version: 66.13
glider: 196
mission: 14
dive: 191
start: 8 29 117 4 38 23
data:
$ID,196
$MISSION,14
$DIVE,191
$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,32
$R_STBD_OVSHOOT,47
$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,539.0
$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
$GPS1,290817,042003,7412.1890,-15300.1045,31,0.8,32,19.6,0.0,0.0,11,8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.5
$GPS2,290817,043747,7412.2319,-15300.4814,5,0.8,12,19.6,0.0,52.0,11,9.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,275.6,30335,-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
$MODEM_MSG,CACST,6,1,20170829040359.204654,3,168,22,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D
$GC,48,-0.57,-145.9,179,2191,493,488,0.0,0.0,0,142,0.00,0.00,-91.78,0.000,16386,0.000,0.000,175,2192,2144,2073,2216,0,0,0,0,0,0,14.33,28.83,14.35
$GC,145,-0.57,-145.9,176,2192,2075,2217,3.1,-3.4,9,203,12.77,2.78,-38.05,0.000,18724,0.456,2.138,2375,3573,3966,3951,3981,1,0,0,0,0,0,13.44,12.56,13.99
$GC,379,-0.70,-145.9,2376,3575,3954,3981,50.0,-13.2,55,383,0.00,2.33,0.00,0.000,1158,0.000,0.059,2375,2207,3972,3964,3980,0,0,0,0,0,0,14.21,14.09,14.24
$GC,689,-0.77,-145.9,2376,2207,3956,3981,93.6,-12.1,87,690,0.15,0.00,0.00,0.000,4230,0.140,0.000,2323,2207,3967,3954,3981,0,0,0,0,0,0,14.18,14.31,14.30
$GC,1009,-0.80,-145.9,2324,2206,3956,3981,140.7,-13.7,101,1013,0.00,2.42,0.00,0.000,388,0.000,0.089,2318,3589,3968,3955,3981,0,0,0,0,0,0,14.62,14.20,14.64
$GC,1084,-0.93,-145.9,2319,3591,3955,3981,149.7,-11.1,116,1090,0.12,2.35,0.00,0.000,5254,0.129,0.057,2265,2189,3967,3954,3981,0,0,0,0,0,0,14.27,14.27,14.34
$GC,1400,-0.88,-145.9,2265,2190,3955,3982,204.8,-17.2,129,1406,0.12,2.45,0.00,0.000,2436,0.302,0.084,2282,3587,3968,3955,3981,0,0,0,0,0,0,14.00,14.22,14.16
$GC,1503,-0.97,-145.9,2283,3588,3956,3981,218.1,-11.6,149,1508,0.00,2.38,0.00,0.000,1158,0.000,0.057,2282,2186,3968,3955,3981,0,0,0,0,0,0,14.39,14.28,14.42
$GC,1823,-1.00,-145.9,2283,2186,3956,3981,259.8,-12.3,163,1828,0.00,2.45,0.00,0.000,388,0.000,0.088,2274,3583,3968,3955,3981,0,0,0,0,0,0,14.67,14.19,14.69
$GC,1893,-1.11,-145.9,2275,3585,3956,3981,267.7,-10.6,177,1898,0.17,2.33,0.00,0.000,5254,0.116,0.057,2210,2200,3968,3955,3981,0,0,0,0,0,0,14.32,14.32,14.42
$GC,2214,-1.02,-145.9,2211,2200,3955,3981,323.1,-17.2,191,2219,0.15,2.42,0.00,0.000,2436,0.307,0.084,2236,3583,3967,3955,3980,0,0,0,0,0,0,13.90,14.21,14.09
$GC,2336,-1.05,-145.9,2236,3585,3956,3980,339.3,-12.7,215,2340,0.00,2.33,0.00,0.000,1158,0.000,0.057,2236,2201,3967,3954,3980,0,0,0,0,0,0,14.41,14.29,14.45
$GC,2666,-1.05,-145.9,2235,2199,3956,3979,384.3,-13.2,231,2670,0.00,2.45,0.00,0.000,260,0.000,0.090,2236,3591,3966,3954,3979,0,0,0,0,0,0,14.67,14.17,14.69
$GC,2736,-1.11,-145.9,2236,3593,3955,3980,393.1,-12.1,245,2741,0.00,2.35,0.00,0.000,1158,0.000,0.057,2235,2196,3966,3954,3979,0,0,0,0,0,0,14.41,14.28,14.45
$GC,3056,-1.11,-145.9,2237,2195,3956,3978,433.5,-12.7,259,3061,0.00,2.45,0.00,0.000,260,0.000,0.089,2236,3588,3966,3954,3978,0,0,0,0,0,0,14.69,14.17,14.70
$GC,3146,-1.17,-145.9,2235,3589,3955,3979,444.1,-10.9,277,3151,0.00,2.33,0.00,0.000,1158,0.000,0.056,2235,2195,3966,3955,3978,0,0,0,0,0,0,14.35,14.25,14.40
$STATE,3443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3443,begin apogee
$GC,3449,-0.13,0.0,2236,2070,3955,3978,481.5,-12.5,292,3687,1.15,0.00,232.18,1.386,10246,0.240,0.000,2530,2068,3360,3387,3333,0,0,0,0,0,0,13.95,13.45,12.66
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3694,0.57,145.9,2531,2068,3382,3327,494.2,0.0,300,3913,0.75,2.53,207.98,1.348,10756,0.064,0.080,2782,732,2762,2810,2714,0,0,0,0,0,0,13.59,12.95,12.37
$GC,4138,0.20,145.9,2782,729,2795,2704,468.4,15.1,383,4145,0.62,2.42,0.00,0.000,5254,0.326,0.076,2653,2076,2748,2794,2703,0,0,0,0,0,0,13.38,13.74,13.75
$GC,4443,0.04,151.9,2654,2077,2794,2699,437.5,9.7,394,4448,0.20,2.35,0.00,0.000,4772,0.269,0.077,2610,727,2745,2793,2698,0,0,0,0,0,0,13.86,14.13,14.04
$GC,4489,0.05,202.9,2610,727,2795,2698,433.9,7.6,403,4579,0.00,2.40,84.75,1.342,9382,0.000,0.080,2611,2102,2537,2603,2472,0,0,0,0,0,0,14.23,14.10,13.07
$GC,4894,0.06,229.3,2611,2104,2589,2451,398.8,8.8,434,4933,0.00,0.00,37.47,1.392,8230,0.000,0.000,2611,2103,2431,2496,2367,0,0,0,0,0,0,14.51,13.97,13.19
$GC,5224,0.08,250.9,2611,2104,2481,2351,369.0,9.0,445,5260,0.00,2.45,32.03,1.421,8740,0.000,0.083,2613,720,2337,2395,2280,0,0,0,0,0,0,14.54,13.87,13.25
$GC,5300,0.18,282.8,2613,720,2386,2275,362.2,8.5,460,5357,0.00,2.42,50.12,1.358,9382,0.000,0.079,2613,2107,2208,2267,2149,0,0,0,0,0,0,14.23,14.09,13.12
$GC,5679,0.25,300.0,2613,2108,2255,2131,327.5,9.2,485,5709,0.12,2.47,21.67,1.449,10916,0.132,0.085,2684,730,2134,2191,2078,0,0,0,0,0,0,14.28,14.09,13.27
$GC,5744,0.21,300.0,2685,730,2183,2077,318.8,14.0,498,5749,0.15,2.40,0.00,0.000,5254,0.234,0.079,2653,2099,2128,2182,2075,0,0,0,0,0,0,13.98,14.14,14.23
$GC,6069,0.21,300.0,2654,2101,2183,2071,280.6,11.2,513,6075,0.00,2.40,0.00,0.000,516,0.000,0.084,2659,729,2125,2181,2070,0,0,0,0,0,0,14.61,14.15,14.62
$GC,6110,0.23,300.0,2659,730,2181,2071,276.1,10.7,521,6116,0.00,2.38,0.00,0.000,1158,0.000,0.078,2659,2099,2125,2180,2070,0,0,0,0,0,0,14.39,14.26,14.42
$GC,6431,0.23,300.0,2660,2100,2181,2076,242.5,10.1,535,6436,0.00,2.40,0.00,0.000,516,0.000,0.084,2660,726,2124,2180,2068,0,0,0,0,0,0,14.66,14.23,14.67
$GC,6456,0.25,300.0,2660,726,2180,2070,240.1,10.7,540,6462,0.00,2.40,0.00,0.000,1158,0.000,0.079,2659,2105,2123,2179,2067,0,0,0,0,0,0,14.38,14.25,14.42
$GC,6762,0.27,327.9,2666,2107,2176,2068,212.0,8.7,551,6812,0.00,2.50,45.70,1.346,8740,0.000,0.085,2658,726,2025,2076,1975,0,0,0,0,0,0,14.66,14.12,13.31
$GC,6854,0.38,361.1,2658,727,2063,1971,204.3,8.5,569,6919,0.15,2.42,58.20,1.271,11430,0.123,0.079,2718,2103,1889,1926,1852,0,0,0,0,0,0,14.13,14.08,13.16
$GC,7244,0.35,361.1,2718,2104,1909,1840,157.6,11.8,597,7250,0.12,2.40,0.00,0.000,4740,0.231,0.081,2699,730,1873,1908,1838,0,0,0,0,0,0,14.09,14.18,14.26
$GC,7285,0.41,372.0,2700,729,1906,1838,153.6,9.5,605,7296,0.00,2.40,5.03,1.473,9382,0.000,0.078,2699,2101,1849,1882,1817,0,0,0,0,0,0,14.33,14.20,13.10
$GC,7606,0.41,382.5,2699,2101,1892,1817,122.3,9.5,619,7632,0.00,2.47,21.40,1.392,8740,0.000,0.084,2699,727,1801,1833,1770,0,0,0,0,0,0,14.59,13.78,13.35
$GC,7662,0.51,403.5,2699,730,1822,1768,117.0,9.0,630,7704,0.15,2.40,33.90,1.292,11430,0.120,0.077,2764,2105,1716,1743,1689,0,0,0,0,0,0,14.22,14.16,13.28
$GC,8009,0.45,403.5,2764,2105,1737,1672,75.1,10.7,665,8015,0.12,2.42,0.00,0.000,4740,0.259,0.080,2743,723,1703,1735,1672,0,0,0,0,0,0,13.95,14.07,14.10
$GC,8090,0.52,446.4,2744,723,1732,1674,68.4,8.0,681,8117,0.00,2.42,21.30,0.400,9382,0.000,0.079,2740,2106,1542,1575,1510,0,0,0,0,0,0,14.31,14.19,13.74
$GC,8423,0.66,543.0,2744,2107,1580,1511,44.5,5.5,717,8480,0.12,2.50,50.95,0.330,10916,0.130,0.085,2807,727,1150,1216,1084,0,0,0,0,0,0,14.28,14.01,13.78
$GC,8586,0.76,573.2,2808,726,1217,1087,30.8,8.6,749,8608,0.00,2.40,16.90,0.290,9382,0.000,0.078,2807,2100,1028,1100,956,0,0,0,0,0,0,14.23,14.08,13.86
$GC,8906,0.91,663.8,2807,2101,1100,964,9.4,5.8,783,8960,0.17,2.55,49.05,0.229,10660,0.107,0.085,2885,3506,661,718,604,0,0,0,0,0,0,14.13,14.09,13.83
$STATE,8978,end climb,SURFACE_DEPTH_REACHED
$STATE,8978,begin surface coast
$FINISH,0.4,1.021385
$STATE,8988,end surface coast,CONTROL_FINISHED_OK
$STATE,8988,begin surface
$SM_CCo,9055,25.83,0.202,0,0,499,702.78
$SM_GC,1.35,8.23,2.17,25.83,0.078,0.047,0.202,203,2219,499,-7.37,1.84,702.78,0,0,0,0,0,0,14.33,14.31,14.01
$RAFOS_CLK,403
$MODEM,0,1503979439,75.36600,-145.04601,185.205,268167.7
$RAFOS_FIX,7410.698730,-15249.871094,290817,000056,4,255,0.22
$IRIDIUM_FIX,7412.31,-15304.90,290817,043000
$TT8_MAMPS,0.039697,0.848617
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,18
$CP_FREE,0.000000
$PM_FREEKB_00,52247296
$24V_AH,12.37,134.646
$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,25.575,92.100,968.625,25.825,0.000,0.000,0.000,658.750,4.500,0.000,13.399,0.000,6496.703,986.001,2354.089,323.925,0.000,2411.274,0.000,1146.798,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2138.175,1473.390,201.960,0.000,0.000,0.000,173.655,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9018.000,9057.000,9009.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.579,20.000,9.881,0.000
$MEM,323492
$DATA_FILE_SIZE,26669,799
$CAP_FILE_SIZE,112594,0
$CFSIZE,2097872896,2028961792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1448.5
$CURRENT,0.025,251.25,1
$GPS,290817,071055,7412.979,-15304.500,20,0.8,24,19.6,0.0,232.7,10,10.0