version: 66.13
glider: 196
mission: 14
dive: 186
start: 8 28 117 14 18 5
data:
$ID,196
$MISSION,14
$DIVE,186
$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,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,526.0
$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
$GPS1,280817,135420,7407.5703,-15240.9395,21,0.7,24,19.7,0.4,282.5,10,8.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.3
$GPS2,280817,141732,7407.6816,-15241.0635,6,0.7,35,19.7,0.2,333.8,11,7.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,283.0,42664,-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,-145.9,191,2211,501,478,0.0,0.0,0,141,0.00,0.00,-91.35,0.000,16386,0.000,0.000,190,2210,2156,2080,2232,0,0,0,0,0,0,14.50,28.83,14.52
$GC,144,-0.57,-145.9,191,2211,2084,2233,3.6,-4.7,9,200,12.65,2.78,-35.00,0.000,18724,0.456,2.147,2374,3602,3964,3947,3982,0,0,0,0,0,0,13.67,12.59,14.10
$GC,350,-0.69,-145.9,2374,3603,3953,3982,51.3,-14.5,49,355,0.00,2.40,0.00,0.000,1158,0.000,0.062,2374,2204,3966,3950,3983,0,0,0,0,0,0,14.20,14.05,14.20
$GC,661,-0.76,-145.9,2374,2203,3954,3984,96.8,-12.5,81,662,0.15,0.00,0.00,0.000,4230,0.141,0.000,2323,2202,3971,3953,3990,0,0,0,0,0,0,14.23,14.36,14.33
$GC,961,-0.79,-145.9,2324,2202,3954,3983,140.9,-13.7,93,965,0.00,2.47,0.00,0.000,388,0.000,0.090,2319,3607,3967,3953,3982,0,0,0,0,0,0,14.62,14.15,14.64
$GC,1056,-0.91,-145.9,2319,3607,3954,3983,152.2,-11.3,112,1062,0.00,2.38,0.00,0.000,1158,0.000,0.057,2319,2196,3967,3953,3982,0,0,0,0,0,0,14.39,14.26,14.42
$GC,1382,-0.97,-145.9,2319,2195,3954,3983,192.6,-12.0,127,1383,0.17,0.00,0.00,0.000,4230,0.115,0.000,2256,2195,3970,3959,3982,0,0,0,0,0,0,14.28,14.34,14.33
$GC,1682,-0.91,-145.9,2253,2196,3954,3984,243.6,-16.7,137,1687,0.12,2.47,0.00,0.000,2436,0.288,0.086,2273,3601,3968,3953,3983,0,0,0,0,0,0,14.00,14.19,14.13
$GC,1812,-1.01,-145.9,2273,3603,3954,3982,260.0,-11.7,163,1817,0.00,2.38,0.00,0.000,1158,0.000,0.057,2272,2202,3968,3953,3983,0,0,0,0,0,0,14.40,14.28,14.44
$GC,2132,-1.03,-145.9,2273,2202,3954,3983,299.6,-11.8,177,2137,0.00,2.47,0.00,0.000,388,0.000,0.090,2267,3603,3967,3953,3982,0,0,0,0,0,0,14.68,14.19,14.69
$GC,2213,-1.14,-145.9,2267,3604,3954,3984,308.2,-10.3,193,2218,0.17,2.38,0.00,0.000,5254,0.122,0.057,2203,2189,3967,3953,3982,0,0,0,0,0,0,14.31,14.28,14.42
$GC,2523,-1.04,-145.9,2204,2188,3954,3982,359.9,-16.7,205,2528,0.15,2.50,0.00,0.000,2436,0.311,0.085,2227,3604,3965,3948,3982,0,0,0,0,0,0,13.88,14.23,14.08
$GC,2646,-1.07,-145.9,2227,3604,3953,3982,376.2,-12.6,229,2650,0.00,2.38,0.00,0.000,1158,0.000,0.057,2227,2191,3967,3952,3982,0,0,0,0,0,0,14.40,14.28,14.43
$GC,2976,-1.03,-145.9,2227,2190,3954,3982,422.1,-13.8,245,2981,0.00,2.47,0.00,0.000,388,0.000,0.088,2225,3603,3966,3952,3981,0,0,0,0,0,0,14.69,14.22,14.70
$GC,3066,-1.06,-145.9,2223,3603,3953,3982,434.0,-12.6,263,3071,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2199,3966,3952,3981,0,0,0,0,0,0,14.40,14.28,14.45
$GC,3397,-1.02,-145.9,2223,2199,3953,3982,479.0,-13.6,279,3401,0.00,2.47,0.00,0.000,388,0.000,0.089,2220,3604,3966,3952,3981,0,0,0,0,0,0,14.68,14.20,14.71
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3412,-0.13,0.0,2223,2100,3953,3982,480.5,-13.6,281,3652,1.23,0.00,236.55,1.391,10246,0.255,0.000,2528,2098,3365,3385,3345,0,0,0,0,0,0,13.93,13.45,12.65
$STATE,3656,end apogee,CONTROL_FINISHED_OK
$STATE,3656,begin climb
$GC,3658,0.57,145.9,2528,2100,3376,3334,492.7,0.0,289,3884,0.75,2.65,216.12,1.334,10756,0.064,0.081,2781,700,2761,2801,2721,0,0,0,0,0,0,13.56,12.93,12.36
$GC,3924,0.20,145.9,2782,700,2794,2710,495.3,13.9,300,3932,0.65,2.60,0.00,0.000,5254,0.317,0.076,2651,2094,2750,2792,2708,0,0,0,0,0,0,13.06,13.32,13.37
$GC,4230,0.04,154.9,2651,2095,2793,2701,465.1,9.6,311,4240,0.20,2.58,1.73,0.220,12964,0.277,0.083,2603,693,2732,2776,2688,0,0,0,0,0,0,13.65,13.89,13.73
$GC,4275,0.09,216.8,2604,692,2782,2695,461.4,7.1,320,4387,0.00,2.50,106.00,1.357,9254,0.000,0.080,2610,2100,2480,2541,2419,0,0,0,0,0,0,14.10,13.98,12.84
$GC,4713,0.11,244.5,2604,2100,2523,2396,424.1,8.7,357,4758,0.00,2.55,38.55,1.401,8740,0.000,0.086,2604,696,2362,2417,2307,0,0,0,0,0,0,14.42,13.93,13.14
$GC,4800,0.22,279.7,2604,696,2409,2301,416.7,8.4,374,4859,0.15,2.47,53.58,1.357,11430,0.116,0.079,2667,2094,2225,2280,2170,0,0,0,0,0,0,14.04,13.98,13.03
$GC,5165,0.16,279.7,2668,2094,2260,2145,368.6,13.3,397,5170,0.12,2.45,0.00,0.000,4740,0.263,0.080,2647,693,2201,2258,2145,0,0,0,0,0,0,13.98,14.14,14.12
$GC,5195,0.16,279.7,2647,693,2258,2145,364.9,11.8,403,5200,0.00,2.47,0.00,0.000,1030,0.000,0.078,2647,2106,2201,2257,2145,0,0,0,0,0,0,14.30,14.16,14.33
$GC,5525,0.16,279.7,2647,2107,2257,2148,327.0,11.4,419,5530,0.00,2.47,0.00,0.000,516,0.000,0.086,2646,693,2203,2264,2142,0,0,0,0,0,0,14.64,14.24,14.66
$GC,5555,0.16,279.7,2647,694,2256,2144,323.7,11.0,425,5560,0.00,2.45,0.00,0.000,1030,0.000,0.078,2646,2101,2198,2255,2142,0,0,0,0,0,0,14.36,14.23,14.40
$GC,5885,0.16,279.7,2647,2101,2256,2142,287.9,10.6,441,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,2198,2255,2142,0,0,0,0,0,0,14.64,14.68,14.68
$GC,6185,0.17,292.7,2647,2104,2255,2142,258.6,9.4,451,6191,0.00,0.00,4.10,1.374,8230,0.000,0.000,2647,2101,2171,2224,2119,0,0,0,0,0,0,14.55,14.19,13.10
$GC,6485,0.20,330.1,2647,2101,2239,2130,232.8,8.3,461,6570,0.00,2.53,79.22,1.281,8740,0.000,0.083,2647,691,2015,2063,1967,0,0,0,0,0,0,14.51,13.72,13.16
$GC,6607,0.34,372.9,2648,691,2048,1963,223.0,8.0,485,6687,0.15,2.53,73.62,1.224,11430,0.118,0.079,2704,2101,1845,1877,1813,0,0,0,0,0,0,13.99,13.90,12.99
$GC,6997,0.34,372.9,2703,2102,1856,1792,178.9,11.0,513,7002,0.00,2.50,0.00,0.000,516,0.000,0.084,2712,688,1823,1855,1792,0,0,0,0,0,0,14.33,14.02,14.41
$GC,7077,0.38,372.9,2711,689,1852,1792,170.3,10.4,529,7082,0.00,2.47,0.00,0.000,1158,0.000,0.079,2712,2099,1821,1852,1791,0,0,0,0,0,0,14.19,14.07,14.23
$GC,7387,0.38,372.9,2713,2099,1853,1790,137.3,10.3,541,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2099,1820,1851,1790,0,0,0,0,0,0,14.46,14.48,14.48
$GC,7687,0.39,388.7,2712,2099,1852,1794,108.5,9.3,551,7712,0.00,2.55,17.10,1.336,8740,0.000,0.086,2712,694,1775,1803,1747,0,0,0,0,0,0,14.50,14.14,13.31
$GC,7794,0.49,420.0,2713,696,1792,1744,99.2,8.6,572,7821,0.00,2.50,17.08,0.480,9382,0.000,0.079,2712,2107,1649,1675,1624,0,0,0,0,0,0,14.13,14.02,13.57
$GC,8117,0.59,478.0,2712,2107,1689,1629,72.2,7.3,607,8158,0.15,0.00,34.05,0.409,10918,0.114,0.000,2784,2106,1413,1455,1372,0,0,0,0,0,0,14.14,14.06,13.66
$MODEM_MSG,CACST,6,1,20170828160356.926676,3,415,26,0251,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$MODEM_MSG,CACST,6,1,20170828161401.449934,3,1161,30,0117,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20170828161854.659100,3,4205,36,0113,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20170828162705.174799,3,47,16,0092,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$GC,8458,0.64,551.5,2785,2105,1461,1379,41.6,6.6,642,8506,0.00,2.53,41.78,0.320,8740,0.000,0.086,2788,691,1115,1178,1052,0,0,0,0,0,0,14.40,14.02,13.73
$GC,8628,0.81,617.8,2786,691,1181,1063,30.1,6.9,675,8678,0.17,2.50,40.58,0.283,11430,0.111,0.080,2858,2105,845,910,780,0,0,0,0,0,0,14.02,13.96,13.73
$STATE,8921,end climb,SURFACE_DEPTH_REACHED
$STATE,8921,begin surface coast
$FINISH,0.1,1.003234
$STATE,8943,end surface coast,CONTROL_FINISHED_OK
$STATE,8943,begin surface
$SM_CCo,8963,49.25,0.208,0,0,500,703.03
$SM_GC,1.32,7.95,0.17,49.25,0.060,0.126,0.208,204,2218,500,-7.36,-0.59,703.03,0,0,0,0,0,0,14.31,14.28,14.00
$RAFOS_CLK,141
$MODEM,4,1503937625,75.71700,-151.21500,124.425,180177.3
$MODEM,3,1503937134,74.30400,-153.94400,27.659,40052.6
$MODEM,2,1503936841,73.18300,-149.96500,94.450,136771.2
$MODEM,0,1503936236,75.36600,-145.04601,182.927,264892.8
$RAFOS_FIX,7407.576660,-15243.542969,280817,161659,4,255,0.18
$IRIDIUM_FIX,7406.10,-15240.45,280817,141108
$TT8_MAMPS,0.039697,0.942991
$HUMID,43.58
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,21
$CP_FREE,15987048448.000000
$PM_FREEKB_00,52394880
$24V_AH,12.36,132.218
$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,24.950,79.975,960.050,49.250,0.000,0.000,0.000,836.575,5.250,0.000,38.157,0.000,6662.861,877.334,2539.114,340.006,0.000,2557.743,0.000,1020.426,2213.000,0.539,0.000
$DEVICE_MAMPS,455.940,2146.590,1400.715,208.080,0.000,0.000,0.000,166.770,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8972.000,8960.000,8918.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.500,20.000,10.005,0.000
$MEM,323380
$DATA_FILE_SIZE,23428,711
$CAP_FILE_SIZE,110854,0
$CFSIZE,2097872896,2030567424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,179.59,0x2341e8,0,24
$SOUNDSPEED,1447.6
$CURRENT,0.026,243.20,1
$GPS,280817,164924,7408.575,-15244.586,17,0.7,20,19.7,0.0,0.0,12,9.1