6342,0.00,2.50,0.00,0.000,644,0.000,0.086,2661,689,2038,2089,1988,0,0,0,0,0,0,14.40,14.09,14.41
$GC,6373,0.46,332.7,2662,690,2090,1986,224.3,9.4,561,6393,0.20,2.50,13.35,1.476,11430,0.107,0.079,2742,2111,2005,2055,1956,0,0,0,0,0,0,14.14,14.12,13.40
$GC,6700,0.37,332.7,2749,2117,2048,1952,176.6,14.3,576,6705,0.15,2.50,0.00,0.000,4740,0.239,0.083,2709,691,2001,2052,1950,0,0,0,0,0,0,13.92,14.07,14.06
$GC,6730,0.37,332.7,2710,691,2051,1947,172.8,10.9,582,6735,0.00,2.47,0.00,0.000,1030,0.000,0.079,2709,2096,2000,2050,1950,0,0,0,0,0,0,14.19,14.07,14.21
$GC,7060,0.37,332.7,2710,2097,2051,1949,138.0,10.2,598,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2097,1999,2049,1949,0,0,0,0,0,0,14.36,14.38,14.38
$GC,7360,0.38,350.8,2710,2098,2050,1949,109.2,9.2,608,7392,0.00,2.50,24.08,1.371,8740,0.000,0.083,2710,689,1930,1975,1885,0,0,0,0,0,0,14.35,14.02,13.37
$GC,7437,0.48,380.2,2710,690,1973,1886,102.4,8.6,623,7489,0.00,2.50,46.30,1.265,9382,0.000,0.078,2709,2108,1814,1850,1779,0,0,0,0,0,0,14.03,13.93,13.21
$GC,7794,0.58,424.2,2710,2108,1842,1766,71.7,8.0,664,7827,0.15,2.60,23.42,0.421,10916,0.122,0.086,2781,691,1633,1666,1600,0,0,0,0,0,0,14.01,13.85,13.62
$GC,7884,0.58,424.2,2781,692,1666,1601,61.1,12.2,681,7891,0.00,2.53,0.00,0.000,1030,0.000,0.077,2780,2106,1634,1668,1600,0,0,0,0,0,0,14.04,13.93,14.07
$GC,8188,0.62,480.0,2782,2104,1669,1592,30.6,7.4,712,8219,0.00,0.00,30.02,0.297,8486,0.000,0.000,2781,2111,1406,1456,1357,0,0,0,0,0,0,14.28,14.04,13.77
$MODEM_MSG,CACST,6,1,20170814080512.880620,3,331,19,0262,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170814081401.083232,3,1693,32,0591,0150,250,00,00,00,00,-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,6,1,20170814081828.414289,3,182,-7,0132,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*16
$MODEM_MSG,CACST,6,1,20170814082202.747457,3,97,07,0151,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170814082947.565033,3,96,07,0133,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$GC,8518,0.96,721.8,2781,2107,1457,1348,15.6,-1.2,747,8643,0.30,0.00,120.20,0.251,10918,0.091,0.000,2891,2106,499,537,462,0,0,0,0,0,0,14.03,13.94,13.71
$STATE,8756,end climb,SURFACE_DEPTH_REACHED
$STATE,8756,begin surface coast
$FINISH,0.4,1.020104
$STATE,8776,end surface coast,CONTROL_FINISHED_OK
$STATE,8778,begin surface
$SM_CCo,8859,0.00,0.000,0,0,493,705.24
$SM_GC,1.35,8.25,0.17,0.00,0.071,0.142,0.000,200,2203,493,-7.36,-0.65,705.24,0,0,0,0,0,0,14.07,14.00,14.13
$RAFOS_CLK,121
$MODEM,4,1502699387,75.71700,-151.21500,286.815,414928.8
$MODEM,3,1502698708,74.30400,-153.94400,1.414,2046.0
$MODEM,2,1502698441,73.18300,-149.96500,94.083,136108.1
$MODEM,0,1502697912,75.36600,-145.04601,258.881,374516.8
$RAFOS_FIX,7314.406250,-15445.173828,140817,080852,4,255,34.25
$IRIDIUM_FIX,7207.78,-14744.08,140817,032438
$TT8_MAMPS,0.084637,0.850115
$HUMID,45.82
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.60
$XPDR_PINGS,6
$CP_FREE,16008347648.000000
$PM_FREEKB_00,58177856
$24V_AH,12.59,73.479
$10V_AH,12.63,0.000
$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,25.750,84.950,921.450,0.000,0.000,0.000,0.000,131.550,1.500,0.000,39.217,0.000,6308.552,900.186,1814.221,219.441,0.000,1780.734,0.000,1119.576,2202.000,0.539,0.000
$DEVICE_MAMPS,459.000,2155.770,1476.450,0.000,0.000,0.000,0.000,139.230,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8771.000,8808.000,8755.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.976,20.000,16.575,0.000
$MEM,323636
$DATA_FILE_SIZE,26755,781
$CAP_FILE_SIZE,101925,0
$CFSIZE,2097872896,2068709376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1451.9
$CURRENT,0.022,270.11,1
$GPS,140817,084251,7207.491,-14754.589,20,0.7,25,21.3,0.5,83.1,11,9.6