version: 66.13
glider: 196
mission: 14
dive: 113
start: 8 19 117 20 12 54
data:
$ID,196
$MISSION,14
$DIVE,113
$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,24
$R_STBD_OVSHOOT,42
$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,321.0
$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
$GPS1,190817,200052,7256.9570,-14908.4941,15,0.8,16,21.0,0.5,223.5,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.1
$GPS2,190817,201219,7256.8955,-14908.7832,7,0.8,36,21.0,0.5,172.0,10,7.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.6,37016,-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,-145.9,195,2227,492,494,0.0,0.0,0,137,0.00,0.00,-88.50,0.000,16386,0.000,0.000,196,2227,2130,2056,2204,0,0,0,0,0,0,14.44,28.83,14.46
$GC,139,-0.57,-145.9,197,2227,2058,2199,4.6,-6.5,9,195,12.55,2.75,-35.75,0.000,19236,0.453,2.153,2375,3581,3964,3948,3980,0,0,0,0,0,0,13.64,12.64,14.04
$GC,300,-0.60,-145.9,2376,3581,3955,3981,43.9,-18.5,39,306,0.00,2.38,0.00,0.000,1158,0.000,0.060,2375,2201,3967,3954,3981,0,0,0,0,0,0,14.06,13.96,14.10
$GC,612,-0.60,-145.9,2376,2200,3958,3977,100.2,-14.2,71,618,0.00,2.47,0.00,0.000,260,0.000,0.087,2365,3594,3969,3957,3981,0,0,0,0,0,0,14.35,14.05,14.35
$GC,829,-0.72,-145.9,2365,3596,3958,3982,125.4,-10.8,114,833,0.00,2.38,0.00,0.000,1158,0.000,0.056,2365,2197,3969,3957,3981,0,0,0,0,0,0,14.21,14.11,14.23
$GC,1154,-0.80,-145.9,2366,2196,3958,3980,162.4,-10.8,129,1159,0.12,2.47,0.00,0.000,4484,0.144,0.086,2306,3588,3969,3957,3981,0,0,0,0,0,0,14.14,14.05,14.18
$GC,1224,-0.87,-145.9,2306,3589,3957,3982,171.9,-13.3,143,1229,0.00,2.38,0.00,0.000,1158,0.000,0.054,2306,2195,3969,3958,3981,0,0,0,0,0,0,14.23,14.13,14.24
$MODEM_MSG,CACST,6,1,20170819202055.090818,3,627,27,0333,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20170819202838.219732,3,466,26,0116,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$GC,1545,-0.87,-145.9,2306,2194,3958,3981,219.1,-14.3,157,1549,0.00,2.45,0.00,0.000,260,0.000,0.090,2301,3593,3969,3957,3981,0,0,0,0,0,0,14.39,14.04,14.41
$GC,1715,-0.94,-145.9,2306,3594,3964,3980,239.7,-11.6,191,1720,0.00,2.35,0.00,0.000,1158,0.000,0.054,2305,2199,3969,3957,3981,0,0,0,0,0,0,14.30,14.20,14.33
$GC,2026,-0.97,-145.9,2305,2199,3956,3981,277.2,-11.6,203,2032,0.12,2.42,0.00,0.000,4484,0.138,0.086,2248,3588,3967,3956,3979,0,0,0,0,0,0,14.30,14.19,14.36
$GC,2102,-0.94,-145.9,2248,3590,3958,3980,288.6,-15.4,218,2107,0.00,2.35,0.00,0.000,1158,0.000,0.057,2247,2201,3967,3955,3979,0,0,0,0,0,0,14.32,14.21,14.35
$GC,2417,-0.88,-145.9,2248,2201,3958,3978,337.5,-15.2,231,2423,0.17,2.42,0.00,0.000,2436,0.293,0.085,2279,3588,3967,3957,3977,0,0,0,0,0,0,13.95,14.21,14.14
$GC,2578,-0.96,-145.9,2280,3588,3953,3977,356.1,-10.9,263,2584,0.00,2.35,0.00,0.000,1158,0.000,0.055,2279,2194,3967,3957,3977,0,0,0,0,0,0,14.38,14.27,14.41
$GC,2899,-0.96,-145.9,2280,2194,3958,3977,394.4,-11.9,277,2904,0.00,2.45,0.00,0.000,260,0.000,0.087,2270,3591,3966,3957,3976,0,0,0,0,0,0,14.59,14.19,14.62
$GC,2989,-1.03,-145.9,2270,3593,3958,3977,404.9,-11.3,295,2995,0.00,2.35,0.00,0.000,1158,0.000,0.055,2270,2200,3966,3957,3976,0,0,0,0,0,0,14.35,14.24,14.38
$GC,3320,-1.03,-145.9,2270,2200,3958,3976,445.1,-12.0,311,3326,0.00,2.45,0.00,0.000,260,0.000,0.089,2267,3597,3966,3957,3975,0,0,0,0,0,0,14.59,14.21,14.62
$GC,3411,-1.10,-145.9,2268,3598,3959,3975,455.5,-10.7,329,3416,0.12,2.35,0.00,0.000,5254,0.139,0.055,2219,2200,3966,3957,3975,0,0,0,0,0,0,14.28,14.28,14.38
$STATE,3589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3589,begin apogee
$GC,3595,-0.13,0.0,2220,2058,3957,3975,484.1,-16.4,340,3812,1.25,0.00,214.07,1.427,10246,0.273,0.000,2525,2056,3364,3395,3333,0,0,0,0,0,0,13.95,13.47,12.74
$STATE,3816,end apogee,CONTROL_FINISHED_OK
$STATE,3816,begin climb
$GC,3819,0.57,145.9,2527,2056,3394,3326,494.9,0.0,347,4033,0.75,2.70,204.62,1.375,11012,0.064,0.074,2778,3490,2762,2819,2706,0,0,0,0,0,0,13.56,13.02,12.45
$GC,4078,0.14,145.9,2779,3490,2806,2706,493.7,16.3,382,4083,0.77,2.45,0.00,0.000,5254,0.350,0.057,2640,2132,2755,2805,2706,0,0,0,0,0,0,13.14,13.39,13.43
$GC,4404,0.05,173.4,2635,2131,2805,2703,464.0,8.7,397,4445,0.12,2.67,36.10,1.459,12964,0.301,0.086,2606,690,2654,2708,2600,0,0,0,0,0,0,13.72,13.76,13.00
$GC,4530,0.13,226.7,2607,690,2705,2598,454.3,7.5,422,4617,0.00,2.47,77.47,1.394,9382,0.000,0.079,2606,2081,2437,2507,2368,0,0,0,0,0,0,13.98,13.89,12.84
$GC,4916,0.19,263.2,2606,2082,2497,2360,422.2,8.3,449,4976,0.12,0.00,53.88,1.406,10406,0.134,0.000,2662,2081,2286,2348,2225,0,0,0,0,0,0,14.03,13.78,13.02
$GC,5276,0.14,263.2,2663,2081,2341,2216,379.1,12.1,461,5281,0.12,2.45,0.00,0.000,4740,0.262,0.083,2641,691,2278,2340,2216,0,0,0,0,0,0,13.89,14.07,14.04
$GC,5336,0.21,273.5,2641,691,2339,2216,372.8,9.5,473,5357,0.00,2.45,11.82,1.571,9382,0.000,0.078,2648,2100,2247,2309,2185,0,0,0,0,0,0,14.24,14.13,13.21
$GC,5667,0.21,273.5,2642,2101,2307,2180,338.2,10.5,489,5672,0.00,2.45,0.00,0.000,516,0.000,0.085,2646,693,2243,2307,2179,0,0,0,0,0,0,14.49,14.19,14.51
$GC,5687,0.21,273.5,2647,693,2307,2179,336.1,10.5,493,5692,0.00,2.45,0.00,0.000,1030,0.000,0.077,2646,2099,2242,2305,2179,0,0,0,0,0,0,14.29,14.18,14.33
$GC,5997,0.21,273.5,2646,2100,2305,2180,303.1,10.5,505,6002,0.00,2.45,0.00,0.000,516,0.000,0.086,2647,694,2243,2307,2179,0,0,0,0,0,0,14.57,14.24,14.58
$GC,6022,0.24,273.5,2647,694,2305,2178,300.5,10.3,510,6028,0.00,2.45,0.00,0.000,1158,0.000,0.078,2651,2103,2241,2304,2179,0,0,0,0,0,0,14.35,14.23,14.39
$GC,6327,0.24,275.5,2647,2105,2305,2178,269.9,9.9,521,6332,0.00,2.45,0.00,0.000,548,0.000,0.085,2649,693,2241,2304,2179,0,0,0,0,0,0,14.59,14.24,14.61
$GC,6358,0.29,280.5,2647,694,2304,2180,267.0,9.8,527,6373,0.00,2.45,7.43,1.666,9382,0.000,0.078,2646,2104,2221,2283,2160,0,0,0,0,0,0,14.38,14.26,13.33
$GC,6690,0.33,308.7,2648,2105,2282,2155,236.6,8.7,543,6739,0.12,0.00,47.90,1.376,10406,0.131,0.000,2699,2105,2107,2163,2051,0,0,0,0,0,0,14.34,14.07,13.32
$GC,7018,0.29,308.7,2700,2105,2156,2041,200.1,10.9,554,7023,0.00,2.47,0.00,0.000,644,0.000,0.085,2699,693,2098,2154,2042,0,0,0,0,0,0,14.47,14.16,14.49
$GC,7098,0.30,321.4,2699,694,2152,2043,192.1,9.4,570,7123,0.00,2.45,19.35,1.442,9254,0.000,0.077,2704,2101,2052,2105,1999,0,0,0,0,0,0,14.32,14.20,13.33
$GC,7438,0.31,328.0,2700,2102,2100,1992,158.5,9.7,588,7448,0.00,0.00,8.43,1.572,8230,0.000,0.000,2699,2101,2027,2081,1974,0,0,0,0,0,0,14.52,14.16,13.32
$GC,7738,0.32,351.3,2699,2102,2074,1970,130.7,8.9,598,7784,0.00,2.53,38.55,1.343,8740,0.000,0.085,2699,701,1928,1975,1881,0,0,0,0,0,0,14.54,14.05,13.34
$GC,7874,0.44,393.4,2700,702,1966,1882,119.5,8.1,625,7950,0.00,2.45,68.85,1.230,9382,0.000,0.078,2698,2104,1758,1794,1723,0,0,0,0,0,0,14.14,14.02,13.16
$GC,8249,0.57,456.5,2700,2100,1790,1710,89.6,7.1,658,8287,0.17,2.47,32.08,0.477,10660,0.112,0.079,2777,3503,1502,1546,1458,0,0,0,0,0,0,14.14,13.86,13.57
$GC,8324,0.55,456.5,2778,3507,1548,1458,80.5,14.5,672,8330,0.00,2.45,0.00,0.000,1158,0.000,0.067,2781,2097,1502,1546,1458,0,0,0,0,0,0,14.09,13.99,14.12
$GC,8635,0.58,504.3,2781,2097,1547,1448,50.9,7.8,704,8668,0.00,2.53,24.27,0.360,8484,0.000,0.078,2781,3503,1308,1366,1251,0,0,0,0,0,0,14.46,14.07,13.78
$GC,8755,0.67,540.4,2781,3504,1367,1251,40.9,8.3,727,8782,0.00,2.42,19.48,0.329,9382,0.000,0.065,2781,2094,1158,1227,1090,0,0,0,0,0,0,14.25,14.14,13.79
$GC,9078,0.84,617.2,2781,2095,1227,1086,17.8,6.5,762,9126,0.20,2.55,39.80,0.263,10916,0.107,0.092,2873,689,843,920,767,0,0,0,0,0,0,14.19,14.01,13.91
$GC,9179,0.98,697.8,2873,690,920,772,10.1,6.3,781,9227,0.00,2.47,43.00,0.237,9382,0.000,0.078,2873,2104,514,548,480,0,0,0,0,0,0,14.16,14.04,13.94
$STATE,9280,end climb,SURFACE_DEPTH_REACHED
$STATE,9280,begin surface coast
$FINISH,0.1,1.020553
$STATE,9302,end surface coast,CONTROL_FINISHED_OK
$STATE,9302,begin surface
$SM_CCo,9323,2.75,0.223,0,0,499,702.78
$SM_GC,1.90,8.07,0.17,2.75,0.067,0.102,0.223,203,2231,499,-7.37,-0.57,702.78,0,0,0,0,0,0,14.25,14.28,14.02
$RAFOS_CLK,425
$MODEM,4,1503174518,75.71700,-151.21500,217.470,314987.9
$MODEM,3,1503174055,74.30400,-153.94400,148.091,214498.0
$RAFOS_FIX,7257.131348,-14907.348633,190817,202046,2,255,1.20
$IRIDIUM_FIX,7258.02,-14909.73,190817,172023
$TT8_MAMPS,0.038948,0.999915
$HUMID,46.96
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,14
$CP_FREE,16000188416.000000
$PM_FREEKB_00,54786368
$24V_AH,12.45,96.522
$10V_AH,12.49,0.000
$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,24.825,93.825,947.100,2.750,0.000,0.000,0.000,384.750,3.500,0.000,37.236,0.000,6643.965,935.352,2150.510,300.880,0.000,2127.053,0.000,1143.211,1329.000,0.539,0.000
$DEVICE_MAMPS,452.880,2153.475,1666.170,222.615,0.000,0.000,0.000,174.420,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9331.000,9334.000,9281.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.211,20.000,16.591,0.000
$MEM,323388
$DATA_FILE_SIZE,26728,798
$CAP_FILE_SIZE,109076,0
$CFSIZE,2097872896,2053799936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.6
$CURRENT,0.053,264.92,1
$GPS,190817,224932,7258.044,-14910.997,26,0.7,26,21.0,0.0,0.0,12,10.0