version: 66.13
glider: 196
mission: 14
dive: 111
start: 8 19 117 14 42 58
data:
$ID,196
$MISSION,14
$DIVE,111
$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,43
$R_STBD_OVSHOOT,21
$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,316.0
$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
$GPS1,190817,142534,7254.9741,-14904.3652,34,0.7,37,21.1,0.2,49.6,10,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.0
$GPS2,190817,144222,7255.0088,-14904.2031,10,0.8,10,21.1,0.0,258.4,10,8.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.9,41217,-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,-145.9,190,2173,508,487,0.0,0.0,0,129,0.00,0.00,-81.20,0.000,16386,0.000,0.000,189,2173,2038,1957,2120,0,0,0,0,0,0,14.40,28.83,14.44
$GC,132,-0.57,-145.9,191,2172,1960,2121,3.3,-4.2,8,190,12.50,2.67,-38.10,0.000,18980,0.452,2.146,2385,805,3966,3954,3979,0,0,0,0,0,0,13.72,12.64,14.16
$GC,242,-0.57,-145.9,2385,807,3955,3980,31.6,-20.0,29,247,0.00,2.47,0.00,0.000,1030,0.000,0.089,2378,2198,3970,3962,3979,0,0,0,0,0,0,14.24,14.09,14.22
$GC,552,-0.57,-145.9,2378,2200,3960,3980,91.4,-15.2,61,557,0.00,2.53,0.00,0.000,260,0.000,0.092,2376,3614,3969,3959,3979,0,0,0,0,0,0,14.46,14.13,14.49
$GC,782,-0.72,-145.9,2376,3614,3961,3979,117.5,-10.2,107,788,0.00,2.38,0.00,0.000,1158,0.000,0.054,2376,2208,3969,3959,3979,0,0,0,0,0,0,14.32,14.21,14.36
$GC,1093,-0.81,-145.9,2375,2209,3960,3980,150.8,-10.2,119,1099,0.15,2.47,0.00,0.000,4484,0.132,0.086,2306,3618,3967,3955,3979,0,0,0,0,0,0,14.26,14.15,14.32
$GC,1219,-0.86,-145.9,2302,3619,3961,3980,168.0,-13.5,144,1224,0.00,2.38,0.00,0.000,1158,0.000,0.054,2305,2203,3968,3959,3978,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1544,-0.86,-145.9,2306,2202,3961,3979,217.6,-14.8,159,1550,0.00,2.47,0.00,0.000,260,0.000,0.089,2299,3614,3969,3959,3979,0,0,0,0,0,0,14.58,14.18,14.59
$GC,1630,-0.94,-145.9,2299,3615,3960,3980,229.2,-12.2,176,1636,0.00,2.40,0.00,0.000,1158,0.000,0.058,2299,2198,3969,3959,3979,0,0,0,0,0,0,14.25,14.14,14.27
$GC,1935,-0.94,-145.9,2299,2197,3960,3979,268.3,-12.4,187,1941,0.00,2.50,0.00,0.000,260,0.000,0.089,2293,3616,3968,3958,3978,0,0,0,0,0,0,14.60,14.18,14.62
$GC,2041,-1.01,-145.9,2294,3619,3960,3984,280.4,-11.3,208,2046,0.12,2.40,0.00,0.000,5254,0.134,0.057,2246,2193,3967,3958,3976,0,0,0,0,0,0,14.00,14.24,13.98
$GC,2357,-0.94,-145.9,2247,2192,3959,3977,328.8,-15.2,221,2362,0.12,2.50,0.00,0.000,2436,0.301,0.084,2271,3616,3967,3958,3976,0,0,0,0,0,0,13.94,14.20,14.12
$GC,2502,-0.98,-145.9,2265,3617,3957,3977,347.5,-11.9,250,2508,0.00,2.40,0.00,0.000,1158,0.000,0.057,2265,2191,3970,3964,3976,0,0,0,0,0,0,14.35,14.24,14.38
$GC,2807,-0.98,-145.9,2265,2192,3958,3976,386.8,-12.8,261,2812,0.00,2.50,0.00,0.000,260,0.000,0.087,2255,3620,3966,3957,3975,0,0,0,0,0,0,14.60,14.23,14.62
$GC,2907,-0.98,-145.9,2255,3625,3957,3976,399.7,-12.6,281,2912,0.00,2.40,0.00,0.000,1030,0.000,0.056,2255,2196,3965,3955,3975,0,0,0,0,0,0,14.39,14.28,14.42
$GC,3228,-0.95,-145.9,2255,2196,3957,3974,443.3,-13.6,295,3233,0.00,2.47,0.00,0.000,388,0.000,0.088,2246,3616,3965,3956,3974,0,0,0,0,0,0,14.60,14.23,14.66
$GC,3365,-0.95,-145.9,2247,3613,3957,3973,461.8,-13.2,322,3370,0.00,2.40,0.00,0.000,1030,0.000,0.056,2246,2189,3964,3955,3974,0,0,0,0,0,0,14.34,14.23,14.37
$STATE,3497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3497,begin apogee
$GC,3503,-0.13,0.0,2246,2065,3956,3974,481.1,-14.2,329,3722,1.12,0.08,214.68,1.426,10246,0.252,0.182,2526,2112,3364,3391,3337,0,0,0,0,0,0,13.95,13.43,12.74
$STATE,3725,end apogee,CONTROL_FINISHED_OK
$STATE,3725,begin climb
$GC,3728,0.57,145.9,2527,2112,3382,3327,492.0,0.0,336,3941,0.75,2.62,201.27,1.363,10500,0.063,0.075,2781,3506,2760,2811,2710,0,0,0,0,0,0,13.57,13.18,12.47
$GC,4146,0.14,145.9,2781,3507,2787,2714,462.8,17.2,412,4151,0.80,2.42,0.00,0.000,5254,0.354,0.057,2630,2124,2750,2788,2713,0,0,0,0,0,0,13.43,13.74,13.77
$GC,4461,0.07,182.8,2631,2126,2788,2710,435.0,8.3,425,4522,0.00,2.62,52.25,1.402,8868,0.000,0.084,2640,695,2608,2660,2557,0,0,0,0,0,0,14.34,13.82,13.10
$GC,4630,0.06,201.0,2641,690,2657,2552,419.8,9.2,455,4661,0.17,2.50,23.02,1.482,13478,0.253,0.079,2604,2093,2541,2603,2479,0,0,0,0,0,0,13.75,13.92,13.07
$GC,4962,0.12,248.1,2605,2093,2598,2464,393.7,7.8,471,5042,0.00,0.00,78.62,1.339,8358,0.000,0.000,2603,2093,2355,2416,2295,0,0,0,0,0,0,14.30,13.75,13.05
$GC,5320,0.22,297.0,2604,2094,2397,2280,365.5,7.7,483,5406,0.15,2.60,78.00,1.327,10916,0.115,0.087,2672,695,2147,2201,2093,0,0,0,0,0,0,14.04,13.68,13.02
$GC,5431,0.22,297.0,2672,697,2192,2091,352.5,12.1,495,5436,0.00,2.53,0.00,0.000,1030,0.000,0.078,2672,2100,2140,2191,2089,0,0,0,0,0,0,13.83,13.72,13.85
$GC,5741,0.19,297.0,2672,2101,2190,2078,313.8,12.5,507,5746,0.00,2.53,0.00,0.000,644,0.000,0.088,2672,690,2133,2188,2078,0,0,0,0,0,0,14.28,13.96,14.31
$GC,5776,0.19,297.0,2673,690,2187,2078,309.5,12.3,514,5781,0.00,2.50,0.00,0.000,1030,0.000,0.079,2672,2107,2133,2188,2078,0,0,0,0,0,0,14.15,14.04,14.18
$GC,6101,0.19,297.0,2672,2109,2188,2077,269.9,11.9,529,6106,0.00,2.50,0.00,0.000,516,0.000,0.087,2672,695,2130,2187,2074,0,0,0,0,0,0,14.40,14.05,14.41
$GC,6156,0.23,297.0,2673,695,2187,2076,263.5,11.1,540,6162,0.00,2.47,0.00,0.000,1158,0.000,0.079,2672,2109,2131,2186,2077,0,0,0,0,0,0,14.21,14.13,14.25
$GC,6461,0.23,297.0,2673,2109,2187,2075,230.9,10.3,551,6466,0.00,2.50,0.00,0.000,516,0.000,0.086,2672,691,2130,2186,2075,0,0,0,0,0,0,14.42,14.13,14.45
$GC,6487,0.23,304.2,2673,692,2185,2077,228.5,9.7,556,6493,0.00,2.47,0.00,0.000,1062,0.000,0.078,2672,2100,2131,2184,2078,0,0,0,0,0,0,14.23,14.14,14.26
$MODEM_MSG,CACST,6,1,20170819161250.260876,3,1205,30,0352,0150,250,00,00,00,00,-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,6,1,20170819162053.131578,3,281,24,0322,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$MODEM_MSG,CACST,6,1,20170819162836.790792,3,1948,32,0505,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$GC,6792,0.25,331.3,2672,2104,2185,2076,200.6,8.7,567,6853,0.00,2.47,54.75,1.294,8740,0.000,0.083,2672,694,2010,2059,1961,0,0,0,0,0,0,14.43,13.78,13.24
$GC,6921,0.37,371.4,2672,694,2049,1960,190.0,8.2,591,7001,0.00,2.45,70.70,1.239,9382,0.000,0.079,2672,2105,1847,1883,1812,0,0,0,0,0,0,13.98,13.88,13.06
$GC,7312,0.48,412.2,2672,2104,1875,1796,157.5,8.1,619,7388,0.17,2.62,70.40,1.225,10916,0.111,0.087,2755,693,1681,1713,1649,0,0,0,0,0,0,14.09,13.78,13.13
$GC,7433,0.48,412.2,2756,693,1699,1646,141.9,13.1,643,7438,0.00,2.53,0.00,0.000,1030,0.000,0.078,2755,2104,1673,1702,1644,0,0,0,0,0,0,13.97,13.85,14.01
$GC,7764,0.46,412.2,2756,2106,1703,1635,100.0,12.4,659,7769,0.00,2.50,0.00,0.000,644,0.000,0.086,2755,693,1669,1702,1636,0,0,0,0,0,0,14.42,14.10,14.44
$GC,7839,0.48,412.2,2756,693,1701,1635,91.3,10.9,674,7846,0.00,2.47,0.00,0.000,1158,0.000,0.078,2755,2110,1664,1694,1635,0,0,0,0,0,0,14.25,14.13,14.28
$GC,8144,0.53,482.3,2756,2110,1700,1633,63.3,6.8,705,8186,0.00,2.47,34.42,0.393,8484,0.000,0.083,2755,3518,1395,1444,1347,0,0,0,0,0,0,14.48,14.09,13.71
$GC,8411,0.66,559.5,2756,3518,1445,1352,42.7,6.4,758,8460,0.12,2.42,40.45,0.330,11430,0.128,0.066,2802,2102,1085,1157,1013,0,0,0,0,0,0,14.12,14.09,13.78
$GC,8756,0.78,618.2,2803,2103,1149,1015,14.8,7.3,797,8793,0.00,2.50,30.80,0.256,8868,0.000,0.086,2803,676,842,915,769,0,0,0,0,0,0,14.47,14.13,13.92
$GC,8994,1.11,742.2,2803,675,917,773,4.1,4.3,844,9028,0.43,2.47,29.33,0.220,11426,0.112,0.075,2938,2102,621,671,571,0,0,0,0,0,0,14.17,14.16,14.27
$STATE,9029,end climb,SURFACE_DEPTH_REACHED
$STATE,9029,begin surface coast
$FINISH,0.2,1.020548
$STATE,9036,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9059,16.73,0.218,0,0,498,702.78
$SM_GC,1.56,8.27,0.17,16.73,0.067,0.105,0.218,202,2232,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.26,14.28,14.00
$RAFOS_CLK,208
$MODEM,4,1503160116,75.71700,-151.21500,216.041,312992.2
$MODEM,3,1503159653,74.30400,-153.94400,146.132,211710.2
$MODEM,2,1503159170,73.18300,-149.96500,23.261,33699.5
$RAFOS_FIX,7256.203125,-14909.283203,190817,161646,3,255,0.60
$IRIDIUM_FIX,7254.48,-14917.23,190817,143221
$TT8_MAMPS,0.039697,0.872585
$HUMID,46.41
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,12
$CP_FREE,16000548864.000000
$PM_FREEKB_00,54916352
$24V_AH,12.47,95.567
$10V_AH,12.48,0.000
$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,24.900,95.050,978.700,16.725,0.000,0.000,0.000,611.650,3.000,0.000,13.517,0.000,6403.812,1011.238,2375.096,313.142,0.000,2411.137,0.000,1219.435,2217.000,0.540,0.000
$DEVICE_MAMPS,452.115,2145.825,1481.805,218.025,0.000,0.000,0.000,168.300,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9058.000,9060.000,9008.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.607,20.000,16.618,0.000
$MEM,323292
$DATA_FILE_SIZE,30054,852
$CAP_FILE_SIZE,112801,0
$CFSIZE,2097872896,2054422528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.9
$CURRENT,0.060,254.08,1
$GPS,190817,171533,7256.051,-14906.314,28,0.7,29,21.1,0.0,0.0,12,7.4