version: 66.13
glider: 196
mission: 14
dive: 192
start: 8 29 117 7 27 34
data:
$ID,196
$MISSION,14
$DIVE,192
$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,42
$R_STBD_OVSHOOT,22
$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,541.0
$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
$GPS1,290817,071055,7412.9785,-15304.5000,20,0.8,24,19.6,0.0,232.7,10,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.4
$GPS2,290817,072701,7412.9116,-15304.7930,10,0.8,28,19.5,0.0,295.4,9,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,274.2,27870,-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,-145.9,184,2221,514,492,0.0,0.0,0,141,0.00,0.00,-91.50,0.000,16386,0.000,0.000,183,2221,2161,2090,2233,0,0,0,0,0,0,14.52,28.83,14.52
$GC,144,-0.57,-145.9,183,2219,2094,2235,3.5,-4.5,9,201,12.60,2.78,-36.80,0.000,18724,0.451,2.146,2375,3601,3961,3943,3980,0,0,0,0,0,0,13.67,12.58,14.14
$GC,421,-0.69,-145.9,2376,3602,3950,3981,57.7,-14.1,64,428,0.00,2.38,0.00,0.000,1158,0.000,0.057,2375,2214,3965,3949,3981,0,0,0,0,0,0,14.27,14.15,14.33
$GC,726,-0.78,-145.9,2375,2215,3950,3981,97.9,-11.7,95,731,0.15,2.50,0.00,0.000,4740,0.131,0.080,2309,784,3965,3950,3981,0,0,0,0,0,0,14.23,14.16,14.27
$GC,757,-0.78,-145.9,2310,785,3951,3985,102.3,-15.9,101,761,0.00,2.53,0.00,0.000,1030,0.000,0.088,2307,2206,3966,3952,3981,0,0,0,0,0,0,14.30,14.16,14.35
$GC,1087,-0.78,-145.9,2308,2206,3951,3981,154.0,-14.9,117,1091,0.00,2.47,0.00,0.000,260,0.000,0.090,2306,3613,3965,3950,3981,0,0,0,0,0,0,14.64,14.20,14.64
$GC,1224,-0.87,-145.9,2306,3613,3951,3981,170.9,-12.2,144,1229,0.00,2.38,0.00,0.000,1158,0.000,0.057,2305,2201,3965,3950,3981,0,0,0,0,0,0,14.39,14.26,14.42
$GC,1540,-0.92,-145.9,2306,2199,3951,3981,212.2,-12.6,157,1545,0.00,2.53,0.00,0.000,388,0.000,0.089,2299,3621,3965,3950,3981,0,0,0,0,0,0,14.64,14.17,14.66
$GC,1575,-1.02,-145.9,2299,3623,3951,3982,216.4,-11.7,164,1581,0.15,2.40,0.00,0.000,5254,0.116,0.058,2240,2201,3965,3950,3981,0,0,0,0,0,0,14.29,14.21,14.38
$GC,1919,-0.97,-145.9,2241,2201,3951,3981,271.1,-16.4,179,1924,0.12,2.50,0.00,0.000,2436,0.291,0.085,2259,3617,3965,3950,3980,0,0,0,0,0,0,13.90,14.14,14.07
$GC,2004,-1.04,-145.9,2258,3619,3952,3981,284.7,-11.5,196,2011,0.00,2.42,0.00,0.000,1158,0.000,0.057,2258,2195,3965,3950,3981,0,0,0,0,0,0,14.24,14.12,14.28
$GC,2309,-1.04,-145.9,2258,2195,3951,3980,323.0,-12.1,207,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2193,3965,3950,3980,0,0,0,0,0,0,14.49,14.51,14.50
$GC,2609,-1.07,-145.9,2261,2193,3951,3986,358.6,-11.7,217,2614,0.00,2.53,0.00,0.000,388,0.000,0.089,2249,3614,3965,3950,3980,0,0,0,0,0,0,14.48,14.07,14.50
$GC,2721,-1.15,-145.9,2250,3614,3951,3980,370.8,-10.7,239,2726,0.12,2.42,0.00,0.000,5254,0.138,0.056,2202,2192,3963,3947,3980,0,0,0,0,0,0,14.01,14.01,14.12
$GC,3031,-1.07,-145.9,2199,2192,3948,3981,420.0,-16.0,251,3036,0.12,2.53,0.00,0.000,2436,0.297,0.085,2222,3613,3964,3948,3980,0,0,0,0,0,0,13.81,14.06,13.98
$GC,3143,-1.10,-145.9,2223,3613,3949,3980,434.9,-12.8,273,3148,0.00,2.40,0.00,0.000,1158,0.000,0.056,2222,2174,3964,3948,3980,0,0,0,0,0,0,14.22,14.09,14.26
$GC,3453,-1.07,-145.9,2222,2175,3949,3981,478.7,-14.0,285,3458,0.00,2.55,0.00,0.000,388,0.000,0.087,2212,3614,3964,3948,3980,0,0,0,0,0,0,14.46,14.05,14.48
$STATE,3466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3466,begin apogee
$GC,3474,-0.13,0.0,2213,2100,3948,3988,480.8,-13.9,288,3702,1.27,0.00,225.02,1.416,10246,0.252,0.000,2526,2096,3363,3381,3346,0,0,0,0,0,0,13.83,13.35,12.59
$STATE,3706,end apogee,CONTROL_FINISHED_OK
$STATE,3706,begin climb
$GC,3709,0.57,145.9,2528,2098,3375,3337,492.4,0.0,295,3923,0.75,0.00,210.00,1.365,11014,0.063,0.000,2778,2098,2770,2812,2729,0,0,0,0,0,0,13.46,13.07,12.36
$MODEM_MSG,CACST,6,1,20170829080400.696306,3,71,18,0133,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C
$MODEM_MSG,CACST,6,1,20170829081411.177106,3,15,11,0115,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$MODEM_MSG,CACST,6,1,20170829081845.149435,3,7338,38,0338,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$GC,4218,0.17,145.9,2778,2098,2789,2709,459.7,15.2,328,4220,0.65,0.00,0.00,0.000,4230,0.330,0.000,2644,2098,2749,2788,2710,0,0,0,0,0,0,13.42,13.86,13.78
$GC,4518,0.04,169.1,2644,2098,2789,2709,431.8,8.9,338,4555,0.17,2.50,29.08,1.457,12964,0.301,0.086,2602,693,2669,2710,2628,0,0,0,0,0,0,13.76,13.95,13.15
$GC,4630,0.08,223.9,2603,694,2708,2621,423.3,7.5,360,4726,0.00,2.47,87.95,1.349,9254,0.000,0.080,2602,2107,2449,2506,2393,0,0,0,0,0,0,14.07,14.01,13.00
$GC,5031,0.10,251.0,2602,2108,2494,2375,388.9,8.7,390,5076,0.00,2.53,40.28,1.413,8740,0.000,0.084,2602,687,2336,2389,2284,0,0,0,0,0,0,14.47,13.78,13.16
$GC,5106,0.21,289.0,2603,686,2380,2277,382.4,8.2,405,5172,0.15,2.50,59.50,1.346,11430,0.118,0.080,2665,2103,2184,2236,2133,0,0,0,0,0,0,14.07,14.02,13.05
$GC,5482,0.15,289.0,2667,2104,2219,2113,333.4,13.1,430,5483,0.15,0.00,0.00,0.000,4230,0.252,0.000,2642,2104,2165,2218,2112,0,0,0,0,0,0,14.00,14.31,14.25
$GC,5782,0.16,291.9,2636,2104,2218,2116,302.6,9.9,440,5788,0.00,2.47,0.00,0.000,548,0.000,0.085,2644,686,2163,2217,2110,0,0,0,0,0,0,14.61,14.25,14.63
$GC,5858,0.22,301.4,2645,685,2215,2110,295.2,9.6,455,5869,0.00,2.45,4.53,1.538,9382,0.000,0.079,2644,2100,2138,2190,2087,0,0,0,0,0,0,14.40,14.27,13.09
$GC,6174,0.22,307.6,2645,2101,2201,2093,263.0,9.7,468,6195,0.00,2.53,16.33,1.522,8740,0.000,0.084,2644,688,2109,2158,2060,0,0,0,0,0,0,14.67,14.25,13.34
$GC,6267,0.31,331.8,2645,688,2148,2056,254.8,8.9,486,6315,0.12,2.45,41.50,1.364,11430,0.131,0.080,2690,2099,2010,2055,1966,0,0,0,0,0,0,14.28,14.23,13.26
$GC,6625,0.27,331.8,2695,2099,2047,1948,211.0,11.8,508,6626,0.00,0.00,0.00,0.000,134,0.000,0.000,2696,2099,1996,2045,1948,0,0,0,0,0,0,14.56,14.57,14.58
$GC,6925,0.23,331.8,2696,2099,2046,1946,178.6,10.6,518,6931,0.12,2.47,0.00,0.000,4740,0.230,0.082,2678,684,1995,2044,1946,0,0,0,0,0,0,14.11,14.21,14.23
$GC,6996,0.34,368.1,2672,685,2043,1947,172.5,8.3,532,7066,0.00,2.45,63.60,1.288,9382,0.000,0.080,2672,2100,1860,1895,1826,0,0,0,0,0,0,14.38,14.26,13.26
$GC,7376,0.42,406.4,2672,2102,1882,1814,140.8,8.2,558,7446,0.15,0.00,67.82,1.240,10406,0.122,0.000,2735,2100,1708,1735,1682,0,0,0,0,0,0,14.21,13.95,13.23
$GC,7736,0.42,406.4,2736,2101,1724,1662,98.0,11.2,570,7742,0.00,2.47,0.00,0.000,516,0.000,0.086,2744,694,1694,1722,1667,0,0,0,0,0,0,14.52,14.14,14.54
$GC,7837,0.44,406.4,2745,693,1720,1662,87.8,10.1,590,7842,0.00,2.47,0.00,0.000,1158,0.000,0.081,2743,2102,1691,1719,1663,0,0,0,0,0,0,14.29,14.16,14.33
$GC,8147,0.47,450.2,2744,2107,1719,1661,57.9,8.0,622,8173,0.00,2.50,21.17,0.373,8740,0.000,0.083,2752,686,1529,1562,1497,0,0,0,0,0,0,14.58,14.09,13.76
$GC,8250,0.60,521.0,2753,687,1570,1500,50.3,6.7,642,8293,0.00,2.50,38.62,0.350,9382,0.000,0.082,2752,2112,1239,1298,1181,0,0,0,0,0,0,14.33,14.20,13.76
$GC,8589,0.80,628.8,2753,2112,1299,1181,30.1,5.0,680,8652,0.25,2.45,57.25,0.285,10660,0.096,0.080,2856,3511,799,868,731,0,0,0,0,0,0,14.23,14.02,13.81
$GC,8684,0.80,628.8,2858,3512,869,737,20.5,12.3,698,8689,0.00,2.42,0.00,0.000,1030,0.000,0.065,2863,2102,802,868,736,0,0,0,0,0,0,14.21,14.07,14.26
$STATE,8862,end climb,SURFACE_DEPTH_REACHED
$STATE,8862,begin surface coast
$FINISH,0.6,1.021392
$STATE,8874,end surface coast,CONTROL_FINISHED_OK
$STATE,8874,begin surface
$SM_CCo,8894,41.38,0.209,0,0,501,702.78
$SM_GC,1.01,8.10,0.17,41.38,0.073,0.128,0.209,202,2210,501,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.28,14.01
$RAFOS_CLK,317
$MODEM,3,1503994725,74.30400,-153.94400,18.149,26289.4
$MODEM,2,1503994451,73.18300,-149.96500,104.177,150900.5
$MODEM,0,1503993840,75.36600,-145.04601,186.696,270429.5
$RAFOS_FIX,7411.256348,-15307.306641,290817,080818,3,255,1.22
$IRIDIUM_FIX,7414.74,-15301.31,290817,071543
$TT8_MAMPS,0.040446,0.907788
$HUMID,46.92
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15985475584.000000
$PM_FREEKB_00,52216576
$24V_AH,12.36,135.144
$10V_AH,12.33,0.000
$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,25.175,79.775,962.650,41.375,0.000,0.000,0.000,607.200,1.750,0.000,29.483,0.000,6440.332,1011.153,2161.874,305.473,0.000,2306.839,0.000,1030.425,2207.000,0.539,0.000
$DEVICE_MAMPS,450.585,2145.825,1537.650,208.845,0.000,0.000,0.000,176.715,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8904.000,8900.000,8849.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.546,20.000,9.928,0.000
$MEM,323356
$DATA_FILE_SIZE,23411,718
$CAP_FILE_SIZE,103033,0
$CFSIZE,2097872896,2028634112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$CURRENT,0.032,199.15,1
$GPS,290817,095739,7413.508,-15308.548,18,0.8,23,19.5,0.9,225.5,11,9.3