version: 66.13
glider: 196
mission: 14
dive: 175
start: 8 27 117 7 28 58
data:
$ID,196
$MISSION,14
$DIVE,175
$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,33
$R_STBD_OVSHOOT,46
$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,494.0
$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
$GPS1,270817,070729,7357.6621,-15203.1748,62,0.8,63,20.0,0.4,257.1,11,8.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.0
$GPS2,270817,072824,7357.6816,-15203.6123,5,0.8,13,20.0,0.0,243.3,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,282.4,68252,-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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,177,2194,509,486,0.0,0.0,0,140,0.00,0.00,-91.22,0.000,16386,0.000,0.000,175,2193,2162,2087,2238,0,0,0,0,0,0,14.50,28.83,14.53
$GC,143,-0.57,-145.9,176,2193,2089,2240,3.8,-4.9,9,197,12.75,2.83,-34.53,0.000,18724,0.457,2.150,2375,3581,3961,3943,3980,1,0,0,0,0,0,13.50,12.60,14.14
$GC,422,-0.67,-145.9,2376,3582,3951,3981,62.8,-14.5,64,429,0.00,2.38,0.00,0.000,1158,0.000,0.061,2374,2207,3965,3950,3981,0,0,0,0,0,0,14.24,14.12,14.28
$GC,747,-0.73,-145.9,2375,2206,3951,3982,107.9,-11.5,93,752,0.00,2.42,0.00,0.000,388,0.000,0.088,2371,3585,3966,3951,3981,0,0,0,0,0,0,14.58,14.17,14.59
$GC,832,-0.91,-145.9,2366,3586,3951,3980,116.3,-9.3,110,838,0.25,2.35,0.00,0.000,5286,0.093,0.055,2265,2196,3966,3951,3981,0,0,0,0,0,0,14.26,14.21,14.34
$GC,1137,-0.83,-145.9,2266,2196,3951,3981,173.7,-18.7,121,1142,0.17,2.45,0.00,0.000,2436,0.288,0.085,2297,3585,3965,3950,3981,0,0,0,0,0,0,13.85,14.14,14.03
$GC,1234,-0.92,-145.9,2298,3587,3951,3982,186.7,-11.9,140,1240,0.00,2.33,0.00,0.000,1158,0.000,0.057,2298,2201,3965,3950,3980,0,0,0,0,0,0,14.39,14.27,14.42
$GC,1560,-0.94,-145.9,2302,2200,3952,3981,230.8,-13.1,155,1565,0.00,2.45,0.00,0.000,388,0.000,0.089,2291,3588,3965,3950,3981,0,0,0,0,0,0,14.62,14.13,14.64
$GC,1620,-1.04,-145.9,2291,3589,3951,3982,238.1,-11.3,167,1625,0.15,2.35,0.00,0.000,5254,0.125,0.057,2237,2197,3966,3951,3981,0,0,0,0,0,0,14.25,14.21,14.38
$GC,1950,-0.98,-145.9,2238,2197,3951,3982,291.3,-15.4,183,1955,0.00,2.45,0.00,0.000,388,0.000,0.090,2235,3584,3966,3952,3981,0,0,0,0,0,0,14.50,14.10,14.52
$GC,2060,-0.98,-145.9,2236,3586,3952,3981,306.8,-13.6,205,2065,0.12,2.38,0.00,0.000,3078,0.252,0.057,2259,2195,3964,3947,3981,0,0,0,0,0,0,13.88,14.10,14.13
$GC,2370,-0.98,-145.9,2260,2194,3951,3981,344.9,-11.9,217,2375,0.00,2.47,0.00,0.000,260,0.000,0.088,2248,3589,3964,3947,3981,0,0,0,0,0,0,14.47,14.07,14.49
$GC,2431,-1.05,-145.9,2253,3591,3952,3981,352.0,-11.5,229,2435,0.00,2.38,0.00,0.000,1158,0.000,0.057,2252,2198,3966,3951,3981,0,0,0,0,0,0,14.25,14.12,14.28
$GC,2760,-1.05,-145.9,2252,2197,3951,3980,392.6,-12.1,245,2765,0.00,2.47,0.00,0.000,260,0.000,0.088,2244,3594,3965,3951,3980,0,0,0,0,0,0,14.47,14.04,14.45
$GC,2830,-1.11,-145.9,2243,3592,3952,3980,401.1,-11.6,259,2835,0.00,2.40,0.00,0.000,1158,0.000,0.057,2242,2195,3965,3950,3980,0,0,0,0,0,0,14.09,13.99,14.14
$GC,3151,-1.11,-145.9,2242,2195,3954,3979,441.3,-12.6,273,3156,0.00,2.45,0.00,0.000,260,0.000,0.088,2236,3581,3965,3950,3980,0,0,0,0,0,0,14.44,13.99,14.45
$GC,3241,-1.16,-145.9,2236,3582,3951,3980,452.4,-11.7,291,3246,0.00,2.38,0.00,0.000,1158,0.000,0.056,2236,2200,3965,3948,3982,0,0,0,0,0,0,14.16,14.07,14.20
$STATE,3478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3478,begin apogee
$GC,3484,-0.13,0.0,2237,2055,3951,3980,483.6,-13.0,304,3724,1.15,0.00,236.88,1.392,10246,0.239,0.000,2527,2054,3367,3385,3349,0,0,0,0,0,0,13.80,13.32,12.55
$STATE,3728,end apogee,CONTROL_FINISHED_OK
$STATE,3728,begin climb
$GC,3730,0.57,145.9,2528,2055,3376,3337,496.3,0.0,312,3952,0.75,2.55,211.07,1.345,10756,0.064,0.080,2788,724,2764,2808,2721,0,0,0,0,0,0,13.41,12.90,12.34
$MODEM_MSG,CACST,6,1,20170827080353.962619,3,47,04,0174,0150,250,00,00,02,02,-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,6,1,20170827081342.509933,3,133,21,0113,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B
$MODEM_MSG,CACST,6,1,20170827081913.362658,3,34,15,0188,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$GC,4081,0.21,145.9,2781,726,2794,2710,484.9,14.9,376,4087,0.62,2.42,0.00,0.000,5254,0.322,0.075,2653,2075,2750,2792,2708,0,0,0,0,0,0,13.19,13.50,13.52
$GC,4394,0.05,147.3,2653,2076,2793,2703,452.9,9.9,388,4399,0.20,2.35,0.00,0.000,4772,0.281,0.077,2614,726,2747,2792,2702,0,0,0,0,0,0,13.64,13.89,13.83
$GC,4447,0.05,193.9,2615,726,2794,2702,448.5,7.9,398,4528,0.00,2.42,70.20,1.362,9382,0.000,0.079,2615,2115,2568,2626,2511,0,0,0,0,0,0,14.07,13.95,12.99
$GC,4848,0.04,220.8,2614,2116,2617,2494,413.0,8.8,428,4893,0.00,2.50,37.83,1.402,8868,0.000,0.083,2616,730,2455,2513,2398,0,0,0,0,0,0,14.45,13.98,13.19
$GC,4929,0.10,248.5,2615,731,2507,2394,406.0,8.7,439,4974,0.00,2.40,39.22,1.394,9382,0.000,0.079,2616,2097,2348,2404,2292,0,0,0,0,0,0,14.15,14.03,13.07
$GC,5300,0.11,262.5,2616,2098,2390,2277,371.7,9.4,463,5316,0.00,0.00,15.32,1.504,8230,0.000,0.000,2615,2098,2296,2351,2242,0,0,0,0,0,0,14.51,14.10,13.27
$GC,5600,0.15,275.5,2616,2098,2337,2228,343.3,9.4,473,5625,0.00,2.45,18.08,1.519,8868,0.000,0.086,2615,730,2235,2288,2183,0,0,0,0,0,0,14.57,14.16,13.32
$GC,5661,0.27,297.4,2616,730,2282,2181,337.7,9.0,485,5701,0.17,2.38,33.33,1.425,11430,0.105,0.078,2686,2100,2150,2198,2102,0,0,0,0,0,0,14.27,14.18,13.21
$GC,6021,0.20,297.4,2686,2101,2188,2087,287.2,14.0,507,6026,0.15,2.40,0.00,0.000,4740,0.246,0.080,2658,719,2136,2187,2086,0,0,0,0,0,0,14.02,14.21,14.17
$GC,6081,0.25,297.4,2658,720,2185,2085,280.2,10.8,519,6086,0.00,2.40,0.00,0.000,1158,0.000,0.079,2657,2100,2134,2184,2085,0,0,0,0,0,0,14.34,14.21,14.38
$GC,6411,0.25,300.8,2658,2101,2185,2085,245.6,9.8,535,6412,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2100,2134,2184,2084,0,0,0,0,0,0,14.63,14.64,14.64
$GC,6711,0.26,322.0,2658,2101,2185,2082,218.4,9.0,545,6752,0.00,2.40,36.10,1.395,8740,0.000,0.083,2658,727,2048,2096,2001,0,0,0,0,0,0,14.63,13.93,13.32
$GC,6809,0.38,354.1,2658,728,2088,2000,210.2,8.5,564,6868,0.15,2.42,52.10,1.326,11430,0.121,0.079,2715,2105,1920,1958,1882,0,0,0,0,0,0,14.02,14.12,13.19
$GC,7193,0.34,354.1,2717,2106,1946,1874,163.6,11.9,591,7198,0.00,2.42,0.00,0.000,644,0.000,0.083,2725,724,1909,1945,1873,0,0,0,0,0,0,14.52,14.16,14.53
$GC,7228,0.34,354.1,2725,725,1946,1874,159.6,11.4,598,7233,0.15,2.40,0.00,0.000,5126,0.240,0.079,2693,2100,1909,1945,1873,0,0,0,0,0,0,14.02,14.20,14.28
$GC,7554,0.36,379.4,2694,2101,1944,1872,129.7,8.8,613,7599,0.00,2.47,38.15,1.329,8740,0.000,0.085,2699,732,1815,1842,1788,0,0,0,0,0,0,14.57,14.09,13.32
$GC,7636,0.48,413.9,2699,732,1836,1788,122.8,8.4,629,7704,0.12,2.42,56.78,1.254,11430,0.133,0.079,2755,2109,1673,1698,1648,0,0,0,0,0,0,14.07,14.03,13.19
$GC,8009,0.45,413.9,2756,2109,1697,1634,78.9,10.4,665,8015,0.00,2.45,0.00,0.000,644,0.000,0.086,2756,726,1662,1695,1630,0,0,0,0,0,0,14.47,14.01,14.49
$GC,8065,0.49,437.1,2757,726,1694,1634,73.7,8.9,676,8082,0.00,2.40,11.68,0.421,9382,0.000,0.078,2756,2100,1580,1610,1551,0,0,0,0,0,0,14.15,14.04,13.71
$GC,8380,0.59,550.6,2756,2101,1612,1551,50.6,4.8,709,8449,0.00,2.42,61.78,0.353,8868,0.000,0.083,2756,726,1119,1188,1051,0,0,0,0,0,0,14.53,13.95,13.71
$GC,8496,0.82,628.6,2756,727,1182,1052,44.0,6.4,731,8548,0.28,2.42,42.92,0.330,11430,0.090,0.078,2863,2106,798,870,727,0,0,0,0,0,0,14.14,14.05,13.76
$GC,8844,0.85,673.8,2864,2105,871,724,6.6,7.9,771,8876,0.00,2.45,25.05,0.224,8740,0.000,0.088,2863,722,615,669,561,0,0,0,0,0,0,14.52,14.10,13.94
$GC,8891,0.94,703.1,2864,723,671,560,2.5,8.6,780,8904,0.00,2.42,8.43,0.219,9378,0.000,0.078,2863,2105,560,604,516,0,0,0,0,0,0,14.23,14.09,14.27
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$FINISH,0.5,1.020906
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8928,8.70,0.220,0,0,498,702.78
$SM_GC,1.97,8.18,0.17,8.70,0.083,0.109,0.220,201,2231,498,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,14.00
$RAFOS_CLK,320
$MODEM,3,1503821953,74.30400,-153.94400,46.363,67098.6
$MODEM,2,1503821622,73.18300,-149.96500,75.510,109282.2
$MODEM,0,1503821033,75.36600,-145.04601,179.963,260451.9
$RAFOS_FIX,7356.634766,-15204.778320,270817,080816,3,255,0.77
$IRIDIUM_FIX,7401.31,-15205.76,270817,072203
$TT8_MAMPS,0.039697,0.993923
$HUMID,46.69
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,10
$CP_FREE,15989964800.000000
$PM_FREEKB_00,52782208
$24V_AH,12.34,126.826
$10V_AH,12.15,0.000
$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,25.375,92.725,994.900,8.700,0.000,0.000,0.000,719.125,2.500,0.000,14.552,0.000,6513.286,996.802,2371.610,327.021,0.000,2478.927,0.000,1122.101,2195.000,0.541,0.000
$DEVICE_MAMPS,456.705,2149.650,1519.290,220.320,0.000,0.000,0.000,148.410,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8937.000,8933.000,8884.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.192,20.000,11.658,0.000
$MEM,323356
$DATA_FILE_SIZE,26754,783
$CAP_FILE_SIZE,114928,0
$CFSIZE,2097872896,2033778688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,7694.69,0x2341ea,1,24
$SOUNDSPEED,1448.4
$CURRENT,0.008,251.88,1
$GPS,270817,095921,7358.587,-15206.701,39,0.7,40,20.0,0.0,0.0,11,8.3