version: 66.13
glider: 196
mission: 10
dive: 57
start: 9 4 116 2 17 25
data:
$ID,196
$MISSION,10
$DIVE,57
$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,29
$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
$GPS1,040916,020721,7318.9233,-15023.3848,4,0.8,10,20.6,0.0,0.0,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.3
$GPS2,040916,021656,7318.9253,-15023.3857,6,0.7,12,20.6,0.0,0.0,11,7.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,115.8,19911,-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,12,begin dive
$GC,15,-0.57,-145.9,177,3105,535,466,0.0,0.0,0,128,0.00,0.00,-111.12,0.000,16386,0.000,0.000,175,3105,2348,2297,2400,0,0,0,0,0,0,14.29,28.83,14.31
$GC,131,-0.57,-145.9,177,3104,2298,2401,3.2,-3.5,11,184,12.90,2.62,-33.28,0.000,18980,0.407,2.194,2785,1695,3776,3758,3794,0,0,0,0,0,0,13.95,13.28,14.17
$GC,409,-0.57,-145.9,2786,1696,3764,3795,60.7,-15.7,66,416,0.00,2.53,0.00,0.000,1030,0.000,0.096,2784,3099,3779,3764,3794,0,0,0,0,0,0,14.21,14.12,14.23
$GC,594,-0.62,-145.9,2783,3099,3767,3795,84.8,-11.1,85,599,0.00,2.40,0.00,0.000,644,0.000,0.061,2784,1693,3779,3765,3794,0,0,0,0,0,0,14.38,14.17,14.40
$GC,731,-0.69,-145.9,2784,1694,3766,3795,98.7,-9.8,112,737,0.00,2.53,0.00,0.000,1190,0.000,0.099,2780,3102,3780,3765,3796,0,0,0,0,0,0,14.29,14.21,14.31
$GC,925,-0.78,-145.9,2780,3102,3766,3794,117.7,-9.7,123,926,0.17,0.00,0.00,0.000,4262,0.122,0.000,2717,3102,3780,3766,3794,0,0,0,0,0,0,14.28,14.36,14.34
$GC,1104,-0.78,-145.9,2717,3102,3767,3795,141.0,-13.1,132,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,3102,3780,3766,3794,0,0,0,0,0,0,14.47,14.50,14.50
$GC,1284,-0.78,-145.9,2717,3103,3766,3794,163.2,-12.0,141,1289,0.00,2.38,0.00,0.000,516,0.000,0.061,2716,1696,3779,3765,3794,0,0,0,0,0,0,14.50,14.31,14.52
$GC,1329,-0.80,-145.9,2716,1697,3767,3795,168.6,-11.8,150,1335,0.00,2.53,0.00,0.000,1158,0.000,0.103,2715,3104,3780,3766,3794,0,0,0,0,0,0,14.38,14.28,14.40
$GC,1525,-0.82,-145.9,2716,3105,3766,3795,191.4,-11.5,162,1526,0.00,0.00,0.00,0.000,134,0.000,0.000,2715,3105,3779,3765,3794,0,0,0,0,0,0,14.52,14.54,14.54
$GC,1705,-0.86,-145.9,2716,3106,3766,3795,211.9,-11.3,171,1710,0.00,2.40,0.00,0.000,644,0.000,0.063,2716,1692,3780,3766,3794,0,0,0,0,0,0,14.54,14.35,14.55
$GC,1735,-0.89,-145.9,2715,1692,3767,3795,215.2,-10.8,177,1740,0.00,2.53,0.00,0.000,1158,0.000,0.105,2716,3103,3780,3766,3794,0,0,0,0,0,0,14.42,14.33,14.45
$GC,1926,-0.93,-145.9,2716,3104,3766,3795,234.8,-9.8,188,1927,0.12,0.00,0.00,0.000,4262,0.143,0.000,2668,3103,3780,3766,3794,0,0,0,0,0,0,14.35,14.42,14.40
$GC,2106,-0.91,-145.9,2669,3104,3766,3795,255.9,-11.5,197,2110,0.00,2.38,0.00,0.000,644,0.000,0.063,2668,1696,3780,3766,3794,0,0,0,0,0,0,14.57,14.37,14.58
$GC,2155,-0.91,-145.9,2668,1697,3767,3795,261.4,-10.3,207,2160,0.00,2.53,0.00,0.000,1030,0.000,0.103,2667,3109,3779,3765,3794,0,0,0,0,0,0,14.45,14.35,14.47
$GC,2345,-0.89,-145.9,2663,3110,3767,3795,282.0,-11.0,218,2347,0.12,0.00,0.00,0.000,2182,0.291,0.000,2687,3109,3779,3765,3794,0,0,0,0,0,0,14.31,14.47,14.45
$GC,2526,-0.92,-145.9,2687,3109,3767,3795,298.9,-9.1,227,2527,0.00,0.00,0.00,0.000,166,0.000,0.000,2687,3109,3779,3765,3794,0,0,0,0,0,0,14.59,14.61,14.61
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2550,-0.13,0.0,2688,2189,3767,3794,300.7,-9.0,228,2773,0.88,0.00,219.27,1.298,10246,0.212,0.000,2929,2187,3178,3198,3159,0,0,0,0,0,0,14.33,13.65,13.14
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2777,0.57,145.9,2930,2188,3193,3150,307.5,0.0,239,3005,0.73,2.62,218.23,1.185,10756,0.078,0.081,3178,808,2576,2634,2519,0,0,0,0,0,0,13.66,13.38,12.95
$GC,3231,0.46,145.9,3177,808,2624,2510,258.3,13.2,329,3236,0.20,2.50,0.00,0.000,5254,0.294,0.079,3136,2206,2566,2624,2509,0,0,0,0,0,0,13.67,13.76,13.83
$GC,3421,0.41,160.1,3136,2207,2626,2506,239.2,9.3,340,3443,0.00,2.53,14.98,1.330,8868,0.000,0.081,3138,800,2518,2577,2460,0,0,0,0,0,0,14.14,13.87,13.40
$GC,3593,0.41,186.3,3138,801,2569,2458,223.1,8.8,374,3634,0.00,2.50,35.92,1.255,9382,0.000,0.077,3138,2207,2420,2475,2366,0,0,0,0,0,0,14.05,13.97,13.32
$GC,3826,0.40,205.8,3138,2209,2458,2350,201.9,9.1,393,3853,0.00,0.00,26.17,1.279,8358,0.000,0.000,3138,2208,2340,2387,2293,0,0,0,0,0,0,14.16,13.87,13.39
$GC,4024,0.40,210.6,3138,2210,2371,2277,182.7,9.8,403,4025,0.00,0.00,0.00,0.000,38,0.000,0.000,3138,2209,2323,2371,2276,0,0,0,0,0,0,14.17,14.19,14.19
$GC,4204,0.42,233.9,3138,2210,2370,2275,166.3,8.9,412,4246,0.00,0.00,40.62,1.245,8230,0.000,0.000,3138,2208,2226,2272,2180,0,0,0,0,0,0,14.26,13.90,13.42
$GC,4424,0.45,258.9,3138,2210,2255,2160,146.8,8.8,423,4464,0.00,0.00,35.72,1.232,8358,0.000,0.000,3138,2209,2117,2162,2072,0,0,0,0,0,0,14.20,13.78,13.40
$GC,4644,0.52,290.1,3138,2210,2154,2056,127.8,8.6,434,4692,0.00,0.00,46.10,1.190,8358,0.000,0.000,3138,2209,1996,2042,1950,0,0,0,0,0,0,14.20,13.83,13.37
$GC,4864,0.61,329.7,3138,2209,2028,1928,109.5,8.2,445,4935,0.12,2.60,62.58,1.150,10916,0.143,0.084,3191,813,1824,1854,1794,0,0,0,0,0,0,13.98,13.71,13.30
$GC,4975,0.61,329.7,3191,814,1843,1786,97.6,11.0,467,4980,0.00,2.50,0.00,0.000,1030,0.000,0.081,3191,2198,1814,1843,1786,0,0,0,0,0,0,13.87,13.78,13.89
$GC,5167,0.64,335.7,3191,2199,1844,1778,76.9,9.7,487,5172,0.00,2.50,0.00,0.000,676,0.000,0.086,3191,803,1810,1843,1777,0,0,0,0,0,0,14.15,13.96,14.17
$GC,5274,0.72,368.7,3191,804,1841,1779,67.7,8.5,508,5301,0.00,2.47,20.60,0.404,9382,0.000,0.082,3191,2200,1673,1701,1645,0,0,0,0,0,0,14.11,14.02,13.81
$GC,5479,0.84,436.6,3191,2201,1706,1653,52.9,6.9,531,5526,0.17,2.55,41.40,0.365,10660,0.126,0.095,3259,3609,1396,1444,1349,0,0,0,0,0,0,14.08,13.97,13.84
$GC,5606,0.82,436.6,3259,3610,1445,1357,39.0,12.5,556,5612,0.00,2.40,0.00,0.000,1158,0.000,0.055,3259,2207,1400,1444,1356,0,0,0,0,0,0,14.11,14.04,14.12
$GC,5792,0.89,482.8,3260,2207,1443,1356,22.4,7.9,575,5825,0.00,2.58,28.33,0.282,8868,0.000,0.086,3259,791,1207,1267,1147,0,0,0,0,0,0,14.30,14.04,13.97
$GC,5917,1.07,585.2,3260,791,1268,1155,15.1,5.3,597,5984,0.20,2.47,61.47,0.249,11430,0.116,0.080,3327,2199,788,871,705,0,0,0,0,0,0,14.12,14.08,13.96
$STATE,6059,end climb,SURFACE_DEPTH_REACHED
$STATE,6059,begin surface coast
$FINISH,0.3,1.021088
$STATE,6067,end surface coast,CONTROL_FINISHED_OK
$STATE,6067,begin surface
$SM_CCo,6089,43.55,0.215,0,0,497,657.16
$SM_CCo,6135,-0.38,0.000,0,0,501,657.16
$SM_CCo,6139,0.28,0.513,0,0,499,657.65
$SM_GC,1.06,9.73,1.65,0.28,0.087,0.091,0.513,207,3098,499,-8.62,-0.59,657.65,0,0,0,0,0,0,14.11,14.09,14.00
$RAFOS_CLK,279
$RAFOS_FIX,7606.781250,-15446.650391,030916,202003,3,255,236.67
$IRIDIUM_FIX,7235.57,-15028.33,040916,001824
$TT8_MAMPS,0.041195,1.04336
$HUMID,58.26
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.30
$XPDR_PINGS,2
$SC_FREEKB,4004404
$PM_FREEKB,56089152
$24V_AH,12.95,30.326
$10V_AH,12.92,0.000
$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,25.350,58.225,851.400,43.825,0.000,0.000,0.000,371.300,0.500,0.000,13.884,0.000,3932.973,946.438,1591.279,250.647,0.000,1894.831,0.000,890.365,0.000,0.539,0.000
$DEVICE_MAMPS,406.980,2194.020,1330.335,512.550,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6094.000,6069.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.767,18.688,0.000,0.000
$MEM,311136
$DATA_FILE_SIZE,20121,619
$CAP_FILE_SIZE,82857,0
$CFSIZE,2097872896,2079227904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6631.73,0x213880,7,24
$SOUNDSPEED,1445.1
$CURRENT,0.112,327.27,1
$GPS,040916,040057,7318.682,-15022.169,34,0.8,35,20.6,0.0,0.0,10,6.9