version: 66.13
glider: 196
mission: 12
dive: 2
start: 6 6 117 16 57 46
data:
$ID,196
$MISSION,12
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$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,55142
$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,627.77997
$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,2
$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,2650
$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,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,3100
$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
$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,-162.24501
$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,200.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,2.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,060617,165337,4743.6523,-12224.1084,10,0.9,12,16.3,0.0,178.6,8,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.4
$GPS2,060617,165713,4743.6089,-12224.0850,9,0.9,17,16.3,0.0,0.0,9,7.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,273.9,1158,-17.9,-10.000,-21.28,2227
$D_GRID,173
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$MODEM_MSG,CACST,6,1,20170606162416.535647,3,56,05,0109,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37
$MODEM_MSG,CACST,6,1,20170606162447.713937,3,11,-1,0091,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*25
$MODEM_MSG,CACST,6,1,20170606162501.994959,3,15,05,0107,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39
$GC,35,-0.57,-146.6,209,1989,556,521,0.0,0.0,0,150,0.00,0.00,-112.15,0.000,16386,0.000,0.000,201,1989,3211,3169,3254,0,0,0,0,0,0,14.59,28.83,14.60
$GC,152,-0.57,-146.6,201,1990,3168,3255,3.2,-6.1,19,183,11.62,2.67,-11.65,0.000,18724,0.418,2.116,2448,3417,3700,3700,3700,0,0,0,0,0,0,14.16,13.25,14.47
$GC,368,-0.42,-146.6,2447,3419,3700,3700,36.6,-16.7,61,375,0.28,2.38,0.00,0.000,3206,0.276,0.060,2508,1996,3699,3701,3698,0,0,0,0,0,0,14.10,14.29,14.34
$GC,556,-0.44,-146.6,2508,1995,3702,3700,59.4,-11.3,98,562,0.00,2.45,0.00,0.000,388,0.000,0.084,2508,3420,3700,3702,3698,0,0,0,0,0,0,14.65,14.37,14.67
$GC,612,-0.58,-146.6,2509,3421,3703,3701,65.2,-9.5,109,619,0.15,2.35,0.00,0.000,5286,0.101,0.060,2440,2002,3700,3700,3700,0,0,0,0,0,0,14.44,14.38,14.50
$GC,800,-0.46,-146.6,2440,2002,3702,3701,95.2,-16.6,146,806,0.20,2.42,0.00,0.000,2436,0.269,0.081,2484,3415,3701,3703,3700,0,0,0,0,0,0,14.11,14.36,14.28
$GC,933,-0.55,-146.6,2481,3416,3702,3701,109.8,-9.9,172,939,0.00,2.35,0.00,0.000,1190,0.000,0.062,2481,1998,3706,3712,3700,0,0,0,0,0,0,14.40,14.31,14.43
$GC,1119,-0.55,-146.6,2481,2001,3703,3701,129.6,-10.7,209,1125,0.00,2.45,0.00,0.000,260,0.000,0.091,2476,3412,3701,3702,3700,0,0,0,0,0,0,14.69,14.26,14.71
$GC,1206,-0.65,-146.6,2476,3413,3702,3701,138.6,-9.4,226,1212,0.12,2.35,0.00,0.000,5286,0.119,0.061,2418,2001,3701,3702,3700,0,0,0,0,0,0,14.40,14.35,14.47
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1285,-0.13,0.0,2419,1999,3702,3700,150.3,-16.9,241,1431,0.68,0.00,138.10,1.047,10246,0.245,0.000,2592,1998,3089,3106,3072,0,0,0,0,0,0,14.15,14.00,13.63
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1438,0.57,146.6,2592,1999,3102,3067,155.6,0.0,266,1587,0.77,2.45,137.55,0.981,10756,0.113,0.072,2845,591,2490,2517,2464,0,0,0,0,0,0,14.13,13.96,13.61
$GC,1647,0.34,146.6,2846,594,2501,2452,138.0,17.7,298,1653,0.35,2.50,0.00,0.000,5254,0.280,0.086,2767,2007,2475,2500,2451,0,0,0,0,0,0,14.00,14.13,14.22
$GC,1833,0.20,146.6,2769,2009,2501,2442,112.9,12.8,335,1840,0.17,2.42,0.00,0.000,4484,0.278,0.077,2723,3418,2469,2499,2439,0,0,0,0,0,0,14.09,14.24,14.25
$GC,1986,0.15,146.6,2724,3419,2495,2439,96.6,11.0,365,1992,0.00,2.40,0.00,0.000,1158,0.000,0.063,2727,1997,2465,2494,2437,0,0,0,0,0,0,14.43,14.33,14.46
$GC,2172,0.14,167.5,2731,1996,2495,2437,79.9,9.0,402,2185,0.12,2.50,7.62,0.275,12708,0.282,0.082,2702,3414,2418,2453,2384,0,0,0,0,0,0,14.16,14.37,14.11
$GC,2247,0.20,186.4,2702,3416,2466,2402,73.3,9.1,416,2265,0.00,2.40,12.93,0.335,9382,0.000,0.065,2708,1991,2338,2368,2308,0,0,0,0,0,0,14.43,14.33,14.14
$GC,2445,0.33,255.1,2708,1992,2391,2319,59.7,6.8,455,2494,0.12,2.50,40.00,0.324,10660,0.121,0.081,2775,3417,2056,2078,2034,0,0,0,0,0,0,14.35,14.34,14.14
$GC,2519,0.24,255.1,2777,3418,2080,2033,51.0,14.8,468,2525,0.25,2.38,0.00,0.000,5254,0.252,0.066,2728,2003,2056,2081,2032,0,0,0,0,0,0,14.02,14.28,14.03
$GC,2705,0.40,328.5,2728,2003,2082,2024,37.2,6.6,505,2748,0.12,2.47,36.70,0.265,10660,0.116,0.079,2794,3414,1760,1764,1756,0,0,0,0,0,0,14.34,14.36,14.21
$GC,2795,0.37,328.5,2794,3415,1763,1758,26.3,13.3,521,2802,0.12,2.38,0.00,0.000,5254,0.256,0.068,2777,2005,1760,1764,1756,0,0,0,0,0,0,14.19,14.32,14.40
$GC,2982,0.44,381.2,2776,2004,1764,1750,8.9,7.6,558,3018,0.00,2.47,26.65,0.180,8612,0.000,0.078,2777,3418,1539,1553,1526,0,0,0,0,0,0,14.62,14.28,14.27
$STATE,3066,end climb,SURFACE_DEPTH_REACHED
$STATE,3066,begin surface coast
$FINISH,0.4,1.018510
$STATE,3091,end surface coast,CONTROL_FINISHED_OK
$STATE,3091,begin surface
$SM_CCo,3112,122.97,0.159,0,0,538,627.97
$SM_GC,1.11,7.57,2.40,122.97,0.067,0.048,0.159,205,1987,538,-7.58,0.51,627.97,0,0,0,0,0,0,14.44,14.40,14.31
$RAFOS_CLK,36
$MODEM,4,1496766301,75.71700,-151.21500,1.245,1823.9
$MODEM,3,1496766256,74.30400,-153.94400,349.536,512069.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4741.67,-12220.67,060617,165004
$TT8_MAMPS,0.039697,0.724283
$HUMID,40.70
$INTERNAL_PRESSURE,8.11356
$TCM_TEMP,18.30
$XPDR_PINGS,11
$SC_FREEKB,4016160
$CP_FREE,0.000000
$PM_FREEKB,62302208
$24V_AH,13.25,38.471
$10V_AH,13.46,0.000
$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,22.675,48.700,399.550,122.975,0.000,0.000,0.000,0.000,2.750,0.000,18.240,0.000,1432.290,592.286,1213.074,94.082,0.000,1108.549,0.000,836.245,0.000,0.548,0.000
$DEVICE_MAMPS,418.455,2115.990,1047.285,159.120,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.190,13.970,33.440,38.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3081.000,3075.000,3056.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.775,111.000,16.799,0.000
$MEM,301724
$DATA_FILE_SIZE,20075,579
$CAP_FILE_SIZE,78637,0
$CFSIZE,2097872896,2092826624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1484.1
$CURRENT,0.022,149.85,1
$GPS,060617,175256,4743.774,-12224.530,9,0.8,31,16.3,0.0,158.6,10,8.4