version: 66.13
glider: 196
mission: 14
dive: 101
start: 8 18 117 10 38 47
data:
$ID,196
$MISSION,14
$DIVE,101
$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,53
$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,287.0
$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
$GPS1,180817,102456,7244.1138,-14841.9434,12,0.8,35,21.2,0.3,15.2,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.6
$GPS2,180817,103813,7244.1533,-14841.9014,7,0.8,13,21.2,0.0,0.0,11,7.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.7,64409,-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,-145.9,201,2205,524,474,0.0,0.0,0,129,0.00,0.00,-81.55,0.000,16386,0.000,0.000,200,2205,2066,1988,2145,0,0,0,0,0,0,14.43,28.83,14.44
$GC,132,-0.57,-145.9,201,2205,1991,2146,3.5,-4.7,8,185,12.48,2.75,-34.67,0.000,18724,0.455,2.145,2375,3608,3962,3943,3981,0,0,0,0,0,0,13.71,12.94,14.13
$GC,280,-0.57,-145.9,2374,3609,3952,3981,44.8,-19.7,37,286,0.00,2.38,0.00,0.000,1030,0.000,0.058,2374,2221,3964,3948,3981,0,0,0,0,0,0,14.12,14.01,14.14
$GC,585,-0.57,-145.9,2376,2219,3955,3981,96.1,-14.3,68,590,0.00,2.45,0.00,0.000,260,0.000,0.086,2365,3609,3967,3954,3980,0,0,0,0,0,0,14.47,14.14,14.49
$GC,635,-0.67,-145.9,2366,3610,3955,3981,102.8,-12.6,78,640,0.00,2.40,0.00,0.000,1158,0.000,0.054,2365,2194,3967,3954,3981,0,0,0,0,0,0,14.25,14.14,14.28
$GC,946,-0.72,-145.9,2365,2194,3955,3981,141.9,-12.2,90,950,0.00,2.50,0.00,0.000,388,0.000,0.089,2363,3612,3967,3954,3980,0,0,0,0,0,0,14.54,14.20,14.57
$GC,1036,-0.87,-145.9,2363,3613,3955,3979,151.4,-9.9,108,1041,0.20,2.38,0.00,0.000,5286,0.105,0.054,2280,2200,3967,3954,3980,0,0,0,0,0,0,14.29,14.26,14.40
$GC,1367,-0.79,-145.9,2281,2196,3955,3980,210.1,-17.5,124,1372,0.15,2.47,0.00,0.000,2436,0.273,0.083,2306,3609,3970,3953,3987,0,0,0,0,0,0,13.93,14.18,14.09
$GC,1537,-0.88,-145.9,2308,3611,3954,3981,231.7,-11.0,158,1542,0.00,2.38,0.00,0.000,1158,0.000,0.054,2306,2199,3967,3954,3980,0,0,0,0,0,0,14.36,14.26,14.40
$GC,1847,-0.91,-145.9,2307,2198,3955,3979,269.0,-11.7,170,1852,0.00,2.47,0.00,0.000,388,0.000,0.089,2305,3610,3966,3953,3979,0,0,0,0,0,0,14.58,14.22,14.63
$GC,1942,-1.00,-145.9,2305,3611,3954,3979,279.3,-10.4,189,1947,0.15,2.38,0.00,0.000,5254,0.122,0.056,2250,2198,3966,3953,3979,0,0,0,0,0,0,14.31,14.27,14.39
$GC,2267,-0.93,-145.9,2250,2197,3954,3976,328.8,-15.3,204,2272,0.00,2.47,0.00,0.000,388,0.000,0.086,2242,3613,3964,3953,3976,0,0,0,0,0,0,14.60,14.23,14.62
$GC,2389,-0.90,-145.9,2242,3613,3953,3975,346.9,-14.4,228,2394,0.20,2.40,0.00,0.000,3206,0.262,0.057,2284,2191,3964,3952,3976,0,0,0,0,0,0,14.00,14.23,14.26
$GC,2720,-0.92,-145.9,2284,2191,3953,3976,385.4,-11.4,244,2724,0.00,2.50,0.00,0.000,388,0.000,0.087,2279,3614,3962,3950,3974,0,0,0,0,0,0,14.59,14.21,14.62
$GC,2810,-1.01,-145.9,2282,3617,3952,3975,395.3,-10.5,262,2814,0.00,2.38,0.00,0.000,1158,0.000,0.055,2280,2201,3962,3951,3974,0,0,0,0,0,0,14.36,14.25,14.40
$GC,3140,-1.03,-145.9,2280,2200,3952,3974,433.0,-11.4,278,3145,0.00,2.47,0.00,0.000,388,0.000,0.089,2280,3609,3961,3950,3973,0,0,0,0,0,0,14.59,14.21,14.62
$GC,3220,-1.12,-145.9,2280,3611,3952,3974,441.7,-10.3,294,3225,0.20,2.40,0.00,0.000,5254,0.110,0.056,2205,2193,3961,3951,3972,0,0,0,0,0,0,14.28,14.23,14.32
$STATE,3438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3438,begin apogee
$GC,3444,-0.13,0.0,2205,2066,3951,3971,480.3,-18.2,303,3659,1.35,0.08,211.55,1.433,10246,0.285,0.181,2529,2113,3365,3391,3339,0,0,0,0,0,0,13.92,13.43,12.78
$STATE,3663,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3665,0.57,145.9,2530,2113,3382,3329,490.5,0.0,310,3875,0.75,2.60,200.68,1.379,10500,0.067,0.073,2782,3504,2762,2812,2713,0,0,0,0,0,0,13.57,13.05,12.50
$GC,4102,0.14,145.9,2784,3505,2786,2711,454.8,17.3,356,4107,0.77,2.42,0.00,0.000,5254,0.348,0.057,2633,2118,2748,2786,2711,0,0,0,0,0,0,13.47,13.78,13.81
$GC,4413,0.07,169.9,2633,2119,2787,2710,425.8,8.9,368,4448,0.00,2.50,29.00,1.467,8612,0.000,0.080,2633,3498,2667,2711,2624,0,0,0,0,0,0,14.34,13.93,13.17
$GC,4663,-0.04,169.9,2634,3498,2701,2617,399.5,10.6,418,4668,0.30,2.38,0.00,0.000,5254,0.253,0.057,2572,2102,2657,2697,2617,0,0,0,0,0,0,13.90,14.13,14.15
$GC,4984,0.10,260.4,2573,2101,2701,2614,380.1,5.8,432,5127,0.12,2.53,133.80,1.336,10916,0.132,0.083,2633,691,2298,2351,2245,0,0,0,0,0,0,14.16,13.50,12.96
$GC,5177,0.20,282.8,2633,690,2341,2243,362.5,9.0,470,5217,0.00,2.53,31.42,1.388,9382,0.000,0.077,2633,2091,2208,2264,2152,0,0,0,0,0,0,13.83,13.72,12.91
$GC,5529,0.25,283.9,2633,2098,2255,2139,327.5,10.0,490,5534,0.00,2.50,0.00,0.000,676,0.000,0.085,2633,691,2198,2258,2139,0,0,0,0,0,0,14.20,13.92,14.21
$GC,5564,0.34,288.9,2633,692,2256,2136,323.8,9.8,497,5570,0.17,2.50,1.40,0.431,11430,0.108,0.076,2698,2106,2192,2247,2137,0,0,0,0,0,0,14.01,13.95,13.40
$GC,5892,0.25,288.9,2698,2107,2254,2132,277.5,14.3,512,5897,0.12,2.50,0.00,0.000,4740,0.238,0.082,2672,691,2194,2253,2136,0,0,0,0,0,0,13.96,14.07,14.09
$GC,5932,0.25,288.9,2673,692,2254,2137,272.2,11.5,520,5937,0.00,2.47,0.00,0.000,1030,0.000,0.078,2673,2101,2195,2254,2136,0,0,0,0,0,0,14.21,14.09,14.23
$GC,6252,0.23,288.9,2673,2103,2251,2136,236.1,11.1,534,6257,0.00,2.50,0.00,0.000,644,0.000,0.086,2673,686,2194,2253,2136,0,0,0,0,0,0,14.41,14.06,14.42
$GC,6302,0.27,293.4,2670,688,2253,2136,231.0,9.8,544,6318,0.00,2.47,10.43,1.543,9382,0.000,0.078,2673,2098,2171,2224,2118,0,0,0,0,0,0,14.21,14.10,13.31
$GC,6645,0.28,317.1,2673,2101,2220,2108,198.9,8.9,562,6686,0.00,0.00,39.92,1.375,8230,0.000,0.000,2672,2101,2073,2127,2019,0,0,0,0,0,0,14.38,13.97,13.30
$GC,6973,0.35,351.8,2673,2102,2118,2010,170.2,8.4,573,7039,0.00,2.60,57.67,1.300,8868,0.000,0.086,2673,693,1925,1970,1880,0,0,0,0,0,0,14.31,13.82,13.19
$MODEM_MSG,CACST,6,1,20170818120429.939808,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170818121309.940775,3,128,21,0457,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03
$MODEM_MSG,CACST,6,1,20170818122113.459794,3,2903,34,0545,0150,250,00,00,00,00,-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,6,1,20170818122856.011302,3,264,24,0325,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08
$GC,7061,0.48,394.9,2673,694,1965,1880,163.1,8.0,590,7140,0.20,2.53,71.12,1.230,11430,0.104,0.078,2753,2105,1756,1788,1725,0,0,0,0,0,0,13.85,13.81,13.02
$GC,7465,0.43,394.9,2753,2106,1780,1707,109.8,12.9,619,7471,0.12,2.47,0.00,0.000,4740,0.243,0.083,2731,693,1743,1779,1708,0,0,0,0,0,0,13.82,13.85,13.95
$GC,7528,0.50,394.9,2732,692,1777,1707,103.1,10.0,631,7534,0.00,2.50,0.00,0.000,1158,0.000,0.076,2731,2099,1741,1776,1707,0,0,0,0,0,0,14.09,13.98,14.12
$GC,7839,0.55,418.6,2731,2101,1776,1705,72.5,8.9,665,7852,0.00,0.00,11.23,0.424,8358,0.000,0.000,2733,2100,1657,1694,1621,0,0,0,0,0,0,14.44,14.15,13.76
$GC,8150,0.70,514.3,2731,2101,1695,1621,49.4,5.6,696,8207,0.22,2.53,48.88,0.350,10916,0.096,0.086,2822,694,1268,1329,1208,0,0,0,0,0,0,14.21,14.04,13.83
$GC,8247,0.70,514.3,2822,695,1330,1208,39.8,10.7,712,8253,0.00,2.47,0.00,0.000,1030,0.000,0.077,2821,2109,1266,1327,1206,0,0,0,0,0,0,14.21,14.09,14.26
$GC,8552,0.87,670.1,2822,2110,1327,1196,13.2,2.8,743,8637,0.12,2.55,78.75,0.249,10916,0.131,0.084,2887,692,629,691,568,0,0,0,0,0,0,14.22,14.09,13.88
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,0.2,1.020157
$STATE,8755,end surface coast,CONTROL_FINISHED_OK
$STATE,8755,begin surface
$SM_CCo,8778,16.62,0.219,0,0,500,703.03
$SM_GC,1.86,8.25,2.65,16.62,0.083,0.069,0.219,206,2197,500,-7.37,-0.82,703.03,0,0,0,0,0,0,14.24,14.18,14.00
$RAFOS_CLK,184
$MODEM,4,1503059336,75.71700,-151.21500,235.261,341174.2
$MODEM,3,1503058873,74.30400,-153.94400,166.460,241398.8
$MODEM,2,1503058389,73.18300,-149.96500,42.941,62272.4
$MODEM,0,1503057869,75.36600,-145.04601,215.940,313154.3
$RAFOS_FIX,7244.636230,-14842.182617,180817,121256,4,255,0.15
$IRIDIUM_FIX,7242.28,-14841.08,180817,102925
$TT8_MAMPS,0.039697,0.858354
$HUMID,46.96
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.30
$XPDR_PINGS,9
$CP_FREE,16002285568.000000
$PM_FREEKB_00,55623104
$24V_AH,12.50,90.692
$10V_AH,12.41,0.000
$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,25.900,89.600,925.850,16.625,0.000,0.000,0.000,462.325,2.250,0.000,14.378,0.000,6200.266,818.023,2294.335,298.177,0.000,2156.642,0.000,1125.390,2202.000,0.539,0.000
$DEVICE_MAMPS,455.175,2145.060,1543.005,218.790,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8784.000,8773.000,8733.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.554,20.000,16.592,0.000
$MEM,323612
$DATA_FILE_SIZE,26702,783
$CAP_FILE_SIZE,109173,0
$CFSIZE,2097872896,2057601024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3466.16,0x2341ea,2,24
$SOUNDSPEED,1450.5
$CURRENT,0.052,230.69,1
$GPS,180817,130633,7245.071,-14843.908,23,0.8,24,21.2,0.0,0.0,10,7.8