version: 66.13
glider: 196
mission: 10
dive: 3
start: 8 26 116 0 35 41
data:
$ID,196
$MISSION,10
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,220
$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,90
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$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,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,3365
$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,4
$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
$GPS1,260816,003138,7421.2734,-15339.2988,8,0.9,10,19.3,0.0,71.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.0
$GPS2,260816,003514,7421.2954,-15339.1650,6,0.9,13,19.3,0.0,91.1,9,8.9
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.3,175934,-19.7,-10.000,-22.51,2245
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.62,-145.9,205,1996,572,494,0.0,0.0,0,135,0.00,0.00,-121.05,0.000,16386,0.000,0.000,204,1996,2458,2404,2512,0,0,0,0,0,0,14.52,28.83,14.55
$GC,138,-0.62,-145.9,206,1996,2406,2511,3.8,-4.7,12,191,13.05,2.72,-31.45,0.000,18724,0.434,2.252,2764,3416,3961,3951,3972,0,0,0,0,0,0,14.11,13.43,14.34
$GC,418,-0.71,-145.9,2763,3417,3956,3973,57.4,-13.7,67,424,0.00,2.40,0.00,0.000,1158,0.000,0.062,2763,1997,3963,3955,3972,0,0,0,0,0,0,14.32,14.25,14.35
$GC,603,-0.83,-145.9,2764,1998,3956,3972,79.0,-10.6,86,608,0.15,2.53,0.00,0.000,4484,0.143,0.103,2702,3418,3963,3955,3972,0,0,0,0,0,0,14.34,14.27,14.39
$GC,833,-0.90,-145.9,2702,3419,3957,3973,110.5,-13.1,132,838,0.00,2.40,0.00,0.000,1158,0.000,0.064,2702,1996,3964,3956,3972,0,0,0,0,0,0,14.42,14.38,14.43
$GC,1023,-0.97,-145.9,2703,1992,3956,3973,133.4,-11.6,143,1028,0.12,2.50,0.00,0.000,4484,0.146,0.100,2650,3418,3964,3956,3972,0,0,0,0,0,0,14.42,14.36,14.47
$GC,1253,-0.97,-145.9,2650,3419,3956,3973,170.7,-15.9,189,1258,0.00,2.38,0.00,0.000,1030,0.000,0.064,2650,2001,3964,3956,3972,0,0,0,0,0,0,14.51,14.42,14.52
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1326,-0.13,0.0,2651,2001,3956,3973,181.6,-15.3,194,1465,1.05,0.00,124.97,2.066,10246,0.245,0.000,2930,1999,3366,3389,3344,0,0,0,0,1,0,14.35,13.70,13.00
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1469,0.62,145.9,2928,2000,3390,3338,189.5,0.0,201,1608,0.80,2.70,125.03,1.984,11012,0.119,0.093,3173,3418,2767,2812,2723,0,0,0,0,1,0,13.74,13.62,12.96
$GC,1698,0.55,271.6,3173,3419,2811,2724,193.9,4.2,244,1822,0.00,2.45,110.57,1.952,9382,0.000,0.060,3177,1999,2255,2296,2214,0,0,0,0,1,0,14.07,14.00,12.97
$GC,2009,0.55,271.6,3177,1999,2290,2209,167.1,10.2,279,2014,0.00,2.55,0.00,0.000,260,0.000,0.097,3177,3418,2248,2289,2208,0,0,0,0,0,0,14.31,14.12,14.33
$GC,2074,0.49,271.6,3177,3419,2287,2205,159.0,12.4,292,2080,0.20,2.42,0.00,0.000,5254,0.298,0.064,3143,2004,2247,2286,2208,0,0,0,0,0,0,14.09,14.19,14.26
$GC,2270,0.57,309.3,3143,2004,2287,2207,142.1,8.3,304,2320,0.00,2.60,36.55,1.761,8868,0.000,0.097,3151,590,2102,2131,2073,0,0,0,0,1,0,14.49,13.97,13.38
$GC,2367,0.68,338.6,3152,590,2132,2074,133.9,8.7,323,2411,0.15,2.50,31.62,1.683,11430,0.133,0.083,3202,2005,1979,1997,1962,0,0,0,0,1,0,14.12,14.09,13.27
$GC,2592,0.68,338.6,3202,2006,1997,1958,108.0,12.2,341,2597,0.00,2.55,0.00,0.000,260,0.000,0.097,3202,3422,1976,1996,1957,0,0,0,0,0,0,14.33,14.14,14.35
$GC,2708,0.64,338.6,3203,3422,1993,1958,90.9,14.3,364,2715,0.00,2.45,0.00,0.000,1158,0.000,0.064,3208,1995,1975,1993,1957,0,0,0,0,0,0,14.32,14.24,14.34
$GC,2892,0.64,346.4,3210,1995,1993,1955,70.5,9.6,383,2903,0.00,2.55,4.00,0.431,8484,0.000,0.096,3208,3408,1948,1962,1934,0,0,0,0,0,0,14.46,14.26,14.10
$GC,2953,0.62,348.9,3209,3408,1963,1935,64.3,9.9,395,2958,0.00,2.40,0.00,0.000,1190,0.000,0.063,3208,1991,1948,1962,1934,0,0,0,0,0,0,14.35,14.27,14.36
$GC,3145,0.68,395.6,3208,1991,1963,1935,49.4,7.9,415,3185,0.00,2.47,32.55,0.362,8868,0.000,0.099,3208,595,1748,1747,1749,0,0,0,0,0,0,14.51,14.26,14.13
$GC,3220,0.82,479.1,3208,594,1747,1750,44.4,6.2,430,3281,0.12,2.45,54.35,0.335,11430,0.158,0.083,3253,2003,1407,1429,1386,0,0,0,0,0,0,14.28,14.28,14.07
$GC,3467,0.97,577.2,3253,2003,1431,1374,22.2,5.5,461,3538,0.12,2.53,63.60,0.270,10660,0.149,0.096,3301,3423,1003,1073,934,0,0,0,0,0,0,14.30,14.18,14.12
$GC,3603,0.97,577.2,3302,3424,1073,937,11.2,10.5,485,3609,0.00,2.45,0.00,0.000,1030,0.000,0.066,3303,1998,1004,1073,935,0,0,0,0,0,0,14.28,14.21,14.31
$STATE,3696,end climb,SURFACE_DEPTH_REACHED
$STATE,3696,begin surface coast
$FINISH,0.4,1.020620
$STATE,3716,end surface coast,CONTROL_FINISHED_OK
$STATE,3716,begin surface
$SM_CCo,3735,77.00,0.209,0,0,538,692.97
$SM_GC,1.16,9.73,0.00,77.00,0.106,0.000,0.209,207,1997,538,-8.63,-0.14,692.97,0,0,0,0,0,0,14.30,14.51,14.19
$RAFOS_CLK,128
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15343.91,260816,002829
$TT8_MAMPS,0.038948,1.07107
$HUMID,59.56
$INTERNAL_PRESSURE,8.63116
$TCM_TEMP,13.40
$XPDR_PINGS,27
$SC_FREEKB,4016072
$PM_FREEKB,62269824
$24V_AH,12.96,3.528
$10V_AH,12.83,0.000
$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,25.500,50.000,583.250,77.000,0.000,0.000,0.000,0.000,6.750,0.000,13.552,0.000,2071.826,753.691,979.804,87.589,0.000,1231.249,0.000,715.484,0.000,0.539,0.000
$DEVICE_MAMPS,433.755,2252.160,2065.500,208.845,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3710.000,3704.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.265,18.736,0.000,0.000
$MEM,311552
$DATA_FILE_SIZE,16793,497
$CAP_FILE_SIZE,72251,0
$CFSIZE,2097872896,2093154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$SOUNDSPEED,1442.8
$GPS,260816,014001,7421.112,-15337.883,8,0.8,11,19.3,0.0,0.0,9,9.4