version: 66.13
glider: 196
mission: 14
dive: 174
start: 8 27 117 4 38 47
data:
$ID,196
$MISSION,14
$DIVE,174
$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,26
$R_STBD_OVSHOOT,32
$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,490.0
$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
$GPS1,270817,041906,7356.6455,-15159.8203,20,0.8,28,20.0,0.3,338.7,11,9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.8
$GPS2,270817,043816,7356.6577,-15200.1992,6,0.7,15,20.0,0.0,278.1,12,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,284.2,70729,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$MODEM_MSG,CACST,6,1,20170827040353.825650,3,27,14,0180,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38
$MODEM_MSG,CACST,6,1,20170827041339.316268,3,176,10,0093,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20170827041916.419173,3,26,02,0136,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,48,-0.57,-145.9,190,2215,497,490,0.0,0.0,0,142,0.00,0.00,-90.88,0.000,16386,0.000,0.000,188,2220,2164,2089,2239,0,0,0,0,0,0,14.35,28.83,14.35
$GC,145,-0.57,-145.9,189,2214,2094,2240,4.0,-5.3,9,200,12.57,2.75,-33.33,0.000,18724,0.453,2.144,2377,3594,3964,3947,3982,1,0,0,0,0,0,13.50,12.63,13.99
$GC,425,-0.69,-145.9,2376,3594,3957,3982,61.7,-13.4,64,432,0.00,2.40,0.00,0.000,1158,0.000,0.058,2375,2192,3967,3952,3982,0,0,0,0,0,0,14.11,14.00,14.14
$GC,732,-0.76,-145.9,2375,2194,3953,3983,104.6,-11.9,93,737,0.12,2.50,0.00,0.000,4484,0.151,0.086,2319,3601,3967,3953,3982,0,0,0,0,0,0,14.04,14.13,14.10
$GC,822,-0.86,-145.9,2319,3602,3953,3983,117.0,-12.7,111,827,0.00,2.38,0.00,0.000,1158,0.000,0.059,2319,2200,3967,3953,3982,0,0,0,0,0,0,14.33,14.21,14.36
$GC,1152,-0.89,-145.9,2319,2199,3954,3983,163.9,-13.7,127,1157,0.00,2.47,0.00,0.000,388,0.000,0.090,2319,3600,3967,3954,3981,0,0,0,0,0,0,14.60,14.16,14.62
$GC,1217,-1.03,-145.9,2319,3602,3954,3982,171.9,-11.2,140,1223,0.22,2.38,0.00,0.000,5254,0.099,0.057,2238,2201,3969,3957,3982,0,0,0,0,0,0,14.31,14.29,14.38
$GC,1544,-0.94,-145.9,2239,2199,3956,3982,234.9,-19.1,155,1549,0.12,2.45,0.00,0.000,2436,0.303,0.085,2257,3601,3967,3952,3982,0,0,0,0,0,0,13.97,14.22,14.15
$GC,1666,-0.96,-145.9,2257,3602,3953,3983,253.0,-13.8,179,1670,0.00,2.38,0.00,0.000,1158,0.000,0.058,2256,2192,3967,3953,3982,0,0,0,0,0,0,14.36,14.24,14.39
$GC,1995,-0.96,-145.9,2257,2192,3953,3983,298.9,-13.2,195,2000,0.00,2.47,0.00,0.000,260,0.000,0.089,2249,3602,3967,3953,3982,0,0,0,0,0,0,14.66,14.21,14.69
$GC,2100,-1.01,-145.9,2250,3602,3954,3982,312.3,-12.2,216,2106,0.00,2.38,0.00,0.000,1158,0.000,0.057,2249,2196,3967,3953,3982,0,0,0,0,0,0,14.41,14.29,14.43
$GC,2416,-1.01,-145.9,2249,2196,3953,3981,353.9,-13.0,229,2421,0.00,2.47,0.00,0.000,260,0.000,0.088,2241,3600,3967,3953,3981,0,0,0,0,0,0,14.66,13.47,14.69
$GC,2486,-1.06,-145.9,2240,3601,3953,3983,362.7,-12.1,243,2491,0.00,2.38,0.00,0.000,1158,0.000,0.058,2241,2193,3967,3953,3982,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2806,-1.06,-145.9,2241,2193,3953,3982,405.2,-13.1,257,2811,0.00,2.47,0.00,0.000,260,0.000,0.090,2236,3600,3966,3952,3981,0,0,0,0,0,0,14.66,14.20,14.68
$GC,2882,-1.11,-145.9,2237,3601,3952,3984,414.5,-11.8,272,2887,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2199,3967,3953,3981,0,0,0,0,0,0,14.40,14.28,14.42
$GC,3197,-1.11,-145.9,2236,2199,3953,3982,455.9,-13.1,285,3202,0.00,2.47,0.00,0.000,260,0.000,0.090,2236,3600,3966,3953,3980,0,0,0,0,0,0,14.64,14.15,14.66
$GC,3282,-1.16,-145.9,2235,3601,3953,3981,466.3,-11.6,302,3288,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2195,3966,3952,3980,0,0,0,0,0,0,14.36,14.23,14.40
$STATE,3405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3405,begin apogee
$GC,3411,-0.13,0.0,2237,2066,3953,3980,482.2,-12.7,307,3632,1.15,0.00,217.02,1.439,10246,0.239,0.000,2530,2065,3363,3386,3341,0,0,0,0,0,0,13.87,13.47,12.68
$STATE,3636,end apogee,CONTROL_FINISHED_OK
$STATE,3636,begin climb
$GC,3638,0.57,145.9,2531,2065,3382,3335,493.1,0.0,314,4032,0.73,2.75,208.23,1.383,10500,0.063,0.076,2777,3498,2755,2794,2716,0,0,0,0,0,0,13.57,12.96,12.36
$GC,4044,0.57,145.9,2778,3498,2789,2716,471.1,6.7,317,4049,0.00,2.40,0.00,0.000,1030,0.000,0.058,2786,2131,2752,2788,2716,0,0,0,0,0,0,13.78,13.66,13.81
$GC,4359,0.16,145.9,2787,2131,2789,2715,420.2,15.7,330,4364,0.62,2.53,0.00,0.000,4740,0.310,0.080,2651,687,2751,2788,2715,0,0,0,0,0,0,13.71,14.08,13.96
$GC,4466,0.05,169.0,2652,686,2789,2716,409.5,8.9,351,4501,0.22,2.45,28.80,1.475,13478,0.282,0.080,2603,2092,2676,2718,2634,0,0,0,0,0,0,13.91,14.14,13.19
$GC,4813,0.06,219.3,2604,2092,2714,2624,382.8,7.7,370,4896,0.00,2.50,77.00,1.382,8868,0.000,0.086,2604,694,2465,2522,2409,0,0,0,0,0,0,14.57,13.89,13.12
$GC,4933,0.16,258.6,2604,694,2518,2405,373.1,8.2,394,4998,0.00,2.50,58.22,1.369,9382,0.000,0.080,2603,2102,2308,2364,2253,0,0,0,0,0,0,13.97,13.85,12.96
$GC,5323,0.24,292.6,2604,2103,2355,2241,339.8,8.4,422,5376,0.17,0.00,50.80,1.372,10406,0.108,0.000,2678,2102,2172,2224,2121,0,0,0,0,0,0,14.23,13.93,13.14
$GC,5653,0.18,292.6,2679,2103,2213,2108,296.2,13.1,433,5658,0.15,2.47,0.00,0.000,4740,0.254,0.083,2650,694,2160,2213,2107,0,0,0,0,0,0,13.97,14.03,14.11
$GC,5750,0.23,292.6,2649,695,2211,2108,286.0,10.2,452,5756,0.00,2.45,0.00,0.000,1158,0.000,0.080,2650,2106,2158,2210,2107,0,0,0,0,0,0,14.34,14.21,14.38
$GC,6076,0.24,298.8,2651,2106,2211,2105,251.9,9.7,467,6080,0.00,0.00,3.03,1.270,8230,0.000,0.000,2650,2106,2147,2200,2094,0,0,0,0,0,0,14.60,14.21,12.89
$GC,6376,0.28,327.1,2651,2107,2203,2097,225.1,8.7,477,6431,0.00,0.00,52.58,1.349,8358,0.000,0.000,2651,2106,2030,2078,1982,0,0,0,0,0,0,14.64,14.06,13.28
$GC,6706,0.37,369.6,2651,2107,2072,1970,198.3,8.0,488,6782,0.12,2.53,70.30,1.281,10916,0.132,0.086,2712,694,1856,1890,1822,0,0,0,0,0,0,14.20,13.76,13.19
$GC,6857,0.39,369.6,2713,694,1877,1822,181.2,11.1,518,6862,0.00,2.50,0.00,0.000,1158,0.000,0.079,2712,2103,1848,1875,1821,0,0,0,0,0,0,14.13,14.02,14.18
$GC,7187,0.39,369.6,2713,2104,1876,1815,144.9,10.5,534,7192,0.00,2.47,0.00,0.000,516,0.000,0.086,2712,693,1844,1875,1814,0,0,0,0,0,0,14.54,14.18,14.55
$GC,7207,0.39,369.6,2713,693,1875,1814,142.9,10.2,538,7213,0.00,2.47,0.00,0.000,1030,0.000,0.079,2713,2105,1843,1873,1813,0,0,0,0,0,0,14.30,14.17,14.34
$GC,7518,0.40,378.3,2713,2106,1873,1814,111.7,9.6,550,7522,0.00,0.00,2.97,1.174,8230,0.000,0.000,2712,2106,1822,1852,1793,0,0,0,0,0,0,14.59,14.15,12.91
$GC,7820,0.46,428.7,2713,2106,1861,1794,85.9,7.7,570,7856,0.00,2.53,28.00,0.464,8868,0.000,0.085,2712,695,1616,1646,1586,0,0,0,0,0,0,14.57,14.08,13.71
$GC,7934,0.64,503.1,2713,697,1647,1587,77.7,6.6,592,7981,0.22,2.45,38.97,0.435,11430,0.095,0.079,2796,2101,1313,1365,1261,0,0,0,0,0,0,14.19,14.08,13.63
$GC,8287,0.67,547.4,2797,2101,1365,1253,42.0,8.0,632,8314,0.00,2.55,23.12,0.331,8740,0.000,0.085,2805,694,1132,1196,1069,0,0,0,0,0,0,14.52,14.14,13.78
$GC,8344,0.75,579.1,2806,694,1197,1070,37.3,8.5,643,8367,0.00,2.47,17.40,0.317,9382,0.000,0.078,2805,2103,1004,1073,935,0,0,0,0,0,0,14.26,14.12,13.69
$GC,8672,0.96,699.1,2805,2103,1073,932,12.7,4.5,678,8743,0.22,2.50,64.88,0.243,10916,0.096,0.086,2903,687,508,529,487,0,0,0,0,0,0,14.22,14.03,13.88
$GC,8758,0.96,699.1,2903,688,527,487,5.1,11.8,691,8765,0.00,2.47,0.00,0.000,1030,0.000,0.078,2903,2097,508,530,487,0,0,0,0,0,0,14.16,14.02,14.18
$STATE,8781,end climb,SURFACE_DEPTH_REACHED
$STATE,8781,begin surface coast
$FINISH,0.8,1.020854
$STATE,8791,end surface coast,CONTROL_FINISHED_OK
$STATE,8791,begin surface
$SM_CCo,8812,0.95,0.266,0,0,502,702.78
$SM_GC,2.03,8.27,0.20,0.95,0.082,0.104,0.266,204,2239,502,-7.37,-0.34,702.78,0,0,0,0,0,0,14.27,14.28,14.01
$RAFOS_CLK,388
$MODEM,3,1503807556,74.30400,-153.94400,49.419,71534.7
$MODEM,2,1503807219,73.18300,-149.96500,72.316,104678.4
$MODEM,0,1503806633,75.36600,-145.04601,179.826,260299.2
$RAFOS_FIX,7355.189941,-15159.291992,270817,040416,3,255,0.00
$IRIDIUM_FIX,7357.06,-15213.04,270817,042923
$TT8_MAMPS,0.040446,0.873334
$HUMID,46.57
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,17
$CP_FREE,15990128640.000000
$PM_FREEKB_00,52825856
$24V_AH,12.36,126.321
$10V_AH,12.26,0.000
$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,24.950,84.425,941.325,0.950,0.000,0.000,0.000,738.225,4.250,0.000,15.619,0.000,6246.168,843.916,2557.130,328.028,0.000,2572.118,0.000,998.237,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2143.530,1474.920,266.220,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8821.000,8804.000,8767.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.609,20.000,11.681,0.000
$MEM,323460
$DATA_FILE_SIZE,23445,695
$CAP_FILE_SIZE,106698,0
$CFSIZE,2097872896,2034302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.3
$CURRENT,0.012,328.73,1
$GPS,270817,070729,7357.662,-15203.175,62,0.8,63,20.0,0.4,257.1,11,8.8