version: 66.13
glider: 196
mission: 14
dive: 120
start: 8 20 117 16 15 30
data:
$ID,196
$MISSION,14
$DIVE,120
$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,25
$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,339.0
$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
$GPS1,200817,155814,7304.2197,-14925.0225,26,0.7,32,21.0,0.3,85.7,12,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.6
$GPS2,200817,161502,7304.2261,-14924.6426,34,0.8,35,21.0,0.0,0.0,11,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,287.9,21806,-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,-145.9,206,2217,506,479,0.0,0.0,0,126,0.00,0.00,-77.90,0.000,16386,0.000,0.000,205,2217,1909,1835,1984,0,0,0,0,0,0,14.45,28.83,14.49
$GC,129,-0.57,-145.9,205,2217,1838,1993,3.1,-3.0,8,192,12.52,2.85,-44.58,0.000,18980,0.453,2.140,2384,792,3964,3947,3981,0,0,0,0,0,0,13.68,12.63,14.12
$GC,302,-0.57,-145.9,2384,793,3954,3983,41.2,-17.1,42,307,0.00,2.53,0.00,0.000,1030,0.000,0.090,2380,2198,3967,3954,3981,0,0,0,0,0,0,14.12,13.98,14.15
$GC,612,-0.57,-145.9,2381,2199,3957,3981,94.6,-14.1,74,617,0.00,2.53,0.00,0.000,260,0.000,0.093,2376,3612,3969,3956,3982,0,0,0,0,0,0,14.37,13.99,14.39
$GC,797,-0.71,-145.9,2376,3616,3957,3983,114.8,-10.2,111,803,0.00,2.42,0.00,0.000,1158,0.000,0.055,2376,2188,3969,3957,3982,0,0,0,0,0,0,14.22,14.12,14.24
$GC,1123,-0.81,-145.9,2377,2187,3957,3981,149.6,-10.4,126,1128,0.15,2.53,0.00,0.000,4484,0.125,0.086,2305,3614,3968,3956,3981,0,0,0,0,0,0,14.15,14.06,14.21
$GC,1168,-0.84,-145.9,2306,3614,3957,3983,155.8,-14.4,135,1174,0.00,2.40,0.00,0.000,1158,0.000,0.056,2305,2201,3971,3956,3986,0,0,0,0,0,0,14.19,14.12,14.21
$MODEM_MSG,CACST,6,1,20170820162043.793986,3,247,23,0150,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170820162828.835631,3,631,28,0478,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$GC,1484,-0.84,-145.9,2309,2199,3957,3981,204.1,-15.0,148,1489,0.00,2.45,0.00,0.000,260,0.000,0.087,2297,3614,3969,3956,3982,0,0,0,0,0,0,14.42,14.07,14.44
$GC,1586,-0.90,-145.9,2296,3615,3957,3983,217.7,-12.9,168,1591,0.00,2.40,0.00,0.000,1158,0.000,0.057,2297,2201,3969,3956,3982,0,0,0,0,0,0,14.33,14.22,14.35
$GC,1906,-0.90,-145.9,2297,2200,3957,3983,261.4,-12.6,182,1911,0.00,2.47,0.00,0.000,260,0.000,0.088,2288,3616,3969,3956,3982,0,0,0,0,0,0,14.59,14.16,14.60
$GC,2001,-0.98,-145.9,2288,3617,3957,3982,272.5,-10.5,201,2006,0.00,2.40,0.00,0.000,1158,0.000,0.057,2288,2192,3968,3956,3981,0,0,0,0,0,0,14.37,14.26,14.39
$GC,2326,-0.98,-145.9,2288,2190,3957,3984,311.4,-11.8,216,2331,0.00,2.50,0.00,0.000,260,0.000,0.089,2275,3616,3968,3956,3980,0,0,0,0,0,0,14.62,14.21,14.64
$GC,2402,-1.07,-145.9,2281,3617,3956,3980,319.9,-11.0,231,2408,0.15,2.40,0.00,0.000,5254,0.129,0.056,2226,2187,3967,3955,3980,0,0,0,0,0,0,14.31,14.29,14.41
$GC,2718,-0.97,-145.9,2227,2187,3955,3979,370.5,-16.0,244,2723,0.15,2.50,0.00,0.000,2436,0.301,0.084,2249,3616,3966,3955,3978,0,0,0,0,0,0,13.95,14.22,14.14
$GC,2858,-0.97,-145.9,2250,3617,3955,3979,389.0,-12.4,272,2863,0.00,2.38,0.00,0.000,1030,0.000,0.055,2250,2201,3966,3955,3978,0,0,0,0,0,0,14.38,14.28,14.42
$GC,3168,-0.94,-145.9,2251,2199,3955,3977,430.7,-13.5,284,3173,0.00,2.47,0.00,0.000,388,0.000,0.088,2242,3615,3965,3954,3977,0,0,0,0,0,0,14.66,14.24,14.66
$GC,3283,-0.94,-145.9,2241,3616,3955,3977,446.1,-13.0,307,3290,0.15,2.38,0.00,0.000,3078,0.253,0.057,2272,2199,3966,3956,3977,0,0,0,0,0,0,14.03,14.25,14.21
$STATE,3586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3586,begin apogee
$GC,3592,-0.13,0.0,2273,2058,3955,3978,480.4,-11.1,318,3809,0.98,0.10,213.35,1.425,10246,0.233,0.161,2528,2122,3362,3387,3338,0,0,0,0,0,0,14.00,13.47,12.74
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3817,0.57,145.9,2529,2122,3383,3332,490.6,0.0,325,4358,0.75,2.65,204.45,1.366,10756,0.065,0.079,2790,731,2756,2796,2716,0,0,0,0,0,0,13.59,13.18,12.47
$GC,4370,0.57,145.9,2791,732,2796,2717,441.8,9.8,328,4375,0.00,2.40,0.00,0.000,1030,0.000,0.074,2790,2088,2756,2796,2716,0,0,0,0,0,0,13.98,13.88,14.01
$GC,4685,0.17,145.9,2791,2090,2797,2715,389.5,16.1,341,4690,0.62,2.47,0.00,0.000,4484,0.321,0.075,2649,3513,2754,2796,2713,0,0,0,0,0,0,13.80,14.13,14.00
$GC,4825,0.00,145.9,2649,3513,2793,2712,373.4,10.6,369,4831,0.30,2.33,0.00,0.000,5254,0.282,0.057,2588,2130,2752,2791,2713,0,0,0,0,0,0,13.95,14.22,14.26
$GC,5136,0.06,233.5,2589,2129,2794,2712,354.1,6.0,381,5272,0.00,2.60,129.50,1.307,8740,0.000,0.085,2589,691,2410,2468,2352,0,0,0,0,0,0,14.59,13.59,13.05
$GC,5319,0.25,291.6,2589,691,2461,2349,342.0,7.3,417,5416,0.22,2.55,87.55,1.287,11430,0.095,0.080,2676,2105,2171,2228,2115,0,0,0,0,0,0,13.89,13.82,12.86
$GC,5741,0.21,291.6,2676,2105,2217,2102,288.0,12.9,451,5747,0.00,2.50,0.00,0.000,644,0.000,0.086,2681,694,2161,2220,2102,0,0,0,0,0,0,14.33,13.95,14.35
$GC,5807,0.21,291.6,2681,695,2214,2103,280.0,11.6,464,5813,0.15,2.50,0.00,0.000,5126,0.238,0.080,2649,2100,2157,2213,2102,0,0,0,0,0,0,13.91,13.88,14.15
$GC,6133,0.25,305.9,2650,2102,2213,2101,248.7,9.3,479,6153,0.00,2.53,16.25,1.439,8868,0.000,0.083,2656,697,2116,2171,2062,0,0,0,0,0,0,14.54,14.14,13.33
$GC,6226,0.35,325.5,2656,697,2164,2062,240.3,9.1,497,6261,0.12,2.45,30.98,1.366,11430,0.133,0.078,2711,2103,2039,2090,1989,0,0,0,0,0,0,14.18,14.16,13.25
$GC,6586,0.31,325.5,2706,2103,2080,1977,197.5,11.3,519,6587,0.00,0.00,0.00,0.000,134,0.000,0.000,2705,2102,2027,2080,1975,0,0,0,0,0,0,14.51,14.53,14.53
$GC,6886,0.29,325.5,2706,2103,2080,1975,165.4,10.5,529,6888,0.12,0.00,0.00,0.000,4230,0.232,0.000,2678,2102,2027,2079,1975,0,0,0,0,0,0,14.16,14.40,14.36
$GC,7187,0.37,377.8,2678,2101,2078,1975,141.9,7.6,539,7282,0.00,2.53,90.47,1.244,8868,0.000,0.084,2682,693,1819,1856,1782,0,0,0,0,0,0,14.61,13.76,13.24
$GC,7398,0.54,424.8,2682,693,1843,1787,125.4,7.8,581,7483,0.22,2.47,77.40,1.196,11430,0.101,0.079,2769,2099,1629,1664,1595,0,0,0,0,0,0,14.12,14.04,13.10
$GC,7788,0.51,424.8,2769,2100,1664,1575,75.5,11.3,621,7789,0.00,0.00,0.00,0.000,134,0.000,0.000,2769,2099,1618,1663,1574,0,0,0,0,0,0,14.38,14.40,14.40
$GC,8090,0.55,479.5,2770,2099,1664,1571,48.0,7.5,651,8119,0.00,0.00,26.60,0.346,8230,0.000,0.000,2769,2099,1409,1458,1360,0,0,0,0,0,0,14.47,14.18,13.85
$GC,8418,0.69,561.0,2769,2100,1458,1355,25.6,6.2,684,8462,0.10,0.00,42.45,0.286,10406,0.155,0.000,2812,2099,1076,1142,1010,0,0,0,0,0,0,14.26,14.15,13.90
$GC,8758,0.92,707.0,2813,2100,1142,1003,7.7,3.3,718,8842,0.17,1.60,79.88,0.219,10915,0.111,0.085,2889,1221,502,525,479,0,0,0,0,0,0,14.23,14.16,13.98
$STATE,8843,end climb,SURFACE_DEPTH_REACHED
$STATE,8843,begin surface coast
$FINISH,0.2,1.020399
$STATE,8858,end surface coast,CONTROL_FINISHED_OK
$STATE,8858,begin surface
$SM_CCo,8879,0.08,1.197,0,0,501,703.03
$SM_GC,1.81,8.23,1.77,0.08,0.076,0.080,1.197,204,2207,501,-7.38,-0.59,703.03,0,0,0,0,0,0,14.23,14.19,13.90
$RAFOS_CLK,399
$MODEM,4,1503246508,75.71700,-151.21500,208.086,301570.3
$MODEM,3,1503246043,74.30400,-153.94400,136.794,198250.1
$RAFOS_FIX,7303.161133,-14926.141602,200817,161635,2,255,3.74
$IRIDIUM_FIX,7304.62,-14931.32,200817,160749
$TT8_MAMPS,0.040446,0.850115
$HUMID,47.44
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.30
$XPDR_PINGS,14
$CP_FREE,15999008768.000000
$PM_FREEKB_00,54446272
$24V_AH,12.47,99.945
$10V_AH,12.36,0.000
$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,25.125,73.225,998.875,0.075,0.000,0.000,0.000,587.300,3.500,0.000,36.735,0.000,6121.045,790.467,2683.800,302.595,0.000,2603.348,0.000,1049.882,1173.000,0.539,0.000
$DEVICE_MAMPS,452.880,2140.470,1438.965,1197.225,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8884.000,8864.000,8833.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.876,20.000,10.225,0.000
$MEM,323508
$DATA_FILE_SIZE,23386,732
$CAP_FILE_SIZE,101039,0
$CFSIZE,2097872896,2051538944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$CURRENT,0.051,223.36,1
$GPS,200817,184435,7304.928,-14927.705,16,0.9,18,20.9,0.4,170.9,9,9.7