version: 66.13
glider: 196
mission: 8
dive: 3
start: 7 29 116 17 24 11
data:
$ID,196
$MISSION,8
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,190
$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,72
$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,676.83997
$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
$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,23
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2975
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.39859
$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
$GPS1,290716,171837,4743.1714,-12224.5215,4,1.0,20,16.3,0.3,195.1,8,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.6
$GPS2,290716,172343,4743.1167,-12224.5469,3,1.0,15,16.3,0.4,191.9,8,9.3
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,305.2,907,-19.7,-10.000,-22.48,2245
$D_GRID,177
$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,-146.6,200,2323,534,477,0.0,0.0,0,146,0.00,0.00,-131.12,0.000,16386,0.000,0.000,199,2323,3547,3491,3604,0,0,0,0,0,0,14.80,28.83,14.82
$GC,149,-0.62,-146.6,200,2324,3493,3598,3.1,-5.9,24,167,11.85,2.58,-0.62,0.000,18724,0.386,2.183,2759,3712,3574,3533,3616,0,0,0,0,0,0,14.39,13.76,14.55
$MODEM_MSG,CACST,6,1,20160729171108.471805,3,23,07,0115,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F
$MODEM_MSG,CACST,6,1,20160729172016.308837,3,68,-11,0115,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*1F
$MODEM_MSG,CACST,6,1,20160729172108.390002,3,3,-7,0100,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*11
$MODEM_MSG,CACST,6,1,20160729172644.572786,3,78,06,0109,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D
$MODEM_MSG,CACST,6,1,20160729172704.328172,3,70,18,0093,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B
$GC,396,-0.62,-146.6,2758,3713,3535,3616,46.1,-14.9,72,403,0.00,2.30,0.00,0.000,1030,0.000,0.056,2758,2293,3579,3543,3616,0,0,0,0,0,0,14.67,14.59,14.69
$GC,465,-0.62,-146.6,2758,2294,3536,3616,54.3,-11.9,85,471,0.00,2.45,0.00,0.000,260,0.000,0.099,2749,3705,3575,3535,3615,0,0,0,0,0,0,14.76,14.57,14.77
$GC,663,-0.62,-146.6,2749,3707,3536,3616,81.4,-14.0,124,669,0.00,2.28,0.00,0.000,1030,0.000,0.054,2749,2300,3575,3536,3615,0,0,0,0,0,0,14.68,14.62,14.69
$GC,789,-0.62,-146.6,2749,2300,3536,3616,97.7,-12.6,149,795,0.12,0.00,0.00,0.000,2054,0.268,0.000,2775,2299,3576,3536,3616,0,0,0,0,0,0,14.53,14.71,14.69
$GC,917,-0.67,-146.6,2775,2298,3537,3617,112.6,-11.4,174,923,0.00,2.42,0.00,0.000,388,0.000,0.103,2771,3708,3576,3536,3616,0,0,0,0,0,0,14.81,14.63,14.83
$GC,978,-0.72,-146.6,2771,3709,3537,3618,119.5,-11.1,186,984,0.00,2.28,0.00,0.000,1158,0.000,0.051,2772,2297,3575,3536,3615,0,0,0,0,0,0,14.69,14.63,14.71
$GC,1106,-0.77,-146.6,2772,2298,3536,3616,132.4,-9.9,211,1113,0.12,0.00,0.00,0.000,4262,0.129,0.000,2704,2297,3575,3536,3615,0,0,0,0,0,0,14.71,14.76,14.74
$GC,1235,-0.70,-146.6,2704,2297,3536,3616,151.6,-15.3,236,1241,0.17,2.42,0.00,0.000,2436,0.246,0.098,2741,3705,3575,3536,3615,0,0,0,0,0,0,14.61,14.69,14.71
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1424,begin apogee
$GC,1431,-0.13,0.0,2742,2399,3536,3615,177.1,-12.8,274,1555,0.65,0.00,114.50,1.593,10246,0.213,0.000,2926,2397,2974,2992,2957,0,0,0,0,1,0,14.63,14.19,13.57
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1561,0.62,146.6,2927,2398,2999,2958,181.8,0.0,295,1704,0.77,2.40,132.93,1.031,10756,0.121,0.073,3178,999,2365,2398,2332,0,0,0,0,0,0,14.19,14.16,13.83
$GC,1785,0.65,146.7,3177,1005,2391,2328,166.8,10.0,334,1791,0.00,2.38,0.00,0.000,1190,0.000,0.080,3178,2393,2358,2390,2327,0,0,0,0,0,0,14.52,14.44,14.54
$GC,1913,0.65,146.7,3178,2394,2390,2327,152.9,11.0,359,1919,0.00,2.38,0.00,0.000,260,0.000,0.090,3178,3782,2356,2387,2326,0,0,0,0,0,0,14.78,14.54,14.77
$GC,2041,0.59,146.7,3178,3779,2385,2326,135.0,13.4,384,2047,0.00,2.25,0.00,0.000,1158,0.000,0.053,3178,2390,2353,2381,2326,0,0,0,0,0,0,14.71,14.64,14.72
$GC,2177,0.59,146.7,3176,2391,2385,2326,118.2,11.2,409,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2390,2355,2384,2326,0,0,0,0,0,0,14.80,14.82,14.81
$GC,2302,0.59,146.7,3178,2390,2385,2327,104.8,10.7,434,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2389,2355,2385,2326,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2428,0.59,146.7,3178,2390,2385,2326,91.4,10.9,459,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2390,2355,2385,2325,0,0,0,0,0,0,14.81,14.81,14.81
$GC,2553,0.65,234.1,3179,2391,2384,2326,80.6,6.0,484,2597,0.00,0.00,38.75,0.400,8742,0.000,0.000,3179,2390,2016,2039,1993,0,0,0,0,0,0,14.80,14.51,14.35
$GC,2718,0.74,242.7,3178,2390,2062,1998,64.5,9.6,516,2730,0.12,2.35,5.43,0.292,10916,0.127,0.072,3246,992,1984,2013,1955,0,0,0,0,0,0,14.59,14.53,14.38
$GC,2775,0.71,242.7,3245,993,2024,1963,55.9,16.7,527,2781,0.15,2.38,0.00,0.000,5254,0.245,0.079,3213,2406,1993,2024,1962,0,0,0,0,0,0,14.49,14.56,14.62
$GC,2901,0.71,242.7,3213,2407,2025,1965,40.4,11.4,552,2907,0.00,0.00,1.65,0.217,8198,0.000,0.000,3212,2406,1983,2013,1953,0,0,0,0,0,0,14.73,14.59,14.49
$GC,2967,0.71,242.7,3212,2407,2027,1963,32.6,12.2,565,2973,0.00,0.00,1.25,0.234,8198,0.000,0.000,3213,2406,1984,2014,1954,0,0,0,0,0,0,14.75,14.57,14.47
$GC,3033,0.71,242.7,3213,2407,2025,1958,25.0,11.3,578,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2406,1993,2025,1961,0,0,0,0,0,0,14.75,14.77,14.76
$GC,3099,0.71,242.7,3212,2407,2029,1964,16.8,12.4,591,3104,0.00,0.00,1.52,0.222,8198,0.000,0.000,3212,2406,1982,2013,1952,0,0,0,0,0,0,14.75,14.58,14.51
$GC,3165,0.74,242.7,3212,2407,2025,1962,7.7,14.7,604,3171,0.00,2.38,0.00,0.000,388,0.000,0.092,3213,3786,1992,2024,1961,0,0,0,0,0,0,14.75,14.54,14.77
$STATE,3204,end climb,SURFACE_DEPTH_REACHED
$STATE,3204,begin surface coast
$FINISH,0.1,1.021884
$STATE,3214,end surface coast,CONTROL_FINISHED_OK
$STATE,3214,begin surface
$SM_CCo,3235,176.18,0.159,0,0,497,607.12
$SM_CCo,3414,-0.22,0.000,0,0,500,607.12
$SM_CCo,3417,0.28,0.484,0,0,498,607.12
$SM_GC,1.04,8.62,2.47,0.28,0.057,0.055,0.484,206,2303,498,-8.62,1.02,607.12,0,0,0,0,0,0,14.62,14.62,14.49
$RAFOS_CLK,23
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12224.09,290716,171922
$TT8_MAMPS,0.084637,0.863597
$HUMID,54.76
$INTERNAL_PRESSURE,8.70929
$TCM_TEMP,19.00
$XPDR_PINGS,4
$SC_FREEKB,4016072
$PM_FREEKB,62275584
$24V_AH,13.57,1.042
$10V_AH,13.76,0.000
$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,22.600,37.850,296.025,176.450,0.000,0.000,0.000,0.000,1.000,0.000,17.053,0.000,1553.381,605.300,1238.423,105.117,0.000,1118.002,0.000,885.133,1859.000,0.549,0.000
$DEVICE_MAMPS,386.325,2183.310,1593.495,484.245,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3205.000,3199.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,45.266,18.680,0.000,0.000
$MEM,310404
$DATA_FILE_SIZE,20070,614
$CAP_FILE_SIZE,93589,0
$CFSIZE,2097872896,2093744128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1492.9
$GPS,290716,182221,4743.167,-12225.106,12,1.0,36,16.3,0.0,0.0,8,9.5