version: 66.13
glider: 196
mission: 14
dive: 107
start: 8 19 117 3 17 58
data:
$ID,196
$MISSION,14
$DIVE,107
$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,28
$R_STBD_OVSHOOT,60
$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,304.0
$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
$GPS1,190817,030633,7250.5752,-14854.2354,35,0.8,36,21.1,0.0,0.0,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.8
$GPS2,190817,031722,7250.5391,-14854.3506,7,0.8,11,21.1,0.0,0.0,11,10.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,310.3,50855,-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,-145.9,190,2194,493,487,0.0,0.0,0,129,0.00,0.00,-81.50,0.000,16386,0.000,0.000,189,2193,2025,1952,2098,0,0,0,0,0,0,14.40,28.83,14.43
$GC,132,-0.57,-145.9,190,2194,1954,2099,3.4,-4.5,8,189,12.65,2.72,-38.67,0.000,18724,0.458,2.154,2375,3567,3965,3950,3981,0,0,0,0,0,0,13.70,12.63,14.12
$GC,241,-0.53,-145.9,2376,3569,3956,3981,32.6,-22.5,29,247,0.15,2.35,0.00,0.000,3206,0.265,0.059,2406,2200,3968,3955,3981,0,0,0,0,0,0,13.90,14.09,14.16
$GC,545,-0.59,-145.9,2406,2199,3960,3982,82.7,-12.5,60,549,0.00,2.42,0.00,0.000,388,0.000,0.087,2402,3569,3970,3960,3981,0,0,0,0,0,0,14.47,14.02,14.48
$GC,701,-0.77,-145.9,2402,3569,3961,3981,97.9,-9.3,91,708,0.22,2.33,0.00,0.000,5286,0.096,0.053,2319,2191,3968,3960,3977,0,0,0,0,0,0,14.22,14.20,14.31
$GC,1025,-0.74,-145.9,2318,2192,3960,3982,151.9,-16.0,104,1029,0.00,2.42,0.00,0.000,388,0.000,0.086,2307,3577,3971,3961,3981,0,0,0,0,0,0,14.55,14.20,14.57
$GC,1166,-0.78,-145.9,2308,3576,3961,3981,172.0,-13.6,132,1171,0.00,2.33,0.00,0.000,1158,0.000,0.056,2309,2196,3970,3960,3981,0,0,0,0,0,0,14.37,14.26,14.40
$GC,1476,-0.78,-145.9,2308,2192,3961,3982,217.5,-14.0,144,1481,0.00,2.42,0.00,0.000,260,0.000,0.088,2305,3574,3970,3959,3981,0,0,0,0,0,0,14.58,14.22,14.59
$GC,1536,-0.85,-145.9,2306,3575,3960,3982,225.2,-12.0,156,1541,0.00,2.33,0.00,0.000,1158,0.000,0.055,2305,2188,3970,3960,3981,0,0,0,0,0,0,14.36,14.25,14.39
$GC,1866,-0.88,-145.9,2306,2188,3961,3980,265.9,-11.7,172,1871,0.00,2.42,0.00,0.000,388,0.000,0.088,2305,3571,3970,3960,3980,0,0,0,0,0,0,14.59,14.19,14.61
$GC,2008,-0.97,-145.9,2306,3574,3961,3980,280.5,-10.3,200,2013,0.12,2.30,0.00,0.000,5254,0.134,0.054,2255,2193,3969,3959,3980,0,0,0,0,0,0,14.31,14.29,14.40
$GC,2319,-0.91,-145.9,2256,2192,3960,3978,325.5,-14.7,212,2324,0.12,2.42,0.00,0.000,2436,0.322,0.083,2273,3574,3967,3956,3978,0,0,0,0,0,0,13.96,14.23,14.15
$GC,2436,-0.96,-145.9,2273,3574,3960,3978,339.7,-11.4,235,2443,0.00,2.33,0.00,0.000,1158,0.000,0.055,2272,2189,3968,3959,3977,0,0,0,0,0,0,14.35,14.25,14.38
$GC,2739,-0.96,-145.9,2272,2190,3960,3977,376.7,-12.0,246,2744,0.00,2.45,0.00,0.000,260,0.000,0.087,2267,3577,3967,3958,3976,0,0,0,0,0,0,14.45,14.12,14.47
$GC,2861,-1.00,-145.9,2267,3579,3959,3977,390.8,-11.5,270,2866,0.00,2.35,0.00,0.000,1158,0.000,0.054,2266,2193,3967,3958,3976,0,0,0,0,0,0,14.26,14.16,14.28
$GC,3191,-1.00,-145.9,2267,2192,3957,3975,432.2,-12.6,286,3196,0.00,2.42,0.00,0.000,260,0.000,0.086,2261,3570,3967,3959,3975,0,0,0,0,0,0,14.42,14.09,14.44
$GC,3286,-1.03,-145.9,2261,3572,3959,3976,444.2,-12.2,305,3291,0.00,2.35,0.00,0.000,1158,0.000,0.054,2260,2194,3967,3958,3976,0,0,0,0,0,0,14.20,14.09,14.22
$STATE,3579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3579,begin apogee
$GC,3585,-0.13,0.0,2260,2069,3958,3975,481.9,-12.7,319,3799,1.08,0.00,210.80,1.441,10246,0.246,0.000,2530,2067,3364,3393,3336,0,0,0,0,0,0,13.86,13.36,12.66
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3803,begin climb
$GC,3805,0.57,145.9,2531,2067,3388,3330,492.2,0.0,326,4017,0.73,2.53,200.38,1.384,11012,0.067,0.080,2781,724,2765,2817,2714,0,0,0,0,0,0,13.46,13.14,12.45
$GC,4117,0.22,145.9,2782,724,2806,2713,482.6,14.9,383,4124,0.57,2.45,0.00,0.000,5254,0.317,0.076,2661,2059,2758,2805,2712,0,0,0,0,0,0,13.22,13.47,13.53
$GC,4434,0.07,145.9,2661,2062,2806,2708,449.5,10.1,396,4435,0.22,0.00,0.00,0.000,4230,0.292,0.000,2612,2062,2756,2805,2707,0,0,0,0,0,0,13.64,13.95,13.91
$MODEM_MSG,CACST,6,1,20170819042431.353105,3,58,-6,0096,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*20
$MODEM_MSG,CACST,6,1,20170819042843.100630,3,15,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$GC,4740,0.06,199.0,2612,2061,2806,2705,426.4,7.6,406,4824,0.00,2.42,74.70,1.395,8868,0.000,0.083,2615,728,2548,2611,2486,0,0,0,0,0,0,14.31,13.74,13.04
$GC,4870,0.13,229.2,2616,727,2607,2484,415.4,8.6,432,4921,0.00,2.42,42.38,1.415,9382,0.000,0.078,2615,2104,2427,2491,2363,0,0,0,0,0,0,13.90,13.80,12.91
$GC,5219,0.17,248.2,2616,2106,2485,2354,383.5,9.1,452,5250,0.00,0.00,26.58,1.462,8358,0.000,0.000,2621,2105,2349,2410,2289,0,0,0,0,0,0,14.28,13.97,13.11
$GC,5549,0.23,267.6,2616,2106,2404,2284,353.2,9.1,463,5582,0.12,2.53,26.88,1.456,10916,0.133,0.086,2683,723,2274,2330,2218,0,0,0,0,0,0,14.21,14.01,13.23
$GC,5612,0.18,267.6,2685,721,2323,2217,345.2,13.6,475,5618,0.20,2.45,0.00,0.000,5254,0.254,0.079,2639,2109,2269,2323,2215,0,0,0,0,0,0,13.85,14.02,14.09
$GC,5944,0.18,269.0,2640,2109,2324,2210,311.1,9.9,491,5944,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2109,2266,2322,2210,0,0,0,0,0,0,14.48,14.50,14.50
$GC,6244,0.21,279.4,2639,2110,2323,2208,282.0,9.5,501,6269,0.00,2.50,16.98,1.519,8868,0.000,0.085,2646,720,2222,2278,2166,0,0,0,0,0,0,14.56,14.22,13.37
$GC,6336,0.31,303.1,2647,719,2275,2166,273.7,8.9,519,6379,0.00,2.42,36.70,1.400,9382,0.000,0.078,2646,2106,2127,2181,2073,0,0,0,0,0,0,14.30,14.19,13.26
$GC,6697,0.37,328.9,2647,2107,2177,2068,240.6,8.8,541,6739,0.17,0.00,40.58,1.362,10406,0.110,0.000,2714,2107,2025,2076,1975,0,0,0,0,0,0,14.26,14.01,13.27
$GC,7025,0.32,328.9,2714,2107,2066,1965,199.2,12.2,552,7030,0.12,2.42,0.00,0.000,4740,0.239,0.083,2685,728,2015,2066,1964,0,0,0,0,0,0,13.78,14.13,13.96
$GC,7160,0.41,352.1,2686,729,2063,1964,186.5,8.9,579,7207,0.00,2.40,36.85,1.343,9382,0.000,0.078,2686,2109,1925,1969,1881,0,0,0,0,0,0,14.33,14.21,13.29
$GC,7507,0.48,378.1,2686,2110,1962,1878,155.2,8.8,598,7556,0.12,2.45,43.17,1.315,10916,0.139,0.083,2755,728,1819,1852,1786,0,0,0,0,0,0,14.24,13.83,13.28
$GC,7622,0.45,378.1,2756,729,1846,1787,140.8,12.6,621,7628,0.00,2.42,0.00,0.000,1158,0.000,0.078,2755,2104,1815,1844,1787,0,0,0,0,0,0,14.14,14.03,14.16
$GC,7927,0.39,378.1,2755,2102,1843,1782,101.7,12.6,632,7928,0.20,0.00,0.00,0.000,4230,0.232,0.000,2709,2105,1816,1844,1788,0,0,0,0,0,0,14.02,14.31,14.26
$GC,8227,0.51,444.6,2709,2105,1845,1778,77.3,6.9,660,8269,0.00,2.45,33.28,0.443,8868,0.000,0.085,2708,730,1552,1590,1515,0,0,0,0,0,0,14.50,14.04,13.77
$GC,8370,0.68,504.9,2710,729,1588,1510,67.2,7.2,688,8407,0.28,2.40,31.10,0.409,11430,0.091,0.077,2807,2107,1305,1359,1251,0,0,0,0,0,0,14.21,14.12,13.72
$GC,8712,0.70,532.6,2808,2107,1360,1238,32.7,8.7,726,8734,0.00,2.50,14.12,0.314,8484,0.000,0.080,2807,3509,1190,1257,1124,0,0,0,0,0,0,14.47,14.04,13.86
$GC,8822,0.76,547.4,2808,3509,1258,1123,22.4,9.3,747,8834,0.00,2.38,7.95,0.288,9382,0.000,0.066,2808,2129,1132,1201,1064,0,0,0,0,0,0,14.23,14.12,13.88
$GC,9139,1.01,738.1,2808,2130,1202,1060,6.9,1.2,780,9208,0.28,0.00,66.18,0.226,10914,0.089,0.000,2915,2129,608,659,557,0,0,0,0,0,0,14.23,28.83,14.28
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,0.1,1.020326
$STATE,9221,end surface coast,CONTROL_FINISHED_OK
$STATE,9221,begin surface
$SM_CCo,9288,15.65,0.208,0,0,497,703.28
$SM_GC,1.10,8.32,0.12,15.65,0.080,0.129,0.208,199,2236,497,-7.38,-0.74,703.28,0,0,0,0,0,0,14.28,14.25,14.02
$RAFOS_CLK,311
$MODEM,4,1503116923,75.71700,-151.21500,222.351,322092.1
$MODEM,3,1503116671,74.30400,-153.94400,364.353,527793.8
$RAFOS_FIX,7247.060547,-14853.498047,180817,202059,3,255,0.64
$IRIDIUM_FIX,7252.02,-14848.41,190817,001934
$TT8_MAMPS,0.040446,0.875581
$HUMID,48.18
$INTERNAL_PRESSURE,7.77175
$TCM_TEMP,13.40
$XPDR_PINGS,6
$CP_FREE,0.000000
$PM_FREEKB_00,55215232
$24V_AH,12.45,93.540
$10V_AH,12.46,0.000
$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,25.700,77.875,908.600,15.650,0.000,0.000,0.000,371.025,1.500,0.000,11.790,0.000,6642.599,929.238,2102.453,298.989,0.000,2046.201,0.000,1139.498,2216.000,0.540,0.000
$DEVICE_MAMPS,458.235,2154.240,1519.290,208.080,0.000,0.000,0.000,183.600,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9251.000,9299.000,9246.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.395,20.000,16.624,0.000
$MEM,323520
$DATA_FILE_SIZE,26761,795
$CAP_FILE_SIZE,107568,0
$CFSIZE,2097872896,2055700480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.083,258.92,1
$GPS,190817,055418,7251.673,-14856.646,24,0.7,27,21.1,0.8,217.3,11,9.3