version: 66.13
glider: 196
mission: 14
dive: 189
start: 8 28 117 22 53 53
data:
$ID,196
$MISSION,14
$DIVE,189
$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,63
$R_STBD_OVSHOOT,38
$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,534.0
$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
$GPS1,280817,223453,7410.3955,-15251.3711,37,0.7,40,19.6,0.3,275.2,12,8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.0
$GPS2,280817,225318,7410.4570,-15251.8086,8,0.8,12,19.6,0.0,33.9,10,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,278.7,35602,-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,-145.9,185,2223,495,490,0.0,0.0,0,141,0.00,0.00,-91.38,0.000,16386,0.000,0.000,182,2223,2158,2086,2231,0,0,0,0,0,0,14.56,28.83,14.58
$GC,144,-0.57,-145.9,184,2225,2088,2232,3.6,-4.8,9,201,12.90,2.72,-37.00,0.000,18724,0.461,2.147,2377,3590,3967,3953,3981,0,0,0,0,0,0,13.57,12.58,14.04
$GC,427,-0.68,-145.9,2375,3592,3953,3983,58.0,-13.5,65,431,0.00,2.33,0.00,0.000,1158,0.000,0.059,2376,2230,3964,3946,3982,0,0,0,0,0,0,14.29,14.16,14.33
$GC,737,-0.77,-145.9,2376,2229,3952,3983,99.1,-11.4,97,742,0.12,2.53,0.00,0.000,4740,0.148,0.080,2327,787,3967,3953,3981,0,0,0,0,0,0,14.22,14.12,14.27
$GC,777,-0.84,-145.9,2324,788,3953,3983,104.5,-13.5,105,782,0.00,2.47,0.00,0.000,1158,0.000,0.089,2325,2181,3967,3953,3982,0,0,0,0,0,0,14.30,14.16,14.34
$GC,1097,-0.88,-145.9,2326,2180,3954,3982,149.1,-13.5,119,1102,0.00,2.53,0.00,0.000,388,0.000,0.091,2319,3610,3968,3954,3982,0,0,0,0,0,0,14.63,14.19,14.64
$GC,1234,-1.03,-145.9,2320,3612,3954,3982,164.6,-10.6,146,1239,0.22,2.38,0.00,0.000,5254,0.098,0.056,2237,2198,3967,3952,3982,0,0,0,0,0,0,14.33,14.27,14.41
$GC,1549,-0.93,-145.9,2239,2197,3954,3982,226.9,-19.4,159,1555,0.15,2.50,0.00,0.000,2436,0.304,0.083,2262,3621,3967,3953,3982,0,0,0,0,0,0,13.88,14.17,14.07
$GC,1668,-0.99,-145.9,2263,3619,3954,3982,243.6,-13.1,182,1674,0.00,2.42,0.00,0.000,1158,0.000,0.058,2262,2194,3966,3952,3981,0,0,0,0,0,0,14.35,14.22,14.39
$GC,1970,-0.99,-145.9,2262,2189,3952,3983,285.3,-13.0,193,1975,0.00,2.50,0.00,0.000,260,0.000,0.088,2256,3616,3967,3953,3982,0,0,0,0,0,0,14.65,14.14,14.69
$GC,2045,-1.05,-145.9,2253,3612,3954,3982,294.8,-12.0,208,2051,0.00,2.40,0.00,0.000,1158,0.000,0.057,2253,2185,3967,3953,3982,0,0,0,0,0,0,14.35,14.22,14.38
$GC,2361,-1.05,-145.9,2253,2184,3953,3982,335.7,-12.5,221,2366,0.00,2.53,0.00,0.000,260,0.000,0.088,2245,3613,3967,3952,3982,0,0,0,0,0,0,14.66,14.19,14.69
$GC,2446,-1.12,-145.9,2245,3614,3953,3982,346.0,-11.7,238,2452,0.00,2.40,0.00,0.000,1158,0.000,0.057,2245,2199,3967,3952,3982,0,0,0,0,0,0,14.34,14.23,14.38
$GC,2752,-1.12,-145.9,2246,2198,3953,3981,384.3,-12.4,249,2756,0.00,2.50,0.00,0.000,260,0.000,0.088,2236,3619,3966,3952,3980,0,0,0,0,0,0,14.66,14.17,14.68
$GC,2822,-1.19,-145.9,2237,3620,3953,3980,392.7,-11.7,263,2827,0.12,2.40,0.00,0.000,5254,0.138,0.057,2185,2193,3966,3952,3980,0,0,0,0,0,0,14.28,14.26,14.38
$GC,3142,-1.07,-145.9,2185,2193,3953,3980,448.8,-17.7,277,3147,0.17,2.50,0.00,0.000,2436,0.305,0.086,2222,3610,3965,3952,3979,0,0,0,0,0,0,13.85,14.15,14.04
$GC,3264,-1.10,-145.9,2223,3612,3953,3980,465.3,-13.1,301,3269,0.00,2.38,0.00,0.000,1158,0.000,0.056,2222,2198,3965,3952,3979,0,0,0,0,0,0,14.40,14.26,14.42
$STATE,3382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3382,begin apogee
$GC,3387,-0.13,0.0,2223,2066,3952,3980,481.9,-13.9,310,3609,1.23,0.08,217.80,1.452,10246,0.247,0.181,2530,2118,3364,3387,3341,0,0,0,0,0,0,13.92,13.43,12.66
$STATE,3612,end apogee,CONTROL_FINISHED_OK
$STATE,3613,begin climb
$GC,3617,0.57,145.9,2530,2113,3380,3334,493.2,0.0,317,3837,0.75,2.67,205.60,1.394,10756,0.065,0.080,2781,731,2763,2806,2720,0,0,0,0,0,0,13.58,13.13,12.33
$GC,3867,0.20,145.9,2782,733,2802,2719,498.2,13.1,361,3872,0.65,2.53,0.00,0.000,5254,0.321,0.076,2652,2086,2759,2802,2717,0,0,0,0,0,0,13.05,13.31,13.37
$GC,4189,0.04,157.9,2652,2088,2802,2711,466.9,9.4,375,4209,0.22,2.45,13.25,1.602,12964,0.284,0.081,2602,721,2716,2761,2671,0,0,0,0,0,0,13.59,13.60,12.93
$GC,4259,0.09,226.6,2602,722,2760,2672,461.6,6.8,389,4371,0.00,2.47,102.28,1.396,9254,0.000,0.079,2602,2103,2438,2504,2373,0,0,0,0,0,0,14.00,13.90,12.74
$GC,4669,0.13,255.9,2603,2103,2492,2363,426.9,8.7,421,4718,0.00,2.55,41.58,1.448,8868,0.000,0.085,2602,730,2317,2373,2261,0,0,0,0,0,0,14.23,13.81,13.00
$GC,4744,0.23,288.7,2602,731,2369,2261,420.4,8.5,431,4799,0.17,2.45,49.83,1.411,11430,0.105,0.079,2673,2099,2187,2242,2132,0,0,0,0,0,0,13.90,13.84,12.88
$GC,5119,0.17,288.7,2673,2099,2225,2117,369.9,13.5,456,5124,0.12,2.42,0.00,0.000,4740,0.271,0.080,2651,729,2172,2228,2117,0,0,0,0,0,0,13.85,14.02,14.00
$GC,5160,0.19,288.7,2651,730,2226,2118,365.0,11.6,464,5164,0.00,2.42,0.00,0.000,1158,0.000,0.080,2650,2106,2171,2226,2117,0,0,0,0,0,0,14.13,14.01,14.16
$GC,5480,0.19,288.7,2650,2107,2226,2116,327.8,11.5,478,5485,0.00,2.42,0.00,0.000,516,0.000,0.085,2655,730,2170,2225,2115,0,0,0,0,0,0,14.44,14.13,14.47
$GC,5505,0.19,288.7,2655,731,2225,2117,324.8,11.4,483,5511,0.00,2.40,0.00,0.000,1030,0.000,0.079,2654,2099,2169,2224,2115,0,0,0,0,0,0,14.27,14.14,14.31
$GC,5810,0.19,288.7,2655,2101,2225,2116,288.7,11.8,494,5816,0.00,2.40,0.00,0.000,516,0.000,0.086,2655,730,2170,2224,2117,0,0,0,0,0,0,14.49,14.14,14.51
$GC,5862,0.23,288.7,2655,731,2225,2116,283.1,10.7,504,5866,0.00,2.40,0.00,0.000,1158,0.000,0.079,2655,2105,2169,2224,2115,0,0,0,0,0,0,14.24,14.12,14.28
$MODEM_MSG,CACST,6,1,20170829000354.170366,3,59,00,0109,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$MODEM_MSG,CACST,6,1,20170829001403.390724,3,45,10,0150,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170829001848.253452,3,23807,43,1107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F
$MODEM_MSG,CACST,6,1,20170829002702.097052,3,43,16,0186,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$GC,6179,0.23,288.7,2655,2105,2224,2115,250.8,10.0,516,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2105,2168,2223,2114,0,0,0,0,0,0,14.48,14.50,14.50
$GC,6472,0.25,316.9,2655,2106,2224,2115,223.6,8.7,526,6518,0.00,2.45,41.12,1.385,8740,0.000,0.084,2655,730,2070,2121,2019,0,0,0,0,0,0,14.47,14.04,13.24
$GC,6589,0.35,355.4,2655,731,2115,2019,214.1,8.2,549,6660,0.12,2.42,63.70,1.312,11430,0.132,0.079,2704,2102,1913,1952,1875,0,0,0,0,0,0,14.03,14.00,13.10
$GC,6985,0.35,355.4,2704,2104,1944,1868,169.3,11.1,578,6991,0.00,2.40,0.00,0.000,516,0.000,0.084,2706,730,1905,1943,1867,0,0,0,0,0,0,14.52,14.15,14.54
$GC,7026,0.39,355.4,2706,731,1939,1868,165.0,10.4,586,7032,0.00,2.38,0.00,0.000,1158,0.000,0.078,2706,2100,1903,1940,1867,0,0,0,0,0,0,14.32,14.19,14.36
$GC,7347,0.39,355.4,2706,2102,1939,1865,131.8,10.1,600,7352,0.00,2.40,0.00,0.000,516,0.000,0.084,2706,729,1901,1938,1865,0,0,0,0,0,0,14.62,14.25,14.64
$GC,7437,0.46,377.2,2706,729,1937,1866,123.3,9.0,618,7473,0.00,2.38,30.12,1.356,9382,0.000,0.079,2706,2100,1825,1855,1795,0,0,0,0,0,0,14.39,14.26,13.34
$GC,7779,0.51,407.4,2706,2101,1849,1787,92.2,8.6,644,7800,0.12,0.00,15.80,0.483,10406,0.132,0.000,2764,2100,1706,1728,1685,0,0,0,0,0,0,14.17,14.09,13.62
$GC,8099,0.50,452.5,2764,2101,1730,1676,58.4,7.9,676,8130,0.00,2.42,24.45,0.377,8868,0.000,0.084,2767,727,1519,1550,1489,0,0,0,0,0,0,14.57,14.14,13.77
$GC,8246,0.61,527.8,2768,728,1549,1488,48.0,6.5,705,8294,0.00,2.40,40.35,0.342,9382,0.000,0.080,2768,2103,1212,1273,1151,0,0,0,0,0,0,14.29,14.16,13.67
$GC,8591,0.77,621.1,2768,2104,1274,1142,25.4,5.7,744,8650,0.15,2.50,49.85,0.281,10916,0.120,0.087,2838,725,829,900,759,0,0,0,0,0,0,14.23,14.00,13.81
$GC,8716,0.91,671.2,2838,727,901,757,15.4,7.7,768,8748,0.12,2.40,27.65,0.254,11430,0.132,0.078,2893,2096,631,680,582,0,0,0,0,0,0,14.20,14.14,13.90
$STATE,8833,end climb,SURFACE_DEPTH_REACHED
$STATE,8833,begin surface coast
$FINISH,0.6,1.021300
$STATE,8843,end surface coast,CONTROL_FINISHED_OK
$STATE,8843,begin surface
$SM_CCo,8863,17.65,0.214,0,0,500,703.03
$SM_GC,0.95,8.35,0.17,17.65,0.086,0.116,0.214,197,2220,500,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.29,13.99
$RAFOS_CLK,229
$MODEM,4,1503966422,75.71700,-151.21500,121.347,175639.7
$MODEM,3,1503965928,74.30400,-153.94400,21.253,30762.6
$MODEM,2,1503965643,73.18300,-149.96500,96.391,139517.5
$MODEM,0,1503965034,75.36600,-145.04601,180.170,260781.5
$RAFOS_FIX,7410.698730,-15249.871094,290817,000056,4,255,0.22
$IRIDIUM_FIX,7411.32,-15240.22,280817,224658
$TT8_MAMPS,0.038948,0.864346
$HUMID,46.10
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,10
$CP_FREE,15986262016.000000
$PM_FREEKB_00,52302336
$24V_AH,12.33,133.657
$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,25.725,93.625,923.375,17.650,0.000,0.000,0.000,569.050,2.500,0.000,13.600,0.000,6489.854,957.429,2233.553,324.002,0.000,2277.642,0.000,1123.568,2153.000,0.539,0.000
$DEVICE_MAMPS,461.295,2147.355,1601.910,214.200,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8872.000,8868.000,8816.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.492,20.000,9.915,0.000
$MEM,323544
$DATA_FILE_SIZE,26698,784
$CAP_FILE_SIZE,112695,0
$CFSIZE,2097872896,2029518848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,8851.38,0x213afc,7,24
$SOUNDSPEED,1447.8
$CURRENT,0.021,218.88,1
$GPS,290817,012311,7411.211,-15255.402,20,0.7,28,19.6,0.6,315.2,11,9.7