version: 66.13
glider: 196
mission: 14
dive: 178
start: 8 27 117 16 4 47
data:
$ID,196
$MISSION,14
$DIVE,178
$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,29
$R_STBD_OVSHOOT,44
$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,503.0
$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
$GPS1,270817,154157,7400.5762,-15213.9297,40,0.8,41,19.9,0.0,0.0,10,9.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-78.0
$GPS2,270817,160413,7400.5991,-15214.0908,5,0.8,11,19.9,0.0,124.4,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,281.4,60908,-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,-145.9,180,2227,491,491,0.0,0.0,0,138,0.00,0.00,-87.72,0.000,16386,0.000,0.000,179,2228,2062,1982,2142,0,0,0,0,0,0,14.48,28.83,14.50
$GC,141,-0.57,-145.9,181,2228,1982,2143,3.6,-4.6,9,203,12.70,2.72,-39.90,0.000,18724,0.451,2.147,2376,3588,3964,3948,3980,1,0,0,0,0,0,13.50,12.65,14.00
$GC,428,-0.68,-145.9,2375,3582,3954,3980,60.3,-13.3,66,434,0.00,2.38,0.00,0.000,1158,0.000,0.057,2377,2200,3967,3954,3980,0,0,0,0,0,0,14.15,14.04,14.19
$GC,743,-0.76,-145.9,2377,2200,3955,3980,104.5,-11.6,96,749,0.12,2.47,0.00,0.000,4484,0.149,0.086,2333,3586,3971,3962,3980,0,0,0,0,0,0,14.03,14.01,14.09
$GC,894,-0.87,-145.9,2333,3588,3954,3980,123.1,-11.8,126,899,0.00,2.38,0.00,0.000,1158,0.000,0.057,2333,2198,3967,3954,3980,0,0,0,0,0,0,14.16,14.05,14.20
$GC,1224,-0.93,-145.9,2333,2197,3958,3980,164.6,-12.3,142,1229,0.15,2.47,0.00,0.000,4484,0.122,0.085,2256,3595,3967,3954,3980,0,0,0,0,0,0,14.18,14.04,14.21
$GC,1270,-0.90,-145.9,2257,3595,3955,3980,171.7,-16.9,151,1275,0.15,2.38,0.00,0.000,3206,0.265,0.057,2285,2202,3970,3961,3980,0,0,0,0,0,0,13.83,14.08,14.11
$GC,1585,-0.90,-145.9,2285,2200,3955,3981,219.3,-14.3,164,1590,0.00,2.45,0.00,0.000,260,0.000,0.087,2280,3589,3967,3954,3980,0,0,0,0,0,0,14.45,14.05,14.47
$GC,1671,-0.97,-145.9,2281,3588,3956,3980,230.5,-12.4,181,1677,0.00,2.40,0.00,0.000,1158,0.000,0.059,2283,2192,3964,3949,3980,0,0,0,0,0,0,14.11,13.97,14.13
$MODEM_MSG,CACST,6,1,20170827161347.470776,3,1138,30,0729,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170827161909.232887,3,32767,45,1190,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09
$MODEM_MSG,CACST,6,1,20170827162714.151102,3,4044,36,0601,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,1976,-0.97,-145.9,2280,2193,3955,3981,270.7,-12.7,192,1981,0.00,2.45,0.00,0.000,260,0.000,0.086,2270,3607,3967,3954,3980,0,0,0,0,0,0,14.44,14.02,14.45
$GC,2043,-1.05,-145.9,2272,3607,3955,3980,278.6,-11.4,205,2049,0.00,2.42,0.00,0.000,1158,0.000,0.057,2270,2187,3967,3954,3980,0,0,0,0,0,0,14.23,14.12,14.28
$GC,2371,-1.08,-145.9,2271,2186,3955,3980,317.3,-11.5,220,2377,0.12,2.47,0.00,0.000,4484,0.139,0.086,2210,3592,3967,3954,3980,0,0,0,0,0,0,14.26,14.09,14.30
$GC,2447,-1.04,-145.9,2209,3594,3955,3980,329.2,-15.2,235,2452,0.15,2.38,0.00,0.000,3206,0.265,0.057,2239,2195,3966,3954,3979,0,0,0,0,0,0,13.90,14.19,14.15
$GC,2762,-1.04,-145.9,2239,2194,3955,3979,371.8,-13.2,248,2768,0.00,2.45,0.00,0.000,260,0.000,0.087,2236,3588,3966,3954,3978,0,0,0,0,0,0,14.64,14.15,14.65
$GC,2838,-1.08,-145.9,2236,3589,3954,3980,381.7,-12.4,263,2843,0.00,2.35,0.00,0.000,1158,0.000,0.057,2236,2197,3966,3954,3978,0,0,0,0,0,0,14.32,14.21,14.38
$GC,3153,-1.08,-145.9,2237,2197,3955,3977,423.9,-13.3,276,3158,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3587,3965,3954,3977,0,0,0,0,0,0,14.66,14.17,14.67
$GC,3229,-1.12,-145.9,2236,3588,3955,3978,433.4,-11.9,291,3234,0.00,2.35,0.00,0.000,1158,0.000,0.056,2236,2195,3965,3953,3977,0,0,0,0,0,0,14.38,14.26,14.42
$GC,3544,-1.12,-145.9,2236,2194,3955,3977,474.3,-13.1,304,3549,0.00,2.45,0.00,0.000,260,0.000,0.089,2235,3587,3965,3953,3977,0,0,0,0,0,0,14.70,14.21,14.69
$STATE,3587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3587,begin apogee
$GC,3595,-0.13,0.0,2236,2100,3955,3978,480.1,-12.2,313,3817,1.15,0.00,218.05,1.428,10246,0.240,0.000,2530,2098,3363,3387,3340,0,0,0,0,0,0,13.96,13.48,12.69
$STATE,3820,end apogee,CONTROL_FINISHED_OK
$STATE,3820,begin climb
$GC,3823,0.57,145.9,2531,2098,3382,3333,491.7,0.0,320,4366,0.75,2.03,207.98,1.382,10756,0.064,0.077,2792,690,2754,2794,2715,0,0,0,0,0,0,13.58,13.15,12.36
$GC,4377,0.57,145.9,2793,690,2795,2716,448.7,8.9,323,4382,0.00,2.45,0.00,0.000,1030,0.000,0.076,2793,2079,2754,2794,2715,0,0,0,0,0,0,14.01,13.89,14.04
$GC,4693,0.15,145.9,2793,2080,2794,2720,397.4,15.9,336,4698,0.68,2.47,0.00,0.000,4484,0.318,0.077,2639,3510,2752,2793,2712,0,0,0,0,0,0,13.77,14.14,14.01
$GC,4708,-0.20,145.9,2639,3512,2793,2714,395.2,15.7,339,4714,0.52,2.42,0.00,0.000,5254,0.277,0.059,2528,2088,2752,2792,2712,0,0,0,0,0,0,13.88,14.16,14.22
$GC,5024,0.03,283.2,2525,2088,2793,2710,382.4,3.7,352,5242,0.17,2.58,209.68,1.300,10916,0.108,0.083,2602,690,2206,2266,2146,0,0,0,0,0,0,14.33,13.36,12.80
$GC,5267,0.20,333.7,2603,690,2256,2142,364.9,7.7,385,5348,0.12,2.58,74.12,1.311,11430,0.128,0.079,2659,2096,2004,2059,1949,0,0,0,0,0,0,13.57,13.52,12.64
$GC,5658,0.20,333.7,2659,2097,2043,1932,318.3,11.9,413,5664,0.00,2.50,0.00,0.000,516,0.000,0.088,2659,694,1986,2042,1931,0,0,0,0,0,0,14.29,13.85,14.31
$GC,5699,0.26,333.7,2659,695,2041,1933,313.5,11.5,421,5705,0.00,2.47,0.00,0.000,1158,0.000,0.077,2659,2101,1986,2041,1932,0,0,0,0,0,0,14.14,14.02,14.19
$GC,6020,0.26,333.7,2659,2102,2040,1931,275.9,11.5,435,6025,0.00,2.47,0.00,0.000,516,0.000,0.088,2659,695,1985,2040,1930,0,0,0,0,0,0,14.55,14.19,14.58
$GC,6085,0.36,343.1,2659,699,2037,1931,269.0,9.6,448,6097,0.12,2.47,4.97,1.594,11430,0.138,0.079,2710,2109,1968,2021,1916,0,0,0,0,0,0,14.23,14.19,13.12
$GC,6414,0.30,343.1,2710,2112,2022,1917,224.8,13.1,463,6415,0.12,0.00,0.00,0.000,4230,0.236,0.000,2683,2111,1969,2023,1916,0,0,0,0,0,0,14.16,14.40,14.35
$GC,6712,0.30,343.4,2683,2110,2022,1916,194.2,10.0,473,6718,0.00,2.47,0.00,0.000,548,0.000,0.088,2685,689,1967,2020,1915,0,0,0,0,0,0,14.64,14.26,14.66
$GC,6783,0.37,359.3,2686,688,2019,1916,187.4,9.3,487,6819,0.00,2.45,30.23,1.401,9382,0.000,0.080,2685,2102,1901,1947,1856,0,0,0,0,0,0,14.31,14.17,13.35
$GC,7136,0.41,375.4,2686,2102,1937,1853,154.9,9.3,507,7171,0.00,2.55,26.73,1.398,8868,0.000,0.087,2685,688,1831,1864,1798,0,0,0,0,0,0,14.57,14.10,13.33
$GC,7228,0.55,402.7,2686,689,1858,1799,146.4,8.7,525,7281,0.22,2.47,46.50,1.304,11430,0.098,0.080,2774,2100,1722,1748,1696,0,0,0,0,0,0,14.24,14.12,13.21
$GC,7587,0.46,402.7,2775,2099,1742,1685,94.8,13.6,549,7592,0.17,2.47,0.00,0.000,4740,0.263,0.083,2743,687,1713,1741,1685,0,0,0,0,0,0,13.93,14.13,14.14
$GC,7633,0.51,404.8,2743,687,1739,1685,89.8,9.9,558,7639,0.00,2.47,0.00,0.000,1190,0.000,0.080,2743,2098,1711,1738,1685,0,0,0,0,0,0,14.16,14.04,14.19
$GC,7938,0.56,480.8,2743,2098,1739,1682,64.5,6.5,589,7985,0.00,2.53,39.85,0.398,8740,0.000,0.085,2744,692,1405,1448,1362,0,0,0,0,0,0,14.56,14.02,13.75
$GC,8071,0.76,553.7,2745,692,1446,1361,55.5,6.6,615,8115,0.25,2.47,39.12,0.367,11430,0.093,0.080,2841,2103,1107,1171,1044,0,0,0,0,0,0,14.19,14.13,13.76
$GC,8411,0.76,553.7,2841,2104,1170,1033,18.8,10.0,653,8416,0.00,2.47,0.00,0.000,516,0.000,0.086,2848,694,1101,1170,1032,0,0,0,0,0,0,14.55,14.09,14.57
$GC,8572,0.85,638.0,2850,694,1167,1032,7.1,6.1,685,8625,0.00,2.45,44.38,0.223,9382,0.000,0.080,2851,2100,763,825,701,0,0,0,0,0,0,14.31,14.18,13.90
$STATE,8639,end climb,SURFACE_DEPTH_REACHED
$STATE,8639,begin surface coast
$FINISH,0.2,1.021086
$STATE,8659,end surface coast,CONTROL_FINISHED_OK
$STATE,8659,begin surface
$SM_CCo,8681,37.08,0.210,0,0,499,703.28
$SM_GC,1.25,8.02,0.17,37.08,0.070,0.129,0.210,194,2211,499,-7.39,-0.74,703.28,0,0,0,0,0,0,14.29,14.26,14.00
$RAFOS_CLK,391
$MODEM,4,1503851234,75.71700,-151.21500,133.401,192988.7
$MODEM,3,1503850749,74.30400,-153.94400,42.233,61097.5
$MODEM,2,1503850427,73.18300,-149.96500,80.471,116415.5
$RAFOS_FIX,7359.944824,-15213.093750,270817,161603,3,255,1.40
$IRIDIUM_FIX,7400.45,-15216.30,270817,155737
$TT8_MAMPS,0.039697,0.916776
$HUMID,46.61
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,16
$CP_FREE,15989145600.000000
$PM_FREEKB_00,52679040
$24V_AH,12.36,128.283
$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,25.725,93.450,941.600,37.075,0.000,0.000,0.000,816.900,4.000,0.000,18.930,0.000,6071.062,824.553,2857.332,318.065,0.000,2854.904,0.000,1003.227,1815.000,0.539,0.000
$DEVICE_MAMPS,451.350,2146.590,1594.260,210.375,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8689.000,8669.000,8636.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.475,20.000,10.238,0.000
$MEM,323624
$DATA_FILE_SIZE,23365,699
$CAP_FILE_SIZE,107754,0
$CFSIZE,2097872896,2033057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.022,340.29,1
$GPS,270817,183133,7401.532,-15217.218,18,0.8,41,19.9,0.4,72.4,10,8.5