version: 66.13
glider: 196
mission: 9
dive: 3
start: 8 3 116 18 10 0
data:
$ID,196
$MISSION,9
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53460
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$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,400
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_BLANK_MOTORS,1
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2980
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,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,-162.47736
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,87
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$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
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,030816,175907,4744.1646,-12224.1689,4,0.9,17,16.3,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.8
$GPS2,030816,180933,4744.1909,-12224.1533,5,1.0,36,16.3,0.0,329.7,8,10.0
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,203.2,1658,-19.7,-10.000,-22.48,2245
$D_GRID,174
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.62,-146.6,205,2289,1244,1281,0.0,0.0,0,112,0.00,0.00,-98.28,0.000,16386,0.000,0.000,201,2289,3433,3381,3485,0,0,0,0,0,0,14.83,28.83,14.85
$GC,116,-0.62,-146.6,205,2289,3382,3486,3.0,-5.4,20,135,11.77,2.67,-1.50,0.000,18724,0.385,2.186,2759,3719,3501,3464,3539,0,0,0,0,0,0,14.43,13.80,14.59
$GC,360,-0.55,-146.6,2760,3721,3468,3534,45.1,-16.4,68,366,0.17,2.28,0.00,0.000,3206,0.246,0.049,2798,2305,3501,3468,3534,0,0,0,0,0,0,14.49,14.60,14.64
$GC,427,-0.60,-146.6,2799,2305,3467,3534,53.5,-11.8,81,433,0.00,2.40,0.00,0.000,388,0.000,0.093,2797,3710,3501,3468,3534,0,0,0,0,0,0,14.78,14.57,14.78
$GC,658,-0.65,-146.6,2794,3711,3469,3535,81.0,-12.3,127,664,0.00,2.25,0.00,0.000,1158,0.000,0.044,2797,2294,3500,3468,3533,0,0,0,0,0,0,14.69,14.62,14.69
$GC,786,-0.70,-146.6,2797,2294,3472,3535,95.0,-10.8,152,792,0.12,2.42,0.00,0.000,4484,0.124,0.091,2731,3711,3501,3469,3533,0,0,0,0,0,0,14.61,14.57,14.64
$GC,1017,-0.63,-146.6,2732,3715,3469,3534,128.6,-14.1,198,1024,0.17,2.25,0.00,0.000,3206,0.241,0.047,2773,2302,3501,3468,3534,0,0,0,0,0,0,14.55,14.65,14.69
$GC,1144,-0.66,-146.6,2772,2302,3470,3535,143.4,-11.8,223,1150,0.00,2.40,0.00,0.000,388,0.000,0.095,2771,3710,3502,3469,3535,0,0,0,0,0,0,14.82,14.57,14.83
$GC,1375,-0.69,-146.6,2772,3711,3469,3535,171.7,-11.6,269,1381,0.00,2.25,0.00,0.000,1158,0.000,0.043,2777,2287,3501,3469,3534,0,0,0,0,0,0,14.73,14.69,14.75
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$GC,1404,-0.13,0.0,2771,2410,3466,3534,174.3,-10.1,274,1543,0.55,0.00,128.73,1.097,10246,0.211,0.000,2926,2409,2899,2917,2881,0,0,0,0,1,0,14.57,14.25,13.64
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$MODEM_MSG,CACST,6,1,20160803181403.653808,3,19,06,0090,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$MODEM_MSG,CACST,6,1,20160803181618.314842,3,79,06,0101,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$MODEM_MSG,CACST,6,1,20160803181642.477511,3,125,08,0125,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$MODEM_MSG,CACST,6,1,20160803182449.277765,3,53,05,0091,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A
$GC,1549,0.62,146.6,2928,2410,2926,2879,178.4,0.0,299,1672,0.77,0.00,112.57,1.597,10758,0.129,0.000,3176,2410,2300,2329,2272,0,0,0,0,1,0,14.24,14.09,13.52
$GC,1794,0.65,146.6,3176,2410,2341,2273,157.3,10.6,342,1801,0.00,2.38,0.00,0.000,644,0.000,0.070,3178,1003,2308,2340,2276,0,0,0,0,0,0,14.59,14.39,14.62
$GC,1836,0.70,146.6,3177,1002,2343,2273,153.0,10.2,350,1842,0.00,2.35,0.00,0.000,1158,0.000,0.078,3178,2394,2306,2340,2272,0,0,0,0,0,0,14.54,14.47,14.56
$GC,1963,0.72,146.6,3177,2395,2341,2269,139.6,10.7,375,1969,0.10,2.38,0.00,0.000,2436,0.144,0.083,3227,3787,2306,2339,2273,0,0,0,0,0,0,14.61,14.57,14.67
$GC,2035,0.58,146.6,3227,3788,2338,2273,128.4,16.5,389,2041,0.25,2.20,0.00,0.000,5254,0.255,0.045,3174,2401,2305,2338,2273,0,0,0,0,0,0,14.50,14.61,14.64
$GC,2161,0.61,146.6,3175,2401,2338,2273,114.4,10.5,414,2167,0.00,0.00,0.00,0.000,134,0.000,0.000,3173,2401,2304,2338,2270,0,0,0,0,0,0,14.83,14.85,14.84
$GC,2289,0.65,159.6,3173,2401,2339,2273,101.4,9.4,439,2308,0.00,2.30,13.15,1.081,8868,0.000,0.068,3178,1004,2239,2267,2211,0,0,0,0,0,0,14.83,14.57,14.23
$GC,2373,0.73,193.1,3179,1004,2265,2211,93.8,8.5,455,2392,0.12,2.35,14.57,0.441,11430,0.123,0.078,3238,2399,2114,2139,2089,0,0,0,0,0,0,14.64,14.60,14.40
$GC,2513,0.68,193.1,3238,2399,2146,2087,75.1,14.3,482,2519,0.15,0.00,0.00,0.000,4230,0.239,0.000,3198,2399,2114,2142,2086,0,0,0,0,0,0,14.54,14.66,14.63
$GC,2641,0.70,193.1,3198,2400,2146,2087,60.9,11.0,507,2647,0.00,0.00,0.00,0.000,134,0.000,0.000,3199,2399,2115,2145,2086,0,0,0,0,0,0,14.85,14.85,14.84
$GC,2769,0.73,196.9,3199,2400,2145,2087,47.7,9.8,532,2776,0.00,2.38,2.47,0.280,8868,0.000,0.067,3207,997,2095,2123,2067,0,0,0,0,0,0,14.83,14.66,14.52
$GC,2832,0.80,214.1,3207,998,2134,2070,41.7,9.2,544,2845,0.00,2.33,9.27,0.282,9382,0.000,0.075,3206,2402,2023,2046,2001,0,0,0,0,0,0,14.75,14.67,14.52
$GC,2905,0.85,250.3,3206,2402,2058,2000,34.6,8.3,558,2930,0.12,2.35,17.77,0.259,10660,0.124,0.086,3280,3788,1877,1889,1866,0,0,0,0,0,0,14.67,14.60,14.52
$GC,3005,0.69,250.3,3279,3788,1893,1868,15.5,22.3,575,3011,0.32,2.22,0.00,0.000,5254,0.248,0.047,3205,2400,1878,1891,1866,0,0,0,0,0,0,14.52,14.60,14.64
$GC,3072,0.77,250.3,3206,2402,1889,1868,6.4,11.7,588,3078,0.00,2.33,0.00,0.000,644,0.000,0.069,3209,998,1879,1892,1867,0,0,0,0,0,0,14.78,14.59,14.80
$STATE,3110,end climb,SURFACE_DEPTH_REACHED
$STATE,3111,begin surface coast
$FINISH,0.4,1.021849
$STATE,3121,end surface coast,CONTROL_FINISHED_OK
$STATE,3121,begin surface
$SM_CCo,3141,71.43,0.161,0,0,1266,400.08
$SM_GC,1.11,8.60,2.22,71.43,0.057,0.071,0.161,203,2304,1266,-8.62,-0.65,400.08,0,0,0,0,0,0,14.65,14.62,14.54
$RAFOS_CLK,8
$MODEM,2,1470248689,74.38900,-147.59100,262.278,391846.8
$MODEM,1,1470248043,74.28600,-146.53101,216.654,323683.9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12225.08,030816,170432
$TT8_MAMPS,0.083139,1.122
$HUMID,57.32
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,19.20
$XPDR_PINGS,11
$SC_FREEKB,4016064
$PM_FREEKB,62274112
$24V_AH,13.52,2.054
$10V_AH,13.54,0.000
$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,23.250,46.900,298.550,71.425,0.000,0.000,0.000,371.850,2.750,0.000,38.094,0.000,1522.027,395.830,1705.914,227.344,0.000,1341.728,0.000,863.415,3761.000,0.548,0.000
$DEVICE_MAMPS,384.795,2186.370,1596.555,160.650,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3169.000,3121.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,44.612,18.616,0.000,0.000
$MEM,310452
$DATA_FILE_SIZE,20067,598
$CAP_FILE_SIZE,78028,1
$CFSIZE,2097872896,2093645824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1494.1
$GPS,030816,190427,4744.240,-12224.562,4,0.9,12,16.3,0.0,39.9,9,9.7