version: 66.13
glider: 196
mission: 14
dive: 182
start: 8 28 117 3 7 35
data:
$ID,196
$MISSION,14
$DIVE,182
$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,25
$R_STBD_OVSHOOT,35
$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,48
$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,514.0
$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
$GPS1,280817,024439,7404.0923,-15228.3887,16,0.7,22,19.8,0.3,320.4,12,8.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.6
$GPS2,280817,030701,7404.1626,-15228.4893,36,0.8,42,19.8,0.4,327.0,12,6.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.9,51317,-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,-145.9,200,2220,492,500,0.0,0.0,0,142,0.00,0.00,-91.85,0.000,16386,0.000,0.000,198,2220,2180,2111,2250,0,0,0,0,0,0,14.53,28.83,14.55
$GC,144,-0.57,-145.9,199,2220,2117,2251,3.8,-5.1,9,197,12.52,2.72,-34.08,0.000,18724,0.453,2.152,2374,3592,3962,3944,3980,0,0,0,0,0,0,13.62,12.89,14.05
$GC,423,-0.67,-145.9,2375,3593,3952,3982,61.7,-14.0,64,429,0.00,2.38,0.00,0.000,1158,0.000,0.060,2374,2200,3965,3950,3981,0,0,0,0,0,0,14.24,14.14,14.26
$GC,729,-0.75,-145.9,2375,2200,3952,3982,104.2,-11.7,93,734,0.12,2.47,0.00,0.000,4484,0.146,0.086,2319,3601,3966,3951,3981,0,0,0,0,0,0,14.21,14.09,14.26
$GC,805,-0.83,-145.9,2320,3601,3952,3981,114.6,-13.0,108,811,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2196,3966,3951,3981,0,0,0,0,0,0,14.24,14.12,14.27
$GC,1121,-0.86,-145.9,2319,2196,3952,3982,159.1,-13.5,121,1126,0.00,2.50,0.00,0.000,388,0.000,0.089,2313,3598,3966,3951,3981,0,0,0,0,0,0,14.64,14.19,14.65
$GC,1181,-0.97,-145.9,2314,3602,3952,3982,166.4,-11.5,133,1186,0.15,2.38,0.00,0.000,5254,0.119,0.057,2258,2193,3966,3951,3981,0,0,0,0,0,0,14.33,14.26,14.41
$GC,1512,-0.91,-145.9,2254,2193,3952,3981,225.5,-17.7,149,1517,0.12,2.47,0.00,0.000,2436,0.304,0.084,2271,3601,3966,3951,3981,0,0,0,0,0,0,13.97,14.20,14.12
$GC,1614,-0.98,-145.9,2272,3601,3955,3981,239.2,-12.1,169,1619,0.00,2.38,0.00,0.000,1158,0.000,0.057,2272,2195,3966,3951,3981,0,0,0,0,0,0,14.40,14.27,14.43
$GC,1934,-0.98,-145.9,2269,2199,3954,3981,282.1,-12.7,183,1939,0.00,2.47,0.00,0.000,260,0.000,0.089,2267,3603,3966,3951,3981,0,0,0,0,0,0,14.66,14.21,14.67
$GC,2051,-1.06,-145.9,2268,3604,3950,3982,295.4,-11.1,206,2056,0.00,2.38,0.00,0.000,1158,0.000,0.057,2267,2196,3966,3951,3981,0,0,0,0,0,0,14.24,14.12,14.26
$GC,2354,-1.09,-145.9,2267,2196,3952,3981,331.5,-11.6,217,2359,0.12,2.47,0.00,0.000,4484,0.145,0.086,2209,3601,3966,3951,3981,0,0,0,0,0,0,14.33,14.21,14.38
$GC,2405,-1.06,-145.9,2209,3602,3952,3981,338.8,-15.1,227,2410,0.12,2.35,0.00,0.000,3206,0.271,0.056,2231,2199,3966,3951,3981,0,0,0,0,0,0,13.99,14.28,14.26
$GC,2715,-1.03,-145.9,2233,2199,3952,3982,382.0,-13.5,239,2720,0.00,2.45,0.00,0.000,388,0.000,0.086,2224,3600,3963,3946,3980,0,0,0,0,0,0,14.66,14.22,14.69
$GC,2785,-1.06,-145.9,2225,3601,3950,3981,391.5,-13.1,253,2790,0.00,2.38,0.00,0.000,1158,0.000,0.057,2224,2195,3965,3950,3980,0,0,0,0,0,0,14.40,14.28,14.45
$GC,3125,-1.02,-145.9,2225,2194,3949,3980,437.0,-14.2,267,3129,0.00,2.47,0.00,0.000,388,0.000,0.089,2222,3595,3965,3950,3981,0,0,0,0,0,0,14.52,14.12,14.55
$GC,3234,-1.02,-145.9,2223,3595,3953,3981,454.5,-13.1,289,3239,0.00,2.38,0.00,0.000,1030,0.000,0.055,2222,2198,3965,3950,3981,0,0,0,0,0,0,14.28,14.16,14.31
$STATE,3422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3422,begin apogee
$GC,3428,-0.13,0.0,2223,2067,3951,3980,481.2,-14.0,297,3654,1.23,0.00,222.73,1.431,10246,0.249,0.000,2528,2065,3368,3384,3352,0,0,0,0,0,0,13.78,13.38,12.59
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3657,begin climb
$GC,3660,0.57,145.9,2529,2066,3374,3342,492.1,0.0,304,4174,0.75,2.20,209.35,1.385,10756,0.064,0.083,2779,724,2753,2789,2718,0,0,0,0,0,0,13.46,13.06,12.33
$GC,4185,0.57,145.9,2782,724,2790,2718,457.4,7.6,307,4190,0.00,2.45,0.00,0.000,1030,0.000,0.076,2782,2087,2752,2788,2717,0,0,0,0,0,0,13.82,13.70,13.85
$GC,4501,0.17,145.9,2782,2088,2788,2716,408.6,15.1,320,4506,0.60,2.50,0.00,0.000,4484,0.314,0.076,2646,3513,2751,2788,2714,0,0,0,0,0,0,13.71,14.03,13.93
$GC,4607,-0.03,145.9,2646,3514,2787,2713,396.8,10.5,341,4614,0.32,2.35,0.00,0.000,5254,0.280,0.057,2579,2129,2749,2786,2713,0,0,0,0,0,0,13.83,14.12,14.14
$GC,4924,0.03,233.3,2579,2130,2786,2714,377.3,6.0,354,5077,0.00,2.67,140.95,1.311,8740,0.000,0.086,2579,695,2406,2460,2353,0,0,0,0,0,0,14.47,13.64,12.93
$GC,5127,0.21,289.7,2579,696,2454,2354,363.6,7.4,394,5230,0.22,2.55,95.65,1.278,11430,0.096,0.081,2667,2099,2183,2234,2132,0,0,0,0,0,0,13.81,13.74,12.74
$MODEM_MSG,CACST,6,1,20170828040353.945861,3,23,07,0143,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35
$MODEM_MSG,CACST,6,1,20170828041354.068559,3,72,18,0240,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$MODEM_MSG,CACST,6,1,20170828041901.716271,3,335,25,0213,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A
$GC,5529,0.16,289.7,2667,2103,2218,2114,312.2,13.0,424,5534,0.12,2.47,0.00,0.000,4740,0.265,0.081,2646,696,2164,2219,2109,0,0,0,0,0,0,13.73,13.86,13.86
$GC,5569,0.21,289.7,2647,696,2217,2114,307.3,10.9,432,5574,0.00,2.47,0.00,0.000,1158,0.000,0.079,2646,2111,2164,2216,2112,0,0,0,0,0,0,14.06,13.94,14.09
$GC,5891,0.21,289.7,2647,2111,2217,2117,273.7,10.1,446,5896,0.00,2.47,0.00,0.000,516,0.000,0.085,2647,697,2162,2215,2110,0,0,0,0,0,0,14.52,14.14,14.53
$GC,5927,0.28,305.0,2648,698,2214,2111,270.1,9.3,453,5953,0.00,2.45,18.38,1.433,9382,0.000,0.079,2647,2103,2117,2166,2068,0,0,0,0,0,0,14.32,14.20,13.24
$GC,6253,0.32,330.5,2648,2105,2158,2061,240.1,8.8,468,6302,0.12,2.50,42.25,1.349,10916,0.130,0.086,2710,695,2011,2056,1967,0,0,0,0,0,0,14.28,14.07,13.27
$GC,6345,0.29,330.5,2711,696,2046,1969,229.3,11.9,486,6350,0.15,2.47,0.00,0.000,5254,0.230,0.077,2677,2106,2006,2045,1967,0,0,0,0,0,0,13.90,14.09,14.13
$GC,6675,0.30,342.6,2677,2107,2046,1959,196.9,9.4,502,6691,0.00,0.00,14.55,1.454,8230,0.000,0.000,2677,2107,1966,2007,1926,0,0,0,0,0,0,14.58,14.16,13.32
$GC,6975,0.35,372.9,2677,2107,2003,1907,170.2,8.6,512,7036,0.00,2.53,54.05,1.304,8868,0.000,0.087,2685,690,1840,1872,1809,0,0,0,0,0,0,14.59,14.00,13.27
$GC,7083,0.48,398.7,2681,690,1859,1808,161.1,8.8,533,7134,0.15,2.50,43.53,1.278,11430,0.121,0.080,2749,2107,1736,1761,1711,0,0,0,0,0,0,13.88,13.89,13.15
$GC,7459,0.43,398.7,2750,2110,1753,1694,112.0,12.5,558,7464,0.00,2.47,0.00,0.000,644,0.000,0.086,2755,691,1724,1756,1693,0,0,0,0,0,0,14.51,14.17,14.52
$GC,7514,0.43,398.7,2755,692,1751,1695,105.5,11.4,569,7521,0.15,2.47,0.00,0.000,5126,0.242,0.079,2723,2103,1721,1750,1693,0,0,0,0,0,0,14.01,14.17,14.26
$GC,7819,0.49,443.1,2724,2110,1752,1691,78.5,8.0,596,7846,0.00,2.47,21.77,0.432,8868,0.000,0.083,2726,698,1558,1587,1529,0,0,0,0,0,0,14.56,13.98,13.68
$GC,7902,0.65,507.2,2727,697,1594,1524,72.5,7.0,612,7944,0.20,2.45,34.58,0.417,11430,0.100,0.078,2801,2101,1295,1345,1245,0,0,0,0,0,0,14.27,14.19,13.66
$GC,8241,0.68,541.5,2802,2101,1346,1246,39.0,8.4,650,8264,0.00,2.55,18.58,0.317,8740,0.000,0.086,2807,691,1157,1215,1099,0,0,0,0,0,0,14.56,14.07,13.83
$GC,8305,0.77,566.7,2811,690,1216,1104,33.4,8.8,662,8327,0.00,2.45,14.88,0.301,9382,0.000,0.078,2807,2099,1051,1114,989,0,0,0,0,0,0,14.18,14.04,13.76
$GC,8625,0.94,667.9,2807,2099,1115,997,11.2,5.3,696,8688,0.20,2.53,54.35,0.238,10916,0.102,0.086,2898,687,638,683,593,0,0,0,0,0,0,14.26,13.98,13.91
$STATE,8718,end climb,SURFACE_DEPTH_REACHED
$STATE,8718,begin surface coast
$FINISH,0.5,1.021073
$STATE,8726,end surface coast,CONTROL_FINISHED_OK
$STATE,8726,begin surface
$SM_CCo,8749,19.60,0.216,0,0,499,702.78
$SM_GC,0.91,8.25,2.70,19.60,0.077,0.076,0.216,203,2208,499,-7.38,-0.48,702.78,0,0,0,0,0,0,14.29,14.21,14.00
$RAFOS_CLK,247
$MODEM,3,1503893941,74.30400,-153.94400,34.716,50268.9
$MODEM,2,1503893634,73.18300,-149.96500,87.069,126074.6
$MODEM,0,1503893033,75.36600,-145.04601,179.946,260560.2
$RAFOS_FIX,7403.962891,-15227.045898,280817,040416,3,255,0.21
$IRIDIUM_FIX,7405.15,-15233.48,280817,030047
$TT8_MAMPS,0.038948,0.967708
$HUMID,46.02
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.00
$XPDR_PINGS,13
$CP_FREE,15988097024.000000
$PM_FREEKB_00,52538304
$24V_AH,12.33,130.245
$10V_AH,12.16,0.000
$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,25.650,93.875,985.575,19.600,0.000,0.000,0.000,776.450,3.250,0.000,43.820,0.000,6111.120,883.825,2793.077,339.136,0.000,2806.839,0.000,1027.265,2203.000,0.539,0.000
$DEVICE_MAMPS,452.880,2151.945,1454.265,215.730,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8756.000,8737.000,8702.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.688,20.000,10.135,0.000
$MEM,323508
$DATA_FILE_SIZE,23373,716
$CAP_FILE_SIZE,111593,0
$CFSIZE,2097872896,2031779840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.8
$CURRENT,0.033,237.21,1
$GPS,280817,053451,7405.085,-15231.334,17,0.6,21,19.8,0.0,28.4,12,8.8