version: 66.13
glider: 196
mission: 14
dive: 103
start: 8 18 117 16 9 48
data:
$ID,196
$MISSION,14
$DIVE,103
$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,26
$R_STBD_OVSHOOT,38
$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,292.0
$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
$GPS1,180817,155526,7246.0972,-14845.9199,36,0.7,36,21.1,0.0,0.0,11,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-78.4
$GPS2,180817,160915,7246.0400,-14846.0186,7,0.8,9,21.1,0.0,174.4,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,313.3,60308,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,208,2231,496,483,0.0,0.0,0,136,0.00,0.00,-87.78,0.000,16386,0.000,0.000,207,2230,2168,2095,2241,0,0,0,0,0,0,14.39,28.83,14.41
$GC,138,-0.57,-145.9,207,2231,2101,2240,4.7,-7.5,9,190,12.55,2.70,-33.33,0.000,18724,0.454,2.147,2373,3594,3961,3943,3979,1,0,0,0,0,0,13.56,12.89,14.07
$GC,270,-0.57,-145.9,2373,3595,3958,3979,38.8,-19.1,33,275,0.00,2.40,0.00,0.000,1030,0.000,0.058,2372,2202,3967,3957,3978,0,0,0,0,0,0,14.04,13.94,14.07
$GC,580,-0.57,-145.9,2373,2201,3959,3979,94.7,-14.0,65,585,0.00,2.47,0.00,0.000,260,0.000,0.088,2365,3594,3969,3960,3979,0,0,0,0,0,0,14.33,13.95,14.35
$GC,712,-0.68,-145.9,2366,3595,3961,3980,110.5,-11.2,91,718,0.00,2.40,0.00,0.000,1158,0.000,0.054,2365,2193,3969,3960,3979,0,0,0,0,0,0,14.20,14.10,14.23
$GC,1033,-0.75,-145.9,2367,2192,3962,3979,149.7,-11.8,105,1038,0.00,2.50,0.00,0.000,388,0.000,0.088,2359,3601,3970,3961,3979,0,0,0,0,0,0,14.39,14.07,14.42
$GC,1103,-0.90,-145.9,2359,3603,3965,3979,157.1,-10.1,119,1109,0.22,2.40,0.00,0.000,5254,0.100,0.054,2272,2195,3970,3961,3979,0,0,0,0,0,0,14.16,14.12,14.24
$GC,1425,-0.80,-145.9,2271,2194,3961,3981,216.3,-18.2,133,1430,0.17,2.47,0.00,0.000,2436,0.284,0.084,2305,3594,3973,3967,3979,0,0,0,0,0,0,13.87,14.04,14.04
$GC,1510,-0.87,-145.9,2305,3594,3962,3979,227.9,-11.8,150,1516,0.00,2.38,0.00,0.000,1158,0.000,0.054,2305,2196,3970,3962,3979,0,0,0,0,0,0,14.14,14.10,14.14
$MODEM_MSG,CACST,6,1,20170818161306.849695,3,3297,35,0348,0150,250,00,00,00,00,-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,6,1,20170818162109.880349,3,12908,41,0892,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170818162852.923164,3,1392,31,0383,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,1815,-0.87,-145.9,2305,2195,3961,3976,265.9,-12.0,161,1820,0.00,2.45,0.00,0.000,260,0.000,0.089,2301,3600,3967,3958,3976,0,0,0,0,0,0,14.40,14.04,14.41
$GC,1955,-0.97,-145.9,2302,3600,3961,3977,281.2,-10.5,189,1960,0.00,2.38,0.00,0.000,1158,0.000,0.056,2301,2195,3968,3960,3976,0,0,0,0,0,0,14.25,14.14,14.28
$GC,2265,-1.01,-145.9,2302,2194,3961,3975,316.2,-11.2,201,2270,0.12,2.45,0.00,0.000,4484,0.138,0.086,2241,3595,3967,3960,3974,0,0,0,0,0,0,14.28,14.19,14.31
$GC,2357,-0.98,-145.9,2242,3594,3961,3974,329.6,-15.0,219,2363,0.00,2.35,0.00,0.000,1158,0.000,0.057,2240,2201,3967,3960,3974,0,0,0,0,0,0,14.35,14.24,14.39
$GC,2688,-0.90,-145.9,2241,2201,3960,3973,381.6,-15.4,235,2694,0.17,2.45,0.00,0.000,2436,0.295,0.083,2272,3595,3966,3960,3972,0,0,0,0,0,0,13.90,14.17,14.09
$GC,2849,-0.96,-145.9,2272,3596,3959,3972,400.7,-11.2,267,2855,0.00,2.35,0.00,0.000,1158,0.000,0.055,2272,2198,3966,3960,3972,0,0,0,0,0,0,14.37,14.26,14.40
$GC,3170,-0.96,-145.9,2271,2197,3960,3971,439.5,-12.1,281,3175,0.00,2.45,0.00,0.000,260,0.000,0.088,2266,3594,3965,3960,3970,0,0,0,0,0,0,14.59,14.17,14.60
$GC,3270,-1.01,-145.9,2266,3594,3960,3972,451.3,-11.4,301,3275,0.00,2.35,0.00,0.000,1158,0.000,0.055,2265,2195,3964,3959,3970,0,0,0,0,0,0,14.33,14.22,14.35
$STATE,3528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3528,begin apogee
$GC,3533,-0.13,0.0,2268,2071,3960,3970,483.2,-12.3,313,3744,1.02,0.00,208.02,1.440,10246,0.241,0.000,2529,2068,3365,3397,3334,0,0,0,0,0,0,13.97,13.50,12.78
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3751,0.57,145.9,2530,2068,3395,3328,493.4,0.0,320,3961,0.75,2.58,202.30,1.389,10756,0.068,0.079,2787,723,2764,2822,2707,0,0,0,0,0,0,13.58,13.20,12.49
$GC,4153,0.22,145.9,2787,723,2807,2706,467.3,15.3,359,4159,0.60,2.47,0.00,0.000,5254,0.319,0.075,2660,2094,2755,2806,2705,0,0,0,0,0,0,13.44,13.70,13.76
$GC,4469,0.08,145.9,2660,2096,2807,2702,433.9,10.2,372,4474,0.17,2.40,0.00,0.000,4740,0.298,0.076,2626,723,2753,2806,2701,0,0,0,0,0,0,13.81,14.04,13.99
$GC,4544,0.08,186.4,2626,724,2807,2703,427.5,8.1,387,4605,0.00,2.42,54.97,1.418,9382,0.000,0.079,2627,2108,2604,2669,2540,0,0,0,0,0,0,14.20,14.09,13.11
$GC,4922,0.05,199.1,2627,2109,2662,2526,392.6,9.4,412,4939,0.00,0.00,16.05,1.560,8358,0.000,0.000,2626,2109,2553,2625,2482,0,0,0,0,0,0,14.40,14.04,13.27
$GC,5220,0.04,212.0,2626,2109,2618,2474,364.2,9.4,422,5242,0.12,2.50,17.30,1.551,12964,0.257,0.083,2602,725,2499,2570,2428,0,0,0,0,0,0,14.00,14.10,13.26
$GC,5299,0.18,269.2,2603,725,2566,2427,358.2,7.4,437,5393,0.12,2.42,88.40,1.356,11430,0.133,0.079,2660,2109,2267,2331,2203,0,0,0,0,0,0,14.16,14.12,13.06
$GC,5703,0.15,269.2,2661,2109,2320,2186,311.5,11.7,468,5708,0.00,2.45,0.00,0.000,644,0.000,0.084,2660,723,2252,2319,2186,0,0,0,0,0,0,14.38,14.09,14.39
$GC,5743,0.18,269.2,2661,724,2317,2187,306.9,11.3,476,5748,0.00,2.42,0.00,0.000,1158,0.000,0.078,2661,2112,2252,2316,2188,0,0,0,0,0,0,14.20,14.09,14.23
$GC,6063,0.18,269.2,2661,2113,2316,2186,270.8,11.0,490,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2112,2250,2315,2185,0,0,0,0,0,0,14.52,14.53,14.54
$GC,6363,0.18,270.9,2661,2113,2316,2185,239.9,9.9,500,6368,0.00,2.42,0.00,0.000,548,0.000,0.085,2660,724,2249,2315,2184,0,0,0,0,0,0,14.56,14.25,14.58
$GC,6419,0.25,296.6,2661,724,2318,2185,234.9,8.8,511,6465,0.00,2.38,39.75,1.352,9382,0.000,0.078,2660,2100,2152,2212,2092,0,0,0,0,0,0,14.34,14.21,13.35
$GC,6787,0.32,337.1,2661,2100,2207,2084,203.9,8.1,534,6860,0.00,2.58,65.62,1.293,8612,0.000,0.083,2661,3510,1986,2039,1934,0,0,0,0,0,0,14.50,13.88,13.23
$GC,6897,0.41,346.1,2661,3512,2032,1934,194.4,9.6,556,6914,0.15,2.40,11.68,1.458,11430,0.116,0.063,2725,2123,1954,2004,1904,0,0,0,0,0,0,14.02,13.99,13.16
$GC,7241,0.37,346.1,2728,2123,1992,1894,153.4,11.6,574,7246,0.00,2.53,0.00,0.000,644,0.000,0.088,2729,693,1944,1996,1893,0,0,0,0,0,0,14.42,14.12,14.45
$GC,7441,0.37,346.1,2728,692,1992,1894,132.1,10.1,614,7446,0.00,2.47,0.00,0.000,1030,0.000,0.079,2729,2109,1942,1991,1893,0,0,0,0,0,0,14.33,14.21,14.36
$GC,7752,0.34,346.1,2729,2112,1991,1892,99.4,10.4,626,7757,0.15,2.50,0.00,0.000,4740,0.235,0.085,2699,687,1940,1990,1891,0,0,0,0,0,0,14.09,14.19,14.32
$GC,7845,0.47,401.8,2699,688,1989,1892,92.4,7.4,644,7878,0.10,2.45,27.60,0.490,11430,0.155,0.078,2747,2102,1729,1765,1693,0,0,0,0,0,0,14.19,14.18,13.72
$GC,8173,0.51,454.0,2748,2102,1766,1686,61.0,7.6,680,8205,0.00,2.55,27.38,0.387,8484,0.000,0.083,2747,3513,1512,1556,1468,0,0,0,0,0,0,14.49,14.02,13.79
$GC,8430,0.63,523.2,2747,3515,1556,1464,41.2,6.8,728,8472,0.00,2.42,35.08,0.327,9382,0.000,0.065,2751,2098,1230,1296,1165,0,0,0,0,0,0,14.18,14.14,13.76
$GC,8778,0.85,613.3,2754,2098,1297,1156,20.1,5.8,767,8831,0.28,2.47,45.80,0.269,11172,0.091,0.089,2878,690,860,937,783,0,0,0,0,0,0,14.12,14.05,13.90
$GC,8868,0.92,657.9,2876,690,939,784,11.1,7.9,784,8900,0.00,2.45,23.45,0.245,9382,0.000,0.076,2876,2095,679,743,615,0,0,0,0,0,0,14.19,14.07,13.91
$STATE,8993,end climb,SURFACE_DEPTH_REACHED
$STATE,8993,begin surface coast
$FINISH,0.0,1.020170
$STATE,9016,end surface coast,CONTROL_FINISHED_OK
$STATE,9016,begin surface
$SM_CCo,9037,23.65,0.218,0,0,500,703.03
$SM_GC,1.23,8.20,0.20,23.65,0.083,0.111,0.218,205,2220,500,-7.37,-0.45,703.03,0,0,0,0,0,0,14.25,14.25,13.98
$RAFOS_CLK,399
$MODEM,4,1503073732,75.71700,-151.21500,232.173,336649.6
$MODEM,3,1503073269,74.30400,-153.94400,162.880,236175.5
$MODEM,2,1503072786,73.18300,-149.96500,39.850,57781.8
$RAFOS_FIX,7244.833496,-14848.918945,180817,161602,3,255,3.89
$IRIDIUM_FIX,7246.80,-14849.72,180817,160002
$TT8_MAMPS,0.040446,1.57665
$HUMID,47.48
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,15
$CP_FREE,16001957888.000000
$PM_FREEKB_00,55504128
$24V_AH,12.49,91.604
$10V_AH,12.14,0.000
$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,24.925,88.600,863.400,23.650,0.000,0.000,0.000,496.400,3.750,0.000,9.828,0.000,6481.366,718.369,2402.211,303.862,0.000,2155.054,0.000,1148.854,1516.000,0.539,0.000
$DEVICE_MAMPS,453.645,2147.355,1559.835,218.025,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9043.000,9036.000,8993.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.571,20.000,16.598,0.000
$MEM,323752
$DATA_FILE_SIZE,26729,802
$CAP_FILE_SIZE,109095,0
$CFSIZE,2097872896,2056978432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1449.0
$CURRENT,0.055,262.11,1
$GPS,180817,184204,7247.110,-14847.549,15,0.8,28,21.1,0.3,246.6,10,10.0