version: 66.13
glider: 196
mission: 14
dive: 106
start: 8 19 117 0 26 37
data:
$ID,196
$MISSION,14
$DIVE,106
$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,30
$R_STBD_OVSHOOT,50
$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,300.0
$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
$GPS1,190817,001504,7249.4658,-14852.0488,21,0.8,30,21.1,0.3,297.9,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.9
$GPS2,190817,002601,7249.4624,-14852.1973,7,0.7,13,21.1,0.0,0.0,12,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.6,53107,-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,-145.9,192,2192,517,481,0.0,0.0,0,130,0.00,0.00,-81.62,0.000,16386,0.000,0.000,191,2192,2016,1939,2094,0,0,0,0,0,0,14.26,28.83,14.30
$GC,133,-0.57,-145.9,192,2193,1942,2097,3.3,-4.3,8,189,12.85,2.72,-38.15,0.000,18980,0.461,2.139,2384,800,3960,3942,3978,0,0,0,0,0,0,13.61,12.86,14.01
$GC,255,-0.57,-145.9,2384,800,3949,3983,35.5,-19.2,32,260,0.00,2.45,0.00,0.000,1030,0.000,0.087,2378,2171,3964,3949,3979,0,0,0,0,0,0,14.00,13.88,14.05
$GC,565,-0.57,-145.9,2379,2171,3954,3978,90.8,-14.0,64,569,0.00,2.58,0.00,0.000,260,0.000,0.091,2376,3614,3965,3952,3978,0,0,0,0,0,0,14.33,13.92,14.34
$MODEM_MSG,CACST,6,1,20170819000426.183663,3,13,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,775,-0.70,-145.9,2376,3617,3953,3979,114.0,-10.4,106,780,0.00,2.38,0.00,0.000,1158,0.000,0.054,2376,2193,3965,3953,3978,0,0,0,0,0,0,14.07,13.97,14.12
$GC,1105,-0.79,-145.9,2376,2192,3954,3979,149.9,-10.4,122,1110,0.15,2.50,0.00,0.000,4484,0.132,0.086,2305,3612,3965,3953,3978,0,0,0,0,0,0,14.19,14.13,14.24
$GC,1197,-0.83,-145.9,2306,3613,3954,3978,162.5,-14.1,140,1202,0.00,2.40,0.00,0.000,1158,0.000,0.055,2306,2189,3965,3953,3978,0,0,0,0,0,0,14.31,14.20,14.33
$GC,1527,-0.83,-145.9,2306,2188,3953,3979,212.9,-14.6,156,1532,0.00,2.50,0.00,0.000,260,0.000,0.090,2305,3613,3965,3952,3978,0,0,0,0,0,0,14.54,14.19,14.56
$GC,1672,-0.90,-145.9,2306,3614,3954,3979,230.9,-11.6,185,1678,0.00,2.42,0.00,0.000,1158,0.000,0.057,2305,2195,3966,3951,3982,0,0,0,0,0,0,14.32,14.22,14.35
$GC,1977,-0.92,-145.9,2305,2194,3954,3978,267.7,-11.7,196,1982,0.00,2.50,0.00,0.000,388,0.000,0.089,2301,3614,3965,3952,3978,0,0,0,0,0,0,14.57,14.20,14.59
$GC,2104,-1.01,-145.9,2301,3617,3953,3979,281.1,-9.9,221,2109,0.15,2.40,0.00,0.000,5286,0.122,0.055,2246,2195,3965,3952,3978,0,0,0,0,0,0,14.28,14.26,14.38
$GC,2430,-0.93,-145.9,2247,2194,3951,3976,332.4,-15.7,236,2435,0.12,2.50,0.00,0.000,2436,0.309,0.086,2263,3620,3964,3953,3976,0,0,0,0,0,0,13.95,14.16,14.14
$GC,2575,-0.93,-145.9,2264,3621,3952,3977,351.5,-12.6,265,2581,0.00,2.40,0.00,0.000,1030,0.000,0.057,2263,2193,3961,3946,3976,0,0,0,0,0,0,14.34,14.21,14.37
$GC,2880,-0.91,-145.9,2264,2192,3953,3973,391.4,-12.9,276,2885,0.00,2.50,0.00,0.000,388,0.000,0.088,2256,3614,3962,3951,3974,0,0,0,0,0,0,14.59,14.15,14.61
$GC,3000,-0.91,-145.9,2256,3615,3951,3976,406.8,-12.6,300,3006,0.12,2.40,0.00,0.000,3078,0.273,0.055,2278,2190,3962,3950,3975,0,0,0,0,0,0,13.97,14.21,14.23
$GC,3331,-0.91,-145.9,2279,2190,3951,3975,444.3,-11.3,316,3336,0.00,2.50,0.00,0.000,260,0.000,0.090,2278,3613,3962,3950,3974,0,0,0,0,0,0,14.60,14.16,14.62
$GC,3416,-1.00,-145.9,2278,3614,3952,3975,453.5,-10.2,333,3422,0.00,2.38,0.00,0.000,1158,0.000,0.054,2277,2202,3962,3950,3974,0,0,0,0,0,0,14.30,14.18,14.33
$STATE,3658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3658,begin apogee
$GC,3664,-0.13,0.0,2284,2056,3952,3974,480.7,-11.1,342,4031,0.98,0.10,358.33,1.307,10246,0.230,0.160,2529,2119,3365,3391,3339,0,0,0,0,1,0,14.00,13.14,12.12
$STATE,4037,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4039,0.57,145.9,2530,2118,3398,3340,500.7,0.0,354,4552,0.75,2.30,208.27,1.398,11012,0.067,0.080,2781,726,2755,2799,2711,0,0,0,0,0,0,13.28,13.13,12.46
$GC,4621,0.23,145.9,2782,725,2799,2711,451.6,15.3,369,4627,0.55,2.45,0.00,0.000,5254,0.314,0.076,2662,2101,2753,2798,2708,0,0,0,0,0,0,13.62,13.85,13.95
$GC,4937,0.08,147.3,2661,2102,2799,2706,418.9,9.9,382,4942,0.20,2.40,0.00,0.000,4772,0.300,0.077,2622,726,2752,2798,2706,0,0,0,0,0,0,13.84,14.09,14.03
$GC,5039,0.11,201.7,2622,727,2799,2708,411.0,7.5,402,5123,0.00,2.40,78.60,1.369,9254,0.000,0.079,2622,2099,2542,2603,2481,0,0,0,0,0,0,14.26,14.14,13.11
$GC,5448,0.13,218.4,2623,2101,2592,2460,374.2,9.2,434,5469,0.00,0.00,19.88,1.482,8230,0.000,0.000,2622,2101,2476,2540,2412,0,0,0,0,0,0,14.41,14.04,13.25
$GC,5748,0.14,234.4,2623,2101,2532,2401,346.3,9.3,444,5771,0.00,0.00,22.20,1.495,8230,0.000,0.000,2622,2101,2411,2474,2349,0,0,0,0,0,0,14.47,14.08,13.28
$GC,6048,0.15,251.5,2623,2101,2464,2341,318.7,9.2,454,6081,0.00,2.42,25.60,1.464,8740,0.000,0.081,2631,723,2335,2390,2280,0,0,0,0,0,0,14.48,13.90,13.31
$GC,6133,0.24,268.6,2632,725,2388,2281,311.1,9.2,470,6163,0.00,2.40,25.25,1.442,9382,0.000,0.080,2631,2099,2270,2326,2215,0,0,0,0,0,0,14.21,14.09,13.21
$GC,6475,0.29,289.2,2632,2099,2321,2202,279.2,9.0,488,6509,0.15,0.00,31.77,1.411,10406,0.112,0.000,2693,2099,2184,2239,2130,0,0,0,0,0,0,14.26,14.00,13.25
$GC,6803,0.23,289.2,2695,2100,2230,2121,237.4,12.5,499,6809,0.12,2.40,0.00,0.000,4740,0.259,0.080,2671,726,2175,2230,2120,0,0,0,0,0,0,14.00,14.18,14.14
$GC,6869,0.29,307.6,2672,726,2228,2120,230.9,9.1,512,6904,0.00,2.40,27.58,1.392,9382,0.000,0.080,2671,2105,2106,2159,2054,0,0,0,0,0,0,14.28,14.16,13.31
$GC,7226,0.31,329.1,2672,2107,2156,2047,197.7,9.0,533,7265,0.00,2.45,32.70,1.373,8740,0.000,0.085,2672,726,2020,2071,1970,0,0,0,0,0,0,14.49,14.04,13.31
$GC,7342,0.43,369.1,2672,727,2065,1971,187.9,8.2,556,7416,0.15,2.42,66.60,1.270,11430,0.126,0.078,2734,2107,1858,1894,1823,0,0,0,0,0,0,14.12,14.08,13.15
$GC,7736,0.39,369.1,2734,2108,1888,1812,138.5,12.4,585,7741,0.00,2.45,0.00,0.000,644,0.000,0.085,2739,726,1848,1887,1810,0,0,0,0,0,0,14.41,14.11,14.43
$GC,7771,0.39,369.1,2740,727,1883,1811,134.5,11.5,592,7776,0.12,2.42,0.00,0.000,5126,0.244,0.078,2713,2110,1847,1883,1811,0,0,0,0,0,0,13.97,14.13,14.21
$GC,8096,0.43,382.1,2713,2112,1884,1809,102.9,9.4,607,8112,0.00,2.50,11.70,1.440,8868,0.000,0.087,2713,727,1805,1841,1770,0,0,0,0,0,0,14.51,14.17,13.35
$GC,8157,0.55,411.3,2713,728,1833,1769,97.3,8.7,619,8179,0.15,2.40,15.60,0.505,11430,0.121,0.076,2776,2106,1686,1717,1655,0,0,0,0,0,0,14.22,14.16,13.72
$GC,8477,0.51,411.3,2776,2107,1721,1655,59.9,10.1,653,8482,0.12,2.47,0.00,0.000,4484,0.259,0.080,2751,3525,1685,1717,1654,0,0,0,0,0,0,13.95,14.15,14.12
$GC,8638,0.58,472.8,2751,3526,1717,1654,47.2,7.2,685,8675,0.00,2.38,32.47,0.344,9382,0.000,0.063,2756,2130,1437,1480,1394,0,0,0,0,0,0,14.31,14.20,13.83
$GC,8981,0.74,564.1,2756,2131,1478,1384,26.5,5.8,723,9035,0.17,2.55,48.58,0.278,10916,0.112,0.089,2837,688,1064,1136,992,0,0,0,0,0,0,14.21,14.01,13.91
$GC,9095,0.81,569.8,2838,688,1131,991,15.7,9.7,745,9106,0.00,2.50,2.85,0.275,9382,0.000,0.079,2836,2112,1039,1112,967,0,0,0,0,0,0,14.22,14.07,13.86
$STATE,9373,end climb,SURFACE_DEPTH_REACHED
$STATE,9373,begin surface coast
$FINISH,0.0,1.009575
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9443,72.38,0.212,0,0,498,702.78
$SM_GC,1.27,8.00,0.15,72.38,0.076,0.111,0.212,201,2241,498,-7.36,-0.59,702.78,0,0,0,0,0,0,14.32,14.32,14.02
$RAFOS_CLK,403
$MODEM,0,1503101066,75.36600,-145.04601,212.184,307571.2
$RAFOS_FIX,7247.060547,-14853.498047,180817,202059,3,255,0.64
$IRIDIUM_FIX,7248.56,-14845.95,180817,213741
$TT8_MAMPS,0.039697,0.83888
$HUMID,48.18
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.50
$XPDR_PINGS,12
$CP_FREE,16001400832.000000
$PM_FREEKB_00,55292864
$24V_AH,12.12,93.058
$10V_AH,12.31,0.000
$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,24.875,83.725,1007.975,72.375,0.000,0.000,0.000,383.750,3.000,0.000,14.265,0.000,6420.764,980.004,2488.408,300.343,0.000,2516.691,0.000,1117.496,0.000,0.539,0.000
$DEVICE_MAMPS,460.530,2138.940,1494.810,211.905,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9449.000,9432.000,9400.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.391,20.000,16.611,0.000
$MEM,323564
$DATA_FILE_SIZE,26772,779
$CAP_FILE_SIZE,107554,0
$CFSIZE,2097872896,2056028160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.064,243.57,1
$GPS,190817,030633,7250.575,-14854.235,35,0.8,36,21.1,0.0,0.0,10,8.1