version: 66.13
glider: 196
mission: 10
dive: 58
start: 9 4 116 4 11 36
data:
$ID,196
$MISSION,10
$DIVE,58
$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
$GPS1,040916,040057,7318.6816,-15022.1689,34,0.8,35,20.6,0.0,0.0,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.4
$GPS2,040916,041109,7318.6934,-15022.0996,7,0.8,9,20.6,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,121.0,19127,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-145.9,193,3101,536,465,0.0,0.0,0,125,0.00,0.00,-108.03,0.000,16386,0.000,0.000,191,3101,2273,2217,2330,0,0,0,0,0,0,14.27,28.83,14.29
$GC,128,-0.57,-145.9,188,3101,2219,2329,3.1,-3.3,11,185,12.90,1.33,-37.75,0.000,18724,0.406,2.234,2782,3792,3780,3760,3801,0,0,0,0,0,0,13.90,13.22,14.12
$GC,410,-0.57,-145.9,2782,3790,3766,3794,60.7,-15.6,67,415,0.00,1.17,0.00,0.000,1030,0.000,0.059,2781,3097,3779,3765,3794,0,0,0,0,0,0,14.12,14.09,14.14
$GC,601,-0.62,-145.9,2782,3098,3768,3795,86.5,-11.9,87,605,0.00,1.25,0.00,0.000,388,0.000,0.110,2780,3780,3780,3767,3794,0,0,0,0,0,0,14.28,14.07,14.30
$GC,830,-0.70,-145.9,2777,3781,3767,3794,112.0,-10.2,133,836,0.00,1.15,0.00,0.000,1158,0.000,0.059,2775,3097,3780,3767,3794,0,0,0,0,0,0,14.17,14.14,14.17
$GC,1022,-0.80,-145.9,2777,3098,3768,3795,129.7,-9.1,144,1026,0.15,1.25,0.00,0.000,4516,0.132,0.108,2715,3782,3780,3767,3794,0,0,0,0,0,0,14.14,14.13,14.19
$GC,1252,-0.80,-145.9,2716,3783,3768,3794,159.1,-12.5,190,1256,0.00,1.15,0.00,0.000,1030,0.000,0.060,2715,3096,3780,3767,3794,0,0,0,0,0,0,14.23,14.21,14.25
$GC,1442,-0.82,-145.9,2715,3096,3769,3795,180.8,-11.1,201,1447,0.00,1.25,0.00,0.000,388,0.000,0.112,2716,3782,3781,3768,3794,0,0,0,0,0,0,14.35,14.16,14.38
$MODEM_MSG,CACST,6,1,20160904041241.721388,3,2748,34,0616,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36
$MODEM_MSG,CACST,6,1,20160904042017.002929,3,20585,43,1273,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04
$MODEM_MSG,CACST,6,1,20160904043204.912255,3,18335,42,1164,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05
$GC,1676,-0.85,-145.9,2716,3783,3768,3794,208.2,-11.3,247,1681,0.00,1.15,0.00,0.000,1158,0.000,0.060,2715,3093,3780,3767,3793,0,0,0,0,0,0,14.25,14.21,14.26
$GC,1867,-0.89,-145.9,2716,3094,3768,3794,228.4,-10.4,258,1871,0.00,1.25,0.00,0.000,388,0.000,0.113,2715,3781,3780,3767,3794,0,0,0,0,0,0,14.42,14.21,14.43
$GC,2097,-0.94,-145.9,2716,3781,3768,3794,251.1,-9.5,304,2102,0.08,1.12,0.00,0.000,5286,0.103,0.061,2673,3100,3779,3766,3793,0,0,0,0,0,0,14.28,14.31,14.33
$GC,2287,-0.94,-145.9,2673,3101,3769,3795,272.1,-10.9,315,2291,0.00,1.23,0.00,0.000,260,0.000,0.113,2668,3780,3779,3766,3793,0,0,0,0,0,0,14.50,14.29,14.52
$GC,2517,-0.94,-145.9,2669,3781,3767,3793,297.4,-10.8,361,2522,0.00,1.12,0.00,0.000,1030,0.000,0.060,2668,3103,3779,3767,3792,0,0,0,0,0,0,14.38,14.37,14.40
$STATE,2545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2545,begin apogee
$GC,2552,-0.13,0.0,2668,2201,3769,3793,300.7,-10.5,364,2841,0.98,0.00,284.65,1.224,10246,0.224,0.000,2929,2201,3179,3200,3159,0,0,0,0,0,0,14.25,13.57,13.09
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin climb
$GC,2845,0.57,145.9,2930,2201,3195,3153,310.2,0.0,378,3074,0.73,2.67,218.55,1.170,11012,0.080,0.084,3177,808,2575,2632,2519,0,0,0,0,0,0,13.59,13.26,12.83
$GC,3299,0.46,145.9,3178,808,2620,2507,261.9,12.8,468,3305,0.22,2.53,0.00,0.000,5254,0.293,0.080,3132,2206,2563,2620,2506,0,0,0,0,0,0,13.59,13.69,13.76
$GC,3490,0.41,145.9,3132,2207,2621,2505,241.8,10.1,479,3495,0.00,2.53,0.00,0.000,644,0.000,0.080,3137,798,2562,2620,2504,0,0,0,0,0,0,14.08,13.87,14.09
$GC,3720,0.42,188.6,3135,799,2620,2504,221.2,8.0,525,3786,0.00,2.47,59.80,1.204,9382,0.000,0.078,3138,2202,2408,2460,2356,0,0,0,0,0,0,14.06,13.97,13.28
$GC,3973,0.40,207.7,3138,2202,2443,2340,198.6,9.1,548,4003,0.00,2.53,23.95,1.252,8868,0.000,0.080,3138,793,2326,2371,2281,0,0,0,0,0,0,14.12,13.76,13.37
$GC,4198,0.44,233.6,3138,794,2356,2275,178.0,8.8,593,4239,0.00,2.50,36.03,1.222,9382,0.000,0.079,3137,2207,2227,2270,2185,0,0,0,0,0,0,14.07,13.98,13.35
$GC,4436,0.45,242.7,3138,2208,2255,2161,155.3,9.6,613,4440,0.00,0.00,3.08,0.950,8230,0.000,0.000,3137,2206,2187,2234,2141,0,0,0,0,0,0,14.16,14.00,13.23
$GC,4614,0.50,273.0,3138,2208,2246,2146,139.3,8.6,622,4675,0.00,0.00,56.45,1.190,8870,0.000,0.000,3138,2207,2063,2106,2020,0,0,0,0,0,0,14.25,13.80,13.33
$GC,4854,0.57,305.1,3137,2208,2096,1999,118.7,8.5,637,4909,0.00,2.60,47.50,1.174,8868,0.000,0.083,3138,803,1926,1963,1890,0,0,0,0,0,0,14.16,13.76,13.33
$GC,4937,0.68,337.4,3140,804,1953,1885,112.0,8.5,653,4991,0.12,2.50,48.50,1.136,11430,0.090,0.080,3204,2195,1803,1833,1774,0,0,0,0,0,0,13.84,13.81,13.23
$GC,5176,0.68,337.4,3203,2196,1812,1750,83.8,12.2,680,5181,0.00,2.50,0.00,0.000,516,0.000,0.083,3205,803,1779,1810,1749,0,0,0,0,0,0,14.08,13.88,14.09
$GC,5266,0.71,337.5,3204,803,1808,1749,74.2,10.0,698,5271,0.00,2.50,0.00,0.000,1190,0.000,0.080,3205,2206,1778,1807,1749,0,0,0,0,0,0,14.03,13.95,14.05
$GC,5458,0.79,406.4,3206,2207,1806,1746,58.3,6.8,718,5499,0.00,0.00,38.12,0.383,8358,0.000,0.000,3205,2207,1520,1558,1483,0,0,0,0,0,0,14.21,14.02,13.81
$GC,5678,0.90,461.6,3205,2207,1558,1489,42.3,7.4,740,5718,0.20,2.53,33.65,0.330,10660,0.116,0.093,3277,3613,1295,1349,1242,0,0,0,0,0,0,14.09,14.00,13.86
$GC,5739,0.84,461.6,3277,3613,1349,1249,35.7,11.9,749,5745,0.15,2.42,0.00,0.000,5254,0.291,0.054,3257,2199,1297,1349,1245,0,0,0,0,0,0,13.90,14.04,14.07
$GC,5932,0.96,535.0,3258,2196,1349,1248,19.2,6.6,769,5982,0.00,0.00,44.42,0.266,8358,0.000,0.000,3257,2195,995,1070,921,0,0,0,0,0,0,14.28,14.09,13.94
$GC,6162,1.12,608.8,3257,2196,1073,931,5.0,6.6,792,6200,0.25,0.00,35.25,0.214,10914,0.106,0.000,3347,2194,759,834,684,0,0,0,0,0,0,14.10,28.83,14.14
$STATE,6200,end climb,SURFACE_DEPTH_REACHED
$STATE,6200,begin surface coast
$FINISH,0.2,1.016122
$STATE,6213,end surface coast,CONTROL_FINISHED_OK
$STATE,6213,begin surface
$SM_CCo,6234,39.03,0.208,0,0,497,657.16
$SM_CCo,6276,-0.38,0.000,0,0,500,657.16
$SM_CCo,6280,0.17,0.671,0,0,500,657.40
$SM_GC,1.17,9.77,1.67,0.17,0.086,0.094,0.671,206,3103,500,-8.62,-0.48,657.40,0,0,0,0,0,0,14.14,14.10,14.02
$RAFOS_CLK,285
$MODEM,5,1472963524,74.50000,-149.00000,97.912,141491.1
$MODEM,3,1472962817,74.30400,-153.94400,110.003,158963.1
$MODEM,2,1472962361,73.18300,-149.96500,14.721,21273.6
$RAFOS_FIX,7317.593750,-15025.422852,040916,040440,3,255,4.29
$IRIDIUM_FIX,7235.57,-15032.01,040916,021038
$TT8_MAMPS,0.041195,1.03437
$HUMID,58.50
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.30
$XPDR_PINGS,2
$SC_FREEKB,4004224
$PM_FREEKB,56034560
$24V_AH,12.83,30.745
$10V_AH,12.91,0.000
$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,25.550,47.900,929.950,39.200,0.000,0.000,0.000,410.750,0.500,0.000,9.768,0.000,3708.608,916.657,1989.382,283.983,0.000,2111.183,0.000,1147.249,1438.000,0.540,0.000
$DEVICE_MAMPS,406.215,2233.800,1252.305,670.905,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6239.000,6216.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.595,18.722,0.000,0.000
$MEM,311240
$DATA_FILE_SIZE,26671,801
$CAP_FILE_SIZE,92282,0
$CFSIZE,2097872896,2078965760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1444.9
$WARN,PPS timeout
$CURRENT,0.080,337.80,1
$GPS,040916,055702,7318.457,-15022.938,9,0.7,9,20.6,0.0,0.0,11,9.8