version: 66.13
glider: 196
mission: 14
dive: 188
start: 8 28 117 20 4 31
data:
$ID,196
$MISSION,14
$DIVE,188
$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,28
$R_STBD_OVSHOOT,56
$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,531.0
$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
$GPS1,280817,194634,7409.5127,-15247.8672,30,0.8,31,19.7,0.7,292.1,10,7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.2
$GPS2,280817,200400,7409.6025,-15248.0605,9,0.8,13,19.7,0.0,115.2,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,277.6,37961,-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,-145.9,190,2197,493,490,0.0,0.0,0,138,0.00,0.00,-88.53,0.000,16386,0.000,0.000,195,2197,2088,2013,2164,0,0,0,0,0,0,14.47,28.83,14.49
$GC,141,-0.57,-145.9,190,2194,2015,2165,3.8,-5.3,9,203,13.12,2.78,-39.67,0.000,18724,0.465,2.139,2374,3569,3960,3941,3979,0,0,0,0,0,0,13.59,12.62,14.04
$GC,423,-0.69,-145.9,2375,3571,3948,3981,57.3,-13.9,65,428,0.00,2.35,0.00,0.000,1158,0.000,0.061,2375,2205,3964,3948,3980,0,0,0,0,0,0,14.17,14.05,14.21
$GC,733,-0.77,-145.9,2376,2204,3950,3980,98.5,-11.1,97,738,0.12,2.50,0.00,0.000,4740,0.147,0.080,2326,781,3963,3948,3978,0,0,0,0,0,0,14.05,14.04,14.12
$GC,764,-0.81,-145.9,2327,781,3949,3980,102.5,-14.2,103,768,0.00,2.47,0.00,0.000,1158,0.000,0.088,2326,2165,3964,3949,3979,0,0,0,0,0,0,14.15,14.02,14.22
$GC,1094,-0.85,-145.9,2327,2165,3950,3979,147.9,-13.1,119,1098,0.00,2.58,0.00,0.000,388,0.000,0.091,2319,3613,3963,3949,3978,0,0,0,0,0,0,14.48,14.02,14.45
$GC,1244,-0.99,-145.9,2320,3614,3947,3980,164.6,-10.6,149,1249,0.20,2.42,0.00,0.000,5254,0.098,0.055,2243,2189,3964,3949,3979,0,0,0,0,0,0,14.15,14.09,14.23
$GC,1574,-0.91,-145.9,2243,2190,3949,3980,226.7,-18.4,165,1579,0.15,2.53,0.00,0.000,2436,0.289,0.083,2267,3616,3962,3945,3980,0,0,0,0,0,0,13.81,14.08,14.00
$GC,1699,-1.00,-145.9,2268,3617,3949,3980,244.2,-12.3,190,1704,0.00,2.42,0.00,0.000,1158,0.000,0.057,2267,2200,3963,3948,3979,0,0,0,0,0,0,14.24,14.12,14.26
$MODEM_MSG,CACST,6,1,20170828201404.165482,3,730,28,0528,0150,250,00,00,00,00,-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,6,1,20170828201852.634679,3,9143,39,0449,0150,250,00,00,00,00,-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,6,1,20170828202705.071844,3,5155,37,0824,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,2025,-1.00,-145.9,2268,2198,3950,3979,287.1,-12.8,205,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2198,3964,3949,3979,0,0,0,0,0,0,14.45,14.47,14.47
$GC,2325,-1.03,-145.9,2268,2198,3950,3979,321.7,-11.1,215,2329,0.00,2.53,0.00,0.000,388,0.000,0.090,2270,3620,3964,3949,3979,0,0,0,0,0,0,14.52,14.11,14.57
$GC,2415,-1.13,-145.9,2266,3621,3949,3980,330.9,-10.0,233,2420,0.17,2.42,0.00,0.000,5254,0.118,0.056,2202,2195,3963,3947,3979,0,0,0,0,0,0,14.21,14.19,14.31
$GC,2745,-1.04,-145.9,2202,2193,3949,3977,385.6,-16.7,249,2750,0.15,2.50,0.00,0.000,2436,0.296,0.086,2225,3615,3962,3948,3977,0,0,0,0,0,0,13.91,14.20,14.09
$GC,2862,-1.08,-145.9,2226,3617,3950,3977,401.3,-12.7,272,2869,0.00,2.40,0.00,0.000,1158,0.000,0.057,2226,2197,3963,3949,3977,0,0,0,0,0,0,14.33,14.21,14.36
$GC,3166,-1.05,-145.9,2226,2196,3950,3977,443.6,-13.8,283,3170,0.00,2.50,0.00,0.000,388,0.000,0.089,2222,3620,3962,3948,3977,0,0,0,0,0,0,14.66,14.21,14.67
$GC,3241,-1.07,-145.9,2223,3621,3949,3978,453.5,-12.7,298,3245,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2196,3962,3948,3977,0,0,0,0,0,0,14.40,14.28,14.42
$STATE,3433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3433,begin apogee
$GC,3439,-0.13,0.0,2223,2064,3950,3976,480.0,-13.7,307,3659,1.23,0.08,216.62,1.447,10246,0.249,0.183,2530,2110,3364,3389,3340,0,0,0,0,0,0,13.95,13.43,12.68
$STATE,3663,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3667,0.57,145.9,2531,2111,3382,3334,490.8,0.0,314,3890,0.75,1.85,208.60,1.393,10756,0.064,0.078,2792,729,2762,2805,2719,0,0,0,0,0,0,13.59,13.12,12.35
$GC,4040,0.18,145.9,2793,730,2800,2717,477.5,15.0,346,4045,0.70,2.47,0.00,0.000,5254,0.325,0.075,2647,2094,2756,2796,2716,0,0,0,0,0,0,13.30,13.63,13.66
$GC,4361,0.04,162.8,2647,2095,2798,2711,446.7,9.2,360,4383,0.22,0.00,21.08,1.545,12454,0.275,0.000,2597,2095,2701,2746,2656,0,0,0,0,0,0,13.82,13.97,13.11
$GC,4661,0.05,221.5,2597,2096,2740,2645,424.7,7.3,370,4757,0.00,2.50,88.05,1.407,8868,0.000,0.083,2602,730,2456,2516,2396,0,0,0,0,0,0,14.56,13.81,13.04
$GC,4792,0.13,255.0,2603,729,2512,2395,414.3,8.5,396,4848,0.00,2.45,49.50,1.409,9382,0.000,0.078,2602,2099,2320,2376,2264,0,0,0,0,0,0,13.97,13.78,12.90
$GC,5173,0.19,284.2,2602,2100,2372,2251,381.1,8.7,422,5219,0.12,0.00,42.75,1.431,10406,0.131,0.000,2661,2103,2213,2268,2159,0,0,0,0,0,0,14.23,13.95,13.14
$GC,5504,0.15,284.2,2661,2101,2251,2137,340.2,12.5,433,5509,0.12,2.40,0.00,0.000,4740,0.263,0.081,2638,729,2193,2250,2136,0,0,0,0,0,0,14.03,14.19,14.18
$GC,5559,0.20,284.2,2640,726,2248,2138,334.2,10.7,444,5566,0.00,2.40,0.00,0.000,1158,0.000,0.079,2634,2109,2195,2254,2137,0,0,0,0,0,0,14.31,14.19,14.35
$GC,5864,0.20,284.2,2638,2109,2248,2135,301.4,10.6,455,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2109,2191,2247,2136,0,0,0,0,0,0,14.62,14.65,14.66
$GC,6164,0.20,287.5,2638,2110,2247,2135,271.0,9.8,465,6169,0.00,2.40,0.00,0.000,548,0.000,0.083,2644,729,2189,2245,2134,0,0,0,0,0,0,14.67,14.28,14.69
$GC,6276,0.27,305.9,2645,729,2246,2134,260.8,9.2,487,6315,0.00,2.38,31.23,1.427,9382,0.000,0.081,2643,2102,2115,2168,2062,0,0,0,0,0,0,14.43,14.29,13.34
$GC,6616,0.33,348.4,2645,2105,2164,2054,231.6,8.0,505,6690,0.15,0.00,71.97,1.323,10406,0.115,0.000,2705,2105,1947,1990,1904,0,0,0,0,0,0,14.32,13.96,13.20
$GC,6974,0.29,348.4,2706,2105,1981,1884,188.8,11.7,517,6979,0.12,2.42,0.00,0.000,4740,0.244,0.085,2676,731,1931,1980,1883,0,0,0,0,0,0,13.90,14.09,14.02
$GC,7040,0.41,387.7,2676,731,1978,1884,182.9,8.2,530,7110,0.12,2.38,64.53,1.291,11430,0.135,0.080,2727,2101,1783,1814,1753,0,0,0,0,0,0,14.24,14.19,13.22
$GC,7425,0.38,387.7,2727,2102,1806,1739,136.1,11.8,557,7430,0.00,2.42,0.00,0.000,644,0.000,0.086,2729,722,1771,1805,1738,0,0,0,0,0,0,14.56,14.18,14.54
$GC,7495,0.42,387.7,2730,723,1801,1744,128.2,10.9,571,7500,0.00,2.42,0.00,0.000,1158,0.000,0.078,2729,2107,1769,1802,1737,0,0,0,0,0,0,14.35,14.22,14.38
$GC,7805,0.42,387.7,2729,2108,1803,1736,95.2,10.1,586,7811,0.00,2.42,0.00,0.000,516,0.000,0.085,2729,727,1769,1802,1736,0,0,0,0,0,0,14.60,14.20,14.62
$GC,7851,0.48,406.3,2730,728,1800,1737,91.0,9.1,595,7868,0.00,2.40,9.02,0.470,9382,0.000,0.078,2729,2103,1709,1739,1680,0,0,0,0,0,0,14.39,14.22,13.64
$GC,8166,0.55,468.9,2730,2104,1742,1680,63.7,7.1,628,8208,0.00,2.42,34.80,0.392,8868,0.000,0.083,2729,719,1452,1491,1414,0,0,0,0,0,0,14.60,14.16,13.78
$GC,8270,0.74,548.5,2730,723,1492,1414,57.1,6.3,648,8324,0.28,2.42,44.45,0.368,11430,0.091,0.078,2832,2108,1128,1199,1058,0,0,0,0,0,0,14.21,14.12,13.69
$GC,8619,0.75,565.7,2832,2109,1193,1050,19.5,9.2,688,8632,0.00,2.50,9.05,0.272,8740,0.000,0.084,2838,731,1055,1127,984,0,0,0,0,0,0,14.54,14.17,13.84
$GC,8703,0.85,625.5,2839,730,1128,986,13.4,7.2,704,8745,0.00,2.40,33.78,0.243,9382,0.000,0.077,2838,2109,811,880,742,0,0,0,0,0,0,14.20,14.07,13.80
$STATE,8850,end climb,SURFACE_DEPTH_REACHED
$STATE,8850,begin surface coast
$FINISH,0.3,1.021262
$STATE,8870,end surface coast,CONTROL_FINISHED_OK
$STATE,8870,begin surface
$SM_CCo,8891,45.33,0.209,0,0,499,702.78
$SM_GC,1.17,8.15,0.17,45.33,0.085,0.127,0.209,197,2221,499,-7.39,-0.57,702.78,0,0,0,0,0,0,14.32,14.28,14.00
$RAFOS_CLK,406
$MODEM,4,1503952025,75.71700,-151.21500,124.322,180070.5
$MODEM,3,1503951532,74.30400,-153.94400,25.635,37129.8
$MODEM,2,1503951244,73.18300,-149.96500,97.165,140736.6
$RAFOS_FIX,7409.017090,-15247.749023,280817,202000,3,255,1.14
$IRIDIUM_FIX,7410.43,-15250.84,280817,195127
$TT8_MAMPS,0.039697,1.15421
$HUMID,47.24
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,15986524160.000000
$PM_FREEKB_00,52332608
$24V_AH,12.35,133.186
$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,25.900,78.325,925.425,45.325,0.000,0.000,0.000,690.750,3.250,0.000,13.584,0.000,6394.141,814.962,2456.956,326.931,0.000,2400.235,0.000,1042.084,1831.000,0.540,0.000
$DEVICE_MAMPS,465.120,2138.940,1545.300,208.845,0.000,0.000,0.000,175.950,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8901.000,8888.000,8844.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.427,20.000,9.914,0.000
$MEM,323452
$DATA_FILE_SIZE,23374,725
$CAP_FILE_SIZE,105647,0
$CFSIZE,2097872896,2029912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1447.4
$CURRENT,0.023,195.17,1
$GPS,280817,223453,7410.396,-15251.371,37,0.7,40,19.6,0.3,275.2,12,8.9