version: 66.13
glider: 196
mission: 14
dive: 193
start: 8 29 117 10 18 2
data:
$ID,196
$MISSION,14
$DIVE,193
$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,23
$R_STBD_OVSHOOT,31
$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,543.0
$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
$GPS1,290817,095739,7413.5083,-15308.5479,18,0.8,23,19.5,0.9,225.5,11,9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.1
$GPS2,290817,101732,7413.4741,-15308.9238,11,0.8,41,19.5,0.5,288.9,10,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,277.3,25569,-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,-145.9,178,2212,502,492,0.0,0.0,0,141,0.00,0.00,-91.57,0.000,16386,0.000,0.000,177,2212,2149,2076,2223,0,0,0,0,0,0,14.51,28.83,14.53
$GC,144,-0.57,-145.9,177,2213,2080,2225,3.2,-3.8,9,202,12.73,2.78,-37.15,0.000,18724,0.452,2.147,2373,3591,3962,3946,3979,1,0,0,0,0,0,13.54,12.69,13.85
$GC,428,-0.73,-145.9,2374,3593,3952,3980,58.5,-12.2,65,433,0.00,2.38,0.00,0.000,1158,0.000,0.057,2373,2202,3966,3952,3980,0,0,0,0,0,0,14.29,14.17,14.33
$GC,739,-0.82,-145.9,2374,2194,3954,3979,98.9,-11.7,97,740,0.20,0.00,0.00,0.000,4230,0.109,0.000,2294,2194,3965,3952,3979,0,0,0,0,0,0,14.26,14.38,14.34
$GC,1048,-0.82,-145.9,2295,2194,3953,3980,150.2,-15.6,108,1053,0.00,2.47,0.00,0.000,260,0.000,0.087,2284,3602,3965,3951,3979,0,0,0,0,0,0,14.64,14.21,14.66
$GC,1170,-0.91,-145.9,2286,3604,3954,3979,166.7,-12.6,132,1175,0.00,2.40,0.00,0.000,1158,0.000,0.058,2286,2185,3963,3948,3979,0,0,0,0,0,0,14.35,14.22,14.39
$GC,1500,-0.91,-145.9,2286,2184,3954,3983,215.0,-14.5,148,1505,0.00,2.47,0.00,0.000,260,0.000,0.088,2280,3601,3966,3953,3979,0,0,0,0,0,0,14.66,14.17,14.68
$GC,1525,-0.93,-145.9,2280,3601,3954,3979,218.5,-13.9,153,1532,0.00,2.38,0.00,0.000,1158,0.000,0.057,2280,2202,3965,3952,3979,0,0,0,0,0,0,14.18,14.07,14.22
$GC,1830,-0.95,-145.9,2280,2202,3953,3979,258.3,-12.3,164,1836,0.00,2.47,0.00,0.000,388,0.000,0.089,2271,3608,3965,3952,3979,0,0,0,0,0,0,14.65,14.22,14.68
$GC,1916,-1.07,-145.9,2271,3609,3954,3979,268.1,-10.5,181,1923,0.12,2.40,0.00,0.000,5254,0.133,0.058,2224,2190,3965,3952,3979,0,0,0,0,0,0,14.12,14.09,14.23
$GC,2221,-1.01,-145.9,2225,2189,3954,3977,315.7,-15.6,192,2226,0.12,2.47,0.00,0.000,2436,0.295,0.085,2244,3604,3965,3952,3978,0,0,0,0,0,0,14.00,14.23,14.15
$GC,2291,-1.06,-145.9,2244,3606,3954,3978,325.3,-12.1,206,2296,0.00,2.38,0.00,0.000,1158,0.000,0.057,2244,2195,3965,3953,3977,0,0,0,0,0,0,14.40,14.26,14.43
$GC,2611,-1.06,-145.9,2245,2194,3954,3977,366.2,-12.5,220,2616,0.00,2.47,0.00,0.000,260,0.000,0.088,2233,3607,3964,3952,3977,0,0,0,0,0,0,14.68,14.21,14.70
$GC,2701,-1.13,-145.9,2236,3609,3953,3978,376.9,-11.7,238,2706,0.00,2.38,0.00,0.000,1158,0.000,0.057,2237,2198,3964,3952,3977,0,0,0,0,0,0,14.35,14.23,14.39
$GC,3031,-1.13,-145.9,2236,2197,3953,3977,419.0,-12.7,254,3036,0.00,2.47,0.00,0.000,260,0.000,0.089,2236,3602,3964,3952,3976,0,0,0,0,0,0,14.66,14.16,14.68
$GC,3122,-1.20,-145.9,2236,3603,3953,3977,429.7,-11.6,272,3127,0.12,2.38,0.00,0.000,5254,0.139,0.056,2184,2199,3963,3953,3974,0,0,0,0,0,0,14.24,14.22,14.35
$STATE,3419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3419,begin apogee
$GC,3425,-0.13,0.0,2185,2056,3952,3976,481.0,-17.5,287,3650,1.40,0.08,220.10,1.431,10246,0.271,0.179,2526,2098,3364,3391,3338,0,0,0,0,0,0,13.88,13.42,12.66
$STATE,3653,end apogee,CONTROL_FINISHED_OK
$STATE,3653,begin climb
$GC,3657,0.57,145.9,2527,2100,3382,3329,492.4,0.0,294,3878,0.75,2.58,208.20,1.383,10756,0.064,0.076,2791,730,2760,2809,2712,0,0,0,0,0,0,13.59,12.94,12.33
$GC,4103,0.19,145.9,2791,731,2799,2710,469.4,14.9,377,4109,0.70,2.45,0.00,0.000,5254,0.327,0.075,2645,2097,2749,2791,2708,0,0,0,0,0,0,13.40,13.71,13.78
$GC,4408,0.04,164.6,2646,2098,2795,2703,440.5,9.1,388,4439,0.17,2.47,22.65,1.522,12964,0.275,0.083,2603,728,2687,2734,2641,0,0,0,0,0,0,13.83,14.03,13.19
$GC,4524,0.08,216.8,2603,730,2732,2636,431.7,7.6,411,4615,0.00,2.42,82.03,1.375,9254,0.000,0.080,2603,2108,2477,2542,2412,0,0,0,0,0,0,14.20,14.07,13.01
$GC,4920,0.10,242.7,2603,2107,2531,2395,397.7,8.8,440,4966,0.00,2.47,38.62,1.413,8740,0.000,0.086,2603,716,2370,2430,2310,0,0,0,0,0,0,14.47,14.00,13.19
$GC,4986,0.18,275.8,2603,717,2422,2308,391.9,8.5,448,5043,0.12,2.45,51.95,1.375,11430,0.132,0.080,2660,2111,2241,2301,2182,0,0,0,0,0,0,14.08,14.02,13.06
$GC,5341,0.13,275.8,2660,2106,2284,2161,347.0,12.7,469,5346,0.15,2.40,0.00,0.000,4740,0.244,0.080,2630,730,2221,2283,2159,0,0,0,0,0,0,13.99,14.16,14.14
$GC,5391,0.19,276.9,2630,731,2281,2160,341.6,9.9,479,5397,0.00,2.38,0.00,0.000,1190,0.000,0.078,2630,2095,2220,2281,2159,0,0,0,0,0,0,14.30,14.19,14.35
$GC,5702,0.19,279.6,2631,2096,2281,2158,310.2,9.9,491,5703,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2095,2218,2280,2157,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6002,0.20,288.4,2631,2096,2281,2156,281.0,9.6,501,6019,0.00,2.45,11.77,1.578,8740,0.000,0.083,2630,723,2185,2244,2127,0,0,0,0,0,0,14.66,14.29,13.32
$GC,6044,0.28,312.1,2630,723,2237,2126,277.2,8.9,509,6089,0.12,2.40,39.75,1.373,11430,0.128,0.079,2682,2111,2093,2147,2039,0,0,0,0,0,0,14.32,14.26,13.26
$GC,6399,0.23,312.1,2685,2112,2133,2024,234.3,11.4,529,6404,0.00,2.45,0.00,0.000,644,0.000,0.083,2685,724,2077,2132,2023,0,0,0,0,0,0,14.43,14.09,14.45
$GC,6444,0.23,314.9,2686,724,2132,2023,229.5,9.9,538,6449,0.00,2.42,0.00,0.000,1062,0.000,0.079,2685,2103,2077,2131,2023,0,0,0,0,0,0,14.25,14.12,14.28
$GC,6759,0.20,314.9,2685,2105,2131,2021,197.0,10.3,551,6765,0.15,2.42,0.00,0.000,4740,0.244,0.080,2657,721,2075,2130,2021,0,0,0,0,0,0,13.93,14.12,14.07
$GC,6800,0.31,353.9,2657,722,2129,2022,193.2,8.2,559,6881,0.00,2.42,73.20,1.283,9382,0.000,0.080,2657,2106,1923,1970,1876,0,0,0,0,0,0,14.27,14.14,13.18
$GC,7180,0.42,410.1,2657,2107,1948,1867,163.3,7.4,585,7290,0.15,2.55,102.40,1.211,10916,0.117,0.087,2726,708,1688,1718,1658,0,0,0,0,0,0,14.11,13.76,13.08
$GC,7357,0.46,410.1,2727,708,1708,1652,143.6,10.7,620,7364,0.00,2.50,0.00,0.000,1158,0.000,0.076,2726,2104,1679,1707,1652,0,0,0,0,0,0,13.93,13.81,13.94
$GC,7662,0.46,410.1,2733,2103,1708,1644,110.2,10.3,631,7668,0.00,2.42,0.00,0.000,516,0.000,0.086,2726,731,1675,1706,1644,0,0,0,0,0,0,14.41,13.97,14.41
$GC,7693,0.49,410.1,2726,732,1705,1644,107.0,10.1,637,7698,0.00,2.42,0.00,0.000,1158,0.000,0.079,2726,2101,1674,1705,1644,0,0,0,0,0,0,14.13,14.01,14.16
$GC,8003,0.53,424.5,2726,2102,1705,1641,76.2,9.3,667,8015,0.00,0.00,6.00,0.386,8358,0.000,0.000,2726,2106,1632,1668,1597,0,0,0,0,0,0,14.42,13.91,13.61
$MODEM_MSG,CACST,6,1,20170829120401.093248,3,41,10,0195,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20170829121413.887334,3,11502,34,1042,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*06
$MODEM_MSG,CACST,6,1,20170829122702.372031,3,3420,35,0705,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$GC,8318,0.66,512.9,2727,2102,1672,1606,52.9,5.9,698,8374,0.17,2.42,47.12,0.354,10916,0.109,0.081,2808,730,1270,1324,1217,0,0,0,0,0,0,14.16,13.89,13.69
$GC,8474,0.68,548.0,2807,731,1326,1222,39.0,8.4,728,8498,0.00,2.38,19.02,0.314,9254,0.000,0.077,2804,2103,1129,1193,1065,0,0,0,0,0,0,14.14,14.01,13.74
$GC,8796,0.79,644.6,2808,2107,1193,1074,16.9,5.5,762,8854,0.00,2.45,51.72,0.257,8868,0.000,0.085,2808,726,734,800,669,0,0,0,0,0,0,14.50,14.03,13.88
$GC,8896,0.99,703.9,2808,726,801,670,10.3,7.3,781,8934,0.28,2.40,31.65,0.234,11430,0.089,0.076,2906,2102,497,522,472,0,0,0,0,0,0,14.19,14.09,13.75
$STATE,8967,end climb,SURFACE_DEPTH_REACHED
$STATE,8967,begin surface coast
$FINISH,0.2,1.021471
$STATE,8977,end surface coast,CONTROL_FINISHED_OK
$STATE,8979,begin surface
$SM_CCo,9060,0.00,0.000,0,0,499,703.28
$SM_GC,1.27,8.30,0.17,0.00,0.075,0.108,0.000,203,2222,499,-7.37,-0.65,703.28,0,0,0,0,0,0,14.28,14.26,14.35
$RAFOS_CLK,142
$MODEM,4,1504009622,75.71700,-151.21500,121.622,176079.6
$MODEM,2,1504008853,73.18300,-149.96500,106.887,154747.3
$MODEM,0,1504008241,75.36600,-145.04601,187.093,270866.2
$RAFOS_FIX,7413.061035,-15312.512695,290817,121205,3,255,0.28
$IRIDIUM_FIX,7416.61,-15315.45,290817,101014
$TT8_MAMPS,0.038948,0.907039
$HUMID,43.73
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,15985213440.000000
$PM_FREEKB_00,52185216
$24V_AH,12.33,135.650
$10V_AH,12.23,0.000
$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,25.775,88.475,1006.200,0.000,0.000,0.000,0.000,697.775,3.750,0.000,42.620,0.000,6578.470,977.911,2382.188,323.728,0.000,2460.268,0.000,1136.222,2215.000,0.540,0.000
$DEVICE_MAMPS,452.115,2147.355,1578.195,0.000,0.000,0.000,0.000,163.710,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9008.000,9003.000,8952.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.675,20.000,9.910,0.000
$MEM,323472
$DATA_FILE_SIZE,26670,793
$CAP_FILE_SIZE,113118,0
$CFSIZE,2097872896,2028339200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
$SOUNDSPEED,1448.5
$CURRENT,0.043,211.06,1
$GPS,290817,125007,7414.118,-15312.838,19,0.7,22,19.5,0.6,2.5,12,8.1