version: 66.13
glider: 196
mission: 14
dive: 179
start: 8 27 117 18 43 1
data:
$ID,196
$MISSION,14
$DIVE,179
$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,27
$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,507.0
$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
$GPS1,270817,183133,7401.5322,-15217.2178,18,0.8,41,19.9,0.4,72.4,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-77.0
$GPS2,270817,184228,7401.5259,-15217.3145,6,0.8,12,19.9,0.0,0.0,11,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,278.7,58630,-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,-145.9,188,2215,488,493,0.0,0.0,0,141,0.00,0.00,-91.65,0.000,16386,0.000,0.000,187,2214,2171,2102,2240,0,0,0,0,0,0,14.48,28.83,14.50
$GC,144,-0.57,-145.9,187,2214,2106,2241,3.8,-4.9,9,198,12.65,2.80,-34.72,0.000,18724,0.454,2.144,2375,3597,3963,3944,3983,0,0,0,0,0,0,13.67,12.58,14.12
$GC,423,-0.66,-145.9,2377,3600,3952,3982,61.5,-15.4,64,430,0.00,2.40,0.00,0.000,1158,0.000,0.063,2375,2201,3967,3951,3983,0,0,0,0,0,0,14.23,14.12,14.26
$GC,728,-0.73,-145.9,2376,2199,3953,3983,104.2,-11.3,93,729,0.00,0.00,0.00,0.000,134,0.000,0.000,2375,2199,3967,3951,3983,0,0,0,0,0,0,14.57,14.59,14.58
$GC,1028,-0.85,-145.9,2375,2200,3953,3984,133.9,-9.2,103,1033,0.20,2.47,0.00,0.000,4516,0.110,0.088,2290,3599,3967,3952,3982,0,0,0,0,0,0,14.19,14.18,14.25
$GC,1089,-0.90,-145.9,2291,3599,3953,3983,141.9,-13.7,115,1093,0.00,2.38,0.00,0.000,1158,0.000,0.058,2291,2196,3968,3953,3983,0,0,0,0,0,0,14.36,14.23,14.40
$GC,1418,-0.90,-145.9,2291,2195,3953,3985,193.5,-15.4,131,1423,0.00,2.47,0.00,0.000,260,0.000,0.088,2283,3601,3967,3952,3983,0,0,0,0,0,0,14.65,14.21,14.66
$GC,1519,-0.99,-145.9,2284,3603,3953,3980,207.0,-12.4,151,1523,0.00,2.38,0.00,0.000,1158,0.000,0.059,2283,2195,3967,3952,3983,0,0,0,0,0,0,14.39,14.26,14.42
$GC,1839,-0.99,-145.9,2284,2195,3953,3984,251.1,-13.4,165,1843,0.00,2.47,0.00,0.000,260,0.000,0.089,2280,3600,3967,3952,3983,0,0,0,0,0,0,14.66,14.21,14.67
$GC,1904,-1.09,-145.9,2280,3601,3952,3983,258.9,-11.0,178,1909,0.17,2.35,0.00,0.000,5254,0.112,0.058,2216,2199,3967,3951,3983,0,0,0,0,0,0,14.32,14.28,14.41
$GC,2229,-1.00,-145.9,2216,2199,3952,3984,314.3,-16.8,193,2234,0.15,2.47,0.00,0.000,2436,0.301,0.084,2241,3608,3967,3951,3983,0,0,0,0,0,0,13.90,14.22,14.09
$GC,2346,-1.04,-145.9,2241,3610,3951,3984,329.8,-12.2,216,2353,0.00,2.40,0.00,0.000,1158,0.000,0.057,2241,2192,3965,3949,3982,0,0,0,0,0,0,14.38,14.21,14.42
$GC,2649,-1.02,-145.9,2242,2190,3953,3982,370.5,-13.3,227,2654,0.00,2.47,0.00,0.000,388,0.000,0.088,2236,3601,3968,3951,3985,0,0,0,0,0,0,14.68,14.23,14.69
$GC,2734,-1.06,-145.9,2237,3601,3950,3979,381.4,-12.4,244,2742,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2194,3966,3951,3982,0,0,0,0,0,0,14.36,14.23,14.40
$GC,3039,-1.06,-145.9,2236,2195,3952,3983,421.8,-13.3,255,3044,0.00,2.47,0.00,0.000,260,0.000,0.089,2236,3600,3966,3951,3981,0,0,0,0,0,0,14.68,14.21,14.70
$GC,3104,-1.10,-145.9,2236,3601,3952,3982,430.0,-12.0,268,3110,0.00,2.38,0.00,0.000,1158,0.000,0.056,2235,2190,3970,3951,3989,0,0,0,0,0,0,14.41,14.28,14.43
$GC,3430,-1.10,-145.9,2236,2190,3952,3983,471.5,-12.7,283,3435,0.00,2.47,0.00,0.000,260,0.000,0.089,2235,3601,3965,3949,3981,0,0,0,0,0,0,14.69,14.21,14.70
$STATE,3498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3498,begin apogee
$GC,3506,-0.13,0.0,2236,2095,3952,3981,480.1,-11.6,297,3728,1.15,0.00,218.38,1.434,10246,0.242,0.000,2528,2094,3361,3377,3345,0,0,0,0,0,0,13.95,13.48,12.69
$STATE,3731,end apogee,CONTROL_FINISHED_OK
$STATE,3731,begin climb
$GC,3734,0.57,145.9,2529,2094,3376,3338,491.1,0.0,304,3953,0.75,2.65,206.65,1.386,10756,0.067,0.083,2783,691,2763,2804,2723,0,0,0,0,0,0,13.58,13.14,12.36
$GC,4178,0.20,145.9,2784,691,2796,2718,463.4,15.5,387,4185,0.62,2.55,0.00,0.000,5254,0.314,0.076,2651,2099,2755,2794,2716,0,0,0,0,0,0,13.40,13.71,13.76
$GC,4484,0.05,151.3,2651,2100,2795,2713,432.5,9.8,398,4489,0.20,2.47,0.00,0.000,4772,0.282,0.081,2604,690,2754,2794,2714,0,0,0,0,0,0,13.83,14.09,14.01
$GC,4635,0.09,201.8,2604,690,2796,2712,421.2,7.7,425,4722,0.00,2.50,80.32,1.394,9254,0.000,0.080,2604,2108,2541,2596,2486,0,0,0,0,0,0,14.21,14.09,13.05
$GC,5042,0.11,230.6,2604,2109,2590,2470,386.4,8.7,456,5088,0.00,2.60,41.20,1.434,8740,0.000,0.086,2601,691,2421,2478,2364,0,0,0,0,0,0,14.36,13.91,13.13
$GC,5123,0.21,259.5,2604,693,2474,2363,379.4,8.7,472,5174,0.15,2.50,43.25,1.411,11430,0.118,0.079,2669,2100,2304,2356,2252,0,0,0,0,0,0,14.01,13.95,13.01
$GC,5494,0.15,259.5,2667,2102,2348,2243,330.5,13.1,496,5499,0.15,2.47,0.00,0.000,4740,0.256,0.080,2639,693,2294,2347,2241,0,0,0,0,0,0,13.88,14.06,14.03
$GC,5534,0.19,259.5,2639,692,2346,2247,326.0,10.6,504,5539,0.00,2.50,0.00,0.000,1158,0.000,0.080,2639,2103,2293,2346,2241,0,0,0,0,0,0,14.20,14.08,14.23
$GC,5854,0.19,259.5,2639,2106,2345,2240,292.4,10.2,518,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2105,2294,2345,2244,0,0,0,0,0,0,14.46,14.48,14.47
$GC,6154,0.20,278.6,2640,2105,2345,2238,263.8,9.1,528,6187,0.00,2.55,27.08,1.431,8740,0.000,0.083,2644,692,2228,2282,2175,0,0,0,0,0,0,14.48,14.09,13.28
$GC,6244,0.30,318.1,2644,692,2271,2176,256.4,8.2,545,6314,0.00,2.50,63.75,1.334,9382,0.000,0.080,2644,2103,2066,2113,2019,0,0,0,0,0,0,14.17,14.06,13.10
$GC,6639,0.38,356.1,2644,2104,2107,2007,223.0,8.2,574,6706,0.15,2.55,60.38,1.305,10916,0.115,0.086,2710,691,1910,1948,1872,0,0,0,0,0,0,14.11,13.87,13.16
$GC,6743,0.38,356.1,2710,693,1940,1873,211.3,11.5,594,6747,0.00,2.50,0.00,0.000,1030,0.000,0.078,2709,2096,1905,1939,1871,0,0,0,0,0,0,14.00,13.89,14.05
$MODEM_MSG,CACST,6,1,20170827201350.151115,3,357,25,0357,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$MODEM_MSG,CACST,6,1,20170827201906.222769,3,573,27,0206,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$GC,7063,0.35,356.1,2710,2096,1938,1864,174.6,11.2,608,7068,0.00,2.45,0.00,0.000,644,0.000,0.084,2710,690,1900,1936,1864,0,0,0,0,0,0,14.40,14.04,14.42
$GC,7098,0.35,356.1,2710,690,1936,1864,170.8,10.8,615,7103,0.00,2.50,0.00,0.000,1030,0.000,0.078,2710,2107,1897,1930,1865,0,0,0,0,0,0,14.17,14.09,14.25
$GC,7425,0.35,356.1,2706,2115,1943,1864,137.2,10.0,630,7430,0.00,2.47,0.00,0.000,516,0.000,0.086,2710,692,1898,1934,1863,0,0,0,0,0,0,14.57,14.21,14.58
$GC,7465,0.40,368.8,2710,693,1933,1863,133.3,9.4,638,7487,0.00,2.45,14.65,1.476,9382,0.000,0.078,2716,2105,1860,1892,1829,0,0,0,0,0,0,14.37,14.23,13.31
$GC,7785,0.41,383.7,2710,2105,1887,1824,102.5,9.3,652,7807,0.00,0.00,20.80,1.375,8230,0.000,0.000,2710,2112,1800,1827,1773,0,0,0,0,0,0,14.59,14.16,13.35
$GC,8085,0.52,450.1,2710,2105,1819,1762,79.1,6.9,680,8128,0.12,2.55,34.40,0.443,10916,0.132,0.086,2781,694,1527,1558,1497,0,0,0,0,0,0,14.26,14.07,13.74
$GC,8203,0.52,453.6,2781,694,1558,1495,67.0,9.8,703,8210,0.15,2.47,1.60,0.363,13350,0.257,0.077,2750,2110,1514,1546,1482,0,0,0,0,0,0,13.83,14.14,13.71
$GC,8509,0.67,563.6,2750,2111,1549,1481,48.1,4.9,734,8573,0.12,2.50,57.62,0.345,10916,0.130,0.086,2807,693,1067,1132,1002,0,0,0,0,0,0,14.28,13.95,13.71
$GC,8620,0.78,585.9,2808,692,1133,1000,39.1,9.0,753,8638,0.00,2.47,12.27,0.321,9382,0.000,0.078,2807,2102,973,1041,905,0,0,0,0,0,0,14.13,14.00,13.77
$GC,8933,0.99,698.2,2808,2102,1044,900,14.9,4.8,786,9006,0.28,2.50,65.35,0.245,10916,0.090,0.086,2916,691,516,537,495,0,0,0,0,0,0,14.27,14.03,13.90
$GC,9031,0.99,698.2,2914,692,543,496,4.0,13.6,799,9037,0.00,2.50,0.00,0.000,1030,0.000,0.079,2918,2107,520,544,496,0,0,0,0,0,0,14.23,14.11,14.27
$STATE,9054,end climb,SURFACE_DEPTH_REACHED
$STATE,9054,begin surface coast
$FINISH,0.3,1.021089
$STATE,9064,end surface coast,CONTROL_FINISHED_OK
$STATE,9064,begin surface
$SM_CCo,9084,5.20,0.202,0,0,499,703.03
$SM_GC,2.11,8.32,0.17,5.20,0.080,0.132,0.202,205,2210,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.28,14.22,14.00
$RAFOS_CLK,211
$MODEM,3,1503865146,74.30400,-153.94400,39.223,56736.4
$MODEM,2,1503864830,73.18300,-149.96500,83.151,120279.6
$RAFOS_FIX,7400.629883,-15220.530273,270817,202028,2,255,0.41
$IRIDIUM_FIX,7400.45,-15216.30,270817,155955
$TT8_MAMPS,0.040446,0.873334
$HUMID,45.66
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15988883456.000000
$PM_FREEKB_00,52642112
$24V_AH,12.36,128.756
$10V_AH,12.24,0.000
$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,25.350,94.775,947.700,5.200,0.000,0.000,0.000,374.575,4.000,0.000,12.580,0.000,6423.694,965.849,2070.303,300.815,0.000,2097.148,0.000,1150.460,2218.000,0.539,0.000
$DEVICE_MAMPS,454.410,2143.530,1476.450,201.960,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9093.000,9089.000,9040.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.784,20.000,10.294,0.000
$MEM,323720
$DATA_FILE_SIZE,26725,803
$CAP_FILE_SIZE,107196,0
$CFSIZE,2097872896,2032762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.4
$CURRENT,0.018,283.38,1
$GPS,270817,211557,7402.415,-15220.942,39,0.9,40,19.9,0.3,241.8,9,7.7