version: 66.13
glider: 196
mission: 10
dive: 4
start: 8 26 116 1 51 36
data:
$ID,196
$MISSION,10
$DIVE,4
$N_DIVES,8
$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,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$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,3
$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
$GPS1,260816,014710,7421.1367,-15337.6455,8,0.8,12,19.3,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.2
$GPS2,260816,015108,7421.1533,-15337.5059,6,0.8,14,19.3,0.0,0.0,10,8.7
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.5,175141,-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,-145.9,207,2621,572,494,0.0,0.0,0,135,0.00,0.00,-121.40,0.000,16386,0.000,0.000,206,2621,2470,2421,2520,0,0,0,0,0,0,14.53,28.83,14.55
$GC,138,-0.62,-145.9,207,2621,2422,2521,4.2,-5.7,12,188,13.10,2.20,-30.58,0.000,18724,0.435,2.272,2762,3769,3960,3949,3972,0,0,0,0,0,0,14.14,13.52,14.36
$GC,413,-0.72,-145.9,2762,3769,3954,3973,57.5,-12.5,67,419,0.00,1.98,0.00,0.000,1158,0.000,0.062,2763,2590,3960,3949,3972,0,0,0,0,0,0,14.36,14.30,14.40
$GC,599,-0.84,-145.9,2763,2591,3954,3973,80.7,-12.3,86,604,0.15,2.10,0.00,0.000,4484,0.143,0.107,2702,3770,3963,3954,3972,0,0,0,0,0,0,14.35,14.32,14.39
$GC,829,-0.90,-145.9,2702,3770,3957,3975,113.9,-12.9,132,834,0.00,1.98,0.00,0.000,1158,0.000,0.063,2702,2598,3963,3954,3972,0,0,0,0,0,0,14.44,14.38,14.45
$GC,1019,-0.97,-145.9,2703,2597,3954,3973,138.4,-12.8,143,1024,0.10,2.10,0.00,0.000,4484,0.168,0.109,2663,3775,3963,3954,3972,0,0,0,0,0,0,14.40,14.36,14.47
$GC,1250,-1.00,-145.9,2664,3775,3954,3973,174.0,-15.8,189,1255,0.00,1.98,0.00,0.000,1158,0.000,0.062,2663,2592,3964,3954,3974,0,0,0,0,0,0,14.50,14.45,14.52
$STATE,1297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1297,begin apogee
$GC,1303,-0.13,0.0,2664,2197,3954,3973,181.7,-15.4,193,1441,1.00,0.00,126.78,2.027,10246,0.236,0.000,2928,2195,3364,3389,3339,0,0,0,0,1,0,14.34,13.52,12.96
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1445,0.62,145.9,2930,2196,3391,3340,190.2,0.0,200,1588,0.82,2.65,127.55,1.948,10500,0.121,0.096,3174,3607,2767,2809,2725,0,0,0,0,1,0,13.67,13.54,12.91
$GC,1768,0.51,237.4,3176,3608,2806,2725,194.0,5.8,262,1865,0.15,2.40,83.50,1.887,13478,0.329,0.057,3153,2202,2395,2438,2353,0,0,0,0,1,0,13.96,14.09,12.98
$GC,2043,0.53,263.2,3154,2202,2436,2351,171.7,8.8,290,2084,0.00,2.55,29.62,1.582,8740,0.000,0.094,3163,801,2290,2328,2252,0,0,0,0,1,0,14.23,13.88,13.24
$GC,2115,0.56,271.8,3163,802,2329,2253,165.2,9.6,304,2139,0.00,2.50,16.58,1.355,9382,0.000,0.089,3163,2192,2251,2288,2214,0,0,0,0,0,0,14.02,13.95,13.47
$GC,2325,0.56,271.8,3163,2193,2284,2205,143.8,10.1,319,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2192,2244,2282,2206,0,0,0,0,0,0,14.32,14.33,14.34
$GC,2504,0.57,293.1,3163,2193,2283,2205,127.2,9.0,328,2540,0.00,2.53,22.55,1.412,8740,0.000,0.093,3165,810,2167,2200,2134,0,0,0,0,1,0,14.42,14.09,13.45
$GC,2592,0.64,315.9,3164,805,2202,2133,119.7,9.0,345,2626,0.00,2.47,24.80,1.439,9382,0.000,0.089,3164,2202,2075,2100,2050,0,0,0,0,1,0,14.23,14.14,13.35
$GC,2807,0.69,321.3,3165,2203,2101,2050,98.9,9.8,361,2818,0.12,2.55,3.85,0.468,10660,0.151,0.101,3205,3610,2051,2076,2026,0,0,0,0,0,0,14.14,14.13,13.93
$GC,2890,0.62,321.3,3206,3610,2080,2030,88.4,12.2,377,2895,0.00,2.42,0.00,0.000,1158,0.000,0.063,3208,2201,2054,2080,2029,0,0,0,0,0,0,14.23,14.16,14.25
$GC,3081,0.63,333.4,3208,2201,2076,2030,69.7,9.4,397,3096,0.00,2.58,8.75,0.420,8484,0.000,0.100,3207,3606,2001,2023,1979,0,0,0,0,0,0,14.41,14.17,14.07
$GC,3156,0.58,333.4,3208,3607,2025,1980,61.9,10.6,412,3163,0.17,2.40,0.00,0.000,5254,0.311,0.065,3173,2199,2002,2025,1979,0,0,0,0,0,0,14.14,14.23,14.30
$GC,3343,0.72,425.9,3173,2199,2026,1981,50.4,5.8,431,3413,0.12,2.50,61.35,0.358,10916,0.152,0.095,3221,796,1623,1634,1613,0,0,0,0,0,0,14.28,14.12,14.05
$GC,3573,0.86,490.8,3222,796,1632,1610,32.7,7.0,477,3624,0.12,2.45,42.35,0.299,11430,0.156,0.086,3265,2201,1359,1388,1330,0,0,0,0,0,0,14.23,14.21,14.05
$GC,3803,1.01,585.7,3267,2201,1388,1324,17.4,5.7,505,3868,0.12,0.00,62.97,0.253,10406,0.153,0.000,3307,2201,977,1051,904,0,0,0,0,0,0,14.26,14.21,14.06
$STATE,3991,end climb,SURFACE_DEPTH_REACHED
$STATE,3991,begin surface coast
$FINISH,0.2,1.021208
$STATE,4011,end surface coast,CONTROL_FINISHED_OK
$STATE,4011,begin surface
$SM_CCo,4031,72.32,0.209,0,0,538,692.97
$SM_GC,1.15,9.60,0.73,72.32,0.091,0.099,0.209,207,2604,538,-8.62,-0.57,692.97,0,0,0,0,0,0,14.26,14.24,14.14
$RAFOS_CLK,169
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15340.38,260816,014303
$TT8_MAMPS,0.040446,1.07931
$HUMID,60.55
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.40
$XPDR_PINGS,15
$SC_FREEKB,4015948
$PM_FREEKB,62241728
$24V_AH,12.91,3.881
$10V_AH,12.96,0.000
$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,25.600,43.700,610.650,72.325,0.000,0.000,0.000,0.000,3.750,0.000,15.282,0.000,2297.572,774.538,1026.489,85.986,0.000,1266.686,0.000,760.547,0.000,0.539,0.000
$DEVICE_MAMPS,434.520,2272.050,2027.250,208.845,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3994.000,3988.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.261,18.704,0.000,0.000
$MEM,311560
$DATA_FILE_SIZE,16728,526
$CAP_FILE_SIZE,69672,0
$CFSIZE,2097872896,2092924928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$SOUNDSPEED,1442.8
$GPS,260816,030104,7420.916,-15335.764,28,0.7,28,19.3,0.0,0.0,10,8.0