version: 66.13
glider: 196
mission: 14
dive: 108
start: 8 19 117 6 10 55
data:
$ID,196
$MISSION,14
$DIVE,108
$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,23
$R_STBD_OVSHOOT,57
$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,306.0
$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
$GPS1,190817,055418,7251.6733,-14856.6465,24,0.7,27,21.1,0.8,217.3,11,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.6
$GPS2,190817,061022,7251.5591,-14857.0977,9,0.7,33,21.1,0.7,208.6,12,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,312.2,48467,-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,-145.9,180,2202,497,482,0.0,0.0,0,140,0.00,0.00,-91.93,0.000,16386,0.000,0.000,178,2198,2297,2238,2357,0,0,0,0,0,0,14.40,28.83,14.42
$GC,143,-0.57,-145.9,185,2201,2241,2358,4.9,-7.5,9,192,12.73,2.70,-29.45,0.000,18724,0.456,2.149,2375,3570,3963,3947,3979,0,0,0,0,0,0,13.65,12.91,14.10
$GC,249,-0.53,-145.9,2376,3572,3952,3979,35.8,-22.3,28,255,0.12,2.35,0.00,0.000,3206,0.273,0.057,2398,2190,3966,3953,3979,0,0,0,0,0,0,13.86,14.09,14.09
$GC,552,-0.58,-145.9,2399,2189,3958,3980,88.3,-12.2,59,558,0.00,2.45,0.00,0.000,388,0.000,0.086,2391,3573,3968,3957,3979,0,0,0,0,0,0,14.45,14.12,14.47
$GC,708,-0.75,-145.9,2392,3575,3958,3979,104.0,-9.2,90,714,0.17,2.33,0.00,0.000,5286,0.105,0.053,2325,2192,3968,3957,3980,0,0,0,0,0,0,14.25,14.21,14.33
$GC,1034,-0.75,-145.9,2325,2190,3958,3979,155.9,-15.4,105,1039,0.00,2.42,0.00,0.000,260,0.000,0.088,2320,3573,3968,3957,3979,0,0,0,0,0,0,14.55,14.17,14.57
$GC,1139,-0.81,-145.9,2319,3573,3958,3979,170.2,-12.8,126,1144,0.00,2.30,0.00,0.000,1158,0.000,0.054,2319,2201,3968,3957,3979,0,0,0,0,0,0,14.37,14.29,14.39
$GC,1454,-0.81,-145.9,2319,2200,3957,3980,214.2,-13.5,139,1459,0.00,2.42,0.00,0.000,260,0.000,0.090,2319,3580,3968,3957,3979,0,0,0,0,0,0,14.58,14.19,14.59
$GC,1571,-0.91,-145.9,2320,3581,3958,3979,227.5,-10.7,162,1577,0.00,2.33,0.00,0.000,1158,0.000,0.054,2319,2201,3968,3957,3979,0,0,0,0,0,0,14.26,14.15,14.30
$GC,1875,-0.95,-145.9,2319,2199,3958,3978,261.6,-10.7,173,1880,0.12,2.42,0.00,0.000,4484,0.141,0.086,2252,3580,3966,3956,3977,0,0,0,0,0,0,14.29,14.17,14.35
$GC,1972,-0.91,-145.9,2253,3581,3956,3977,275.4,-15.2,192,1977,0.15,2.33,0.00,0.000,3206,0.276,0.057,2281,2196,3967,3956,3978,0,0,0,0,0,0,14.00,14.28,14.27
$GC,2298,-0.91,-145.9,2281,2197,3957,3977,318.4,-12.9,207,2303,0.00,2.42,0.00,0.000,260,0.000,0.089,2279,3573,3965,3956,3975,0,0,0,0,0,0,14.60,14.19,14.62
$GC,2410,-0.97,-145.9,2280,3574,3956,3976,331.4,-11.3,229,2415,0.00,2.30,0.00,0.000,1158,0.000,0.056,2279,2201,3965,3955,3975,0,0,0,0,0,0,14.30,14.21,14.32
$GC,2720,-0.97,-145.9,2280,2200,3956,3974,368.8,-11.8,241,2725,0.00,2.42,0.00,0.000,260,0.000,0.088,2271,3574,3964,3955,3973,0,0,0,0,0,0,14.60,14.23,14.66
$GC,2825,-1.02,-145.9,2271,3575,3956,3973,381.0,-11.3,262,2830,0.00,2.30,0.00,0.000,1158,0.000,0.056,2271,2201,3963,3954,3973,0,0,0,0,0,0,14.39,14.27,14.42
$GC,3140,-1.02,-145.9,2271,2200,3956,3973,419.7,-12.2,275,3146,0.00,2.42,0.00,0.000,260,0.000,0.087,2266,3581,3963,3955,3972,0,0,0,0,0,0,14.59,14.21,14.59
$GC,3246,-1.07,-145.9,2267,3583,3955,3973,432.3,-11.5,296,3251,0.00,2.33,0.00,0.000,1158,0.000,0.056,2267,2196,3963,3954,3972,0,0,0,0,0,0,14.39,14.27,14.42
$GC,3561,-1.07,-145.9,2267,2196,3955,3972,471.4,-12.4,309,3566,0.00,2.42,0.00,0.000,260,0.000,0.087,2258,3580,3962,3954,3971,0,0,0,0,0,0,14.60,14.19,14.62
$STATE,3628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3628,begin apogee
$GC,3637,-0.13,0.0,2258,2102,3955,3972,480.2,-12.2,323,3850,1.08,0.00,210.82,1.437,10246,0.246,0.000,2530,2101,3365,3394,3337,0,0,0,0,0,0,13.99,13.49,12.74
$STATE,3854,end apogee,CONTROL_FINISHED_OK
$STATE,3854,begin climb
$GC,3857,0.57,145.9,2531,2102,3386,3330,491.1,0.0,330,4067,0.73,2.75,202.23,1.382,10756,0.066,0.082,2781,684,2766,2819,2714,0,0,0,0,0,0,13.57,13.19,12.49
$GC,4294,0.23,145.9,2781,685,2803,2712,462.5,14.9,376,4299,0.57,2.50,0.00,0.000,5254,0.321,0.076,2658,2072,2756,2802,2711,0,0,0,0,0,0,13.47,13.74,13.79
$GC,4605,0.08,152.0,2661,2075,2803,2706,431.3,9.7,388,4610,0.20,2.42,1.23,0.265,12964,0.293,0.077,2621,687,2743,2792,2695,0,0,0,0,0,0,13.79,13.97,13.76
$GC,4741,0.12,211.1,2621,687,2796,2710,420.9,7.3,415,4840,0.00,2.47,92.68,1.375,9254,0.000,0.079,2621,2105,2501,2565,2437,0,0,0,0,0,0,14.25,14.13,13.03
$GC,5146,0.14,228.2,2622,2105,2560,2421,384.6,9.2,446,5169,0.00,0.00,22.40,1.489,8230,0.000,0.000,2621,2101,2434,2500,2369,0,0,0,0,0,0,14.36,14.00,13.20
$GC,5446,0.15,242.4,2622,2104,2491,2358,356.7,9.3,456,5471,0.00,2.50,19.38,1.512,8740,0.000,0.086,2631,690,2374,2434,2315,0,0,0,0,0,0,14.45,14.07,13.28
$GC,5516,0.22,259.4,2631,691,2429,2313,350.2,9.2,470,5547,0.00,2.47,25.15,1.470,9382,0.000,0.078,2632,2105,2305,2364,2246,0,0,0,0,0,0,14.21,14.10,13.19
$GC,5869,0.26,276.5,2631,2104,2358,2237,316.9,9.2,490,5900,0.10,2.58,25.48,1.457,10916,0.153,0.084,2683,687,2232,2289,2176,0,0,0,0,0,0,14.24,14.03,13.27
$GC,5925,0.22,276.5,2684,688,2288,2177,310.1,12.3,501,5932,0.12,2.47,0.00,0.000,5254,0.243,0.078,2657,2099,2230,2285,2175,0,0,0,0,0,0,13.92,14.09,14.17
$GC,6231,0.22,276.5,2657,2100,2285,2170,276.9,10.8,512,6235,0.00,2.47,0.00,0.000,516,0.000,0.086,2659,685,2227,2285,2169,0,0,0,0,0,0,14.51,14.16,14.52
$GC,6271,0.26,276.5,2660,685,2284,2169,272.7,10.4,520,6276,0.00,2.45,0.00,0.000,1158,0.000,0.077,2664,2099,2225,2283,2168,0,0,0,0,0,0,14.33,14.22,14.37
$GC,6593,0.27,292.1,2660,2100,2288,2168,240.8,9.3,534,6623,0.00,2.55,21.48,1.469,8740,0.000,0.086,2659,684,2170,2224,2116,0,0,0,0,0,0,14.47,14.08,13.34
$GC,6668,0.36,322.2,2660,685,2223,2117,234.0,8.6,549,6724,0.12,2.50,49.53,1.354,11430,0.135,0.077,2709,2105,2049,2099,1999,0,0,0,0,0,0,14.08,14.04,13.18
$GC,7044,0.32,322.2,2709,2106,2091,1989,189.8,11.2,574,7049,0.00,2.50,0.00,0.000,388,0.000,0.082,2709,3517,2038,2089,1988,0,0,0,0,0,0,14.33,14.04,14.36
$GC,7069,0.25,322.2,2709,3518,2087,1989,186.7,12.7,579,7077,0.20,2.45,0.00,0.000,5254,0.257,0.063,2664,2098,2038,2089,1988,0,0,0,0,0,0,13.91,14.06,14.12
$GC,7375,0.36,377.5,2665,2097,2089,1984,162.5,7.4,590,7475,0.00,2.60,92.47,1.265,8868,0.000,0.087,2664,689,1823,1858,1788,0,0,0,0,0,0,14.40,13.78,13.12
$GC,7546,0.56,431.7,2665,689,1850,1788,149.9,7.5,624,7648,0.30,2.53,92.15,1.192,11430,0.086,0.078,2776,2100,1601,1641,1561,0,0,0,0,0,0,13.93,13.86,12.95
$GC,7945,0.51,431.7,2777,2104,1640,1544,92.0,14.0,656,7950,0.12,2.53,0.00,0.000,4740,0.269,0.085,2755,695,1590,1639,1542,0,0,0,0,0,0,13.67,13.88,13.83
$GC,8016,0.58,431.7,2756,693,1635,1543,83.8,10.2,670,8020,0.00,2.53,0.00,0.000,1158,0.000,0.080,2755,2107,1588,1634,1542,0,0,0,0,0,0,14.02,13.94,14.05
$GC,8326,0.66,500.2,2756,2109,1635,1539,55.8,6.8,702,8366,0.12,0.00,33.40,0.373,10662,0.129,0.000,2809,2108,1324,1378,1270,0,0,0,0,0,0,14.12,14.00,13.67
$GC,8666,0.68,532.3,2810,2109,1380,1264,25.4,8.5,739,8686,0.00,0.00,16.67,0.295,8230,0.000,0.000,2809,2111,1194,1257,1131,0,0,0,0,0,0,14.32,14.09,13.78
$MODEM_MSG,CACST,6,1,20170819080423.727092,3,135,15,0187,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$MODEM_MSG,CACST,6,1,20170819081258.780992,3,4115,36,0127,0150,250,00,00,00,00,-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,6,1,20170819082844.938656,3,844,29,0413,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$GC,8986,0.94,719.6,2809,2108,1259,1126,10.1,1.4,771,9091,0.20,2.50,95.20,0.232,10660,0.102,0.080,2894,3512,503,530,477,0,0,0,0,0,0,14.12,14.00,13.85
$STATE,9104,end climb,SURFACE_DEPTH_REACHED
$STATE,9104,begin surface coast
$FINISH,0.7,1.020323
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9138,1.88,0.220,0,0,501,702.78
$SM_GC,1.57,8.20,2.28,1.88,0.067,0.046,0.220,207,2189,501,-7.37,0.85,702.78,0,0,0,0,0,0,14.11,14.09,13.91
$RAFOS_CLK,127
$MODEM,4,1503131324,75.71700,-151.21500,224.189,324981.5
$MODEM,2,1503130378,73.18300,-149.96500,31.781,46069.4
$MODEM,0,1503129863,75.36600,-145.04601,209.727,304018.2
$RAFOS_FIX,7251.576172,-14902.786133,190817,080821,3,255,0.41
$IRIDIUM_FIX,7251.32,-14858.42,190817,055853
$TT8_MAMPS,0.093625,0.883071
$HUMID,43.97
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.10
$XPDR_PINGS,20
$CP_FREE,16001073152.000000
$PM_FREEKB_00,55139328
$24V_AH,12.49,94.065
$10V_AH,12.38,0.000
$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,25.375,93.325,1000.250,1.875,0.000,0.000,0.000,604.125,5.000,0.000,34.239,0.000,6464.329,878.727,2463.284,311.423,0.000,2379.162,0.000,1139.544,2207.000,0.539,0.000
$DEVICE_MAMPS,455.940,2148.885,1511.640,220.320,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9143.000,9132.000,9090.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.386,20.000,16.601,0.000
$MEM,323624
$DATA_FILE_SIZE,26653,795
$CAP_FILE_SIZE,111185,0
$CFSIZE,2097872896,2055372800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.4
$CURRENT,0.081,267.10,1
$GPS,190817,084432,7252.720,-14859.296,31,0.8,31,21.1,0.5,284.9,9,9.1