version: 66.13
glider: 196
mission: 14
dive: 184
start: 8 28 117 8 45 10
data:
$ID,196
$MISSION,14
$DIVE,184
$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,27
$R_STBD_OVSHOOT,21
$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,520.0
$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
$GPS1,280817,082120,7405.9692,-15234.4307,42,0.8,42,19.8,0.0,0.0,9,8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.5
$GPS2,280817,084435,7405.9790,-15234.5498,9,0.8,13,19.8,0.0,0.0,9,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,285.6,47020,-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,45,begin dive
$MODEM_MSG,CACST,6,1,20170828080356.230146,3,1541,31,0770,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170828081357.191377,3,2219,33,0103,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170828082708.707731,3,5,00,0125,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$GC,48,-0.57,-145.9,195,2208,503,493,0.0,0.0,0,142,0.00,0.00,-91.10,0.000,16386,0.000,0.000,194,2209,2175,2100,2251,0,0,0,0,0,0,14.35,28.83,14.37
$GC,145,-0.57,-145.9,195,2207,2110,2251,4.0,-5.6,9,198,12.57,2.78,-33.17,0.000,18724,0.451,2.141,2376,3613,3964,3947,3982,0,0,0,0,0,0,13.61,12.55,14.09
$GC,398,-0.70,-145.9,2376,3613,3953,3982,57.5,-14.2,59,403,0.00,2.40,0.00,0.000,1158,0.000,0.057,2375,2196,3967,3952,3982,0,0,0,0,0,0,14.26,14.14,14.29
$GC,708,-0.78,-145.9,2376,2196,3954,3982,101.0,-11.6,91,714,0.15,2.42,0.00,0.000,4740,0.138,0.081,2323,792,3969,3952,3986,0,0,0,0,0,0,14.26,14.20,14.36
$GC,749,-0.82,-145.9,2323,793,3954,3983,106.7,-14.5,99,754,0.00,2.47,0.00,0.000,1158,0.000,0.090,2323,2198,3967,3953,3982,0,0,0,0,0,0,14.18,14.04,14.21
$GC,1069,-0.85,-145.9,2323,2199,3954,3983,152.0,-13.5,113,1074,0.00,2.50,0.00,0.000,388,0.000,0.093,2319,3617,3967,3953,3982,0,0,0,0,0,0,14.62,14.15,14.64
$GC,1186,-0.98,-145.9,2320,3618,3954,3982,165.3,-11.1,136,1193,0.17,2.40,0.00,0.000,5254,0.110,0.057,2249,2199,3967,3953,3982,0,0,0,0,0,0,14.28,14.23,14.38
$GC,1489,-0.90,-145.9,2250,2199,3954,3982,222.2,-18.3,147,1494,0.12,2.47,0.00,0.000,2436,0.296,0.086,2268,3614,3967,3953,3982,0,0,0,0,0,0,13.97,14.18,14.17
$GC,1591,-0.97,-145.9,2269,3614,3954,3982,236.6,-12.9,167,1596,0.00,2.40,0.00,0.000,1158,0.000,0.058,2268,2196,3967,3952,3982,0,0,0,0,0,0,14.40,14.26,14.43
$GC,1912,-0.97,-145.9,2268,2199,3953,3984,280.8,-13.1,181,1917,0.00,2.45,0.00,0.000,260,0.000,0.089,2261,3618,3967,3953,3982,0,0,0,0,0,0,14.66,14.22,14.69
$GC,1982,-1.05,-145.9,2262,3619,3954,3982,289.4,-11.5,195,1987,0.00,2.40,0.00,0.000,1158,0.000,0.057,2261,2193,3967,3953,3982,0,0,0,0,0,0,14.40,14.28,14.45
$GC,2302,-1.07,-145.9,2261,2192,3953,3982,328.2,-12.0,209,2307,0.00,2.50,0.00,0.000,388,0.000,0.090,2253,3617,3967,3953,3982,0,0,0,0,0,0,14.67,14.22,14.69
$GC,2357,-1.15,-145.9,2253,3620,3954,3983,334.7,-11.2,220,2364,0.15,2.40,0.00,0.000,5254,0.126,0.057,2196,2190,3967,3953,3982,0,0,0,0,0,0,14.27,14.24,14.38
$GC,2662,-1.05,-145.9,2196,2189,3954,3982,386.7,-17.2,231,2667,0.17,2.50,0.00,0.000,2436,0.305,0.086,2227,3616,3967,3953,3982,0,0,0,0,0,0,13.90,14.23,14.10
$GC,2792,-1.08,-145.9,2226,3618,3957,3982,404.0,-12.4,257,2797,0.00,2.38,0.00,0.000,1158,0.000,0.056,2227,2198,3967,3952,3982,0,0,0,0,0,0,14.43,14.28,14.43
$GC,3113,-1.05,-145.9,2227,2197,3953,3982,447.3,-13.5,271,3117,0.00,2.47,0.00,0.000,388,0.000,0.089,2222,3613,3967,3952,3982,0,0,0,0,0,0,14.68,14.21,14.70
$GC,3213,-1.08,-145.9,2223,3614,3952,3983,460.3,-12.5,291,3217,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2196,3966,3951,3982,0,0,0,0,0,0,14.40,14.28,14.44
$STATE,3380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3380,begin apogee
$GC,3386,-0.13,0.0,2223,2066,3952,3982,483.8,-13.9,300,3614,1.23,0.08,224.27,1.431,10246,0.248,0.183,2532,2111,3363,3384,3343,0,0,0,0,0,0,13.89,13.40,12.68
$STATE,3618,end apogee,CONTROL_FINISHED_OK
$STATE,3618,begin climb
$GC,3622,0.57,145.9,2533,2112,3376,3333,494.9,0.0,307,4136,0.73,2.67,210.05,1.371,11012,0.064,0.081,2785,732,2750,2791,2709,0,0,0,0,0,0,13.58,12.94,12.34
$GC,4147,0.57,145.9,2782,731,2792,2710,460.4,7.6,310,4152,0.00,2.42,0.00,0.000,1030,0.000,0.076,2781,2093,2750,2791,2709,0,0,0,0,0,0,13.93,13.80,13.95
$GC,4462,0.17,145.9,2782,2094,2790,2705,411.4,15.2,323,4464,0.62,0.00,0.00,0.000,4230,0.308,0.000,2643,2094,2747,2789,2705,0,0,0,0,0,0,13.81,14.26,14.19
$GC,4762,0.05,174.4,2642,2095,2789,2705,384.1,8.7,333,4808,0.17,0.00,39.12,1.426,12966,0.278,0.000,2610,2094,2648,2694,2602,0,0,0,0,0,0,14.02,14.08,13.26
$GC,5125,0.06,224.5,2603,2094,2690,2588,356.4,7.7,350,5208,0.00,2.45,78.40,1.347,8868,0.000,0.083,2603,726,2444,2501,2388,0,0,0,0,0,0,14.57,13.73,13.14
$GC,5249,0.17,269.0,2602,726,2492,2381,346.5,7.9,375,5324,0.00,2.45,70.78,1.306,9382,0.000,0.079,2603,2104,2269,2326,2213,0,0,0,0,0,0,14.05,13.94,12.97
$GC,5634,0.27,316.1,2602,2105,2310,2188,315.7,7.8,402,5716,0.17,2.47,73.88,1.294,10916,0.106,0.089,2685,732,2068,2119,2018,0,0,0,0,0,0,14.18,13.85,13.12
$GC,5732,0.22,316.1,2685,732,2109,2019,303.4,13.2,416,5738,0.00,2.45,0.00,0.000,1158,0.000,0.080,2684,2107,2061,2108,2014,0,0,0,0,0,0,14.01,13.88,14.04
$GC,6059,0.17,316.1,2685,2109,2107,2006,259.4,12.8,431,6064,0.17,2.42,0.00,0.000,4740,0.244,0.083,2647,729,2055,2106,2004,0,0,0,0,0,0,13.97,14.18,14.14
$GC,6151,0.28,338.9,2647,728,2103,2004,250.7,8.9,449,6190,0.00,2.38,32.08,1.343,9382,0.000,0.080,2647,2100,1981,2031,1931,0,0,0,0,0,0,14.33,14.22,13.31
$GC,6512,0.37,373.5,2647,2100,2022,1917,219.1,8.4,471,6576,0.12,2.50,59.17,1.291,10916,0.131,0.086,2709,730,1838,1872,1805,0,0,0,0,0,0,14.31,13.98,13.25
$GC,6603,0.37,373.5,2710,731,1858,1802,208.6,11.8,489,6608,0.00,2.42,0.00,0.000,1030,0.000,0.078,2710,2105,1829,1857,1801,0,0,0,0,0,0,14.14,14.03,14.18
$GC,6933,0.37,373.5,2711,2105,1857,1791,170.5,11.1,505,6938,0.00,2.42,0.00,0.000,516,0.000,0.086,2712,725,1823,1856,1791,0,0,0,0,0,0,14.54,14.21,14.57
$GC,6998,0.41,373.5,2713,725,1853,1787,163.6,10.2,518,7003,0.00,2.40,0.00,0.000,1158,0.000,0.078,2712,2100,1821,1852,1791,0,0,0,0,0,0,14.36,14.23,14.40
$GC,7323,0.41,373.5,2711,2101,1853,1791,129.9,10.1,533,7328,0.00,2.40,0.00,0.000,516,0.000,0.086,2712,726,1819,1852,1786,0,0,0,0,0,0,14.62,14.26,14.64
$GC,7354,0.46,391.1,2712,726,1852,1790,126.9,9.2,539,7386,0.00,2.38,22.58,1.357,9382,0.000,0.078,2712,2099,1764,1794,1735,0,0,0,0,0,0,14.38,14.25,13.35
$GC,7686,0.50,415.3,2713,2099,1787,1725,96.1,8.9,557,7707,0.00,2.45,11.73,0.470,8868,0.000,0.084,2712,730,1672,1702,1642,0,0,0,0,0,0,14.56,14.06,13.69
$GC,7752,0.63,449.2,2713,731,1708,1647,90.1,8.4,570,7780,0.22,2.40,19.67,0.467,11430,0.093,0.079,2794,2106,1532,1560,1504,0,0,0,0,0,0,14.13,14.07,13.59
$GC,8077,0.60,489.1,2795,2107,1570,1505,52.9,8.2,605,8104,0.00,2.42,22.17,0.356,8868,0.000,0.083,2795,726,1368,1410,1326,0,0,0,0,0,0,14.55,13.97,13.71
$GC,8206,0.67,556.2,2795,726,1414,1330,43.7,6.9,630,8249,0.00,2.40,36.33,0.329,9382,0.000,0.077,2795,2103,1094,1159,1030,0,0,0,0,0,0,14.25,14.12,13.72
$GC,8554,0.87,668.4,2795,2103,1160,1036,18.2,4.8,669,8616,0.20,0.00,59.88,0.260,10662,0.105,0.000,2876,2103,640,689,591,0,0,0,0,0,0,14.16,14.07,13.78
$STATE,8732,end climb,SURFACE_DEPTH_REACHED
$STATE,8732,begin surface coast
$FINISH,0.3,1.021109
$STATE,8752,end surface coast,CONTROL_FINISHED_OK
$STATE,8752,begin surface
$SM_CCo,8772,18.95,0.214,0,0,503,703.03
$SM_GC,0.91,8.05,0.17,18.95,0.064,0.132,0.214,202,2208,503,-7.37,-0.68,703.03,0,0,0,0,0,0,14.31,14.27,14.00
$RAFOS_CLK,390
$MODEM,4,1503908828,75.71700,-151.21500,127.958,185309.4
$MODEM,2,1503908037,73.18300,-149.96500,90.191,130615.9
$MODEM,0,1503907436,75.36600,-145.04601,182.230,263907.2
$RAFOS_FIX,7404.822266,-15233.298828,280817,080800,3,255,0.00
$IRIDIUM_FIX,7407.05,-15247.43,280817,083824
$TT8_MAMPS,0.038948,0.922768
$HUMID,46.37
$INTERNAL_PRESSURE,7.72292
$TCM_TEMP,13.10
$XPDR_PINGS,19
$CP_FREE,15987572736.000000
$PM_FREEKB_00,52472128
$24V_AH,12.34,131.214
$10V_AH,12.21,0.000
$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,25.050,83.650,960.100,18.950,0.000,0.000,0.000,860.900,4.750,0.000,13.542,0.000,6216.915,862.856,2776.896,344.233,0.000,2839.745,0.000,990.538,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2141.235,1430.550,214.200,0.000,0.000,0.000,172.890,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8781.000,8761.000,8726.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.536,20.000,9.981,0.000
$MEM,323272
$DATA_FILE_SIZE,23445,690
$CAP_FILE_SIZE,108509,0
$CFSIZE,2097872896,2031190016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1446.5
$CURRENT,0.029,180.62,1
$GPS,280817,111302,7406.758,-15237.556,35,0.8,35,19.7,0.0,0.0,10,10.0