version: 66.13
glider: 196
mission: 14
dive: 115
start: 8 20 117 2 1 34
data:
$ID,196
$MISSION,14
$DIVE,115
$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,23
$R_STBD_OVSHOOT,27
$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,326.0
$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
$GPS1,200817,014004,7259.2764,-14913.5586,16,0.7,17,21.0,0.0,0.0,11,9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.1
$GPS2,200817,020101,7259.3701,-14913.1436,5,0.8,38,21.0,0.0,64.5,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.2,32192,-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,-145.9,205,2216,505,477,0.0,0.0,0,140,0.00,0.00,-91.75,0.000,16386,0.000,0.000,201,2221,2279,2215,2344,0,0,0,0,0,0,14.47,28.83,14.49
$GC,143,-0.57,-145.9,202,2216,2219,2346,4.7,-6.8,9,192,12.62,2.88,-29.85,0.000,18980,0.457,2.150,2386,783,3963,3945,3981,0,0,0,0,0,0,13.71,12.66,14.15
$GC,237,-0.57,-145.9,2386,784,3950,3982,33.4,-20.2,25,243,0.00,2.53,0.00,0.000,1030,0.000,0.088,2378,2193,3965,3950,3981,0,0,0,0,0,0,14.19,14.07,14.23
$GC,544,-0.57,-145.9,2379,2197,3955,3981,92.3,-14.4,56,549,0.00,2.53,0.00,0.000,260,0.000,0.091,2376,3623,3967,3953,3981,0,0,0,0,0,0,14.47,14.14,14.49
$GC,724,-0.72,-145.9,2377,3623,3954,3981,112.9,-10.5,92,729,0.00,2.40,0.00,0.000,1158,0.000,0.055,2376,2198,3967,3954,3981,0,0,0,0,0,0,14.28,14.19,14.32
$GC,1054,-0.82,-145.9,2376,2197,3954,3982,148.4,-10.4,108,1059,0.17,2.50,0.00,0.000,4484,0.119,0.086,2292,3618,3967,3953,3981,0,0,0,0,0,0,14.26,14.18,14.33
$GC,1124,-0.82,-145.9,2292,3620,3954,3982,158.9,-15.7,122,1129,0.00,2.40,0.00,0.000,1030,0.000,0.056,2292,2195,3967,3954,3981,0,0,0,0,0,0,14.28,14.19,14.32
$GC,1445,-0.77,-145.9,2292,2194,3954,3982,213.2,-16.5,136,1450,0.12,2.50,0.00,0.000,2436,0.292,0.087,2319,3614,3971,3961,3981,0,0,0,0,0,0,14.00,14.22,14.16
$GC,1567,-0.88,-145.9,2319,3616,3954,3981,227.6,-10.8,160,1572,0.00,2.40,0.00,0.000,1158,0.000,0.054,2319,2189,3967,3954,3981,0,0,0,0,0,0,14.38,14.28,14.44
$GC,1897,-0.94,-145.9,2318,2189,3954,3982,265.5,-11.0,176,1902,0.12,2.50,0.00,0.000,4484,0.141,0.087,2254,3614,3967,3954,3981,0,0,0,0,0,0,14.33,14.22,14.37
$GC,2062,-0.92,-145.9,2253,3617,3954,3982,288.8,-14.3,209,2067,0.12,2.38,0.00,0.000,3206,0.271,0.056,2284,2201,3967,3953,3981,0,0,0,0,0,0,14.03,14.28,14.29
$GC,2377,-0.92,-145.9,2278,2199,3953,3982,328.0,-12.2,222,2382,0.00,2.47,0.00,0.000,260,0.000,0.088,2270,3616,3967,3953,3981,0,0,0,0,0,0,14.61,14.23,14.61
$GC,2489,-0.96,-145.9,2270,3617,3951,3981,341.1,-11.7,244,2494,0.00,2.38,0.00,0.000,1158,0.000,0.056,2269,2201,3966,3951,3981,0,0,0,0,0,0,14.33,14.24,14.38
$GC,2799,-0.96,-145.9,2270,2200,3952,3981,379.7,-12.4,256,2804,0.00,2.50,0.00,0.000,260,0.000,0.090,2266,3623,3965,3951,3980,0,0,0,0,0,0,14.61,14.22,14.62
$GC,2904,-1.03,-145.9,2265,3624,3951,3981,392.2,-11.3,277,2909,0.00,2.40,0.00,0.000,1158,0.000,0.057,2266,2198,3965,3951,3979,0,0,0,0,0,0,14.35,14.23,14.38
$GC,3219,-1.03,-145.9,2266,2196,3952,3979,431.5,-12.5,290,3224,0.00,2.50,0.00,0.000,260,0.000,0.088,2258,3623,3963,3951,3975,0,0,0,0,0,0,14.61,14.22,14.62
$GC,3319,-1.06,-145.9,2257,3625,3951,3980,444.1,-12.1,310,3324,0.00,2.42,0.00,0.000,1158,0.000,0.057,2256,2191,3964,3950,3979,0,0,0,0,0,0,14.38,14.26,14.41
$STATE,3607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3607,begin apogee
$GC,3613,-0.13,0.0,2257,2063,3949,3978,481.9,-13.1,323,3912,1.08,0.08,295.77,1.283,10246,0.245,0.178,2530,2114,3365,3385,3346,0,0,0,0,0,0,13.99,13.32,12.66
$STATE,3918,end apogee,CONTROL_FINISHED_OK
$STATE,3918,begin climb
$GC,3920,0.57,145.9,2531,2114,3379,3336,497.8,0.0,333,4141,0.75,2.10,206.98,1.330,10500,0.063,0.072,2781,3530,2752,2788,2716,0,0,0,0,0,0,13.47,13.01,12.46
$GC,4146,0.57,145.9,2782,3531,2786,2716,501.2,-1.7,336,4151,0.00,2.55,0.00,0.000,1030,0.000,0.056,2791,2126,2749,2784,2715,0,0,0,0,0,0,13.36,13.28,13.38
$GC,4461,0.17,145.9,2791,2128,2779,2709,449.3,16.6,349,4467,0.65,2.45,0.00,0.000,4484,0.318,0.073,2647,3503,2743,2778,2709,0,0,0,0,0,0,13.54,13.84,13.76
$GC,4692,0.00,145.9,2647,3505,2775,2707,423.4,10.8,395,4698,0.30,2.42,0.00,0.000,5254,0.280,0.060,2588,2093,2740,2773,2707,0,0,0,0,0,0,13.79,14.03,14.09
$GC,5003,0.06,224.8,2588,2093,2776,2707,402.8,6.4,407,5134,0.00,2.60,122.62,1.276,8484,0.000,0.080,2588,3498,2441,2493,2389,0,0,0,0,0,0,14.50,13.72,13.02
$GC,5276,0.16,261.8,2594,3502,2467,2385,382.2,8.3,461,5338,0.12,2.42,53.90,1.317,11430,0.129,0.061,2644,2099,2292,2337,2248,0,0,0,0,0,0,13.99,13.96,13.02
$GC,5636,0.16,261.8,2645,2096,2325,2228,343.6,10.8,483,5642,0.00,2.50,0.00,0.000,516,0.000,0.090,2647,693,2275,2324,2227,0,0,0,0,0,0,14.35,14.07,14.38
$GC,5712,0.21,261.8,2647,694,2323,2228,335.8,10.0,498,5717,0.00,2.45,0.00,0.000,1158,0.000,0.078,2647,2092,2274,2322,2227,0,0,0,0,0,0,14.24,14.13,14.26
$GC,6027,0.21,261.8,2647,2093,2322,2226,302.5,10.5,511,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2092,2274,2322,2226,0,0,0,0,0,0,14.53,14.55,14.54
$GC,6327,0.21,265.9,2647,2093,2322,2226,272.3,9.8,521,6332,0.00,2.45,0.00,0.000,548,0.000,0.085,2647,688,2273,2321,2225,0,0,0,0,0,0,14.59,14.24,14.59
$GC,6387,0.29,294.9,2647,688,2322,2225,266.9,8.7,533,6443,0.00,2.45,49.10,1.293,9382,0.000,0.077,2647,2100,2160,2207,2114,0,0,0,0,0,0,14.36,14.22,13.33
$GC,6750,0.34,319.6,2647,2101,2195,2097,233.5,8.9,555,6795,0.12,2.50,37.88,1.298,10916,0.130,0.084,2709,688,2056,2101,2012,0,0,0,0,0,0,14.22,13.91,13.33
$GC,6815,0.30,319.6,2708,688,2091,2009,226.1,12.0,568,6820,0.12,2.50,0.00,0.000,5254,0.233,0.079,2682,2108,2048,2090,2007,0,0,0,0,0,0,13.93,14.01,14.12
$GC,7142,0.32,336.9,2683,2110,2090,1998,194.9,9.2,583,7172,0.00,2.53,24.20,1.329,8740,0.000,0.085,2684,688,1986,2031,1941,0,0,0,0,0,0,14.39,13.87,13.31
$GC,7264,0.41,362.8,2685,689,2019,1937,183.9,8.8,607,7312,0.00,2.47,42.85,1.300,9382,0.000,0.078,2684,2101,1886,1921,1851,0,0,0,0,0,0,14.14,14.03,13.20
$GC,7624,0.49,390.5,2684,2102,1907,1834,151.3,8.7,629,7674,0.17,0.00,47.45,1.284,10406,0.110,0.000,2758,2100,1773,1801,1745,0,0,0,0,0,0,14.09,13.90,13.20
$GC,7953,0.43,390.5,2759,2101,1787,1728,107.9,13.0,640,7958,0.15,2.53,0.00,0.000,4740,0.252,0.084,2730,680,1756,1786,1727,0,0,0,0,0,0,13.78,14.00,13.95
$GC,8083,0.50,410.4,2731,680,1782,1727,95.1,9.1,666,8099,0.00,2.53,9.50,0.457,9382,0.000,0.078,2737,2109,1689,1717,1662,0,0,0,0,0,0,14.16,14.04,13.60
$GC,8405,0.59,468.1,2731,2108,1727,1662,68.1,7.3,700,8441,0.12,2.47,32.00,0.399,10660,0.129,0.080,2789,3511,1457,1492,1422,0,0,0,0,0,0,14.10,13.91,13.66
$GC,8567,0.59,471.9,2790,3512,1493,1424,50.7,9.8,732,8578,0.00,2.47,2.75,0.296,9254,0.000,0.065,2794,2093,1440,1480,1401,0,0,0,0,0,0,14.16,14.05,13.71
$GC,8877,0.64,535.1,2795,2093,1486,1407,27.1,7.1,764,8919,0.00,2.50,35.67,0.281,8740,0.000,0.089,2794,688,1179,1237,1122,0,0,0,0,0,0,14.37,13.91,13.73
$GC,9144,0.96,706.8,2795,688,1238,1125,13.2,2.1,817,9245,0.30,2.47,91.25,0.234,11430,0.090,0.078,2900,2098,493,520,466,0,0,0,0,0,0,14.03,14.04,13.79
$STATE,9287,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$MODEM_MSG,CACST,6,1,20170820040417.111198,3,357,19,0661,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*06
$MODEM_MSG,CACST,6,1,20170820041247.269295,3,4923,36,0134,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$MODEM_MSG,CACST,6,1,20170820042050.058541,3,72,18,0480,0150,250,00,00,00,00,-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,6,1,20170820042834.158633,3,60,17,0153,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E
$FINISH,0.3,1.020375
$STATE,9305,end surface coast,CONTROL_FINISHED_OK
$STATE,9305,begin surface
$SM_CCo,9386,0.00,0.000,0,0,493,704.50
$SM_GC,1.14,8.40,0.17,0.00,0.082,0.107,0.000,204,2227,493,-7.38,-0.76,704.50,0,0,0,0,0,0,14.11,14.12,14.17
$RAFOS_CLK,114
$MODEM,4,1503203314,75.71700,-151.21500,213.409,309182.0
$MODEM,3,1503202850,74.30400,-153.94400,143.059,207260.2
$MODEM,2,1503202367,73.18300,-149.96500,20.269,29365.7
$MODEM,0,1503201857,75.36600,-145.04601,203.111,294263.2
$RAFOS_FIX,7258.971191,-14918.901367,200817,040437,4,255,0.39
$IRIDIUM_FIX,7302.52,-14918.61,200817,015352
$TT8_MAMPS,0.083139,0.90629
$HUMID,43.93
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,20
$CP_FREE,15999795200.000000
$PM_FREEKB_00,54662016
$24V_AH,12.46,97.540
$10V_AH,12.37,0.000
$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,25.475,89.450,1051.925,0.000,0.000,0.000,0.000,712.600,5.000,0.000,41.301,0.000,6769.972,923.951,2638.627,323.710,0.000,2562.378,0.000,1205.332,2219.000,0.539,0.000
$DEVICE_MAMPS,457.470,2150.415,1330.335,0.000,0.000,0.000,0.000,159.885,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9332.000,9322.000,9281.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.476,20.000,16.583,0.000
$MEM,323352
$DATA_FILE_SIZE,30069,842
$CAP_FILE_SIZE,112928,0
$CFSIZE,2097872896,2053144576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.8
$CURRENT,0.034,265.65,1
$GPS,200817,043903,7300.287,-14915.466,14,0.8,19,21.0,0.4,126.7,11,10.0