version: 66.13
glider: 196
mission: 9
dive: 2
start: 8 3 116 17 8 2
data:
$ID,196
$MISSION,9
$DIVE,2
$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,42
$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
$GPS1,030816,170346,4744.0508,-12223.6689,4,1.2,13,16.3,0.0,279.1,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.5
$GPS2,030816,170734,4744.0649,-12223.6348,6,1.2,18,16.3,0.0,16.2,8,8.8
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,222.1,1997,-19.7,-10.000,-22.48,2245
$D_GRID,167
$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,-146.6,205,2279,568,514,0.0,0.0,0,145,0.00,0.00,-130.23,0.000,16390,0.000,0.000,205,2279,3498,3445,3551,0,0,0,0,0,0,14.97,14.07,14.86
$GC,148,-0.62,-146.6,205,2280,3446,3550,3.0,-4.9,26,165,11.75,2.42,0.00,0.000,2340,0.385,0.081,2760,3715,3498,3447,3550,0,0,0,0,0,0,14.47,14.62,14.64
$GC,391,-0.58,-146.6,2760,3716,3450,3548,43.8,-16.4,74,397,0.12,2.25,0.00,0.000,3206,0.252,0.049,2787,2307,3500,3454,3546,0,0,0,0,0,0,14.55,14.68,14.71
$GC,457,-0.61,-146.6,2791,2307,3457,3544,51.8,-10.0,87,463,0.00,2.40,0.00,0.000,388,0.000,0.092,2784,3719,3499,3456,3543,0,0,0,0,0,0,14.83,14.59,14.84
$GC,688,-0.61,-146.6,2785,3720,3457,3545,78.9,-11.0,133,694,0.00,2.28,0.00,0.000,1030,0.000,0.047,2783,2300,3500,3457,3544,0,0,0,0,0,0,14.69,14.62,14.70
$GC,816,-0.65,-146.6,2784,2301,3459,3544,93.7,-11.6,158,822,0.00,0.00,0.00,0.000,134,0.000,0.000,2784,2300,3500,3458,3543,0,0,0,0,0,0,14.82,14.83,14.83
$GC,942,-0.71,-146.6,2784,2302,3458,3543,107.8,-10.5,183,947,0.00,0.00,0.00,0.000,134,0.000,0.000,2784,2300,3499,3458,3541,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1067,-0.75,-146.6,2784,2301,3459,3544,120.8,-10.1,208,1073,0.12,0.00,0.00,0.000,4230,0.127,0.000,2719,2300,3500,3459,3542,0,0,0,0,0,0,14.67,14.72,14.70
$GC,1195,-0.69,-146.6,2719,2300,3458,3543,138.4,-14.1,233,1201,0.12,2.40,0.00,0.000,2436,0.262,0.093,2742,3709,3498,3454,3542,0,0,0,0,0,0,14.52,14.62,14.63
$GC,1372,-0.66,-146.6,2743,3707,3459,3543,166.0,-14.4,268,1378,0.00,2.25,0.00,0.000,1158,0.000,0.047,2742,2298,3500,3458,3542,0,0,0,0,0,0,14.75,14.69,14.76
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1386,-0.13,0.0,2741,2413,3459,3540,167.5,-14.6,270,1519,0.68,0.00,122.22,1.053,10246,0.227,0.000,2928,2413,2901,2921,2882,0,0,0,0,1,0,14.55,14.33,13.71
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1525,0.62,146.6,2929,2413,2931,2884,172.5,0.0,294,1651,0.77,2.53,112.32,1.591,10756,0.138,0.075,3177,993,2300,2327,2273,0,0,0,0,1,0,14.31,14.14,13.59
$MODEM_MSG,CACST,6,1,20160803171150.130656,3,18,-17,0105,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*18
$MODEM_MSG,CACST,6,1,20160803171407.113776,3,20,06,0105,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$MODEM_MSG,CACST,6,1,20160803171517.255331,3,67,06,0119,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30
$MODEM_MSG,CACST,6,1,20160803171548.104656,3,61,11,0092,0150,250,00,00,01,01,-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,6,1,20160803172953.607677,3,13,05,0092,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20160803173014.698893,3,108,02,0133,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20160803173039.928855,3,13,00,0092,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34
$GC,1666,0.69,205.7,3178,994,2334,2274,165.2,7.3,318,1733,0.00,2.40,56.28,1.035,9382,0.000,0.081,3177,2386,2051,2077,2026,0,0,0,0,0,0,14.33,14.25,13.88
$GC,1853,0.77,222.1,3174,2386,2068,2017,147.0,9.3,352,1872,0.12,2.35,13.20,1.022,10916,0.122,0.071,3247,998,1985,2009,1961,0,0,0,0,0,0,14.49,14.44,14.09
$GC,1927,0.73,222.1,3249,998,2000,1958,136.9,15.4,366,1934,0.12,2.38,0.00,0.000,5254,0.252,0.076,3220,2402,1977,1999,1956,0,0,0,0,0,0,14.45,14.52,14.59
$GC,2054,0.73,222.1,3220,2404,2000,1954,118.6,14.0,391,2061,0.00,2.35,0.00,0.000,260,0.000,0.086,3220,3785,1976,1998,1954,0,0,0,0,0,0,14.76,14.55,14.78
$GC,2101,0.68,222.1,3220,3785,1998,1955,111.2,16.6,400,2107,0.00,2.22,0.00,0.000,1158,0.000,0.048,3221,2396,1975,1996,1954,0,0,0,0,0,0,14.66,14.61,14.69
$GC,2229,0.68,222.1,3221,2395,1998,1954,94.2,12.8,425,2235,0.00,2.33,0.00,0.000,516,0.000,0.073,3221,993,1975,1996,1954,0,0,0,0,0,0,14.83,14.63,14.84
$GC,2315,0.71,222.1,3221,991,1997,1954,82.0,14.5,442,2322,0.00,2.35,0.00,0.000,1158,0.000,0.077,3221,2406,1974,1996,1953,0,0,0,0,0,0,14.76,14.66,14.78
$GC,2443,0.71,222.1,3221,2407,1997,1954,64.0,13.4,467,2450,0.00,2.33,0.00,0.000,260,0.000,0.088,3221,3780,1974,1996,1953,0,0,0,0,0,0,14.85,14.68,14.88
$GC,2515,0.67,222.1,3222,3781,1995,1953,52.4,15.2,481,2522,0.00,2.22,0.00,0.000,1158,0.000,0.049,3221,2395,1974,1995,1953,0,0,0,0,0,0,14.77,14.71,14.79
$GC,2644,0.67,222.1,3222,2394,1995,1954,36.2,13.0,506,2650,0.00,2.33,0.00,0.000,516,0.000,0.073,3221,990,1974,1995,1953,0,0,0,0,0,0,14.87,14.67,14.89
$GC,2700,0.70,222.1,3221,991,1995,1954,28.4,14.9,517,2707,0.00,2.35,0.00,0.000,1158,0.000,0.078,3221,2400,1973,1994,1953,0,0,0,0,0,0,14.78,14.66,14.76
$GC,2767,0.70,222.1,3221,2406,1996,1954,19.1,12.7,530,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2400,1973,1994,1953,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2833,0.73,222.1,3222,2401,1994,1954,10.4,12.7,543,2838,0.00,0.00,0.00,0.000,134,0.000,0.000,3221,2400,1973,1994,1953,0,0,0,0,0,0,14.88,14.90,14.90
$STATE,2896,end climb,SURFACE_DEPTH_REACHED
$STATE,2896,begin surface coast
$FINISH,0.4,1.021973
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2925,81.18,0.161,0,0,1265,400.08
$SM_GC,1.27,8.60,0.15,81.18,0.060,0.107,0.161,204,2288,1265,-8.61,1.13,400.08,0,0,0,0,0,0,14.76,14.77,14.64
$RAFOS_CLK,44
$MODEM,2,1470245393,74.38900,-147.59100,566.608,830080.2
$MODEM,1,1470244310,74.28600,-146.53101,83.131,121786.4
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12222.38,030816,170107
$TT8_MAMPS,0.038948,1.08905
$HUMID,56.89
$INTERNAL_PRESSURE,8.87531
$TCM_TEMP,19.30
$XPDR_PINGS,17
$SC_FREEKB,4016184
$PM_FREEKB,62301952
$24V_AH,13.59,1.801
$10V_AH,13.69,0.000
$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,22.425,42.450,304.025,81.175,0.000,0.000,0.000,0.000,4.250,0.000,19.242,0.000,1369.471,413.606,1217.749,95.881,0.000,991.958,0.000,805.510,1661.000,0.549,0.000
$DEVICE_MAMPS,384.795,122.400,1591.200,160.650,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2898.000,2894.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.169,18.689,0.000,0.000
$MEM,310444
$DATA_FILE_SIZE,16747,558
$CAP_FILE_SIZE,86300,1
$CFSIZE,2097872896,2093875200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1494.0
$GPS,030816,175907,4744.165,-12224.169,4,0.9,17,16.3,0.0,0.0,9,9.7