version: 66.13
glider: 196
mission: 14
dive: 185
start: 8 28 117 11 24 29
data:
$ID,196
$MISSION,14
$DIVE,185
$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,62
$R_STBD_OVSHOOT,28
$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,524.0
$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
$GPS1,280817,111302,7406.7578,-15237.5557,35,0.8,35,19.7,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.6
$GPS2,280817,112355,7406.7871,-15237.7080,8,0.8,11,19.7,0.0,317.7,10,8.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,283.9,44919,-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,-145.9,196,2212,510,492,0.0,0.0,0,140,0.00,0.00,-91.32,0.000,16386,0.000,0.000,195,2211,2172,2099,2245,0,0,0,0,0,0,14.50,28.83,14.50
$GC,143,-0.57,-145.9,195,2211,2102,2247,3.9,-5.0,9,196,12.62,2.75,-34.20,0.000,18724,0.454,2.143,2376,3600,3965,3950,3981,0,0,0,0,0,0,13.65,12.86,14.14
$GC,422,-0.69,-145.9,2378,3601,3951,3981,60.0,-13.5,64,429,0.00,2.33,0.00,0.000,1158,0.000,0.058,2377,2238,3965,3950,3981,0,0,0,0,0,0,14.28,14.16,14.31
$GC,727,-0.77,-145.9,2377,2237,3951,3982,100.6,-11.5,95,728,0.15,0.00,0.00,0.000,4230,0.131,0.000,2324,2236,3966,3951,3981,0,0,0,0,0,0,14.12,14.25,14.21
$GC,1027,-0.80,-145.9,2325,2235,3952,3981,142.9,-13.3,105,1032,0.00,2.42,0.00,0.000,388,0.000,0.089,2319,3609,3966,3951,3981,0,0,0,0,0,0,14.63,14.15,14.64
$GC,1102,-0.93,-145.9,2320,3609,3952,3981,151.9,-11.5,120,1108,0.12,2.40,0.00,0.000,5254,0.131,0.057,2268,2190,3965,3950,3981,0,0,0,0,0,0,14.26,14.21,14.35
$GC,1419,-0.89,-145.9,2268,2190,3949,3981,206.5,-16.9,133,1423,0.00,2.47,0.00,0.000,388,0.000,0.086,2258,3601,3965,3950,3981,0,0,0,0,0,0,14.64,14.16,14.66
$GC,1509,-0.92,-145.9,2258,3602,3951,3982,220.1,-14.2,151,1513,0.00,2.38,0.00,0.000,1158,0.000,0.057,2258,2198,3965,3950,3981,0,0,0,0,0,0,14.35,14.23,14.38
$GC,1839,-0.89,-145.9,2258,2196,3951,3980,271.4,-15.0,167,1844,0.12,2.47,0.00,0.000,2436,0.303,0.085,2280,3607,3965,3950,3980,0,0,0,0,0,0,13.95,14.21,14.11
$GC,1914,-1.00,-145.9,2280,3609,3951,3982,280.5,-10.9,182,1919,0.00,2.38,0.00,0.000,1158,0.000,0.056,2279,2191,3965,3950,3981,0,0,0,0,0,0,14.31,14.25,14.34
$GC,2231,-1.05,-145.9,2280,2194,3952,3980,315.3,-10.6,195,2236,0.12,2.50,0.00,0.000,4484,0.142,0.086,2222,3601,3965,3950,3981,0,0,0,0,0,0,14.19,14.09,14.25
$GC,2321,-1.05,-145.9,2223,3603,3951,3980,328.0,-14.1,213,2326,0.00,2.38,0.00,0.000,1030,0.000,0.057,2223,2199,3965,3950,3980,0,0,0,0,0,0,14.30,14.15,14.30
$GC,2651,-1.00,-145.9,2223,2198,3951,3980,377.7,-15.0,229,2656,0.12,2.50,0.00,0.000,2436,0.303,0.086,2241,3607,3965,3950,3980,0,0,0,0,0,0,13.84,14.07,14.00
$GC,2758,-1.07,-145.9,2241,3608,3952,3980,390.6,-11.0,250,2763,0.00,2.40,0.00,0.000,1158,0.000,0.057,2241,2201,3964,3950,3979,0,0,0,0,0,0,14.21,14.11,14.26
$GC,3073,-1.07,-145.9,2241,2200,3951,3978,430.2,-12.5,263,3078,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3606,3962,3949,3976,0,0,0,0,0,0,14.45,14.04,14.47
$GC,3153,-1.14,-145.9,2235,3608,3951,3979,439.9,-11.6,279,3158,0.00,2.42,0.00,0.000,1158,0.000,0.057,2237,2189,3964,3950,3979,0,0,0,0,0,0,14.22,14.09,14.25
$GC,3463,-1.14,-145.9,2236,2188,3950,3978,478.9,-12.6,291,3468,0.00,2.53,0.00,0.000,260,0.000,0.090,2236,3607,3963,3949,3978,0,0,0,0,0,0,14.45,14.04,14.47
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3478,-0.13,0.0,2237,2096,3951,3979,480.1,-12.5,293,3715,1.17,0.00,227.60,1.422,10246,0.245,0.000,2529,2094,3356,3382,3330,0,0,0,0,0,0,13.77,13.35,12.57
$STATE,3718,end apogee,CONTROL_FINISHED_OK
$STATE,3718,begin climb
$GC,3721,0.57,145.9,2530,2094,3380,3328,492.7,0.0,301,3941,0.75,2.72,207.77,1.377,11012,0.063,0.075,2778,3500,2760,2806,2715,0,0,0,0,0,0,13.45,13.08,12.32
$GC,4078,0.12,145.9,2778,3501,2789,2713,478.4,16.9,367,4083,0.82,2.53,0.00,0.000,5254,0.351,0.056,2627,2092,2750,2788,2712,0,0,0,0,0,0,13.07,13.51,13.51
$MODEM_MSG,CACST,6,1,20170828120355.680786,3,393,25,0220,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C
$MODEM_MSG,CACST,6,1,20170828121357.481826,3,188,22,0197,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00
$MODEM_MSG,CACST,6,1,20170828121855.782908,3,3142,34,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$GC,4409,0.03,178.2,2628,2091,2790,2709,448.3,8.5,383,4461,0.12,2.47,45.28,1.426,12964,0.293,0.083,2602,689,2633,2683,2583,0,0,0,0,0,0,13.72,13.62,13.01
$GC,4496,0.08,224.6,2602,686,2677,2576,441.7,7.9,400,4574,0.00,2.53,68.47,1.388,9382,0.000,0.080,2602,2096,2444,2509,2380,0,0,0,0,0,0,13.90,13.80,12.81
$GC,4895,0.10,251.7,2603,2096,2495,2362,407.1,8.7,429,4935,0.00,0.00,39.35,1.418,8230,0.000,0.000,2602,2096,2338,2397,2279,0,0,0,0,0,0,14.39,13.91,13.11
$GC,5225,0.15,276.1,2602,2097,2381,2261,377.9,8.9,440,5265,0.00,2.55,35.88,1.420,8868,0.000,0.086,2602,694,2236,2294,2178,0,0,0,0,0,0,14.51,14.04,13.22
$GC,5312,0.30,308.8,2603,693,2281,2173,370.4,8.5,457,5371,0.22,2.47,51.08,1.368,11430,0.092,0.080,2689,2101,2102,2156,2048,0,0,0,0,0,0,14.17,14.05,13.09
$GC,5677,0.22,308.8,2689,2101,2143,2034,316.9,14.6,480,5678,0.15,0.00,0.00,0.000,4230,0.237,0.000,2657,2101,2087,2143,2032,0,0,0,0,0,0,13.98,14.29,14.24
$GC,5977,0.22,308.8,2658,2101,2142,2029,281.8,11.3,490,5981,0.00,2.47,0.00,0.000,516,0.000,0.089,2658,693,2085,2141,2030,0,0,0,0,0,0,14.62,14.16,14.64
$GC,6042,0.27,308.8,2660,693,2141,2030,275.0,10.1,503,6047,0.00,2.45,0.00,0.000,1158,0.000,0.080,2659,2105,2084,2139,2030,0,0,0,0,0,0,14.40,14.27,14.45
$GC,6367,0.28,312.1,2661,2104,2139,2030,241.7,9.8,518,6372,0.00,2.47,0.00,0.000,548,0.000,0.086,2659,693,2084,2139,2029,0,0,0,0,0,0,14.66,14.24,14.67
$GC,6412,0.34,326.0,2660,693,2138,2031,237.5,9.4,527,6443,0.00,2.45,22.62,1.435,9382,0.000,0.080,2659,2105,2030,2082,1978,0,0,0,0,0,0,14.42,14.28,13.36
$GC,6760,0.40,356.8,2659,2105,2075,1970,206.5,8.6,546,6820,0.12,2.50,52.95,1.326,10916,0.133,0.084,2725,691,1906,1945,1867,0,0,0,0,0,0,14.33,13.83,13.26
$GC,6880,0.38,356.8,2725,692,1932,1866,191.9,12.0,570,6886,0.00,2.50,0.00,0.000,1158,0.000,0.078,2725,2102,1897,1930,1864,0,0,0,0,0,0,14.19,14.09,14.20
$GC,7211,0.32,356.8,2726,2103,1930,1860,151.7,11.8,586,7216,0.12,2.47,0.00,0.000,4740,0.245,0.083,2699,687,1894,1929,1859,0,0,0,0,0,0,14.05,14.18,14.19
$GC,7256,0.40,374.0,2699,687,1928,1859,147.2,9.2,595,7287,0.00,2.47,24.83,1.375,9382,0.000,0.079,2699,2110,1839,1871,1808,0,0,0,0,0,0,14.36,14.23,13.31
$GC,7604,0.44,398.8,2699,2111,1861,1792,115.5,8.9,614,7648,0.00,2.50,38.38,1.304,8868,0.000,0.085,2699,694,1736,1765,1707,0,0,0,0,0,0,14.57,13.85,13.27
$GC,7715,0.58,440.2,2700,694,1752,1704,106.1,8.1,636,7795,0.20,2.47,72.93,1.204,11430,0.099,0.079,2779,2107,1568,1602,1534,0,0,0,0,0,0,14.21,14.12,13.14
$GC,8093,0.53,444.0,2780,2107,1599,1510,59.6,9.8,682,8098,0.00,2.50,0.00,0.000,676,0.000,0.086,2781,691,1554,1599,1509,0,0,0,0,0,0,14.45,14.10,14.47
$GC,8220,0.61,519.5,2781,691,1595,1510,49.6,6.5,707,8268,0.00,2.47,39.62,0.348,9382,0.000,0.079,2781,2105,1244,1304,1184,0,0,0,0,0,0,14.29,14.17,13.76
$GC,8563,0.73,592.6,2781,2106,1305,1190,25.9,6.6,746,8607,0.00,2.58,38.72,0.287,8868,0.000,0.086,2781,688,949,1022,876,0,0,0,0,0,0,14.54,14.09,13.87
$GC,8694,1.00,704.7,2782,686,1025,883,18.0,4.8,771,8758,0.38,2.47,59.45,0.259,11430,0.082,0.077,2912,2102,499,519,480,0,0,0,0,0,0,14.08,14.15,13.90
$STATE,8832,end climb,SURFACE_DEPTH_REACHED
$STATE,8833,begin surface coast
$FINISH,0.4,1.021088
$STATE,8841,end surface coast,CONTROL_FINISHED_OK
$STATE,8841,begin surface
$SM_CCo,8922,0.00,0.000,0,0,495,704.01
$SM_GC,1.36,8.25,0.17,0.00,0.071,0.133,0.000,204,2207,495,-7.36,-0.71,704.01,0,0,0,0,0,0,14.29,14.23,14.37
$RAFOS_CLK,306
$MODEM,3,1503922735,74.30400,-153.94400,28.783,41635.8
$MODEM,2,1503922437,73.18300,-149.96500,90.482,130886.1
$MODEM,0,1503921835,75.36600,-145.04601,181.681,262809.7
$RAFOS_FIX,7405.907715,-15239.416992,280817,121215,3,255,0.64
$IRIDIUM_FIX,7406.99,-15229.86,280817,084402
$TT8_MAMPS,0.038948,0.983437
$HUMID,46.14
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,9
$CP_FREE,15987310592.000000
$PM_FREEKB_00,52434496
$24V_AH,12.32,131.718
$10V_AH,12.29,0.000
$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,25.600,89.700,1024.925,0.000,0.000,0.000,0.000,372.350,2.250,0.000,12.566,0.000,6249.816,994.598,2048.993,296.704,0.000,2137.438,0.000,1134.589,2215.000,0.539,0.000
$DEVICE_MAMPS,453.645,2142.765,1435.140,0.000,0.000,0.000,0.000,184.365,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8872.000,8869.000,8818.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.347,20.000,10.044,0.000
$MEM,323548
$DATA_FILE_SIZE,26700,792
$CAP_FILE_SIZE,106690,0
$CFSIZE,2097872896,2030895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.1
$CURRENT,0.026,198.82,1
$GPS,280817,135420,7407.570,-15240.939,21,0.7,24,19.7,0.4,282.5,10,8.6