version: 66.13
glider: 196
mission: 14
dive: 104
start: 8 18 117 19 1 6
data:
$ID,196
$MISSION,14
$DIVE,104
$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,25
$R_STBD_OVSHOOT,32
$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,295.0
$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
$GPS1,180817,184204,7247.1104,-14847.5488,15,0.8,28,21.1,0.3,246.6,10,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.5
$GPS2,180817,190030,7247.1055,-14847.8242,7,0.9,11,21.1,0.0,0.0,9,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.3,58175,-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,-145.9,205,2222,499,484,0.0,0.0,0,129,0.00,0.00,-80.97,0.000,16386,0.000,0.000,204,2222,2033,1954,2112,0,0,0,0,0,0,14.42,28.83,14.45
$GC,132,-0.57,-145.9,204,2223,1956,2114,3.0,-3.4,8,190,12.50,2.70,-38.38,0.000,18724,0.453,2.149,2376,3595,3963,3947,3980,1,0,0,0,0,0,13.54,12.66,14.14
$GC,300,-0.57,-145.9,2377,3596,3956,3980,45.0,-19.3,40,305,0.00,2.38,0.00,0.000,1030,0.000,0.057,2377,2200,3967,3955,3980,0,0,0,0,0,0,14.19,14.07,14.22
$GC,612,-0.60,-145.9,2376,2200,3959,3981,98.0,-13.7,72,617,0.00,2.47,0.00,0.000,388,0.000,0.086,2369,3600,3969,3959,3980,0,0,0,0,0,0,14.46,14.15,14.50
$GC,734,-0.70,-145.9,2370,3602,3959,3981,112.3,-11.1,96,739,0.00,2.38,0.00,0.000,1158,0.000,0.054,2369,2189,3971,3959,3984,0,0,0,0,0,0,14.31,14.21,14.34
$GC,1064,-0.77,-145.9,2370,2188,3959,3981,150.9,-11.2,112,1069,0.12,2.47,0.00,0.000,4484,0.142,0.086,2320,3599,3969,3959,3980,0,0,0,0,0,0,14.26,14.16,14.36
$GC,1161,-0.83,-145.9,2320,3602,3959,3981,163.5,-13.1,131,1166,0.00,2.35,0.00,0.000,1158,0.000,0.054,2324,2198,3969,3959,3980,0,0,0,0,0,0,14.35,14.24,14.38
$GC,1486,-0.83,-145.9,2319,2197,3959,3979,209.5,-13.8,146,1491,0.00,2.47,0.00,0.000,260,0.000,0.090,2321,3601,3968,3959,3978,0,0,0,0,0,0,14.57,14.18,14.59
$GC,1541,-0.93,-145.9,2319,3602,3959,3978,216.5,-11.3,157,1548,0.12,2.38,0.00,0.000,5254,0.131,0.055,2265,2196,3968,3959,3977,0,0,0,0,0,0,14.25,14.23,14.29
$GC,1847,-0.85,-145.9,2265,2196,3958,3976,266.9,-15.8,168,1852,0.12,2.45,0.00,0.000,2436,0.298,0.084,2284,3601,3965,3959,3971,0,0,0,0,0,0,13.97,14.21,14.15
$GC,2067,-0.90,-145.9,2284,3602,3959,3976,293.8,-11.4,212,2072,0.00,2.40,0.00,0.000,1158,0.000,0.056,2283,2195,3966,3959,3974,0,0,0,0,0,0,14.38,14.26,14.40
$GC,2387,-0.90,-145.9,2284,2195,3960,3972,332.2,-11.9,226,2393,0.00,2.47,0.00,0.000,260,0.000,0.090,2280,3603,3965,3958,3972,0,0,0,0,0,0,14.59,14.21,14.61
$GC,2473,-0.97,-145.9,2280,3605,3959,3973,342.1,-11.2,243,2479,0.00,2.38,0.00,0.000,1158,0.000,0.057,2279,2197,3964,3957,3972,0,0,0,0,0,0,14.34,14.26,14.38
$GC,2778,-0.97,-145.9,2280,2197,3959,3971,378.2,-11.7,254,2783,0.00,2.47,0.00,0.000,260,0.000,0.088,2275,3608,3964,3959,3969,0,0,0,0,0,0,14.60,14.21,14.62
$GC,2869,-1.04,-145.9,2276,3609,3959,3971,388.6,-10.8,272,2874,0.00,2.38,0.00,0.000,1158,0.000,0.055,2276,2202,3964,3958,3970,0,0,0,0,0,0,14.34,14.23,14.38
$GC,3199,-1.04,-145.9,2276,2202,3959,3968,426.8,-11.5,288,3203,0.00,2.45,0.00,0.000,260,0.000,0.088,2269,3599,3963,3958,3968,0,0,0,0,0,0,14.58,14.17,14.59
$GC,3289,-1.09,-145.9,2268,3601,3958,3969,437.2,-11.1,306,3295,0.12,2.38,0.00,0.000,5254,0.140,0.056,2220,2196,3962,3957,3968,0,0,0,0,0,0,14.24,14.22,14.35
$STATE,3557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3557,begin apogee
$GC,3563,-0.13,0.0,2221,2071,3959,3967,480.5,-16.3,320,3774,1.27,0.00,207.23,1.445,10246,0.276,0.000,2528,2069,3364,3408,3321,0,0,0,0,0,0,13.82,13.43,12.73
$STATE,3778,end apogee,CONTROL_FINISHED_OK
$STATE,3778,begin climb
$GC,3780,0.57,145.9,2528,2070,3402,3317,490.4,0.0,327,3990,0.75,2.70,200.23,1.386,10500,0.064,0.073,2780,3500,2764,2826,2702,0,0,0,0,0,0,13.51,13.01,12.46
$GC,4137,0.14,145.9,2784,3501,2807,2703,468.0,17.9,357,4142,0.77,2.45,0.00,0.000,5254,0.347,0.057,2633,2125,2755,2807,2703,0,0,0,0,0,0,13.29,13.57,13.62
$GC,4469,0.07,172.5,2634,2125,2808,2702,437.3,8.8,373,4508,0.00,2.65,34.22,1.462,8868,0.000,0.082,2644,687,2658,2713,2603,0,0,0,0,0,0,14.16,13.78,13.04
$GC,4581,0.05,189.1,2644,688,2709,2603,427.1,9.2,395,4610,0.20,2.50,22.73,1.504,13478,0.253,0.077,2600,2090,2592,2660,2525,0,0,0,0,0,0,13.69,13.86,12.99
$GC,4922,0.11,240.8,2601,2091,2658,2515,400.8,7.6,413,5000,0.00,0.00,76.75,1.390,8358,0.000,0.000,2601,2090,2383,2451,2316,0,0,0,0,0,0,14.28,13.72,13.00
$GC,5280,0.22,291.9,2601,2091,2437,2304,373.1,7.6,425,5362,0.12,2.62,75.47,1.349,10916,0.133,0.085,2672,688,2172,2237,2107,0,0,0,0,0,0,14.03,13.68,13.02
$GC,5397,0.22,291.9,2673,688,2227,2106,359.6,12.6,448,5404,0.00,2.55,0.00,0.000,1030,0.000,0.076,2672,2100,2165,2225,2105,0,0,0,0,0,0,13.84,13.73,13.85
$GC,5702,0.19,291.9,2672,2100,2225,2095,321.1,12.6,459,5707,0.00,2.50,0.00,0.000,644,0.000,0.087,2672,696,2160,2224,2096,0,0,0,0,0,0,14.26,13.96,14.28
$MODEM_MSG,CACST,6,1,20170818201304.604469,3,2219,33,0404,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$MODEM_MSG,CACST,6,1,20170818202105.932052,3,62,17,0121,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$MODEM_MSG,CACST,6,1,20170818202849.881257,3,72,00,0124,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$GC,5746,0.19,291.9,2673,696,2224,2096,315.6,12.7,467,5751,0.00,2.47,0.00,0.000,1030,0.000,0.077,2672,2099,2159,2223,2096,0,0,0,0,0,0,14.13,14.02,14.16
$GC,6068,0.17,291.9,2673,2099,2223,2101,276.2,12.0,481,6073,0.12,2.45,0.00,0.000,4740,0.274,0.082,2648,686,2158,2222,2094,0,0,0,0,0,0,13.85,14.09,14.00
$GC,6104,0.24,291.9,2648,688,2220,2092,272.2,10.1,488,6110,0.00,2.45,0.00,0.000,1158,0.000,0.077,2648,2113,2155,2215,2095,0,0,0,0,0,0,14.19,14.09,14.23
$GC,6432,0.30,309.4,2649,2114,2220,2094,241.1,9.2,503,6462,0.00,2.50,23.45,1.410,8868,0.000,0.083,2653,695,2098,2157,2040,0,0,0,0,0,0,14.52,13.94,13.33
$GC,6514,0.42,333.7,2654,696,2153,2041,233.8,8.9,519,6559,0.20,2.45,38.33,1.365,11430,0.109,0.077,2732,2102,2003,2055,1951,0,0,0,0,0,0,14.18,14.13,13.24
$GC,6884,0.35,333.7,2732,2103,2046,1942,183.5,13.4,543,6889,0.15,2.47,0.00,0.000,4740,0.236,0.082,2699,687,1993,2046,1941,0,0,0,0,0,0,14.02,14.15,14.15
$GC,6954,0.41,338.1,2696,687,2044,1941,176.0,9.8,557,6959,0.00,2.45,0.00,0.000,1190,0.000,0.076,2699,2100,1992,2043,1941,0,0,0,0,0,0,14.31,14.21,14.33
$GC,7275,0.42,355.4,2699,2102,2043,1940,145.2,9.2,571,7309,0.00,0.00,33.15,1.337,8486,0.000,0.000,2699,2101,1918,1963,1873,0,0,0,0,0,0,14.54,14.09,13.38
$GC,7605,0.48,379.7,2699,2101,1950,1864,115.6,8.9,587,7646,0.10,2.53,35.53,1.305,10916,0.155,0.086,2756,686,1814,1850,1779,0,0,0,0,0,0,14.26,14.00,13.33
$GC,7676,0.48,379.7,2757,687,1843,1779,107.2,12.3,601,7681,0.00,2.50,0.00,0.000,1030,0.000,0.078,2756,2101,1810,1842,1779,0,0,0,0,0,0,14.13,14.00,14.17
$GC,7986,0.44,379.7,2757,2101,1842,1772,71.7,10.6,630,7992,0.12,2.47,0.00,0.000,4484,0.243,0.080,2728,3512,1807,1842,1773,0,0,0,0,0,0,14.04,14.11,14.16
$GC,8002,0.44,379.7,2728,3512,1842,1774,70.2,10.1,633,8008,0.00,2.42,0.00,0.000,1030,0.000,0.064,2729,2101,1807,1841,1773,0,0,0,0,0,0,14.23,14.12,14.26
$GC,8307,0.58,500.8,2730,2100,1842,1769,51.1,4.4,664,8376,0.12,2.55,60.33,0.355,10916,0.133,0.089,2793,688,1321,1383,1260,0,0,0,0,0,0,14.23,14.06,13.74
$GC,8441,0.68,532.6,2794,688,1381,1257,40.4,8.5,690,8463,0.00,2.47,16.50,0.325,9382,0.000,0.077,2793,2101,1191,1262,1120,0,0,0,0,0,0,14.14,14.02,13.81
$GC,8761,0.87,633.3,2794,2101,1263,1112,15.1,5.3,724,8814,0.20,0.00,51.40,0.258,10406,0.110,0.000,2874,2101,782,859,706,0,0,0,0,0,0,14.26,14.13,13.85
$STATE,8948,end climb,SURFACE_DEPTH_REACHED
$STATE,8948,begin surface coast
$FINISH,0.1,1.020322
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8970,begin surface
$SM_CCo,8992,38.40,0.210,0,0,496,703.28
$SM_GC,1.29,8.18,0.17,38.40,0.079,0.099,0.210,206,2253,496,-7.37,-0.62,703.28,0,0,0,0,0,0,14.25,14.29,14.02
$RAFOS_CLK,249
$MODEM,4,1503088129,75.71700,-151.21500,229.131,332014.4
$MODEM,3,1503087665,74.30400,-153.94400,158.932,230294.8
$MODEM,2,1503087184,73.18300,-149.96500,37.604,54489.4
$RAFOS_FIX,7247.060547,-14853.498047,180817,202059,3,255,0.64
$IRIDIUM_FIX,7246.80,-14849.72,180817,185352
$TT8_MAMPS,0.040446,0.880075
$HUMID,47.99
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,11
$CP_FREE,16001761280.000000
$PM_FREEKB_00,55436224
$24V_AH,12.46,92.091
$10V_AH,12.37,0.000
$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,25.325,89.475,875.300,38.400,0.000,0.000,0.000,654.125,2.750,0.000,11.758,0.000,6599.964,832.455,2409.612,315.367,0.000,2317.640,0.000,1068.146,2197.000,0.539,0.000
$DEVICE_MAMPS,452.880,2148.885,1503.990,210.375,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8999.000,8990.000,8948.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.514,20.000,16.612,0.000
$MEM,323868
$DATA_FILE_SIZE,26743,745
$CAP_FILE_SIZE,109627,0
$CFSIZE,2097872896,2056650752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1449.3
$CURRENT,0.059,275.56,1
$GPS,180817,213302,7248.313,-14849.844,38,0.8,38,21.1,0.0,0.0,10,9.0