version: 66.13
glider: 196
mission: 10
dive: 93
start: 9 9 116 20 11 34
data:
$ID,196
$MISSION,10
$DIVE,93
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,680
$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,235
$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,29
$R_STBD_OVSHOOT,14
$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
$GPS1,090916,200236,7405.9824,-15026.7500,5,0.8,11,20.8,0.0,86.5,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.4
$GPS2,090916,201106,7406.0000,-15026.7061,5,0.8,12,20.8,0.0,0.0,10,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,SouthDVLA
$TGT_LATLONG,7424.000,-15041.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.0,34130,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-145.9,189,3097,527,460,0.0,0.0,0,140,0.00,0.00,-121.20,0.000,16386,0.000,0.000,184,3097,2446,2403,2490,0,0,0,0,0,0,14.22,28.83,14.23
$GC,143,-0.57,-145.9,185,3098,2405,2491,3.0,-3.7,12,195,12.88,1.38,-30.95,0.000,18724,0.400,2.227,2781,3786,3777,3758,3796,0,0,0,0,0,0,13.83,13.17,14.06
$GC,420,-0.57,-145.9,2778,3787,3765,3796,59.9,-15.9,67,426,0.00,1.17,0.00,0.000,1030,0.000,0.057,2782,3093,3780,3765,3796,0,0,0,0,0,0,14.12,14.09,14.14
$GC,605,-0.62,-145.9,2781,3094,3767,3793,85.0,-12.1,86,609,0.00,1.27,0.00,0.000,388,0.000,0.109,2776,3785,3781,3766,3796,0,0,0,0,0,0,14.28,14.04,14.31
$GC,835,-0.69,-145.9,2777,3786,3766,3796,111.4,-10.6,132,839,0.00,1.15,0.00,0.000,1158,0.000,0.057,2776,3099,3780,3765,3796,0,0,0,0,0,0,14.18,14.15,14.19
$GC,1025,-0.78,-145.9,2777,3100,3766,3796,129.5,-9.6,143,1031,0.12,1.25,0.00,0.000,4516,0.142,0.106,2720,3782,3781,3766,3796,0,0,0,0,0,0,14.15,14.12,14.19
$GC,1161,-0.80,-145.9,2722,3783,3766,3796,146.5,-12.7,170,1167,0.00,1.15,0.00,0.000,1158,0.000,0.059,2721,3099,3779,3762,3796,0,0,0,0,0,0,14.24,14.20,14.26
$GC,1346,-0.83,-145.9,2721,3100,3766,3796,168.8,-12.0,180,1347,0.00,0.00,0.00,0.000,134,0.000,0.000,2720,3099,3781,3766,3796,0,0,0,0,0,0,14.37,14.41,14.39
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$MODEM_MSG,CACST,6,1,20160909201338.502434,3,146,15,0192,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0E
$MODEM_MSG,CACST,6,1,20160909201941.841054,3,2653,34,0151,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33
$MODEM_MSG,CACST,6,1,20160909203110.041370,3,32767,45,0943,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07
$GC,1451,-0.13,0.0,2721,2185,3768,3797,180.6,-11.7,185,1675,0.77,0.00,221.30,1.190,10246,0.210,0.000,2928,2183,3180,3198,3162,0,0,0,0,0,0,14.14,13.57,13.11
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1678,begin climb
$GC,1680,0.57,145.9,2928,2185,3194,3153,191.7,0.0,196,1902,0.77,2.72,210.30,1.110,10500,0.103,0.091,3164,3617,2578,2637,2519,0,0,0,0,0,0,13.56,13.14,12.78
$GC,2112,0.46,150.0,3165,3619,2623,2510,171.0,9.8,275,2118,0.20,2.45,0.00,0.000,5286,0.289,0.047,3129,2206,2565,2622,2508,0,0,0,0,0,0,13.57,13.70,13.73
$GC,2313,0.52,231.8,3130,2206,2622,2509,157.7,6.2,288,2447,0.00,0.00,131.77,1.115,8230,0.000,0.000,3129,2205,2232,2281,2184,0,0,0,0,0,0,14.06,13.48,13.04
$GC,2613,0.62,286.9,3129,2205,2266,2164,136.3,7.5,303,2703,0.12,2.65,82.07,1.110,10916,0.138,0.080,3188,807,2001,2045,1957,0,0,0,0,0,0,13.74,13.43,13.05
$GC,2743,0.62,286.9,3189,807,2038,1950,122.4,11.5,329,2749,0.00,2.58,0.00,0.000,1030,0.000,0.078,3189,2205,1993,2038,1948,0,0,0,0,0,0,13.64,13.55,13.66
$GC,2935,0.62,286.9,3188,2206,2037,1941,102.1,10.1,340,2943,0.00,2.53,0.00,0.000,516,0.000,0.081,3191,803,1992,2044,1941,0,0,0,0,0,0,13.97,13.79,13.99
$GC,2993,0.65,301.8,3192,804,2036,1941,96.7,9.3,351,3004,0.00,2.53,6.60,0.439,9382,0.000,0.080,3191,2202,1946,1993,1900,0,0,0,0,0,0,13.93,13.84,13.59
$GC,3191,0.69,323.7,3190,2203,1997,1910,78.5,9.0,372,3212,0.00,2.58,13.90,0.431,8612,0.000,0.094,3191,3609,1857,1892,1823,0,0,0,0,0,0,14.13,13.93,13.74
$GC,3232,0.69,323.7,3191,3610,1892,1827,74.5,10.1,380,3237,0.00,2.45,0.00,0.000,1030,0.000,0.054,3191,2199,1858,1890,1827,0,0,0,0,0,0,14.04,13.97,14.05
$GC,3424,0.80,411.6,3191,2199,1894,1832,60.9,5.9,400,3478,0.12,0.00,50.60,0.386,10918,0.141,0.000,3240,2197,1499,1540,1458,0,0,0,0,0,0,14.04,14.02,13.80
$GC,3653,0.85,436.6,3241,2198,1540,1458,40.0,8.8,428,3675,0.00,2.50,14.65,0.324,8868,0.000,0.083,3246,800,1396,1446,1347,0,0,0,0,0,0,14.23,14.03,13.90
$GC,3715,0.93,466.2,3247,798,1446,1351,34.5,8.6,440,3738,0.12,2.47,18.35,0.308,11430,0.138,0.078,3292,2202,1277,1333,1222,0,0,0,0,0,0,14.06,14.07,13.90
$GC,3915,0.97,523.1,3292,2203,1332,1224,15.1,7.4,462,3950,0.00,0.00,33.40,0.254,8742,0.000,0.000,3292,2202,1047,1114,980,0,0,0,0,0,0,14.30,14.12,13.96
$STATE,4063,end climb,SURFACE_DEPTH_REACHED
$STATE,4063,begin surface coast
$FINISH,0.8,1.021389
$STATE,4073,end surface coast,CONTROL_FINISHED_OK
$STATE,4073,begin surface
$SM_CCo,4096,77.57,0.210,0,0,497,657.16
$SM_CCo,4177,-0.32,0.000,0,0,500,657.16
$SM_CCo,4180,0.17,0.674,0,0,498,657.16
$SM_GC,0.94,9.60,1.65,0.17,0.086,0.087,0.674,196,3104,498,-8.64,-0.54,657.16,0,0,0,0,0,0,14.19,14.15,14.02
$RAFOS_CLK,170
$MODEM,5,1473453070,74.50000,-149.00000,43.041,62067.8
$MODEM,3,1473452381,74.30400,-153.94400,74.841,107924.5
$MODEM,2,1473452018,73.18300,-149.96500,71.502,103110.1
$RAFOS_FIX,7405.411133,-15026.633789,090916,202029,3,255,1.76
$IRIDIUM_FIX,7319.74,-15026.99,090916,184310
$TT8_MAMPS,0.041195,1.04261
$HUMID,56.81
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.20
$XPDR_PINGS,3
$SC_FREEKB,3996512
$PM_FREEKB,51856640
$24V_AH,12.78,47.748
$10V_AH,12.94,0.000
$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,24.725,36.025,782.950,77.750,0.000,0.000,0.000,308.825,0.750,0.000,13.578,0.000,2287.211,915.018,1272.995,225.028,0.000,1693.551,0.000,691.389,0.000,0.539,0.000
$DEVICE_MAMPS,400.095,2226.915,1189.575,673.965,0.000,0.000,0.000,165.240,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4096.000,4076.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.991,18.770,0.000,0.000
$MEM,310920
$DATA_FILE_SIZE,16735,479
$CAP_FILE_SIZE,66487,0
$CFSIZE,2097872896,2069856256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2935.47,0x233806,1,24
$SOUNDSPEED,1442.0
$CURRENT,0.126,86.68,1
$GPS,090916,212227,7406.488,-15026.314,33,0.9,34,20.8,0.0,0.0,9,8.9