version: 66.13
glider: 196
mission: 10
dive: 56
start: 9 4 116 0 26 44
data:
$ID,196
$MISSION,10
$DIVE,56
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,130
$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,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,53599
$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,692.78448
$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,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,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,3100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3179
$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,2
$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,-162.35156
$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
$GPS1,040916,001434,7319.1064,-15024.7471,32,0.7,32,20.6,0.0,0.0,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.4
$GPS2,040916,002615,7319.1348,-15024.7510,6,0.7,7,20.6,0.0,326.2,11,9.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,109.0,20697,-17.9,-10.000,-21.31,2227
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-145.9,170,3102,534,463,0.0,0.0,0,128,0.00,0.00,-110.55,0.000,16386,0.000,0.000,168,3102,2348,2302,2395,0,0,0,0,0,0,14.20,28.83,14.21
$GC,131,-0.57,-145.9,169,3102,2304,2400,3.1,-3.3,11,183,13.05,2.62,-33.33,0.000,19236,0.406,2.183,2784,1709,3775,3755,3795,0,0,0,0,0,0,13.87,13.21,14.09
$GC,408,-0.57,-145.9,2785,1710,3762,3795,60.6,-15.8,66,415,0.00,2.53,0.00,0.000,1030,0.000,0.097,2782,3103,3778,3762,3795,0,0,0,0,0,0,14.14,14.05,14.19
$MODEM_MSG,CACST,6,1,20160904003204.455303,3,5103,37,0663,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32
$GC,598,-0.63,-145.9,2783,3102,3764,3797,85.3,-11.7,85,603,0.00,2.38,0.00,0.000,644,0.000,0.062,2784,1696,3779,3763,3795,0,0,0,0,0,0,14.28,14.11,14.29
$GC,790,-0.71,-145.9,2784,1696,3764,3796,105.6,-9.7,123,795,0.00,2.50,0.00,0.000,1190,0.000,0.100,2784,3103,3779,3763,3795,0,0,0,0,0,0,14.21,14.12,14.23
$GC,983,-0.81,-145.9,2783,3104,3765,3797,123.4,-8.8,134,989,0.17,2.35,0.00,0.000,4772,0.123,0.060,2715,1706,3779,3764,3795,0,0,0,0,0,0,14.17,14.16,14.21
$GC,1039,-0.81,-145.9,2714,1707,3765,3796,130.2,-12.4,145,1045,0.00,2.53,0.00,0.000,1030,0.000,0.103,2719,3100,3779,3763,3795,0,0,0,0,0,0,14.20,14.11,14.21
$GC,1224,-0.81,-145.9,2715,3101,3765,3796,153.8,-12.5,155,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,3100,3779,3763,3795,0,0,0,0,0,0,14.42,14.44,14.44
$GC,1404,-0.81,-145.9,2715,3101,3763,3796,175.1,-11.6,164,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,3100,3779,3763,3795,0,0,0,0,0,0,14.46,14.48,14.47
$GC,1584,-0.84,-145.9,2714,3101,3765,3796,196.1,-11.7,173,1585,0.00,0.00,0.00,0.000,134,0.000,0.000,2714,3100,3779,3763,3795,0,0,0,0,0,0,14.49,14.51,14.51
$GC,1764,-0.87,-145.9,2715,3101,3763,3796,215.7,-10.8,182,1765,0.00,0.00,0.00,0.000,134,0.000,0.000,2715,3099,3779,3763,3796,0,0,0,0,0,0,14.52,14.54,14.53
$GC,1944,-0.92,-145.9,2716,3101,3763,3795,234.7,-10.2,191,1949,0.00,2.35,0.00,0.000,644,0.000,0.061,2715,1709,3779,3763,3795,0,0,0,0,0,0,14.53,14.33,14.55
$GC,1994,-0.96,-145.9,2715,1710,3763,3796,239.8,-10.0,201,2000,0.15,2.50,0.00,0.000,5254,0.131,0.103,2664,3099,3779,3763,3795,0,0,0,0,0,0,14.37,14.33,14.43
$GC,2185,-0.93,-145.9,2661,3100,3764,3796,263.3,-12.1,212,2186,0.00,0.00,0.00,0.000,134,0.000,0.000,2660,3099,3783,3764,3802,0,0,0,0,0,0,14.56,14.57,14.57
$GC,2365,-0.91,-145.9,2661,3100,3763,3796,283.6,-10.9,221,2366,0.00,0.00,0.00,0.000,134,0.000,0.000,2660,3099,3779,3763,3795,0,0,0,0,0,0,14.57,14.59,14.59
$STATE,2522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2522,begin apogee
$GC,2529,-0.13,0.0,2660,2197,3765,3795,301.0,-10.7,229,2753,1.00,0.00,219.95,1.294,10246,0.228,0.000,2929,2195,3179,3199,3159,0,0,0,0,0,0,14.32,13.63,13.14
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2758,0.57,145.9,2929,2196,3196,3153,308.0,0.0,240,2972,0.70,2.58,205.38,1.213,10756,0.076,0.083,3177,815,2579,2638,2520,0,0,0,0,0,0,13.66,13.40,12.96
$GC,3197,0.46,145.9,3178,816,2622,2512,261.7,13.4,327,3204,0.20,2.50,0.00,0.000,5254,0.295,0.078,3136,2211,2569,2627,2511,0,0,0,0,0,0,13.74,13.82,13.89
$GC,3382,0.40,145.9,3137,2212,2628,2509,241.1,10.5,337,3387,0.00,2.50,0.00,0.000,644,0.000,0.080,3138,811,2567,2627,2508,0,0,0,0,0,0,14.15,13.94,14.16
$GC,3427,0.38,164.4,3143,813,2624,2509,236.8,9.1,346,3458,0.15,2.47,23.08,1.302,13478,0.266,0.080,3106,2207,2502,2563,2442,0,0,0,0,0,0,13.90,13.99,13.40
$GC,3645,0.42,212.7,3107,2208,2556,2433,219.5,7.8,362,3724,0.00,0.00,74.72,1.212,8230,0.000,0.000,3107,2207,2307,2356,2259,0,0,0,0,0,0,14.18,13.71,13.24
$GC,3903,0.49,257.5,3107,2208,2345,2245,198.4,7.9,375,3978,0.00,2.60,67.62,1.202,8868,0.000,0.082,3108,815,2122,2169,2076,0,0,0,0,0,0,14.11,13.61,13.21
$GC,4020,0.59,283.8,3108,815,2160,2072,189.2,8.8,398,4066,0.20,2.50,37.83,1.209,11430,0.112,0.080,3179,2197,2017,2064,1971,0,0,0,0,0,0,13.76,13.74,13.17
$GC,4245,0.59,283.8,3179,2198,2055,1952,161.2,12.5,416,4250,0.00,2.60,0.00,0.000,260,0.000,0.097,3178,3607,2003,2055,1951,0,0,0,0,0,0,14.04,13.85,14.06
$GC,4290,0.53,283.8,3179,3607,2054,1952,154.7,13.7,425,4295,0.00,2.42,0.00,0.000,1158,0.000,0.057,3185,2212,2002,2054,1951,0,0,0,0,0,0,13.99,13.92,14.01
$GC,4485,0.53,283.8,3179,2212,2054,1949,131.8,11.4,437,4490,0.00,2.55,0.00,0.000,516,0.000,0.090,3178,784,2001,2054,1948,0,0,0,0,0,0,14.21,14.01,14.22
$GC,4535,0.53,283.8,3179,785,2052,1948,126.2,11.1,447,4540,0.00,2.53,0.00,0.000,1030,0.000,0.084,3178,2206,2000,2052,1948,0,0,0,0,0,0,14.12,14.04,14.14
$GC,4725,0.53,283.8,3179,2208,2051,1947,105.8,10.5,458,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2208,1998,2050,1947,0,0,0,0,0,0,14.29,14.31,14.31
$GC,4905,0.54,293.2,3179,2207,2052,1946,87.9,9.6,473,4917,0.00,2.55,2.70,0.328,8740,0.000,0.084,3178,792,1982,2031,1933,0,0,0,0,0,0,14.33,14.14,13.94
$GC,4972,0.60,318.2,3179,791,2038,1942,81.9,8.8,486,4994,0.00,2.47,16.80,0.445,9382,0.000,0.082,3178,2202,1879,1918,1840,0,0,0,0,0,0,14.22,14.14,13.93
$GC,5181,0.69,385.2,3178,2202,1921,1850,65.4,6.9,509,5223,0.00,0.00,40.65,0.402,8358,0.000,0.000,3178,2202,1607,1642,1572,0,0,0,0,0,0,14.35,14.15,13.93
$GC,5401,0.86,479.0,3179,2203,1642,1572,51.0,5.7,531,5465,0.22,2.55,55.12,0.358,10660,0.111,0.094,3265,3612,1224,1289,1159,0,0,0,0,0,0,14.17,14.04,13.92
$GC,5519,0.86,479.0,3266,3616,1290,1161,38.4,12.0,554,5526,0.00,2.42,0.00,0.000,1030,0.000,0.054,3273,2194,1224,1289,1160,0,0,0,0,0,0,14.17,14.10,14.19
$GC,5705,0.98,554.8,3272,2195,1290,1161,20.5,6.5,573,5758,0.00,2.47,44.85,0.275,8868,0.000,0.089,3272,799,913,996,830,0,0,0,0,0,0,14.33,14.09,14.00
$GC,5825,1.11,585.8,3273,799,996,835,11.9,8.6,596,5853,0.20,2.47,18.75,0.247,11430,0.117,0.081,3343,2201,788,872,705,0,0,0,0,0,0,14.14,14.12,14.01
$STATE,5906,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FINISH,0.6,1.021171
$STATE,5916,end surface coast,CONTROL_FINISHED_OK
$STATE,5918,begin surface
$SM_CCo,5940,43.30,0.214,0,0,501,657.16
$SM_CCo,5986,-0.25,0.000,0,0,501,657.16
$SM_CCo,5989,0.25,0.539,0,0,499,657.16
$SM_GC,1.09,9.73,1.65,0.25,0.084,0.089,0.539,206,3102,499,-8.63,-0.48,657.16,0,0,0,0,0,0,14.14,14.14,14.04
$RAFOS_CLK,257
$MODEM,5,1472949124,74.50000,-149.00000,97.455,141667.2
$RAFOS_FIX,7606.781250,-15446.650391,030916,202003,3,255,236.67
$IRIDIUM_FIX,7235.57,-15028.33,030916,194045
$TT8_MAMPS,0.041195,1.05759
$HUMID,57.71
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.30
$XPDR_PINGS,5
$SC_FREEKB,4004580
$PM_FREEKB,56140032
$24V_AH,12.96,29.951
$10V_AH,13.00,0.000
$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,25.775,63.100,807.450,43.550,0.000,0.000,0.000,472.175,1.250,0.000,9.094,0.000,3823.484,914.836,1675.194,269.734,0.000,1962.518,0.000,874.846,0.000,0.540,0.000
$DEVICE_MAMPS,406.215,2182.545,1302.030,539.325,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5952.000,5922.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.846,18.714,0.000,0.000
$MEM,311196
$DATA_FILE_SIZE,20102,608
$CAP_FILE_SIZE,85699,0
$CFSIZE,2097872896,2079457280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16636.29,0x213888,7,24
$SOUNDSPEED,1445.0
$CURRENT,0.080,315.61,1
$GPS,040916,020721,7318.923,-15023.385,4,0.8,10,20.6,0.0,0.0,9,7.8