version: 66.13
glider: 196
mission: 10
dive: 9
start: 8 26 116 9 43 50
data:
$ID,196
$MISSION,10
$DIVE,9
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,160
$T_MISSION,220
$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,3000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,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
$GPS1,260816,093422,7420.0234,-15324.9092,18,1.0,30,19.4,0.5,91.2,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.0
$GPS2,260816,094323,7420.0767,-15324.6211,7,0.9,25,19.4,0.5,350.7,8,9.5
$SPEED_LIMITS,0.180,0.244
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,119.7,169069,-20.4,-10.417,-23.10,2156
$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,-0.64,-145.9,198,2997,578,489,0.0,0.0,0,135,0.00,0.00,-121.35,0.000,16386,0.000,0.000,197,2997,2509,2459,2559,0,0,0,0,0,0,14.34,28.83,14.35
$GC,138,-0.64,-145.9,198,2996,2461,2559,4.6,-6.8,12,183,13.12,1.60,-28.67,0.000,18724,0.427,2.270,2759,3788,3960,3941,3980,0,0,0,0,0,0,13.98,13.40,14.19
$GC,409,-0.75,-145.9,2759,3788,3949,3989,60.8,-14.2,66,413,0.00,1.35,0.00,0.000,1158,0.000,0.063,2759,2993,3964,3947,3981,0,0,0,0,0,0,14.23,14.20,14.25
$GC,599,-0.87,-145.9,2760,2994,3949,3981,84.9,-12.1,86,603,0.17,1.42,0.00,0.000,4484,0.135,0.110,2689,3790,3965,3949,3981,0,0,0,0,0,0,14.23,14.18,14.28
$GC,829,-0.92,-145.9,2689,3792,3949,3988,119.9,-14.5,132,833,0.00,1.35,0.00,0.000,1158,0.000,0.064,2689,2997,3965,3949,3981,0,0,0,0,0,0,14.28,14.28,14.30
$GC,1019,-0.99,-145.9,2688,2997,3951,3982,146.8,-14.0,143,1024,0.00,1.45,0.00,0.000,388,0.000,0.116,2688,3786,3964,3949,3980,0,0,0,0,0,0,14.47,14.25,14.49
$GC,1249,-1.07,-145.9,2688,3787,3951,3982,178.9,-13.3,189,1254,0.12,1.33,0.00,0.000,5254,0.103,0.064,2636,3002,3964,3948,3981,0,0,0,0,0,0,14.30,14.35,14.35
$GC,1439,-1.07,-145.9,2635,3002,3951,3981,209.2,-16.2,200,1443,0.00,1.42,0.00,0.000,260,0.000,0.114,2631,3785,3965,3949,3981,0,0,0,0,0,0,14.53,14.32,14.54
$GC,1668,-1.07,-145.9,2631,3786,3950,3982,246.9,-14.7,246,1673,0.00,1.33,0.00,0.000,1030,0.000,0.064,2631,3000,3965,3949,3981,0,0,0,0,0,0,14.42,14.38,14.45
$GC,1859,-1.10,-145.9,2632,2997,3949,3981,272.8,-13.4,257,1864,0.00,1.42,0.00,0.000,388,0.000,0.117,2631,3782,3965,3949,3981,0,0,0,0,0,0,14.57,14.35,14.59
$GC,2089,-1.13,-145.9,2632,3783,3950,3981,304.8,-13.2,303,2093,0.00,1.30,0.00,0.000,1158,0.000,0.066,2631,3009,3964,3949,3980,0,0,0,0,0,0,14.45,14.42,14.47
$GC,2279,-1.17,-145.9,2631,3008,3951,3980,328.8,-12.6,314,2284,0.00,1.40,0.00,0.000,388,0.000,0.118,2631,3779,3964,3948,3981,0,0,0,0,0,0,14.61,14.38,14.61
$GC,2464,-1.22,-145.9,2632,3780,3949,3981,352.8,-13.0,351,2469,0.10,1.33,0.00,0.000,5254,0.109,0.067,2585,2990,3964,3949,3980,0,0,0,0,0,0,14.42,14.45,14.47
$GC,2659,-1.19,-145.9,2586,2991,3947,3981,381.9,-14.8,363,2660,0.00,0.00,0.00,0.000,134,0.000,0.000,2585,2990,3964,3949,3980,0,0,0,0,0,0,14.62,14.64,14.64
$GC,2839,-1.19,-145.9,2585,2989,3950,3981,408.0,-14.4,372,2844,0.00,1.45,0.00,0.000,260,0.000,0.116,2579,3789,3965,3949,3981,0,0,0,0,0,0,14.63,14.41,14.65
$GC,3029,-1.16,-145.9,2579,3790,3950,3981,438.0,-16.0,410,3034,0.00,1.33,0.00,0.000,1158,0.000,0.065,2580,2996,3964,3949,3980,0,0,0,0,0,0,14.52,14.46,14.51
$GC,3220,-1.13,-145.9,2580,2996,3950,3981,466.2,-14.8,421,3221,0.15,0.00,0.00,0.000,2182,0.301,0.000,2610,2996,3964,3949,3980,0,0,0,0,0,0,14.36,14.54,14.51
$GC,3399,-1.17,-145.9,2609,2996,3950,3981,489.2,-12.7,430,3400,0.00,0.00,0.00,0.000,134,0.000,0.000,2610,2996,3964,3949,3980,0,0,0,0,0,0,14.64,14.66,14.66
$STATE,3497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3497,begin apogee
$GC,3503,-0.13,0.0,2610,2195,3950,3981,501.9,-12.7,435,3684,1.17,0.00,172.82,1.761,10246,0.241,0.000,2927,2193,3361,3385,3338,0,0,0,0,1,0,14.38,13.50,12.74
$STATE,3686,end apogee,CONTROL_FINISHED_OK
$STATE,3686,begin climb
$GC,3689,0.64,145.9,2929,2194,3388,3340,509.9,0.0,444,3839,0.80,2.75,133.05,2.316,10500,0.084,0.096,3188,3611,2765,2810,2721,0,0,0,0,1,0,13.54,13.35,12.63
$GC,4064,0.40,145.9,3188,3612,2810,2722,474.0,16.4,520,4069,0.35,2.42,0.00,0.000,5254,0.340,0.057,3119,2204,2766,2810,2722,0,0,0,0,0,0,13.85,13.99,14.03
$GC,4264,0.35,145.9,3119,2204,2811,2723,451.5,10.9,533,4269,0.00,2.55,0.00,0.000,388,0.000,0.098,3119,3615,2766,2810,2722,0,0,0,0,0,0,14.30,14.10,14.31
$GC,4494,0.24,145.9,3118,3616,2809,2723,422.0,13.2,579,4500,0.28,2.40,0.00,0.000,5254,0.290,0.057,3064,2194,2765,2809,2722,0,0,0,0,0,0,14.12,14.23,14.25
$GC,4685,0.30,191.8,3064,2194,2811,2723,405.5,8.2,590,4750,0.00,0.00,57.90,1.582,8614,0.000,0.000,3064,2193,2582,2627,2537,0,0,0,0,1,0,14.45,13.89,13.16
$GC,4925,0.39,222.3,3064,2194,2633,2538,384.5,9.0,605,4966,0.15,0.00,34.17,1.851,10406,0.138,0.000,3110,2193,2455,2500,2411,0,0,0,0,1,0,14.05,13.84,13.12
$GC,5145,0.39,222.3,3110,2194,2501,2413,358.2,12.2,616,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2192,2456,2500,2413,0,0,0,0,0,0,14.23,14.26,14.26
$GC,5325,0.39,222.3,3110,2193,2501,2413,336.5,12.1,625,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2193,2456,2500,2412,0,0,0,0,0,0,14.35,14.38,14.37
$GC,5505,0.39,222.3,3110,2194,2502,2412,315.4,11.6,634,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2193,2454,2497,2411,0,0,0,0,0,0,14.42,14.44,14.44
$GC,5685,0.41,222.3,3111,2194,2501,2412,294.6,11.5,643,5690,0.00,2.45,0.00,0.000,644,0.000,0.091,3112,790,2455,2500,2411,0,0,0,0,0,0,14.48,14.28,14.50
$GC,5775,0.45,222.3,3112,790,2501,2415,284.5,10.7,661,5780,0.00,2.45,0.00,0.000,1158,0.000,0.084,3112,2213,2455,2500,2411,0,0,0,0,0,0,14.35,14.30,14.38
$GC,5966,0.48,222.3,3112,2213,2501,2412,264.0,10.6,672,5970,0.00,2.47,0.00,0.000,388,0.000,0.100,3112,3615,2455,2500,2411,0,0,0,0,0,0,14.52,14.33,14.54
$GC,6020,0.45,222.3,3113,3616,2499,2412,257.2,12.6,683,6027,0.00,2.38,0.00,0.000,1158,0.000,0.060,3112,2203,2455,2499,2411,0,0,0,0,0,0,14.43,14.36,14.45
$GC,6206,0.50,238.7,3112,2202,2501,2405,238.1,9.6,693,6240,0.00,2.53,22.08,1.529,8868,0.000,0.093,3118,800,2388,2430,2347,0,0,0,0,1,0,14.54,14.15,13.51
$GC,6307,0.59,272.9,3113,801,2433,2351,229.4,8.8,713,6357,0.17,2.47,37.90,1.799,11430,0.130,0.087,3180,2206,2249,2287,2212,0,0,0,0,1,0,14.23,14.21,13.26
$GC,6549,0.56,272.9,3175,2207,2287,2214,200.9,12.1,734,6554,0.00,2.53,0.00,0.000,388,0.000,0.099,3174,3608,2248,2287,2209,0,0,0,0,0,0,14.29,14.09,14.31
$GC,6594,0.48,272.9,3174,3609,2287,2210,195.0,13.1,743,6599,0.20,2.42,0.00,0.000,5254,0.314,0.063,3137,2200,2247,2286,2208,0,0,0,0,0,0,14.04,14.15,14.21
$GC,6789,0.56,322.0,3138,2201,2286,2210,178.1,8.1,755,6850,0.00,2.55,49.65,1.857,8868,0.000,0.091,3138,797,2047,2077,2018,0,0,0,0,1,0,14.40,13.74,13.19
$GC,6893,0.66,322.4,3138,798,2083,2019,168.3,10.4,775,6898,0.17,2.53,0.00,0.000,3238,0.125,0.087,3196,2200,2050,2082,2018,0,0,0,0,0,0,13.89,13.87,13.95
$GC,7093,0.66,322.4,3197,2201,2082,2011,141.4,12.9,788,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2200,2046,2082,2011,0,0,0,0,0,0,14.29,14.31,14.31
$GC,7273,0.66,322.4,3197,2199,2082,2009,119.7,11.8,797,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2196,2045,2082,2009,0,0,0,0,0,0,14.38,14.40,14.40
$GC,7453,0.66,322.4,3196,2201,2084,2008,99.0,11.2,806,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2200,2044,2082,2007,0,0,0,0,0,0,14.40,14.42,14.41
$GC,7633,0.67,333.3,3197,2201,2082,2006,79.7,9.9,824,7644,0.00,2.60,6.68,0.460,8484,0.000,0.100,3196,3615,2004,2040,1969,0,0,0,0,0,0,14.41,14.22,14.04
$GC,7670,0.64,333.3,3196,3616,2041,1970,76.2,10.4,831,7676,0.00,2.42,0.00,0.000,1158,0.000,0.060,3205,2190,2004,2039,1969,0,0,0,0,0,0,14.30,14.22,14.31
$GC,7855,0.72,405.8,3205,2189,2040,1970,60.8,7.0,850,7906,0.00,0.00,47.53,0.399,8358,0.000,0.000,3205,2190,1706,1726,1687,0,0,0,0,0,0,14.42,14.20,14.00
$GC,8087,0.86,480.4,3205,2190,1725,1678,44.4,6.9,873,8139,0.15,2.60,47.65,0.342,10660,0.145,0.099,3261,3606,1402,1447,1358,0,0,0,0,0,0,14.19,14.07,13.96
$GC,8219,0.86,480.4,3267,3607,1445,1353,29.3,13.0,898,8225,0.00,2.42,0.00,0.000,1030,0.000,0.060,3258,2194,1398,1445,1352,0,0,0,0,0,0,14.18,14.10,14.19
$GC,8405,1.03,590.0,3260,2194,1446,1346,15.3,5.2,917,8478,0.15,0.00,71.05,0.249,10406,0.135,0.000,3310,2194,958,1037,879,0,0,0,0,0,0,14.15,14.10,13.95
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$FINISH,0.3,1.020725
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8585,67.78,0.213,0,0,540,692.97
$SM_GC,1.15,9.80,1.48,67.78,0.100,0.094,0.213,210,2997,540,-8.61,-0.68,692.97,0,0,0,0,0,0,14.09,14.09,13.99
$RAFOS_CLK,31
$RAFOS_FIX,7518.628418,-15635.666016,260816,080858,2,255,31.52
$IRIDIUM_FIX,7334.88,-15329.67,260816,070045
$TT8_MAMPS,0.086884,1.03062
$HUMID,57.04
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.40
$XPDR_PINGS,4
$SC_FREEKB,4015248
$PM_FREEKB,62009152
$24V_AH,12.63,5.936
$10V_AH,13.01,0.000
$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,27.075,67.225,680.475,67.775,0.000,0.000,0.000,324.050,1.000,0.000,27.116,0.000,5933.505,868.184,2124.708,267.996,0.000,1979.404,0.000,1334.863,2216.000,0.539,0.000
$DEVICE_MAMPS,426.870,2269.755,2315.655,213.435,0.000,0.000,0.000,174.420,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8590.000,8567.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.740,18.663,0.000,0.000
$MEM,311504
$DATA_FILE_SIZE,30064,933
$CAP_FILE_SIZE,109405,0
$CFSIZE,2097872896,2091679744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$INTR,0,6316.73,0x233806,1,24
$SOUNDSPEED,1449.2
$GPS,260816,120922,7419.561,-15320.961,40,0.8,41,19.4,0.5,68.3,10,7.8