version: 66.13
glider: 196
mission: 20
dive: 498
start: 9 24 120 16 29 33
data:
$ID,196
$MISSION,20
$DIVE,498
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,60
$T_MISSION,90
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,6
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$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
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240920,160133,7201.1460,-15158.1689,30,1.4,31,19.6,0.8,276.4,6,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.9
$GPS2,240920,162853,7201.3086,-15159.3301,5,1.8,24,19.6,0.5,275.7,5,10.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,RECOV
$TGT_LATLONG,7200.000,-15200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,169.4,2454,-20.8,-10.000,-22.74,1497
$D_GRID,180
$EXEC,0,999,2,0.000000,0.000000
$EXEC,4,999,2,0.000000,0.000000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.82,-97.3,254,2041,896,943,0.0,0.0,0,98,0.00,0.00,-87.50,0.004,16386,0.000,0.000,252,2041,2317,2273,2361,0,0,0,0,0,0,14.46,28.83,14.50
$GC,101,-0.82,-97.3,253,2041,2278,2362,6.4,-11.6,9,140,12.57,2.67,-19.90,0.008,19204,0.444,0.119,2440,625,3156,3249,3064,0,0,0,0,0,0,13.71,12.50,13.97
$GC,365,-0.82,-97.3,2442,626,3250,3066,55.7,-13.6,61,371,0.00,2.47,0.00,0.000,1030,0.000,0.083,2443,1960,3157,3250,3065,0,0,0,0,0,0,14.12,13.96,14.16
$GC,736,-0.82,-97.3,2443,1961,3250,3066,103.6,-13.4,75,741,0.00,2.53,0.00,0.000,516,0.000,0.103,2441,625,3157,3249,3065,0,0,0,0,0,0,14.50,13.95,14.52
$GC,951,-0.82,-97.3,2442,626,3250,3066,132.6,-13.0,118,956,0.00,2.47,0.00,0.000,1030,0.000,0.084,2441,1960,3157,3249,3065,0,0,0,0,0,0,14.12,13.95,14.18
$GC,1337,-0.82,-97.3,2441,1960,3250,3067,175.2,-10.6,135,1342,0.00,2.53,0.00,0.000,516,0.000,0.104,2441,636,3157,3249,3065,0,0,0,0,0,0,14.47,13.81,14.50
$STATE,1379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1388,-0.17,0.0,2442,2035,3250,3066,180.3,-11.4,144,1493,0.90,0.00,102.07,1.405,10246,0.259,0.000,2653,2035,2757,2877,2638,0,0,0,0,0,0,13.59,13.89,13.13
$STATE,1495,end apogee,CONTROL_FINISHED_OK
$STATE,1495,begin climb
$GC,1497,0.82,97.3,2654,2035,2876,2638,183.8,0.0,147,1595,1.15,0.00,94.93,1.359,10246,0.162,0.000,2979,2036,2365,2483,2247,0,0,0,0,0,0,13.83,13.57,12.85
$GC,1954,0.90,155.9,2979,2036,2472,2231,158.4,6.0,163,2029,0.00,2.75,69.05,1.284,8484,0.000,0.109,2979,3453,2120,2231,2010,0,0,0,0,0,0,14.57,13.90,13.18
$GC,2089,0.93,185.3,2979,3454,2226,2010,149.4,8.0,190,2131,0.12,2.42,36.50,1.248,11302,0.147,0.065,3030,2115,2001,2103,1900,0,0,0,0,0,0,13.97,13.96,13.12
$GC,2498,0.96,185.3,3030,2115,2090,1896,113.2,8.9,211,2503,0.00,2.67,0.00,0.000,580,0.000,0.113,3032,705,1992,2089,1895,0,0,0,0,0,0,14.52,14.02,14.55
$GC,2584,0.98,185.3,3033,706,2090,1895,105.4,8.7,228,2590,0.00,2.45,0.00,0.000,1094,0.000,0.087,3032,2038,1991,2089,1894,0,0,0,0,0,0,14.24,14.07,14.31
$GC,2949,1.02,217.2,3032,2039,2089,1895,76.4,7.8,241,2999,0.00,2.67,42.92,1.239,8484,0.000,0.111,3032,3437,1870,1963,1778,0,0,0,0,0,0,14.52,14.03,13.34
$GC,3089,1.04,217.2,3029,3437,1959,1779,64.2,9.1,269,3095,0.00,2.40,0.00,0.000,1094,0.000,0.070,3032,2105,1868,1959,1777,0,0,0,0,0,0,14.24,14.11,14.27
$GC,3461,1.10,263.4,3032,2106,1957,1775,36.5,6.8,283,3546,0.12,0.00,82.75,1.196,11046,0.137,0.000,3084,2112,1683,1762,1605,0,0,0,0,0,0,14.26,13.94,13.26
$FREEZE,9.93,1.765,-1.588,2,1,0
$FREEZE,9.76,1.765,-1.588,2,1,0
$FREEZE,9.57,1.727,-1.586,2,1,0
$FREEZE,9.33,1.727,-1.586,2,1,0
$FREEZE,9.22,1.643,-1.581,2,1,0
$FREEZE,9.10,1.643,-1.581,2,1,0
$FREEZE,9.02,1.585,-1.578,2,1,0
$FREEZE,8.95,1.585,-1.578,2,1,0
$FREEZE,8.93,1.473,-1.577,2,1,0
$FREEZE,8.96,1.473,-1.577,2,1,0
$FREEZE,8.95,1.305,-1.584,2,1,0
$FREEZE,8.94,1.305,-1.584,2,1,0
$FREEZE,8.91,1.076,-1.592,2,1,0
$FREEZE,8.87,1.076,-1.592,2,1,0
$FREEZE,8.78,0.904,-1.587,2,1,0
$FREEZE,8.65,0.904,-1.587,2,1,0
$FREEZE,8.52,0.910,-1.567,2,1,0
$FREEZE,8.40,0.910,-1.567,2,1,0
$FREEZE,8.25,0.901,-1.554,2,1,0
$FREEZE,8.04,0.901,-1.554,2,1,0
$FREEZE,7.84,0.881,-1.540,2,1,0
$GC,3912,1.22,353.1,3085,2106,1755,1605,9.9,3.8,332,4064,0.00,2.65,144.38,1.151,8740,0.000,0.112,3085,714,1316,1362,1271,0,0,0,0,0,0,14.57,13.79,13.12
$FREEZE,7.57,0.880,-1.529,2,1,0
$FREEZE,7.47,0.880,-1.529,2,1,0
$FREEZE,7.34,0.881,-1.525,2,1,0
$FREEZE,7.20,0.881,-1.524,2,1,0
$FREEZE,7.00,0.879,-1.521,2,1,0
$FREEZE,6.82,0.879,-1.521,2,1,0
$FREEZE,6.60,0.878,-1.519,2,1,0
$FREEZE,6.41,0.878,-1.519,2,1,0
$FREEZE,6.25,0.887,-1.516,2,1,0
$FREEZE,6.08,0.887,-1.516,2,1,0
$FREEZE,5.91,0.881,-1.515,2,1,0
$FREEZE,5.75,0.881,-1.515,2,1,0
$FREEZE,5.62,0.884,-1.514,2,1,0
$FREEZE,5.49,0.884,-1.514,2,1,0
$FREEZE,5.26,0.886,-1.513,2,1,0
$FREEZE,5.10,0.886,-1.513,2,1,0
$FREEZE,4.97,0.884,-1.513,2,1,0
$FREEZE,4.80,0.884,-1.513,2,1,0
$FREEZE,4.63,0.890,-1.512,2,1,0
$FREEZE,4.51,0.890,-1.512,2,1,0
$FREEZE,4.40,0.893,-1.511,2,1,0
$FREEZE,3.96,0.893,-1.511,2,1,0
$FREEZE,3.75,0.884,-1.511,2,1,0
$FREEZE,3.44,0.884,-1.511,2,1,0
$FREEZE,3.26,0.878,-1.511,2,1,0
$FREEZE,2.93,0.878,-1.510,2,1,0
$GC,4164,1.35,454.4,3085,716,1360,1269,4.5,3.0,373,4210,0.22,2.45,40.83,1.112,11298,0.109,0.086,3172,2032,1204,1235,1174,0,0,0,0,0,0,14.00,13.88,14.11
$STATE,4210,end climb,SURFACE_DEPTH_REACHED
$STATE,4210,begin surface coast
$FREEZE,2.59,0.883,-1.510,2,1,0
$FREEZE,2.29,0.883,-1.510,2,1,0
$FREEZE,1.96,0.879,-1.509,2,1,0
$FREEZE,1.63,0.879,-1.509,2,1,0
$FREEZE,1.18,0.881,-1.509,2,1,0
$FREEZE,0.82,0.881,-1.509,2,1,0
$FREEZE,0.54,0.887,-1.508,2,1,0
$FREEZE,0.20,0.887,-1.508,2,1,0
$FREEZE,0.14,0.913,-1.506,2,1,0
$FREEZE,0.09,0.913,-1.506,2,1,0
$FREEZE,0.08,0.849,-1.497,2,1,0
$FREEZE,0.07,0.849,-1.497,2,1,0
$FREEZE,0.10,0.905,-0.837,2,1,0
$FREEZE,0.17,0.905,-0.837,2,1,0
$FREEZE,0.07,0.915,-0.887,2,1,0
$FREEZE,0.09,0.915,-0.887,2,1,0
$FINISH,0.1,1.013112
$STATE,4288,end surface coast,CONTROL_FINISHED_OK
$STATE,4288,begin surface
$SM_CCo,4307,143.80,0.838,1,0,923,450.13
$SM_GC,1.02,9.15,0.00,143.80,0.078,0.000,0.838,255,2033,923,-7.60,2.35,450.13,0,0,0,0,1,0,14.08,14.41,13.14
$RAFOS_CLK,119
$RAFOS_FIX,7200.893066,-15159.270508,240920,171753,0,1,0.18
$IRIDIUM_FIX,7200.11,-15158.93,240920,161427
$TT8_MAMPS,0.039697,0.324317
$HUMID,52.52
$INTERNAL_PRESSURE,8.79988
$TCM_TEMP,13.80
$XPDR_PINGS,108
$SC_FREEKB,3587936
$24V_AH,12.50,263.616
$10V_AH,12.98,0.000
$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,24.250,35.800,613.425,143.800,0.000,0.000,0.000,1137.250,27.000,0.000,35.295,0.000,2924.032,740.805,1964.739,477.967,0.000,2313.361,0.000,596.274,667.000,0.532,0.000
$DEVICE_MAMPS,444.465,118.575,1405.305,837.675,0.000,0.000,0.000,185.895,420.000,0.000,21.720,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.470,0.000,0.000,0.000
$MEM,334624
$DATA_FILE_SIZE,13429,395
$CAP_FILE_SIZE,63032,0
$CFSIZE,1047117824,979337216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1445.7
$GPS,240920,174436,7201.382,-15159.816,8,0.8,10,19.5,0.0,45.8,9,9.9