version: 66.13
glider: 196
mission: 14
dive: 176
start: 8 27 117 10 24 30
data:
$ID,196
$MISSION,14
$DIVE,176
$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,59
$R_STBD_OVSHOOT,46
$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,496.0
$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
$GPS1,270817,095921,7358.5869,-15206.7012,39,0.7,40,20.0,0.0,0.0,11,8.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.3
$GPS2,270817,102359,7358.6626,-15207.1758,5,0.7,13,19.9,0.0,109.1,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,284.7,65761,-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
$GC,48,-0.57,-145.9,180,2234,505,480,0.0,0.0,0,140,0.00,0.00,-91.10,0.000,16386,0.000,0.000,177,2230,2176,2099,2254,0,0,0,0,0,0,14.47,28.83,14.49
$GC,143,-0.57,-145.9,178,2232,2103,2254,4.1,-5.6,9,196,12.68,2.67,-33.62,0.000,18724,0.455,2.146,2380,3586,3964,3949,3980,0,0,0,0,0,0,13.68,12.89,14.15
$GC,421,-0.69,-145.9,2376,3587,3955,3981,61.8,-13.6,64,429,0.00,2.33,0.00,0.000,1158,0.000,0.058,2376,2227,3967,3955,3979,0,0,0,0,0,0,14.02,14.04,14.02
$GC,727,-0.76,-145.9,2376,2226,3961,3980,103.8,-11.5,93,732,0.12,2.40,0.00,0.000,4484,0.148,0.085,2319,3587,3967,3955,3980,0,0,0,0,0,0,14.17,14.18,14.21
$GC,817,-0.84,-145.9,2320,3588,3957,3980,115.7,-12.9,111,822,0.00,2.35,0.00,0.000,1158,0.000,0.058,2319,2199,3967,3955,3980,0,0,0,0,0,0,14.36,14.24,14.39
$GC,1147,-0.88,-145.9,2318,2198,3957,3980,163.1,-13.8,127,1152,0.00,2.45,0.00,0.000,388,0.000,0.087,2312,3594,3967,3955,3979,0,0,0,0,0,0,14.63,14.21,14.64
$GC,1202,-1.00,-145.9,2313,3594,3957,3979,170.0,-11.1,138,1208,0.17,2.38,0.00,0.000,5254,0.108,0.059,2247,2195,3967,3956,3979,0,0,0,0,0,0,14.29,14.23,14.38
$GC,1507,-0.92,-145.9,2247,2194,3952,3980,227.1,-18.5,149,1512,0.12,2.45,0.00,0.000,2436,0.302,0.084,2265,3589,3967,3955,3980,0,0,0,0,0,0,13.88,14.17,14.06
$GC,1624,-0.97,-145.9,2265,3590,3956,3981,243.8,-13.3,172,1631,0.00,2.35,0.00,0.000,1158,0.000,0.057,2265,2198,3967,3956,3979,0,0,0,0,0,0,14.36,14.24,14.40
$GC,1927,-0.97,-145.9,2266,2199,3955,3980,285.9,-13.1,183,1932,0.00,2.42,0.00,0.000,260,0.000,0.087,2256,3587,3967,3955,3979,0,0,0,0,0,0,14.64,14.23,14.67
$GC,2002,-1.02,-145.9,2255,3588,3956,3978,295.5,-12.0,198,2007,0.00,2.33,0.00,0.000,1158,0.000,0.057,2255,2197,3967,3956,3979,0,0,0,0,0,0,14.36,14.23,14.39
$GC,2317,-1.02,-145.9,2256,2197,3957,3979,335.3,-12.6,211,2322,0.00,2.42,0.00,0.000,260,0.000,0.089,2249,3586,3966,3955,3978,0,0,0,0,0,0,14.67,14.21,14.69
$GC,2402,-1.08,-145.9,2249,3588,3956,3980,345.4,-11.4,228,2409,0.00,2.35,0.00,0.000,1158,0.000,0.057,2249,2192,3964,3950,3979,0,0,0,0,0,0,14.33,14.21,14.35
$GC,2707,-1.08,-145.9,2249,2192,3956,3978,383.3,-12.5,239,2712,0.00,2.45,0.00,0.000,260,0.000,0.087,2241,3591,3966,3954,3978,0,0,0,0,0,0,14.70,14.23,14.69
$GC,2787,-1.14,-145.9,2241,3592,3956,3983,393.1,-11.8,255,2792,0.00,2.35,0.00,0.000,1158,0.000,0.057,2241,2192,3966,3955,3978,0,0,0,0,0,0,14.41,14.29,14.45
$GC,3097,-1.14,-145.9,2237,2197,3952,3977,433.2,-12.9,267,3102,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3590,3966,3955,3977,0,0,0,0,0,0,14.68,14.22,14.69
$GC,3173,-1.19,-145.9,2237,3591,3956,3977,442.6,-12.0,282,3178,0.12,2.33,0.00,0.000,5254,0.140,0.055,2186,2199,3966,3955,3977,0,0,0,0,0,0,14.25,14.24,14.38
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3395,begin apogee
$GC,3401,-0.13,0.0,2188,2065,3956,3977,481.5,-17.7,292,3621,1.40,0.00,215.82,1.447,10246,0.270,0.000,2530,2063,3365,3393,3338,0,0,0,0,0,0,13.90,13.48,12.68
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3627,0.57,145.9,2530,2065,3387,3332,492.9,0.0,299,3850,0.73,1.77,208.40,1.387,10756,0.065,0.081,2781,730,2761,2809,2714,0,0,0,0,0,0,13.58,13.12,12.37
$GC,4000,0.20,145.9,2782,730,2804,2712,478.6,14.7,331,4005,0.62,2.45,0.00,0.000,5254,0.323,0.076,2652,2077,2756,2801,2711,0,0,0,0,0,0,13.31,13.62,13.66
$GC,4321,0.05,147.9,2652,2078,2803,2707,445.9,9.9,345,4326,0.20,2.38,0.00,0.000,4772,0.278,0.078,2610,723,2754,2802,2706,0,0,0,0,0,0,13.80,14.07,13.98
$GC,4418,0.05,197.6,2611,724,2803,2706,438.3,7.7,364,4502,0.00,2.42,74.30,1.404,9382,0.000,0.080,2610,2103,2550,2613,2487,0,0,0,0,0,0,14.26,14.12,13.04
$GC,4801,0.05,217.7,2610,2105,2615,2478,403.8,9.1,391,4832,0.00,0.00,26.50,1.496,8358,0.000,0.000,2610,2104,2475,2542,2408,0,0,0,0,0,0,14.47,14.02,13.21
$GC,5131,0.06,240.8,2611,2104,2537,2399,374.0,8.9,402,5172,0.00,2.47,33.78,1.464,8740,0.000,0.083,2615,730,2380,2440,2320,0,0,0,0,0,0,14.54,14.05,13.21
$GC,5187,0.11,265.9,2616,730,2438,2320,368.9,8.8,413,5233,0.00,2.42,38.12,1.417,9382,0.000,0.080,2615,2106,2277,2337,2218,0,0,0,0,0,0,14.18,14.07,13.12
$GC,5555,0.16,280.6,2615,2107,2332,2210,334.4,9.3,436,5580,0.00,2.50,19.90,1.502,8868,0.000,0.085,2616,725,2219,2278,2161,0,0,0,0,0,0,14.52,14.10,13.26
$GC,5610,0.26,295.2,2616,725,2273,2161,329.3,9.3,447,5641,0.15,2.40,22.90,1.466,11430,0.115,0.079,2679,2100,2156,2211,2101,0,0,0,0,0,0,14.17,14.11,13.19
$GC,5947,0.21,295.2,2680,2101,2207,2094,285.4,13.0,464,5952,0.12,2.40,0.00,0.000,4740,0.255,0.081,2659,736,2149,2206,2093,0,0,0,0,0,0,13.99,14.11,14.16
$GC,5972,0.21,295.2,2660,731,2206,2094,282.2,12.3,469,5979,0.00,2.42,0.00,0.000,1030,0.000,0.080,2659,2104,2149,2205,2093,0,0,0,0,0,0,13.86,13.60,14.06
$GC,6277,0.21,295.2,2660,2105,2206,2092,249.6,10.3,480,6283,0.00,2.42,0.00,0.000,516,0.000,0.085,2659,727,2148,2204,2092,0,0,0,0,0,0,14.49,14.12,14.48
$GC,6333,0.27,312.7,2660,728,2203,2093,244.3,9.2,491,6364,0.00,2.42,24.73,1.431,9382,0.000,0.080,2659,2106,2090,2143,2037,0,0,0,0,0,0,14.16,14.05,13.28
$GC,6671,0.32,341.9,2660,2106,2138,2031,213.7,8.7,508,6725,0.00,2.45,48.97,1.350,8868,0.000,0.083,2659,730,1968,2017,1919,0,0,0,0,0,0,14.42,13.78,13.21
$GC,6750,0.42,367.2,2660,732,2012,1919,206.6,8.8,519,6796,0.17,2.42,40.72,1.319,11430,0.111,0.078,2736,2099,1869,1905,1833,0,0,0,0,0,0,14.01,13.95,13.09
$GC,7121,0.37,367.2,2731,2100,1892,1824,159.6,12.4,543,7126,0.12,2.42,0.00,0.000,4740,0.243,0.081,2713,720,1857,1890,1824,0,0,0,0,0,0,13.95,14.07,14.14
$GC,7218,0.41,367.2,2715,729,1887,1825,149.4,10.1,562,7223,0.00,2.42,0.00,0.000,1158,0.000,0.077,2712,2111,1855,1886,1824,0,0,0,0,0,0,14.13,14.01,14.17
$GC,7543,0.41,367.7,2713,2107,1885,1823,115.9,10.0,577,7544,0.00,0.00,0.00,0.000,38,0.000,0.000,2713,2107,1854,1886,1822,0,0,0,0,0,0,14.46,14.48,14.47
$GC,7843,0.44,409.7,2713,2107,1885,1821,89.4,8.1,595,7869,0.00,2.42,21.55,0.477,8740,0.000,0.082,2713,727,1692,1718,1666,0,0,0,0,0,0,14.45,13.91,13.58
$MODEM_MSG,CACST,6,1,20170827121344.051974,3,1682,26,1013,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20170827121910.250698,3,3608,35,0126,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170827122714.393478,3,18256,36,1343,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$GC,7905,0.57,453.3,2713,730,1719,1666,84.5,8.0,607,7938,0.17,2.42,23.08,0.457,11430,0.108,0.079,2781,2103,1517,1549,1486,0,0,0,0,0,0,14.13,14.05,13.57
$GC,8243,0.62,513.0,2784,2103,1550,1475,50.3,7.2,643,8282,0.00,2.50,30.83,0.354,8740,0.000,0.084,2791,724,1270,1324,1216,0,0,0,0,0,0,14.39,14.02,13.71
$GC,8327,0.72,563.2,2792,727,1324,1218,44.1,7.7,659,8361,0.00,2.40,26.33,0.334,9382,0.000,0.079,2791,2111,1066,1134,999,0,0,0,0,0,0,14.15,14.02,13.69
$GC,8657,0.89,643.6,2792,2111,1136,990,18.8,6.3,695,8705,0.20,2.47,42.08,0.265,10916,0.102,0.085,2887,717,737,800,674,0,0,0,0,0,0,14.23,13.93,13.76
$GC,8825,0.91,643.6,2887,719,801,671,2.6,10.4,728,8833,0.00,2.45,0.00,0.000,1158,0.000,0.080,2887,2102,735,801,670,0,0,0,0,0,0,14.19,14.06,14.24
$STATE,8838,end climb,SURFACE_DEPTH_REACHED
$STATE,8838,begin surface coast
$FINISH,0.4,1.021041
$STATE,8848,end surface coast,CONTROL_FINISHED_OK
$STATE,8848,begin surface
$SM_CCo,8870,31.83,0.213,0,0,499,702.78
$SM_GC,1.47,8.18,0.17,31.83,0.077,0.125,0.213,203,2215,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.27,14.00
$RAFOS_CLK,152
$MODEM,4,1503836834,75.71700,-151.21500,133.643,193566.2
$MODEM,3,1503836350,74.30400,-153.94400,43.251,62643.3
$MODEM,2,1503836024,73.18300,-149.96500,77.052,111600.3
$RAFOS_FIX,7358.794434,-15208.318359,270817,121202,3,255,0.09
$IRIDIUM_FIX,7402.28,-15212.67,270817,101325
$TT8_MAMPS,0.039697,0.997668
$HUMID,44.40
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15989702656.000000
$PM_FREEKB_00,52744960
$24V_AH,12.37,127.328
$10V_AH,12.22,0.000
$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,25.300,91.700,898.000,31.825,0.000,0.000,0.000,1000.075,5.250,0.000,16.544,0.000,6481.016,845.052,2707.295,358.212,0.000,2696.190,0.000,1048.621,2216.000,0.540,0.000
$DEVICE_MAMPS,455.175,2145.825,1502.460,212.670,0.000,0.000,0.000,181.305,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8878.000,8865.000,8824.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.614,20.000,10.432,0.000
$MEM,323440
$DATA_FILE_SIZE,26689,731
$CAP_FILE_SIZE,114587,0
$CFSIZE,2097872896,2033680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.6
$CURRENT,0.017,258.74,1
$GPS,270817,125419,7359.598,-15210.331,24,0.7,41,19.9,0.6,277.4,11,7.0