version: 66.13
glider: 196
mission: 10
dive: 5
start: 8 26 116 3 9 8
data:
$ID,196
$MISSION,10
$DIVE,5
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,260816,030104,7420.9160,-15335.7637,28,0.7,28,19.3,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.0
$GPS2,260816,030840,7420.9448,-15335.5605,10,0.8,10,19.3,0.0,0.0,9,10.0
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.7,174156,-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,-145.9,195,2607,574,495,0.0,0.0,0,135,0.00,0.00,-121.03,0.000,16386,0.000,0.000,193,2607,2451,2404,2499,0,0,0,0,0,0,14.42,28.83,14.43
$GC,138,-0.62,-145.9,194,2607,2405,2500,3.9,-4.8,12,189,13.23,2.28,-31.45,0.000,18724,0.432,2.265,2763,3779,3961,3948,3974,0,0,0,0,0,0,14.04,13.44,14.27
$GC,224,-0.62,-145.9,2763,3779,3952,3975,28.3,-22.4,29,229,0.00,2.03,0.00,0.000,1030,0.000,0.065,2763,2593,3962,3951,3974,0,0,0,0,0,0,14.23,14.17,14.25
$GC,414,-0.71,-145.9,2763,2593,3953,3975,58.0,-13.2,49,419,0.00,2.15,0.00,0.000,388,0.000,0.110,2759,3783,3959,3945,3974,0,0,0,0,0,0,14.42,14.20,14.44
$GC,579,-0.83,-145.9,2759,3784,3954,3970,78.5,-12.3,82,586,0.17,2.00,0.00,0.000,5254,0.139,0.063,2700,2598,3963,3953,3974,0,0,0,0,0,0,14.26,14.30,14.34
$GC,766,-0.88,-145.9,2700,2598,3953,3975,106.4,-14.4,99,771,0.00,2.12,0.00,0.000,388,0.000,0.110,2692,3781,3964,3954,3974,0,0,0,0,0,0,14.47,14.25,14.48
$GC,991,-0.94,-145.9,2692,3781,3955,3975,139.1,-13.9,144,996,0.00,1.98,0.00,0.000,1158,0.000,0.061,2691,2598,3964,3954,3974,0,0,0,0,0,0,14.42,14.36,14.48
$GC,1186,-1.01,-145.9,2693,2598,3954,3975,165.0,-13.3,156,1191,0.12,2.10,0.00,0.000,4484,0.150,0.106,2637,3780,3964,3954,3974,0,0,0,0,0,0,14.36,14.35,14.40
$STATE,1274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1274,begin apogee
$GC,1282,-0.13,0.0,2638,2198,3955,3975,180.6,-17.6,174,1418,1.12,0.00,126.40,2.010,10246,0.252,0.000,2930,2197,3362,3387,3338,0,0,0,0,1,0,14.28,13.60,12.93
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1423,0.62,145.9,2931,2198,3391,3339,188.4,0.0,181,1564,0.80,2.67,127.68,1.934,10500,0.122,0.096,3173,3612,2764,2811,2718,0,0,0,0,1,0,13.62,13.41,12.86
$GC,1790,0.53,254.7,3173,3613,2809,2724,187.4,5.0,255,1901,0.00,2.42,98.35,1.902,9382,0.000,0.057,3177,2189,2322,2361,2283,0,0,0,0,1,0,14.15,14.08,12.90
$GC,2080,0.50,254.7,3177,2189,2360,2281,160.9,10.5,286,2085,0.15,2.58,0.00,0.000,4484,0.318,0.097,3146,3608,2319,2359,2280,0,0,0,0,0,0,13.88,13.99,13.99
$GC,2300,0.52,274.7,3147,3608,2354,2281,139.5,9.1,330,2335,0.00,2.40,23.73,1.469,9254,0.000,0.060,3151,2195,2243,2281,2206,0,0,0,0,1,0,14.25,14.18,13.37
$GC,2522,0.59,322.2,3150,2195,2284,2207,122.0,7.8,347,2586,0.00,2.58,51.75,1.522,8868,0.000,0.096,3151,790,2047,2074,2020,0,0,0,0,1,0,14.34,13.81,13.21
$GC,2666,0.71,353.0,3151,791,2075,2021,109.9,8.6,376,2716,0.17,2.53,39.08,1.314,11430,0.128,0.088,3207,2199,1922,1936,1908,0,0,0,0,1,0,13.95,13.93,13.17
$GC,2901,0.71,353.0,3208,2200,1936,1908,82.6,11.1,403,2906,0.00,2.55,0.00,0.000,260,0.000,0.100,3207,3607,1921,1935,1908,0,0,0,0,0,0,14.21,14.02,14.23
$GC,2957,0.67,353.0,3207,3608,1936,1909,75.9,12.1,414,2963,0.00,2.45,0.00,0.000,1158,0.000,0.064,3209,2194,1921,1935,1907,0,0,0,0,0,0,14.12,14.05,14.14
$GC,3152,0.71,377.9,3209,2195,1933,1906,57.0,8.9,433,3173,0.00,2.50,16.12,0.383,8868,0.000,0.093,3208,792,1822,1828,1816,0,0,0,0,0,0,14.28,14.08,13.94
$GC,3280,0.83,453.9,3208,793,1829,1815,47.5,6.5,458,3339,0.12,2.50,50.83,0.348,11430,0.157,0.087,3252,2204,1510,1526,1495,0,0,0,0,0,0,14.11,14.09,13.90
$GC,3524,0.93,517.5,3252,2205,1527,1489,25.3,7.1,489,3569,0.00,0.00,41.78,0.287,8870,0.000,0.000,3252,2203,1250,1297,1204,0,0,0,0,0,0,14.26,14.09,13.94
$GC,3756,1.12,607.6,3252,2205,1297,1199,11.8,5.9,517,3826,0.28,2.62,59.47,0.238,10660,0.114,0.097,3343,3615,883,960,807,0,0,0,0,0,0,14.11,14.01,13.97
$STATE,3850,end climb,SURFACE_DEPTH_REACHED
$STATE,3850,begin surface coast
$FINISH,0.3,1.021233
$STATE,3859,end surface coast,CONTROL_FINISHED_OK
$STATE,3859,begin surface
$SM_CCo,3880,57.75,0.210,0,0,539,693.22
$SM_GC,1.13,9.90,1.83,57.75,0.096,0.069,0.210,206,2593,539,-8.63,0.74,693.22,0,0,0,0,0,0,14.07,14.11,14.00
$RAFOS_CLK,48
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15333.23,260816,014753
$TT8_MAMPS,0.086135,1.04635
$HUMID,56.14
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.50
$XPDR_PINGS,3
$SC_FREEKB,4015828
$PM_FREEKB,62214336
$24V_AH,12.86,4.270
$10V_AH,13.08,0.000
$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,26.075,47.025,635.175,57.750,0.000,0.000,0.000,274.700,0.750,0.000,11.550,0.000,2117.940,760.991,1317.934,203.687,0.000,1547.479,0.000,773.327,2213.000,0.540,0.000
$DEVICE_MAMPS,432.225,2265.165,2010.420,210.375,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3878.000,3860.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.529,18.697,0.000,0.000
$MEM,311616
$DATA_FILE_SIZE,16770,537
$CAP_FILE_SIZE,63727,0
$CFSIZE,2097872896,2092728320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$SOUNDSPEED,1442.8
$GPS,260816,041531,7420.846,-15333.375,8,0.9,10,19.4,0.0,312.7,10,9.0