version: 66.13
glider: 196
mission: 14
dive: 366
start: 9 18 117 7 4 53
data:
$ID,196
$MISSION,14
$DIVE,366
$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,60
$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,1.4
$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,1019.0
$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
$GPS1,180917,065252,7437.1025,-15205.0391,15,0.9,27,20.1,0.2,36.6,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.5
$GPS2,180917,070420,7437.1445,-15204.8877,8,0.8,34,20.1,0.4,38.7,9,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15347.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,211.6,62147,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,193,2245,515,491,0.0,0.0,0,134,0.00,0.00,-81.25,0.000,16386,0.000,0.000,191,2245,1962,1888,2037,0,0,0,0,0,0,14.50,28.83,14.51
$GC,137,-0.57,-145.9,192,2245,1892,2038,3.1,-3.2,8,201,13.00,2.85,-40.78,0.000,18980,0.454,2.166,2386,834,3964,3949,3979,0,0,0,0,0,0,13.59,12.59,14.08
$GC,292,-0.72,-145.9,2383,831,3948,3981,38.4,-12.7,38,297,0.12,2.38,0.00,0.000,5254,0.122,0.086,2336,2167,3966,3953,3980,0,0,0,0,0,0,14.20,14.12,14.30
$GC,603,-0.77,-145.9,2337,2168,3953,3979,93.7,-13.7,70,607,0.00,2.55,0.00,0.000,388,0.000,0.087,2336,3607,3967,3954,3980,0,0,0,0,0,0,14.57,14.05,14.58
$GC,740,-0.94,-145.9,2337,3610,3955,3980,107.9,-9.7,97,746,0.20,2.35,0.00,0.000,5286,0.101,0.053,2260,2224,3967,3954,3980,0,0,0,0,0,0,14.12,14.04,14.26
$GC,1056,-0.92,-145.9,2261,2223,3956,3980,161.1,-16.2,110,1057,0.00,0.00,0.00,0.000,134,0.000,0.000,2260,2224,3966,3954,3979,0,0,0,0,0,0,14.58,14.60,14.58
$GC,1356,-0.92,-145.9,2260,2225,3955,3981,205.6,-14.3,120,1361,0.00,2.47,0.00,0.000,260,0.000,0.084,2250,3615,3967,3954,3980,0,0,0,0,0,0,14.62,14.09,14.64
$GC,1406,-1.02,-145.9,2251,3616,3956,3980,212.5,-12.8,130,1411,0.00,2.42,0.00,0.000,1158,0.000,0.058,2250,2206,3967,3954,3980,0,0,0,0,0,0,14.12,13.87,14.18
$GC,1717,-1.05,-145.9,2251,2205,3955,3980,255.1,-13.2,142,1722,0.00,2.50,0.00,0.000,388,0.000,0.085,2245,3610,3967,3954,3980,0,0,0,0,0,0,14.64,14.04,14.65
$GC,1742,-1.09,-145.9,2244,3611,3955,3981,258.2,-11.9,147,1750,0.00,2.42,0.00,0.000,1158,0.000,0.060,2244,2199,3967,3954,3980,0,0,0,0,0,0,14.18,14.06,14.23
$GC,2048,-1.13,-145.9,2244,2198,3955,3981,295.2,-11.6,158,2053,0.10,2.53,0.00,0.000,4484,0.164,0.083,2197,3619,3966,3954,3979,0,0,0,0,0,0,14.19,14.04,14.18
$GC,2108,-1.16,-145.9,2196,3625,3956,3980,303.4,-13.6,170,2113,0.00,2.42,0.00,0.000,1158,0.000,0.059,2198,2199,3967,3955,3980,0,0,0,0,0,0,14.18,14.00,14.24
$GC,2439,-1.12,-145.9,2197,2199,3955,3981,352.2,-14.3,186,2443,0.00,2.50,0.00,0.000,388,0.000,0.084,2187,3609,3967,3954,3980,0,0,0,0,0,0,14.62,13.97,14.64
$GC,2504,-1.12,-145.9,2188,3611,3954,3980,361.5,-13.8,199,2510,0.12,2.45,0.00,0.000,3078,0.245,0.058,2211,2195,3966,3953,3979,0,0,0,0,0,0,13.85,14.02,14.10
$GC,2830,-1.12,-145.9,2211,2192,3954,3980,402.9,-12.5,214,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2192,3966,3953,3979,0,0,0,0,0,0,14.62,14.63,14.64
$GC,3131,-1.12,-145.9,2212,2193,3954,3980,440.2,-12.3,224,3135,0.00,2.53,0.00,0.000,260,0.000,0.086,2209,3610,3965,3953,3978,0,0,0,0,0,0,14.62,13.96,14.64
$GC,3231,-1.21,-145.9,2210,3612,3954,3980,451.8,-11.1,244,3236,0.00,2.40,0.00,0.000,1158,0.000,0.055,2209,2202,3966,3953,3980,0,0,0,0,0,0,14.25,14.12,14.28
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3465,-0.13,0.0,2210,2057,3953,3980,480.1,-12.2,255,3702,1.27,0.05,229.43,1.390,10246,0.226,0.122,2530,2104,3358,3375,3341,0,0,0,0,0,0,13.64,13.23,12.64
$STATE,3706,end apogee,CONTROL_FINISHED_OK
$STATE,3706,begin climb
$GC,3709,0.57,145.9,2531,2104,3374,3339,493.9,0.0,263,4104,0.75,2.67,211.15,1.363,10500,0.060,0.070,2786,3499,2753,2782,2724,0,0,0,0,0,0,13.63,12.82,12.19
$GC,4204,0.06,145.9,2784,3498,2781,2723,469.2,14.9,283,4210,0.93,2.38,0.00,0.000,5254,0.343,0.056,2608,2127,2751,2780,2723,0,0,0,0,0,0,13.43,13.81,13.81
$GC,4525,-0.01,204.4,2609,2125,2782,2720,444.5,7.3,297,4621,0.12,2.60,89.20,1.355,12964,0.291,0.086,2589,687,2527,2578,2477,0,0,0,0,0,0,13.76,13.83,13.02
$GC,4633,0.03,262.6,2588,688,2572,2471,437.0,7.3,313,4733,0.00,2.53,92.40,1.315,9254,0.000,0.079,2589,2098,2293,2345,2242,0,0,0,0,0,0,13.97,13.89,12.82
$GC,5038,0.08,286.1,2591,2099,2333,2222,401.3,8.9,344,5074,0.00,0.00,33.80,1.399,8870,0.000,0.000,2588,2103,2198,2248,2148,0,0,0,0,0,0,14.38,13.92,13.12
$GC,5368,0.15,316.1,2589,2098,2233,2129,372.5,8.6,360,5423,0.12,2.60,46.00,1.366,10916,0.127,0.090,2657,689,2068,2114,2023,0,0,0,0,0,0,14.12,13.98,13.16
$GC,5483,0.15,316.1,2659,690,2103,2020,357.7,12.8,383,5489,0.00,2.50,0.00,0.000,1030,0.000,0.079,2654,2099,2060,2102,2019,0,0,0,0,0,0,14.12,14.00,14.15
$MODEM_MSG,CACST,6,1,20170918080708.369233,3,79,-5,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*29
$GC,5791,0.10,316.1,2658,2104,2103,2011,316.1,13.4,394,5796,0.15,2.45,0.00,0.000,4740,0.248,0.083,2624,690,2056,2100,2013,0,0,0,0,0,0,13.87,14.02,14.02
$GC,5817,0.10,316.1,2628,690,2103,2012,312.7,11.9,399,5823,0.00,2.47,0.00,0.000,1030,0.000,0.076,2627,2098,2057,2101,2013,0,0,0,0,0,0,14.16,14.04,14.21
$GC,6122,0.10,316.1,2627,2101,2103,2011,280.2,10.3,410,6126,0.00,2.47,0.00,0.000,516,0.000,0.087,2630,697,2055,2101,2009,0,0,0,0,0,0,14.62,14.07,14.64
$GC,6142,0.14,330.0,2631,696,2102,2010,278.2,9.4,414,6162,0.00,2.45,15.85,1.486,9382,0.000,0.078,2630,2100,2019,2064,1975,0,0,0,0,0,0,14.31,14.16,13.27
$GC,6485,0.19,352.9,2630,2103,2055,1962,245.5,8.9,432,6529,0.00,2.58,38.55,1.354,8868,0.000,0.087,2630,688,1921,1960,1883,0,0,0,0,0,0,14.61,14.09,13.24
$GC,6577,0.33,395.8,2630,689,1946,1883,237.9,8.0,450,6660,0.17,2.47,75.25,1.249,11430,0.099,0.078,2698,2102,1750,1772,1728,0,0,0,0,0,0,14.23,14.14,13.12
$GC,6965,0.30,395.8,2699,2102,1761,1710,189.6,12.0,478,6970,0.00,2.50,0.00,0.000,644,0.000,0.088,2698,695,1735,1760,1710,0,0,0,0,0,0,14.54,14.10,14.55
$GC,6985,0.30,395.8,2700,695,1758,1710,187.2,11.7,482,6990,0.00,2.47,0.00,0.000,1030,0.000,0.076,2699,2099,1733,1757,1710,0,0,0,0,0,0,14.14,14.02,14.19
$GC,7296,0.30,395.8,2699,2101,1757,1709,152.0,11.2,494,7301,0.00,2.50,0.00,0.000,516,0.000,0.089,2698,691,1732,1756,1708,0,0,0,0,0,0,14.62,14.12,14.64
$GC,7336,0.34,395.8,2699,693,1756,1708,147.7,10.4,502,7341,0.00,2.47,0.00,0.000,1158,0.000,0.076,2699,2101,1731,1755,1708,0,0,0,0,0,0,14.30,14.15,14.34
$GC,7657,0.35,398.8,2699,2102,1756,1706,114.9,9.9,516,7658,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,2102,1731,1755,1707,0,0,0,0,0,0,14.61,14.63,14.63
$GC,7957,0.38,447.9,2699,2103,1755,1707,88.4,7.7,534,7994,0.00,2.55,28.27,0.455,8740,0.000,0.086,2699,702,1539,1566,1513,0,0,0,0,0,0,14.58,14.04,13.61
$GC,8062,0.51,496.8,2700,702,1576,1515,80.3,7.7,554,8099,0.15,2.47,29.88,0.430,11430,0.117,0.077,2765,2103,1338,1382,1294,0,0,0,0,0,0,14.16,14.04,13.59
$GC,8405,0.56,562.0,2766,2103,1385,1302,48.5,7.0,592,8452,0.00,2.58,38.97,0.339,8740,0.000,0.087,2767,686,1073,1134,1012,0,0,0,0,0,0,14.53,13.91,13.69
$GC,8500,0.72,616.5,2768,687,1136,1019,41.9,7.5,610,8542,0.15,2.50,33.42,0.318,11430,0.116,0.077,2827,2107,849,916,783,0,0,0,0,0,0,14.04,13.96,13.66
$GC,8838,0.81,678.4,2828,2108,917,791,9.8,7.1,648,8880,0.00,0.00,38.03,0.226,8870,0.000,0.000,2827,2103,595,638,552,0,0,0,0,0,0,14.52,14.10,13.81
$STATE,8945,end climb,SURFACE_DEPTH_REACHED
$STATE,8945,begin surface coast
$FINISH,0.3,1.020977
$STATE,8965,end surface coast,CONTROL_FINISHED_OK
$STATE,8965,begin surface
$SM_CCo,8989,15.73,0.210,0,0,499,703.03
$SM_GC,1.67,8.18,0.17,15.73,0.076,0.102,0.210,198,2254,499,-7.39,-0.54,703.03,0,0,0,0,0,0,14.23,14.28,13.86
$RAFOS_CLK,250
$MODEM,1,1505722028,73.78700,-144.83000,7.619,11030.4
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7441.25,-15202.35,180917,041944
$TT8_MAMPS,0.040446,1.04036
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,14
$CP_FREE,15914762240.000000
$PM_FREEKB_00,45873920
$24V_AH,12.19,220.373
$10V_AH,12.05,0.000
$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,25.550,85.400,1000.200,15.725,0.000,0.000,0.000,346.350,3.500,0.000,35.817,0.000,6344.271,874.909,2160.769,322.062,0.000,2224.259,0.000,951.337,2219.000,0.539,0.000
$DEVICE_MAMPS,454.410,2165.715,1485.630,209.610,0.000,0.000,0.000,169.065,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8585.000,8959.000,8945.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.655,20.000,11.688,0.000
$MEM,323472
$DATA_FILE_SIZE,23452,662
$CAP_FILE_SIZE,99267,0
$CFSIZE,2097872896,1983938560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.9
$CURRENT,0.025,9.63,1
$GPS,180917,093620,7436.625,-15209.023,36,0.8,36,20.1,0.5,66.6,10,8.9