version: 66.13
glider: 196
mission: 14
dive: 100
start: 8 18 117 7 53 52
data:
$ID,196
$MISSION,14
$DIVE,100
$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,27
$R_STBD_OVSHOOT,34
$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,285.0
$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
$GPS1,180817,073602,7242.8477,-14840.1211,32,0.8,32,21.2,0.0,0.0,10,9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.6
$GPS2,180817,075318,7242.9224,-14840.3623,7,0.8,9,21.2,0.0,0.0,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.0,66701,-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,-145.9,204,2218,509,460,0.0,0.0,0,129,0.00,0.00,-81.45,0.000,16386,0.000,0.000,203,2223,2065,1986,2145,0,0,0,0,0,0,14.40,28.83,14.42
$GC,132,-0.57,-145.9,203,2219,1987,2146,3.2,-3.7,8,185,12.45,2.80,-35.35,0.000,18724,0.454,2.150,2376,3597,3964,3950,3978,0,0,0,0,0,0,13.67,12.64,14.10
$GC,396,-0.61,-145.9,2375,3598,3961,3978,63.4,-15.3,57,402,0.00,2.40,0.00,0.000,1158,0.000,0.054,2376,2195,3968,3959,3978,0,0,0,0,0,0,14.16,14.06,14.19
$GC,701,-0.64,-145.9,2376,2193,3962,3978,108.1,-13.0,84,706,0.00,2.50,0.00,0.000,388,0.000,0.086,2367,3601,3969,3961,3978,0,0,0,0,0,0,14.38,14.07,14.39
$GC,781,-0.76,-145.9,2367,3602,3962,3978,118.0,-11.3,100,786,0.00,2.40,0.00,0.000,1158,0.000,0.054,2367,2192,3968,3961,3976,0,0,0,0,0,0,14.21,14.12,14.23
$GC,1091,-0.84,-145.9,2367,2194,3961,3979,154.2,-11.1,112,1096,0.15,2.50,0.00,0.000,4484,0.126,0.084,2293,3597,3967,3961,3974,0,0,0,0,0,0,14.05,14.04,14.07
$GC,1186,-0.84,-145.9,2294,3598,3962,3977,168.4,-15.2,131,1192,0.00,2.38,0.00,0.000,1030,0.000,0.054,2293,2198,3969,3961,3977,0,0,0,0,0,0,14.23,14.12,14.26
$GC,1512,-0.79,-145.9,2294,2198,3962,3976,221.2,-15.6,146,1517,0.00,2.47,0.00,0.000,388,0.000,0.086,2285,3600,3968,3961,3975,0,0,0,0,0,0,14.40,14.06,14.42
$GC,1667,-0.82,-145.9,2285,3605,3961,3975,243.2,-13.2,177,1672,0.12,2.40,0.00,0.000,3206,0.236,0.056,2310,2191,3968,3961,3975,0,0,0,0,0,0,13.95,14.12,14.16
$GC,1993,-0.85,-145.9,2310,2190,3961,3973,280.3,-11.0,192,1997,0.00,2.50,0.00,0.000,388,0.000,0.088,2307,3601,3967,3961,3973,0,0,0,0,0,0,14.40,14.07,14.45
$GC,2098,-0.95,-145.9,2307,3602,3961,3973,291.3,-10.2,213,2103,0.00,2.38,0.00,0.000,1158,0.000,0.055,2307,2199,3966,3961,3972,0,0,0,0,0,0,14.23,14.13,14.26
$GC,2413,-1.01,-145.9,2308,2198,3962,3970,324.3,-10.2,226,2418,0.15,2.47,0.00,0.000,4484,0.121,0.086,2245,3595,3964,3960,3969,0,0,0,0,0,0,14.16,14.07,14.21
$GC,2510,-0.97,-145.9,2244,3595,3961,3968,337.7,-14.4,245,2514,0.00,2.38,0.00,0.000,1158,0.000,0.056,2243,2202,3965,3960,3970,0,0,0,0,0,0,14.16,14.07,14.19
$MODEM_MSG,CACST,6,1,20170818080429.533633,3,198,22,0194,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$MODEM_MSG,CACST,6,1,20170818081308.462688,3,4267,36,0121,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170818082852.268899,3,77,06,0111,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$GC,2835,-0.90,-145.9,2242,2203,3961,3968,387.1,-15.0,260,2840,0.15,2.42,0.00,0.000,2436,0.301,0.083,2267,3598,3963,3960,3967,0,0,0,0,0,0,13.79,14.04,13.97
$GC,2975,-0.94,-145.9,2268,3600,3960,3968,404.3,-11.6,288,2980,0.00,2.38,0.00,0.000,1158,0.000,0.055,2267,2201,3963,3960,3967,0,0,0,0,0,0,14.21,14.04,14.21
$GC,3285,-0.94,-145.9,2268,2199,3961,3965,443.6,-12.6,300,3290,0.00,2.47,0.00,0.000,260,0.000,0.090,2266,3598,3966,3960,3972,0,0,0,0,0,0,14.53,14.14,14.54
$GC,3371,-0.99,-145.9,2267,3600,3960,3966,453.7,-11.5,317,3377,0.00,2.38,0.00,0.000,1158,0.000,0.055,2263,2195,3962,3959,3965,0,0,0,0,0,0,14.29,14.18,14.33
$STATE,3583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3583,begin apogee
$GC,3589,-0.13,0.0,2267,2071,3961,3964,480.6,-12.5,325,3814,1.02,0.00,220.98,1.403,10246,0.241,0.000,2528,2069,3362,3402,3322,0,0,0,0,0,0,13.95,13.46,12.75
$STATE,3818,end apogee,CONTROL_FINISHED_OK
$STATE,3818,begin climb
$GC,3820,0.57,145.9,2529,2069,3398,3313,491.2,0.0,332,4031,0.75,2.62,199.52,1.354,10756,0.065,0.079,2789,714,2763,2825,2702,0,0,0,0,0,0,13.55,13.19,12.51
$GC,4111,0.21,145.9,2790,714,2806,2699,483.3,15.7,384,4117,0.62,2.53,0.00,0.000,5254,0.311,0.075,2658,2093,2751,2805,2698,0,0,0,0,0,0,13.24,13.51,13.55
$GC,4422,0.07,149.1,2659,2095,2803,2693,451.5,9.9,396,4427,0.20,2.42,0.00,0.000,4772,0.297,0.077,2619,720,2748,2804,2692,0,0,0,0,0,0,13.71,13.93,13.88
$GC,4517,0.11,206.0,2619,721,2805,2697,444.1,7.4,415,4613,0.00,2.45,86.85,1.349,9254,0.000,0.077,2619,2107,2518,2591,2446,0,0,0,0,0,0,14.14,14.00,12.95
$GC,4933,0.13,229.9,2619,2107,2580,2431,407.8,8.9,448,4970,0.00,2.47,32.72,1.418,8740,0.000,0.082,2619,719,2422,2491,2353,0,0,0,0,0,0,14.34,13.76,13.16
$GC,4996,0.20,260.7,2620,719,2480,2350,402.3,8.6,460,5047,0.00,2.45,46.15,1.385,9382,0.000,0.077,2619,2107,2302,2367,2237,0,0,0,0,0,0,13.99,13.89,13.07
$GC,5359,0.27,282.7,2618,2104,2350,2218,369.5,9.0,482,5391,0.15,0.00,30.15,1.437,10406,0.116,0.000,2685,2103,2213,2278,2149,0,0,0,0,0,0,14.17,13.98,13.22
$GC,5687,0.20,282.7,2685,2104,2261,2134,324.9,13.6,493,5693,0.12,2.42,0.00,0.000,4740,0.257,0.083,2660,720,2196,2261,2132,0,0,0,0,0,0,13.80,14.14,13.99
$GC,5780,0.25,282.7,2660,720,2260,2134,314.8,10.4,511,5785,0.00,2.40,0.00,0.000,1158,0.000,0.078,2659,2099,2195,2259,2132,0,0,0,0,0,0,14.32,14.19,14.35
$GC,6110,0.25,282.7,2660,2099,2260,2132,278.3,10.9,527,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2099,2194,2258,2131,0,0,0,0,0,0,14.55,14.57,14.57
$GC,6410,0.25,282.7,2660,2100,2259,2130,246.9,10.3,537,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2099,2194,2258,2130,0,0,0,0,0,0,14.58,14.60,14.60
$GC,6710,0.27,308.2,2660,2099,2259,2130,218.9,8.8,547,6755,0.00,2.45,39.10,1.362,8740,0.000,0.086,2659,709,2104,2162,2047,0,0,0,0,0,0,14.59,14.11,13.40
$GC,6807,0.40,347.0,2660,713,2153,2045,210.9,8.2,566,6881,0.15,2.42,67.55,1.271,11430,0.124,0.078,2719,2100,1950,2000,1900,0,0,0,0,0,0,14.16,14.12,13.19
$GC,7191,0.37,347.0,2720,2101,1984,1884,164.9,11.5,593,7197,0.00,2.42,0.00,0.000,644,0.000,0.086,2725,720,1931,1982,1881,0,0,0,0,0,0,14.41,14.11,14.43
$GC,7212,0.34,347.0,2723,720,1987,1883,162.6,10.6,597,7218,0.15,2.42,0.00,0.000,5254,0.236,0.077,2693,2105,1931,1980,1883,0,0,0,0,0,0,13.98,14.13,14.21
$GC,7523,0.41,376.5,2694,2106,1980,1882,134.4,8.6,609,7578,0.00,2.47,48.55,1.278,8868,0.000,0.086,2698,716,1824,1862,1787,0,0,0,0,0,0,14.50,14.01,13.30
$GC,7640,0.54,413.2,2699,716,1851,1784,124.6,8.3,632,7710,0.17,2.45,62.62,1.216,11430,0.109,0.078,2771,2105,1677,1713,1642,0,0,0,0,0,0,14.04,14.00,13.18
$GC,8015,0.50,413.2,2772,2105,1707,1620,75.2,12.4,673,8021,0.00,2.45,0.00,0.000,644,0.000,0.085,2779,717,1661,1706,1616,0,0,0,0,0,0,14.37,14.00,14.38
$GC,8066,0.50,413.2,2779,718,1702,1623,69.1,11.5,683,8071,0.15,2.45,0.00,0.000,5126,0.248,0.079,2748,2107,1660,1701,1619,0,0,0,0,0,0,13.85,14.04,14.10
$GC,8376,0.61,504.5,2748,2109,1701,1619,45.4,5.8,715,8429,0.00,2.47,46.53,0.337,8868,0.000,0.083,2753,712,1305,1365,1245,0,0,0,0,0,0,14.48,13.98,13.76
$GC,8501,0.84,584.3,2753,711,1366,1251,37.7,6.3,739,8554,0.30,2.45,43.53,0.308,11430,0.086,0.078,2868,2109,979,1058,901,0,0,0,0,0,0,14.19,14.10,13.75
$GC,8849,0.92,696.6,2868,2109,1060,903,7.3,4.8,779,8917,0.00,2.47,61.00,0.223,8740,0.000,0.083,2876,727,521,566,477,0,0,0,0,0,0,14.45,14.00,13.92
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$FINISH,0.1,1.020107
$STATE,8952,end surface coast,CONTROL_FINISHED_OK
$STATE,8952,begin surface
$SM_CCo,8975,3.38,0.229,0,0,500,702.78
$SM_GC,1.69,8.23,2.62,3.38,0.083,0.076,0.229,203,2202,500,-7.36,-0.65,702.78,0,0,0,0,0,0,14.25,14.16,14.00
$RAFOS_CLK,383
$MODEM,4,1503044932,75.71700,-151.21500,231.519,335870.9
$MODEM,2,1503043988,73.18300,-149.96500,41.463,60151.1
$MODEM,0,1503043469,75.36600,-145.04601,215.534,312680.6
$RAFOS_FIX,7243.261230,-14847.468750,180817,080829,3,255,2.98
$IRIDIUM_FIX,7243.34,-14847.27,180817,074518
$TT8_MAMPS,0.040446,0.886816
$HUMID,48.97
$INTERNAL_PRESSURE,7.78152
$TCM_TEMP,13.40
$XPDR_PINGS,7
$CP_FREE,16002449408.000000
$PM_FREEKB_00,55686720
$24V_AH,12.51,90.206
$10V_AH,12.43,0.000
$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,25.050,88.725,985.250,3.375,0.000,0.000,0.000,644.900,1.750,0.000,9.794,0.000,6456.548,959.142,2306.995,309.140,0.000,2368.441,0.000,1146.040,2215.000,0.539,0.000
$DEVICE_MAMPS,453.645,2149.650,1436.670,228.735,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8981.000,8979.000,8930.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.246,20.000,16.611,0.000
$MEM,323684
$DATA_FILE_SIZE,26708,799
$CAP_FILE_SIZE,109866,0
$CFSIZE,2097872896,2057928704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.038,250.27,1
$GPS,180817,102456,7244.114,-14841.943,12,0.8,35,21.2,0.3,15.2,11,9.7