version: 66.13
glider: 196
mission: 10
dive: 7
start: 8 26 116 5 50 37
data:
$ID,196
$MISSION,10
$DIVE,7
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,260816,053930,7420.8003,-15331.1816,9,0.8,17,19.4,0.3,28.6,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.4
$GPS2,260816,055010,7420.8496,-15330.9199,10,0.8,16,19.4,0.0,12.8,10,8.6
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.1,172369,-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,-145.9,186,2600,574,498,0.0,0.0,0,135,0.00,0.00,-121.15,0.000,16386,0.000,0.000,183,2600,2464,2413,2515,0,0,0,0,0,0,14.35,28.83,14.38
$GC,138,-0.62,-145.9,184,2600,2417,2517,3.9,-4.6,12,189,13.15,2.30,-31.12,0.000,18724,0.425,2.261,2762,3789,3961,3947,3976,0,0,0,0,0,0,14.00,13.38,14.21
$GC,414,-0.71,-145.9,2762,3786,3952,3976,58.8,-13.7,67,420,0.00,2.03,0.00,0.000,1158,0.000,0.059,2762,2584,3963,3952,3975,0,0,0,0,0,0,14.23,14.18,14.25
$GC,599,-0.82,-145.9,2762,2584,3954,3976,81.6,-12.1,86,604,0.12,2.17,0.00,0.000,4484,0.157,0.108,2708,3788,3964,3953,3975,0,0,0,0,0,0,14.23,14.21,14.28
$GC,829,-0.89,-145.9,2709,3789,3953,3976,114.6,-13.8,132,834,0.00,2.03,0.00,0.000,1158,0.000,0.061,2708,2599,3962,3953,3971,0,0,0,0,0,0,14.33,14.27,14.35
$GC,1020,-0.96,-145.9,2709,2598,3953,3976,139.5,-12.6,143,1024,0.12,2.12,0.00,0.000,4484,0.151,0.108,2652,3785,3964,3953,3975,0,0,0,0,0,0,14.32,14.28,14.35
$GC,1250,-0.96,-145.9,2653,3786,3953,3976,178.8,-16.5,189,1255,0.00,1.98,0.00,0.000,1030,0.000,0.060,2652,2598,3964,3953,3975,0,0,0,0,0,0,14.42,14.36,14.43
$STATE,1257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1257,begin apogee
$GC,1263,-0.13,0.0,2652,2195,3955,3976,180.5,-17.2,191,1401,1.05,0.00,126.50,2.010,10246,0.246,0.000,2927,2193,3362,3387,3338,0,0,0,0,1,0,14.25,13.42,12.88
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1406,0.62,145.9,2927,2194,3391,3338,188.0,0.0,198,1548,0.82,2.62,127.05,1.945,11012,0.120,0.089,3177,792,2768,2816,2721,0,0,0,0,1,0,13.57,13.44,12.80
$GC,1773,0.64,265.7,3177,794,2816,2724,184.9,4.5,272,1893,0.00,2.50,107.57,1.919,9382,0.000,0.084,3177,2206,2279,2321,2237,0,0,0,0,1,0,14.07,14.00,12.81
$GC,2085,0.64,265.7,3177,2207,2319,2232,157.1,10.7,307,2090,0.00,2.55,0.00,0.000,516,0.000,0.092,3178,792,2274,2318,2231,0,0,0,0,0,0,14.11,13.93,14.12
$GC,2315,0.65,285.6,3178,792,2314,2232,134.5,9.1,353,2351,0.00,2.47,24.15,1.478,9254,0.000,0.086,3178,2198,2198,2235,2161,0,0,0,0,1,0,14.18,14.10,13.30
$GC,2548,0.66,306.2,3175,2200,2237,2161,113.2,9.1,372,2591,0.00,2.60,31.35,1.280,8740,0.000,0.091,3178,796,2112,2145,2079,0,0,0,0,1,0,14.26,13.90,13.36
$GC,2628,0.72,315.6,3178,796,2144,2080,105.6,9.6,388,2648,0.00,2.50,10.93,1.347,9382,0.000,0.088,3177,2192,2073,2102,2044,0,0,0,0,0,0,14.04,13.95,13.47
$GC,2828,0.77,335.8,3178,2193,2098,2038,86.8,9.1,408,2847,0.17,0.00,12.27,0.467,10406,0.138,0.000,3236,2192,1993,2017,1969,0,0,0,0,0,0,14.04,14.09,13.85
$GC,3028,0.73,335.8,3235,2193,2020,1970,64.7,10.5,428,3033,0.00,2.47,0.00,0.000,644,0.000,0.090,3242,798,1993,2018,1969,0,0,0,0,0,0,14.27,14.09,14.29
$GC,3068,0.71,335.8,3243,799,2018,1969,60.2,10.4,436,3074,0.15,2.50,0.00,0.000,5254,0.272,0.086,3213,2210,1991,2015,1968,0,0,0,0,0,0,14.04,14.11,14.19
$GC,3261,0.79,414.2,3213,2210,2019,1967,46.1,6.4,456,3321,0.00,2.58,50.65,0.350,8612,0.000,0.099,3213,3602,1673,1685,1662,0,0,0,0,0,0,14.33,14.05,13.94
$GC,3446,0.86,464.7,3213,3602,1686,1658,32.9,7.7,493,3483,0.12,2.40,32.40,0.306,11430,0.143,0.058,3260,2195,1470,1495,1446,0,0,0,0,0,0,14.13,14.13,13.98
$GC,3661,1.03,593.6,3260,2196,1492,1434,18.1,4.1,518,3752,0.12,2.50,82.95,0.260,10916,0.150,0.092,3314,799,939,1019,859,0,0,0,0,0,0,14.17,14.04,13.98
$GC,3812,1.10,595.9,3314,798,1020,860,7.4,9.9,548,3818,0.00,2.50,0.00,0.000,1190,0.000,0.085,3314,2204,939,1019,860,0,0,0,0,0,0,14.18,14.09,14.19
$STATE,3860,end climb,SURFACE_DEPTH_REACHED
$STATE,3860,begin surface coast
$FINISH,0.9,1.021221
$STATE,3870,end surface coast,CONTROL_FINISHED_OK
$STATE,3870,begin surface
$SM_CCo,3890,65.30,0.211,0,0,538,693.22
$SM_GC,1.35,9.80,0.73,65.30,0.101,0.096,0.211,205,2607,538,-8.63,-0.51,693.22,0,0,0,0,0,0,14.14,14.14,14.04
$RAFOS_CLK,162
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15340.38,260816,054228
$TT8_MAMPS,0.040446,1.07931
$HUMID,59.68
$INTERNAL_PRESSURE,8.63116
$TCM_TEMP,13.40
$XPDR_PINGS,3
$SC_FREEKB,4015580
$PM_FREEKB,62149760
$24V_AH,12.80,4.986
$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,25.650,44.225,605.825,65.300,0.000,0.000,0.000,391.150,0.750,0.000,17.957,0.000,2195.431,747.702,1443.705,217.214,0.000,1655.404,0.000,798.740,0.000,0.539,0.000
$DEVICE_MAMPS,425.340,2260.575,2009.655,211.140,0.000,0.000,0.000,153.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3890.000,3873.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.382,18.708,0.000,0.000
$MEM,311476
$DATA_FILE_SIZE,20080,555
$CAP_FILE_SIZE,66077,0
$CFSIZE,2097872896,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$SOUNDSPEED,1443.0
$GPS,260816,065751,7420.636,-15329.207,40,0.8,41,19.4,0.0,0.0,10,9.8