version: 66.13
glider: 196
mission: 14
dive: 67
start: 8 14 117 11 45 37
data:
$ID,196
$MISSION,14
$DIVE,67
$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,24
$R_STBD_OVSHOOT,24
$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,194.0
$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
$GPS1,140817,113432,7208.3101,-14755.2334,31,0.7,31,21.3,0.0,0.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.6
$GPS2,140817,114504,7208.2759,-14755.2881,5,0.8,12,21.3,0.0,204.6,11,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.1,133614,-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,45,-0.57,-145.9,167,2206,520,462,0.0,0.0,0,128,0.00,0.00,-80.95,0.000,16386,0.000,0.000,164,2206,2155,2082,2229,0,0,0,0,0,0,14.35,28.83,14.37
$GC,131,-0.57,-145.9,165,2206,2085,2230,4.1,-5.9,8,185,12.65,2.80,-31.17,0.000,18724,0.452,2.148,2376,3600,3966,3955,3977,0,0,0,0,0,0,13.72,12.71,13.97
$GC,410,-0.57,-145.9,2376,3603,3965,3977,65.6,-14.7,63,416,0.00,2.42,0.00,0.000,1030,0.000,0.059,2376,2190,3971,3965,3977,0,0,0,0,0,0,14.12,14.01,14.15
$GC,717,-0.57,-145.9,2376,2189,3967,3977,112.7,-14.1,88,721,0.00,2.50,0.00,0.000,260,0.000,0.082,2365,3610,3971,3966,3977,0,0,0,0,0,0,14.44,14.14,14.46
$GC,796,-0.67,-145.9,2365,3611,3967,3978,123.1,-11.5,104,801,0.00,2.40,0.00,0.000,1158,0.000,0.055,2365,2189,3971,3966,3977,0,0,0,0,0,0,14.28,14.18,14.31
$GC,1108,-0.71,-145.9,2363,2188,3966,3978,162.2,-12.1,116,1113,0.00,2.53,0.00,0.000,388,0.000,0.084,2356,3616,3971,3966,3977,0,0,0,0,0,0,14.36,14.05,14.38
$GC,1163,-0.83,-145.9,2356,3617,3967,3978,168.6,-10.6,127,1170,0.15,2.42,0.00,0.000,5254,0.122,0.055,2295,2195,3971,3966,3977,0,0,0,0,0,0,14.09,14.07,14.19
$GC,1468,-0.76,-145.9,2295,2194,3966,3977,218.5,-15.9,138,1473,0.12,2.50,0.00,0.000,2436,0.288,0.083,2319,3609,3971,3965,3977,0,0,0,0,0,0,13.88,14.07,14.03
$GC,1575,-0.83,-145.9,2315,3609,3965,3978,231.1,-11.0,159,1580,0.00,2.40,0.00,0.000,1158,0.000,0.054,2319,2198,3970,3964,3977,0,0,0,0,0,0,14.18,14.08,14.20
$GC,1890,-0.83,-145.9,2319,2196,3965,3974,267.9,-11.5,172,1895,0.00,2.50,0.00,0.000,260,0.000,0.085,2311,3610,3970,3965,3975,0,0,0,0,0,0,14.37,14.05,14.39
$GC,1950,-0.92,-145.9,2311,3610,3965,3974,274.7,-10.9,184,1955,0.00,2.40,0.00,0.000,1158,0.000,0.057,2311,2200,3969,3964,3974,0,0,0,0,0,0,14.20,14.09,14.23
$GC,2280,-0.94,-145.9,2310,2199,3965,3972,312.8,-11.3,200,2285,0.00,2.50,0.00,0.000,388,0.000,0.085,2305,3610,3968,3964,3972,0,0,0,0,0,0,14.37,14.03,14.38
$GC,2305,-0.98,-145.9,2306,3610,3965,3970,315.6,-11.4,205,2313,0.12,2.42,0.00,0.000,5254,0.135,0.059,2256,2202,3967,3964,3971,0,0,0,0,0,0,14.07,14.03,14.15
$GC,2610,-0.90,-145.9,2257,2201,3964,3969,362.9,-15.7,216,2616,0.12,2.50,0.00,0.000,2436,0.323,0.081,2273,3609,3966,3963,3970,0,0,0,0,0,0,13.81,14.05,13.99
$GC,2710,-0.90,-145.9,2273,3610,3963,3970,376.8,-13.2,236,2715,0.00,2.42,0.00,0.000,1030,0.000,0.060,2273,2201,3966,3962,3970,0,0,0,0,0,0,14.19,14.08,14.22
$GC,3031,-0.85,-145.9,2273,2200,3963,3969,421.4,-14.0,250,3036,0.12,2.50,0.00,0.000,2436,0.317,0.083,2292,3611,3965,3962,3969,0,0,0,0,0,0,13.82,14.04,13.99
$MODEM_MSG,CACST,6,1,20170814120511.139498,3,213,23,0153,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$MODEM_MSG,CACST,6,1,20170814121359.739987,3,69,12,0215,0150,250,00,00,01,01,-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,6,1,20170814122158.336100,3,66,06,0113,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20170814122945.363449,3,14,05,0107,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$GC,3121,-0.93,-145.9,2293,3613,3962,3969,431.9,-10.4,267,3127,0.00,2.42,0.00,0.000,1158,0.000,0.057,2293,2195,3965,3962,3968,0,0,0,0,0,0,14.18,14.04,14.17
$GC,3426,-0.93,-145.9,2293,2194,3962,3967,467.5,-11.8,278,3430,0.00,2.47,0.00,0.000,260,0.000,0.084,2285,3615,3963,3961,3966,0,0,0,0,0,0,14.36,14.01,14.38
$GC,3506,-1.00,-145.9,2284,3616,3962,3967,476.7,-10.9,294,3511,0.00,2.42,0.00,0.000,1158,0.000,0.057,2285,2198,3964,3961,3967,0,0,0,0,0,0,14.16,14.05,14.19
$STATE,3544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3544,begin apogee
$GC,3550,-0.13,0.0,2286,2061,3962,3969,481.4,-11.6,297,3768,0.98,0.08,215.23,1.416,10246,0.238,0.180,2531,2105,3362,3391,3333,0,0,0,0,0,0,13.85,13.40,12.78
$STATE,3772,end apogee,CONTROL_FINISHED_OK
$STATE,3772,begin climb
$GC,3776,0.57,145.9,2533,2106,3390,3322,491.7,0.0,304,3986,0.73,2.65,198.68,1.368,10500,0.067,0.074,2777,3498,2759,2815,2704,0,0,0,0,0,0,13.53,13.11,12.64
$GC,4213,0.16,145.9,2778,3499,2791,2705,454.7,17.3,350,4218,0.73,2.40,0.00,0.000,5254,0.344,0.057,2637,2123,2747,2791,2704,0,0,0,0,0,0,13.48,13.78,13.81
$GC,4524,0.10,174.3,2638,2123,2792,2704,426.1,8.7,362,4565,0.00,2.55,36.58,1.424,8612,0.000,0.081,2638,3509,2650,2702,2598,0,0,0,0,0,0,14.28,13.81,13.19
$GC,4790,0.01,174.3,2638,3510,2686,2593,398.8,10.5,415,4796,0.25,2.42,0.00,0.000,5254,0.250,0.058,2590,2095,2638,2685,2591,0,0,0,0,0,0,13.81,14.05,14.10
$GC,5095,0.11,247.6,2591,2095,2687,2589,378.1,6.6,426,5217,0.00,0.00,116.43,1.311,8358,0.000,0.000,2592,2094,2349,2405,2293,0,0,0,0,0,0,14.44,13.74,13.11
$GC,5515,0.28,320.4,2590,2094,2394,2281,349.9,6.6,440,5636,0.22,2.58,112.10,1.277,10916,0.096,0.089,2685,693,2051,2104,1998,0,0,0,0,0,0,14.11,13.64,13.06
$GC,5678,0.30,320.4,2685,693,2092,2000,329.3,12.4,472,5683,0.00,2.53,0.00,0.000,1158,0.000,0.076,2685,2092,2042,2092,1993,0,0,0,0,0,0,13.83,13.74,13.85
$GC,5998,0.30,320.4,2686,2093,2090,1983,287.2,13.0,486,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,2036,2089,1983,0,0,0,0,0,0,14.31,14.33,14.33
$GC,6298,0.30,320.4,2686,2093,2089,1981,248.2,12.9,496,6303,0.00,2.50,0.00,0.000,516,0.000,0.088,2685,684,2034,2088,1981,0,0,0,0,0,0,14.43,14.12,14.45
$GC,6363,0.35,320.4,2686,684,2088,1981,240.5,11.4,509,6369,0.00,2.47,0.00,0.000,1158,0.000,0.077,2685,2105,2033,2086,1981,0,0,0,0,0,0,14.28,14.17,14.32
$GC,6689,0.35,320.4,2686,2106,2086,1980,203.3,10.8,524,6694,0.00,2.45,0.00,0.000,260,0.000,0.082,2686,3513,2032,2085,1980,0,0,0,0,0,0,14.51,14.20,14.52
$GC,6714,0.35,320.4,2685,3515,2084,1981,200.5,11.9,529,6722,0.00,2.42,0.00,0.000,1030,0.000,0.065,2685,2101,2031,2083,1980,0,0,0,0,0,0,14.34,14.23,14.38
$GC,7019,0.36,335.0,2686,2101,2084,1979,170.8,9.3,540,7039,0.00,2.53,12.18,1.467,8740,0.000,0.089,2685,687,1998,2050,1946,0,0,0,0,0,0,14.53,14.21,13.45
$GC,7106,0.47,368.1,2685,688,2042,1946,163.5,8.5,557,7172,0.15,2.47,60.75,1.257,11430,0.127,0.079,2751,2104,1863,1901,1826,0,0,0,0,0,0,14.21,14.16,13.33
$GC,7469,0.42,368.1,2751,2104,1885,1810,115.2,13.2,580,7471,0.15,0.00,0.00,0.000,4230,0.249,0.000,2726,2104,1847,1884,1810,0,0,0,0,0,0,13.93,14.23,14.19
$GC,7771,0.46,380.8,2720,2105,1885,1807,84.8,9.4,600,7783,0.00,2.50,5.05,0.396,8868,0.000,0.085,2723,683,1810,1848,1773,0,0,0,0,0,0,14.43,13.99,13.69
$GC,7843,0.57,412.0,2729,683,1853,1781,78.3,8.6,614,7866,0.12,2.50,18.55,0.434,11430,0.132,0.079,2781,2103,1688,1716,1661,0,0,0,0,0,0,14.19,14.14,13.74
$GC,8163,0.54,427.3,2781,2105,1724,1657,40.8,9.3,648,8180,0.00,2.55,9.45,0.317,8868,0.000,0.086,2781,692,1621,1657,1586,0,0,0,0,0,0,14.42,14.11,13.83
$GC,8252,0.61,469.0,2781,693,1664,1593,33.2,8.1,665,8281,0.00,2.47,23.83,0.297,9382,0.000,0.077,2781,2103,1450,1494,1406,0,0,0,0,0,0,14.21,14.09,13.81
$GC,8576,0.81,613.8,2782,2103,1498,1407,14.9,3.3,700,8662,0.15,2.53,77.55,0.246,10660,0.125,0.083,2851,3504,862,946,779,0,0,0,0,0,0,14.14,14.03,13.88
$GC,8802,0.89,635.3,2851,3506,946,784,4.6,9.0,744,8824,0.00,2.45,14.20,0.220,9382,0.000,0.067,2856,2092,772,851,693,0,0,0,0,0,0,14.18,14.09,13.83
$STATE,8840,end climb,SURFACE_DEPTH_REACHED
$STATE,8840,begin surface coast
$FINISH,0.3,1.020038
$STATE,8870,end surface coast,CONTROL_FINISHED_OK
$STATE,8870,begin surface
$SM_CCo,8937,36.47,0.211,0,0,500,702.78
$SM_GC,1.54,8.05,0.20,36.47,0.070,0.127,0.211,197,2212,500,-7.38,-0.65,702.78,0,0,0,0,0,0,14.21,14.18,13.96
$RAFOS_CLK,355
$MODEM,4,1502713785,75.71700,-151.21500,284.613,413080.1
$MODEM,3,1502713318,74.30400,-153.94400,211.336,306727.4
$MODEM,2,1502712839,73.18300,-149.96500,92.740,134600.3
$MODEM,0,1502712311,75.36600,-145.04601,257.139,373205.2
$RAFOS_FIX,7206.338867,-14803.450195,140817,121243,4,255,3.00
$IRIDIUM_FIX,7207.12,-14744.08,140817,085942
$TT8_MAMPS,0.038948,0.898051
$HUMID,50.31
$INTERNAL_PRESSURE,7.80105
$TCM_TEMP,13.50
$XPDR_PINGS,11
$CP_FREE,0.000000
$PM_FREEKB_00,58029248
$24V_AH,12.64,74.413
$10V_AH,12.52,0.000
$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,24.825,89.975,900.550,36.475,0.000,0.000,0.000,361.450,2.750,0.000,13.378,0.000,6282.583,855.745,2200.240,283.165,0.000,2055.834,0.000,1083.004,2219.000,0.539,0.000
$DEVICE_MAMPS,452.115,2148.120,1467.270,211.140,0.000,0.000,0.000,188.190,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8897.000,8935.000,8893.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.570,20.000,16.599,0.000
$MEM,323532
$DATA_FILE_SIZE,26707,753
$CAP_FILE_SIZE,106612,0
$CFSIZE,2097872896,2068119552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.6
$CURRENT,0.066,255.42,1
$GPS,140817,141632,7209.272,-14756.969,19,0.7,35,21.3,0.2,56.4,11,6.8