version: 66.13
glider: 196
mission: 14
dive: 196
start: 8 29 117 18 57 34
data:
$ID,196
$MISSION,14
$DIVE,196
$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,44
$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,552.0
$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
$GPS1,290817,183528,7415.4229,-15321.1992,41,0.8,42,19.4,0.7,174.8,11,7.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.0
$GPS2,290817,185703,7415.3828,-15321.1865,10,0.8,11,19.4,0.0,113.5,10,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,271.7,18638,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,178,2230,495,493,0.0,0.0,0,152,0.00,0.00,-101.65,0.000,16386,0.000,0.000,175,2230,2390,2332,2449,0,0,0,0,0,0,14.56,28.83,14.54
$GC,155,-0.57,-145.9,176,2237,2331,2444,4.6,-7.1,10,202,12.75,2.70,-28.35,0.000,18724,0.454,2.147,2376,3594,3964,3944,3984,0,0,0,0,0,0,13.59,12.67,14.04
$GC,423,-0.68,-145.9,2377,3595,3952,3985,59.1,-13.2,63,429,0.00,2.38,0.00,0.000,1158,0.000,0.059,2376,2204,3967,3950,3984,0,0,0,0,0,0,14.28,14.16,14.31
$GC,728,-0.78,-145.9,2377,2204,3952,3985,97.1,-10.7,94,729,0.15,0.00,0.00,0.000,4230,0.125,0.000,2319,2202,3967,3951,3984,0,0,0,0,0,0,14.12,14.21,14.19
$GC,1028,-0.81,-145.9,2320,2202,3952,3983,140.0,-13.7,106,1033,0.00,2.42,0.00,0.000,388,0.000,0.087,2310,3586,3967,3951,3984,0,0,0,0,0,0,14.64,14.14,14.65
$GC,1093,-0.92,-145.9,2309,3589,3952,3985,148.1,-11.6,119,1098,0.00,2.35,0.00,0.000,1158,0.000,0.057,2310,2197,3968,3952,3984,0,0,0,0,0,0,14.34,14.22,14.39
$GC,1418,-0.97,-145.9,2310,2197,3953,3983,190.0,-12.6,134,1423,0.12,2.45,0.00,0.000,4484,0.135,0.085,2244,3592,3967,3951,3984,0,0,0,0,0,0,14.23,14.16,14.27
$GC,1468,-0.97,-145.9,2245,3593,3952,3984,198.0,-16.5,144,1473,0.00,2.38,0.00,0.000,1030,0.000,0.059,2244,2195,3968,3952,3984,0,0,0,0,0,0,13.81,13.74,14.04
$GC,1779,-0.91,-145.9,2245,2193,3953,3984,251.6,-16.5,156,1784,0.15,2.45,0.00,0.000,2436,0.288,0.083,2269,3595,3968,3952,3984,0,0,0,0,0,0,13.87,14.21,14.09
$GC,1859,-0.99,-145.9,2269,3595,3953,3984,261.8,-11.4,172,1864,0.00,2.38,0.00,0.000,1158,0.000,0.058,2269,2198,3968,3952,3984,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2169,-1.02,-145.9,2269,2194,3953,3984,298.9,-11.5,184,2170,0.00,0.00,0.00,0.000,134,0.000,0.000,2268,2196,3967,3952,3983,0,0,0,0,0,0,14.67,14.69,14.69
$GC,2470,-1.07,-145.9,2269,2197,3952,3984,332.7,-11.0,194,2474,0.00,2.45,0.00,0.000,388,0.000,0.090,2267,3592,3967,3951,3984,0,0,0,0,0,0,14.68,14.21,14.69
$GC,2550,-1.19,-145.9,2267,3593,3952,3984,340.9,-9.8,210,2555,0.22,2.35,0.00,0.000,5286,0.109,0.055,2182,2195,3967,3952,3983,0,0,0,0,0,0,14.30,14.27,14.42
$GC,2860,-1.07,-145.9,2183,2194,3951,3982,395.6,-18.0,222,2865,0.20,2.45,0.00,0.000,2436,0.297,0.085,2220,3588,3967,3950,3985,0,0,0,0,0,0,13.84,14.16,14.06
$GC,2990,-1.10,-145.9,2220,3589,3951,3984,413.6,-12.9,248,2995,0.00,2.35,0.00,0.000,1158,0.000,0.056,2219,2193,3966,3949,3983,0,0,0,0,0,0,14.40,14.27,14.43
$GC,3311,-1.06,-145.9,2220,2193,3951,3984,458.4,-14.0,262,3315,0.00,2.42,0.00,0.000,388,0.000,0.086,2210,3588,3966,3950,3983,0,0,0,0,0,0,14.68,14.15,14.69
$GC,3390,-1.06,-145.9,2210,3589,3950,3984,469.6,-13.4,278,3395,0.00,2.35,0.00,0.000,1030,0.000,0.056,2210,2195,3966,3950,3983,0,0,0,0,0,0,14.38,14.26,14.41
$STATE,3488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3488,begin apogee
$GC,3494,-0.13,0.0,2211,2065,3951,3983,484.0,-14.6,283,3718,1.27,0.00,218.77,1.435,10246,0.251,0.000,2528,2066,3363,3382,3345,0,0,0,0,0,0,13.81,13.24,12.65
$STATE,3723,end apogee,CONTROL_FINISHED_OK
$STATE,3723,begin climb
$GC,3725,0.57,145.9,2529,2065,3377,3338,495.2,0.0,290,3941,0.75,2.70,207.27,1.389,10500,0.063,0.076,2781,3485,2763,2803,2724,0,0,0,0,0,0,13.54,13.08,12.30
$GC,4169,0.11,145.9,2781,3488,2785,2723,467.8,16.9,336,4175,0.85,2.38,0.00,0.000,5254,0.350,0.057,2622,2132,2753,2784,2722,0,0,0,0,0,0,13.34,13.69,13.67
$GC,4480,0.03,185.8,2623,2131,2785,2720,440.5,8.2,348,4542,0.00,2.45,55.50,1.433,8612,0.000,0.080,2618,3495,2604,2645,2563,0,0,0,0,0,0,14.33,13.65,13.05
$GC,4584,-0.06,185.8,2621,3497,2639,2554,431.1,10.3,368,4589,0.28,2.42,0.00,0.000,5254,0.256,0.059,2567,2099,2596,2637,2556,0,0,0,0,0,0,13.69,13.92,13.95
$GC,4905,0.06,270.9,2568,2097,2639,2550,410.7,6.1,382,5040,0.00,2.58,127.95,1.351,8868,0.000,0.086,2567,694,2256,2305,2207,0,0,0,0,0,0,14.43,13.62,12.90
$GC,5077,0.28,332.8,2567,699,2295,2204,399.7,7.1,416,5179,0.32,2.53,92.25,1.327,11430,0.080,0.080,2684,2084,2002,2048,1957,0,0,0,0,0,0,13.78,13.70,12.64
$GC,5477,0.22,332.8,2684,2085,2041,1943,340.8,15.0,446,5482,0.12,2.50,0.00,0.000,4740,0.252,0.086,2659,696,1991,2040,1942,0,0,0,0,0,0,13.73,13.89,13.87
$GC,5517,0.26,332.8,2658,696,2036,1943,335.3,12.6,454,5522,0.00,2.47,0.00,0.000,1158,0.000,0.079,2660,2111,1989,2037,1942,0,0,0,0,0,0,14.07,13.94,14.10
$GC,5837,0.26,332.8,2660,2111,2038,1940,294.7,12.5,468,5842,0.00,2.53,0.00,0.000,516,0.000,0.090,2660,693,1988,2036,1940,0,0,0,0,0,0,14.43,14.08,14.45
$GC,5887,0.31,332.8,2659,693,2036,1941,288.7,11.9,478,5892,0.00,2.47,0.00,0.000,1158,0.000,0.077,2660,2108,1984,2030,1939,0,0,0,0,0,0,14.24,14.12,14.27
$MODEM_MSG,CACST,6,1,20170829201417.749486,3,19,06,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20170829201838.529106,3,1954,32,0338,0150,250,00,00,00,00,-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,6,1,20170829202701.147065,3,27,14,0112,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$GC,6197,0.31,332.8,2660,2109,2036,1939,253.4,10.9,490,6202,0.00,2.47,0.00,0.000,516,0.000,0.088,2659,692,1986,2035,1938,0,0,0,0,0,0,14.47,14.08,14.49
$GC,6248,0.39,332.8,2660,692,2034,1940,248.1,10.1,500,6253,0.15,2.42,0.00,0.000,3206,0.122,0.078,2719,2105,1986,2033,1939,0,0,0,0,0,0,14.21,14.13,14.30
$GC,6560,0.30,332.8,2719,2106,2034,1940,204.8,13.6,512,6565,0.15,2.47,0.00,0.000,4740,0.236,0.083,2685,687,1983,2028,1938,0,0,0,0,0,0,14.06,14.16,14.21
$GC,6605,0.34,334.9,2686,687,2033,1939,199.7,9.9,521,6610,0.00,2.45,0.00,0.000,1190,0.000,0.078,2685,2100,1985,2032,1939,0,0,0,0,0,0,14.33,14.19,14.40
$GC,6920,0.34,342.7,2686,2102,2032,1938,168.5,9.6,534,6931,0.00,2.45,4.00,1.570,8740,0.000,0.087,2685,693,1970,2018,1923,0,0,0,0,0,0,14.66,14.29,13.12
$GC,6976,0.43,368.9,2686,692,2021,1926,163.4,8.8,545,7037,0.10,2.45,52.78,1.328,11430,0.161,0.079,2732,2103,1858,1890,1826,0,0,0,0,0,0,14.23,14.23,13.26
$GC,7342,0.38,368.9,2735,2103,1882,1818,119.3,12.0,568,7347,0.00,2.47,0.00,0.000,644,0.000,0.085,2740,691,1850,1881,1819,0,0,0,0,0,0,14.55,14.16,14.57
$GC,7412,0.38,368.9,2740,691,1879,1820,111.6,10.9,582,7417,0.15,2.47,0.00,0.000,5126,0.239,0.079,2708,2102,1848,1878,1819,0,0,0,0,0,0,14.03,14.21,14.29
$GC,7722,0.43,414.3,2708,2104,1879,1818,84.6,7.9,607,7750,0.00,2.58,22.70,0.459,8868,0.000,0.086,2710,686,1676,1702,1651,0,0,0,0,0,0,14.58,14.09,13.70
$GC,7805,0.58,461.1,2710,686,1703,1652,78.1,7.8,623,7838,0.17,2.50,25.38,0.435,11430,0.107,0.080,2781,2109,1483,1517,1449,0,0,0,0,0,0,14.16,14.07,13.66
$GC,8135,0.61,510.5,2782,2108,1518,1440,43.8,7.7,659,8167,0.00,2.47,25.75,0.333,8484,0.000,0.084,2781,3514,1281,1332,1231,0,0,0,0,0,0,14.55,13.94,13.78
$GC,8188,0.63,543.9,2781,3515,1332,1232,39.5,8.5,669,8210,0.00,2.45,17.77,0.321,9254,0.000,0.068,2781,2097,1146,1207,1086,0,0,0,0,0,0,14.30,14.17,13.73
$GC,8508,0.83,665.1,2782,2101,1208,1077,19.5,4.4,703,8577,0.17,2.58,63.22,0.262,10916,0.115,0.091,2863,692,650,702,598,0,0,0,0,0,0,14.12,14.07,13.88
$GC,8637,0.92,665.1,2864,692,703,597,7.4,10.9,728,8643,0.00,2.50,0.00,0.000,1158,0.000,0.079,2864,2101,649,702,596,0,0,0,0,0,0,14.23,14.10,14.27
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$FINISH,0.4,1.021523
$STATE,8700,end surface coast,CONTROL_FINISHED_OK
$STATE,8700,begin surface
$SM_CCo,8765,20.45,0.210,0,0,498,702.78
$SM_GC,1.03,7.97,0.17,20.45,0.057,0.125,0.210,196,2213,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.28,14.00
$RAFOS_CLK,226
$MODEM,4,1504038421,75.71700,-151.21500,120.397,174306.6
$MODEM,3,1504037918,74.30400,-153.94400,11.529,16691.4
$MODEM,2,1504037657,73.18300,-149.96500,110.749,160339.2
$RAFOS_FIX,7415.113770,-15322.087891,290817,202058,3,255,0.14
$IRIDIUM_FIX,7415.10,-15326.10,290817,185048
$TT8_MAMPS,0.040446,0.98119
$HUMID,46.53
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,13
$CP_FREE,0.000000
$PM_FREEKB_00,52098624
$24V_AH,12.30,137.096
$10V_AH,12.16,0.000
$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,26.075,93.975,913.350,20.450,0.000,0.000,0.000,760.925,3.250,0.000,12.176,0.000,6413.293,807.138,2537.735,334.096,0.000,2438.804,0.000,1054.526,2206.000,0.539,0.000
$DEVICE_MAMPS,453.645,2146.590,1569.780,210.375,0.000,0.000,0.000,172.125,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8728.000,8756.000,8718.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.686,20.000,9.911,0.000
$MEM,323608
$DATA_FILE_SIZE,26719,735
$CAP_FILE_SIZE,112785,0
$CFSIZE,2097872896,2027257856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3739.56,0x2341ea,1,24
$SOUNDSPEED,1448.5
$CURRENT,0.042,200.20,1
$GPS,290817,212525,7415.864,-15325.139,38,0.8,39,19.4,0.4,224.7,10,7.8