version: 66.13
glider: 196
mission: 14
dive: 110
start: 8 19 117 11 49 52
data:
$ID,196
$MISSION,14
$DIVE,110
$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,22
$R_STBD_OVSHOOT,20
$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,312.0
$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
$GPS1,190817,113802,7253.8320,-14902.1357,36,0.9,36,21.1,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.6
$GPS2,190817,114919,7253.8931,-14902.4375,8,0.8,9,21.1,0.0,310.2,10,8.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.1,43358,-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,-145.9,187,2194,518,474,0.0,0.0,0,130,0.00,0.00,-81.28,0.000,16386,0.000,0.000,186,2194,2014,1940,2089,0,0,0,0,0,0,14.40,28.83,14.42
$GC,133,-0.57,-145.9,187,2195,1942,2091,3.4,-4.3,8,190,12.52,0.00,-37.47,0.000,19238,0.453,0.000,2384,2195,3963,3942,3984,1,0,0,0,0,0,13.52,13.19,14.11
$GC,488,-0.57,-145.9,2385,2195,3951,3984,86.6,-14.7,46,493,0.00,2.53,0.00,0.000,260,0.000,0.089,2377,3610,3967,3951,3983,0,0,0,0,0,0,14.45,14.11,14.47
$GC,684,-0.71,-145.9,2377,3611,3952,3983,109.6,-10.5,82,688,0.00,2.40,0.00,0.000,1158,0.000,0.055,2377,2195,3967,3951,3983,0,0,0,0,0,0,14.23,14.14,14.25
$GC,1014,-0.80,-145.9,2378,2195,3952,3984,146.1,-10.6,98,1019,0.17,2.53,0.00,0.000,4484,0.121,0.086,2302,3619,3970,3950,3990,0,0,0,0,0,0,13.87,14.04,14.04
$GC,1089,-0.83,-145.9,2303,3620,3952,3983,157.1,-14.7,113,1094,0.00,2.42,0.00,0.000,1158,0.000,0.056,2302,2189,3966,3951,3982,0,0,0,0,0,0,14.20,14.10,14.23
$GC,1404,-0.79,-145.9,2302,2193,3952,3983,208.0,-15.5,126,1409,0.00,2.53,0.00,0.000,388,0.000,0.088,2294,3616,3971,3958,3984,0,0,0,0,0,0,14.41,14.05,14.43
$GC,1546,-0.83,-145.9,2295,3617,3952,3983,227.3,-12.9,154,1551,0.00,2.40,0.00,0.000,1158,0.000,0.055,2298,2202,3967,3951,3983,0,0,0,0,0,0,14.24,14.14,14.26
$GC,1856,-0.83,-145.9,2293,2201,3952,3983,268.8,-12.6,166,1861,0.00,2.50,0.00,0.000,260,0.000,0.087,2286,3614,3967,3951,3983,0,0,0,0,0,0,14.42,14.08,14.42
$GC,1946,-0.89,-145.9,2286,3614,3952,3983,279.7,-11.4,184,1951,0.00,2.40,0.00,0.000,1158,0.000,0.054,2285,2199,3966,3950,3982,0,0,0,0,0,0,14.26,14.13,14.26
$GC,2276,-0.89,-145.9,2286,2198,3951,3984,319.9,-11.9,200,2281,0.00,2.53,0.00,0.000,260,0.000,0.089,2280,3619,3966,3950,3983,0,0,0,0,0,0,14.40,14.08,14.45
$GC,2393,-0.95,-145.9,2280,3621,3949,3984,332.9,-10.9,223,2399,0.00,2.42,0.00,0.000,1158,0.000,0.055,2280,2193,3969,3948,3990,0,0,0,0,0,0,14.21,14.10,14.23
$GC,2696,-0.95,-145.9,2281,2192,3948,3983,369.0,-11.7,234,2701,0.00,2.53,0.00,0.000,260,0.000,0.090,2279,3619,3965,3947,3983,0,0,0,0,0,0,14.42,14.07,14.43
$GC,2786,-1.04,-145.9,2280,3614,3948,3985,378.9,-10.3,252,2791,0.00,2.42,0.00,0.000,1158,0.000,0.055,2279,2198,3965,3947,3983,0,0,0,0,0,0,14.23,14.12,14.26
$MODEM_MSG,CACST,6,1,20170819120422.041762,3,145,15,0268,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170819121255.284403,3,25009,43,1352,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170819122058.336346,3,132,15,0240,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$GC,3120,-1.04,-145.9,2279,2197,3948,3983,416.6,-11.4,268,3125,0.00,2.47,0.00,0.000,260,0.000,0.087,2272,3610,3964,3947,3982,0,0,0,0,0,0,14.40,14.04,14.45
$GC,3220,-1.10,-145.9,2272,3612,3951,3983,427.8,-10.7,288,3225,0.15,2.38,0.00,0.000,5254,0.122,0.054,2215,2200,3964,3946,3982,0,0,0,0,0,0,14.13,14.11,14.21
$STATE,3538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3540,begin apogee
$GC,3546,-0.13,0.0,2216,2057,3947,3982,481.6,-17.0,302,3843,1.30,0.10,292.45,1.291,10246,0.276,0.159,2530,2120,3361,3382,3341,0,0,0,0,0,0,13.83,13.31,12.64
$STATE,3847,end apogee,CONTROL_FINISHED_OK
$STATE,3849,begin climb
$GC,3851,0.57,145.9,2531,2120,3378,3334,497.1,0.0,312,4393,0.75,2.33,205.85,1.338,10756,0.063,0.076,2789,720,2747,2786,2708,0,0,0,0,0,0,13.44,13.01,12.46
$GC,4621,0.22,145.9,2789,720,2786,2708,414.6,15.3,359,4629,0.60,2.40,0.00,0.000,5254,0.321,0.076,2658,2092,2745,2785,2706,0,0,0,0,0,0,13.74,14.04,14.07
$GC,4927,0.08,154.7,2658,2093,2786,2705,384.1,9.6,370,4932,0.17,2.45,1.33,0.230,12964,0.304,0.080,2623,724,2732,2774,2690,0,0,0,0,0,0,13.92,14.19,14.02
$GC,4992,0.11,196.3,2623,725,2781,2699,378.9,8.1,383,5072,0.00,2.40,72.88,1.336,9254,0.000,0.080,2623,2103,2559,2612,2506,0,0,0,0,0,0,14.32,14.21,13.17
$GC,5378,0.13,220.1,2623,2104,2605,2486,344.9,8.9,410,5415,0.00,2.45,32.42,1.399,8740,0.000,0.081,2631,721,2463,2519,2407,0,0,0,0,0,0,14.44,13.82,13.25
$GC,5467,0.19,245.5,2631,723,2507,2402,337.2,8.8,427,5511,0.00,2.42,38.05,1.357,9382,0.000,0.078,2630,2097,2361,2415,2308,0,0,0,0,0,0,14.11,14.04,13.15
$GC,5833,0.20,257.0,2631,2101,2403,2291,302.6,9.5,450,5851,0.00,2.45,11.15,1.556,8740,0.000,0.083,2633,733,2313,2367,2260,0,0,0,0,0,0,14.44,14.11,13.28
$GC,5876,0.27,271.1,2633,733,2361,2259,298.4,9.4,458,5902,0.10,2.40,20.92,1.423,11430,0.151,0.078,2679,2107,2261,2314,2208,0,0,0,0,0,0,14.13,14.10,13.26
$GC,6229,0.21,271.1,2680,2108,2303,2192,256.0,11.8,478,6234,0.00,2.40,0.00,0.000,644,0.000,0.083,2682,727,2246,2302,2190,0,0,0,0,0,0,14.47,14.19,14.48
$GC,6274,0.21,271.1,2682,728,2300,2191,250.6,11.3,487,6280,0.15,2.40,0.00,0.000,5126,0.248,0.078,2650,2109,2245,2301,2190,0,0,0,0,0,0,14.04,14.21,14.29
$GC,6591,0.26,310.7,2650,2110,2301,2189,222.8,8.2,500,6660,0.00,0.00,67.22,1.298,8870,0.000,0.000,2650,2109,2097,2149,2046,0,0,0,0,0,0,14.56,13.96,13.26
$GC,6951,0.37,362.9,2650,2110,2134,2035,195.2,7.6,517,7048,0.12,2.58,91.68,1.229,10916,0.129,0.086,2710,721,1882,1919,1845,0,0,0,0,0,0,14.19,13.81,13.14
$GC,7123,0.43,362.9,2709,723,1902,1842,177.0,10.5,551,7129,0.00,2.45,0.00,0.000,1158,0.000,0.076,2709,2106,1870,1901,1840,0,0,0,0,0,0,14.01,13.93,14.08
$GC,7434,0.43,362.9,2709,2108,1902,1834,144.6,10.1,563,7440,0.00,2.45,0.00,0.000,516,0.000,0.087,2709,723,1863,1900,1827,0,0,0,0,0,0,14.44,14.14,14.45
$GC,7470,0.50,372.1,2709,722,1899,1834,141.0,9.6,570,7482,0.00,2.40,2.80,0.992,9382,0.000,0.075,2712,2098,1849,1882,1817,0,0,0,0,0,0,14.27,14.16,12.87
$GC,7799,0.55,395.2,2709,2099,1893,1824,110.6,8.9,585,7859,0.15,2.50,49.58,1.252,10916,0.119,0.086,2782,727,1745,1771,1720,0,0,0,0,0,0,14.21,14.01,13.30
$GC,7911,0.51,395.2,2781,727,1765,1719,96.6,12.3,602,7916,0.15,2.42,0.00,0.000,5254,0.266,0.077,2751,2105,1741,1764,1718,0,0,0,0,0,0,13.81,14.04,14.07
$GC,8221,0.54,436.5,2750,2106,1765,1711,66.2,8.1,634,8248,0.00,2.53,20.38,0.397,8484,0.000,0.082,2747,3511,1584,1616,1552,0,0,0,0,0,0,14.44,13.99,13.78
$GC,8473,0.66,522.9,2751,3513,1617,1558,46.8,6.0,684,8527,0.12,2.38,46.47,0.340,11430,0.124,0.063,2801,2126,1233,1296,1171,0,0,0,0,0,0,14.20,14.17,13.82
$GC,8823,0.74,563.7,2804,2127,1290,1174,17.7,8.1,724,8847,0.00,0.00,22.23,0.261,8358,0.000,0.000,2804,2125,1065,1131,999,0,0,0,0,0,0,14.47,14.19,13.92
$GC,9143,1.02,730.9,2804,2127,1132,1003,6.8,2.3,756,9212,0.30,0.00,66.10,0.219,10914,0.090,0.000,2917,2125,567,607,527,0,0,0,0,0,0,14.14,28.83,14.21
$STATE,9212,end climb,SURFACE_DEPTH_REACHED
$STATE,9212,begin surface coast
$FINISH,0.2,1.020331
$STATE,9225,end surface coast,CONTROL_FINISHED_OK
$STATE,9225,begin surface
$SM_CCo,9247,9.30,0.220,0,0,499,702.78
$SM_GC,2.48,8.25,0.15,9.30,0.071,0.121,0.220,205,2251,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.23,14.24,14.00
$RAFOS_CLK,391
$MODEM,3,1503145258,74.30400,-153.94400,151.336,219404.0
$MODEM,2,1503144775,73.18300,-149.96500,28.284,41006.1
$MODEM,0,1503144262,75.36600,-145.04601,208.042,301614.2
$RAFOS_FIX,7252.723633,-14904.208984,190817,121245,3,255,1.69
$IRIDIUM_FIX,7255.20,-14907.20,190817,085549
$TT8_MAMPS,0.038199,0.835135
$HUMID,48.18
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,6
$CP_FREE,16000712704.000000
$PM_FREEKB_00,54989056
$24V_AH,12.46,95.053
$10V_AH,12.35,0.000
$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,25.025,78.675,1041.500,9.300,0.000,0.000,0.000,402.950,1.500,0.000,10.762,0.000,6189.575,930.071,2534.853,300.259,0.000,2522.903,0.000,1105.000,2218.000,0.539,0.000
$DEVICE_MAMPS,452.880,159.120,1556.010,219.555,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9253.000,9239.000,9204.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.664,20.000,16.639,0.000
$MEM,323748
$DATA_FILE_SIZE,26687,771
$CAP_FILE_SIZE,105968,0
$CFSIZE,2097872896,2054717440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$INTR,0,5836.95,0x2341ea,1,24
$SOUNDSPEED,1448.8
$CURRENT,0.059,266.33,1
$GPS,190817,142534,7254.974,-14904.365,34,0.7,37,21.1,0.2,49.6,10,9.7