version: 66.13
glider: 196
mission: 10
dive: 94
start: 9 9 116 21 31 42
data:
$ID,196
$MISSION,10
$DIVE,94
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,680
$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,235
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$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,3100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3179
$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,2
$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
$GPS1,090916,212227,7406.4878,-15026.3145,33,0.9,34,20.8,0.0,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.5
$GPS2,090916,213114,7406.5225,-15026.1914,6,0.8,13,20.8,0.0,45.0,10,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,SouthDVLA
$TGT_LATLONG,7424.000,-15041.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,297.0,33243,-17.9,-10.000,-21.31,2227
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-145.9,186,3105,526,467,0.0,0.0,0,140,0.00,0.00,-121.18,0.000,16386,0.000,0.000,184,3106,2462,2421,2503,0,0,0,0,0,0,14.31,28.83,14.33
$GC,143,-0.57,-145.9,184,3106,2422,2503,3.3,-4.4,12,190,12.68,1.30,-29.60,0.000,18724,0.398,2.234,2783,3780,3777,3758,3796,0,0,0,0,0,0,13.92,13.24,14.15
$GC,415,-0.57,-145.9,2784,3781,3765,3796,58.9,-15.6,66,420,0.00,1.15,0.00,0.000,1030,0.000,0.057,2783,3095,3780,3765,3795,0,0,0,0,0,0,14.22,14.20,14.24
$GC,606,-0.60,-145.9,2784,3096,3765,3796,85.2,-12.0,86,607,0.00,0.00,0.00,0.000,134,0.000,0.000,2783,3095,3780,3766,3795,0,0,0,0,0,0,14.42,14.44,14.43
$GC,796,-0.68,-145.9,2784,3099,3767,3796,106.5,-10.3,102,796,0.00,0.00,0.00,0.000,134,0.000,0.000,2784,3095,3781,3767,3795,0,0,0,0,0,0,14.45,14.47,14.47
$GC,976,-0.77,-145.9,2784,3094,3763,3796,123.0,-8.9,111,982,0.15,2.35,0.00,0.000,4772,0.131,0.054,2723,1701,3781,3767,3795,0,0,0,0,0,0,14.28,14.27,14.32
$GC,1072,-0.77,-145.9,2723,1702,3768,3797,134.4,-12.2,130,1078,0.00,2.50,0.00,0.000,1030,0.000,0.098,2716,3099,3781,3767,3795,0,0,0,0,0,0,14.38,14.28,14.40
$GC,1257,-0.77,-145.9,2716,3098,3767,3796,157.4,-12.4,140,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,3099,3780,3766,3795,0,0,0,0,0,0,14.51,14.53,14.53
$GC,1437,-0.77,-145.9,2716,3100,3767,3796,179.3,-12.0,149,1442,0.00,2.35,0.00,0.000,516,0.000,0.059,2716,1705,3781,3766,3797,0,0,0,0,0,0,14.53,14.34,14.54
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1451,-0.13,0.0,2714,2211,3768,3796,180.5,-12.0,151,1674,0.80,0.00,220.02,1.183,10246,0.217,0.000,2925,2214,3177,3195,3160,0,0,0,0,0,0,14.26,13.68,13.20
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1679,0.57,145.9,2928,2210,3191,3152,191.4,0.0,162,1898,0.77,0.00,213.00,1.112,10758,0.109,0.000,3164,2210,2583,2641,2525,0,0,0,0,0,0,13.66,13.33,12.89
$GC,2067,0.55,182.3,3164,2211,2632,2507,177.5,8.3,194,2119,0.00,0.00,49.97,1.154,8358,0.000,0.000,3164,2211,2434,2490,2379,0,0,0,0,0,0,13.87,13.54,13.07
$GC,2287,0.53,194.7,3165,2211,2479,2367,157.5,9.4,205,2308,0.00,0.00,14.40,1.290,8358,0.000,0.000,3164,2210,2379,2430,2329,0,0,0,0,0,0,13.93,13.72,13.24
$GC,2487,0.53,230.6,3165,2211,2423,2327,140.3,8.3,215,2548,0.00,2.62,52.95,1.186,8868,0.000,0.082,3164,781,2231,2276,2187,0,0,0,0,0,0,14.07,13.65,13.22
$GC,2633,0.57,246.2,3164,782,2269,2187,127.2,9.3,244,2659,0.00,2.55,19.67,1.262,9382,0.000,0.079,3164,2195,2172,2215,2129,0,0,0,0,0,0,13.88,13.79,13.26
$GC,2850,0.58,266.4,3165,2196,2209,2118,107.4,9.1,260,2877,0.00,0.00,25.17,1.237,8230,0.000,0.000,3164,2195,2089,2134,2045,0,0,0,0,0,0,14.09,13.80,13.33
$GC,3050,0.66,322.2,3164,2195,2129,2035,91.1,7.4,275,3082,0.00,0.00,30.35,0.490,8870,0.000,0.000,3164,2197,1864,1895,1833,0,0,0,0,0,0,14.12,13.93,13.66
$GC,3261,0.80,383.1,3165,2196,1895,1827,75.1,7.2,299,3302,0.22,2.55,34.75,0.433,10916,0.109,0.082,3246,804,1614,1647,1582,0,0,0,0,0,0,14.02,13.90,13.76
$GC,3323,0.80,383.1,3246,806,1647,1583,69.0,10.6,308,3327,0.00,2.50,0.00,0.000,1030,0.000,0.079,3246,2203,1614,1647,1582,0,0,0,0,0,0,14.00,13.93,14.02
$GC,3513,0.81,405.6,3247,2203,1647,1574,50.5,9.0,328,3526,0.00,0.00,12.50,0.363,8230,0.000,0.000,3246,2202,1528,1564,1493,0,0,0,0,0,0,14.26,14.08,13.85
$GC,3705,0.87,441.3,3246,2203,1565,1485,33.5,8.4,347,3732,0.00,2.47,21.02,0.311,8868,0.000,0.080,3246,801,1375,1423,1328,0,0,0,0,0,0,14.30,14.08,13.95
$GC,3762,0.96,468.7,3240,802,1425,1329,28.6,8.7,358,3784,0.12,2.47,16.23,0.295,11430,0.140,0.078,3291,2207,1265,1321,1210,0,0,0,0,0,0,14.09,14.07,13.95
$GC,3969,1.02,521.6,3288,2204,1319,1204,11.1,7.6,381,4006,0.00,2.50,29.90,0.243,8868,0.000,0.082,3295,800,1050,1120,981,0,0,0,0,0,0,14.33,14.11,13.98
$STATE,4069,end climb,SURFACE_DEPTH_REACHED
$STATE,4071,begin surface coast
$FINISH,0.9,1.021396
$STATE,4079,end surface coast,CONTROL_FINISHED_OK
$STATE,4079,begin surface
$SM_CCo,4102,78.25,0.210,0,0,498,657.16
$SM_CCo,4183,-0.45,0.000,0,0,500,657.16
$SM_CCo,4187,0.15,0.745,0,0,500,657.65
$SM_GC,0.96,9.55,4.20,0.15,0.083,0.086,0.745,201,3097,500,-8.63,-0.59,657.65,0,0,0,0,0,0,14.18,14.14,14.04
$RAFOS_CLK,187
$RAFOS_FIX,7405.411133,-15026.633789,090916,202029,3,255,1.76
$IRIDIUM_FIX,7327.28,-15023.11,090916,200551
$TT8_MAMPS,0.040446,0.832888
$HUMID,57.71
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,3996352
$PM_FREEKB,51818688
$24V_AH,12.89,48.052
$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,24.300,32.425,739.950,78.400,0.000,0.000,0.000,325.275,0.000,0.000,13.593,0.000,2447.505,904.496,1157.994,213.262,0.000,1620.113,0.000,585.094,0.000,0.539,0.000
$DEVICE_MAMPS,397.800,2233.800,1289.790,745.110,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4100.000,4077.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.207,18.683,0.000,0.000
$MEM,310908
$DATA_FILE_SIZE,13431,403
$CAP_FILE_SIZE,59128,0
$CFSIZE,2097872896,2069659648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1441.8
$CURRENT,0.141,85.59,1
$GPS,090916,224226,7407.009,-15026.362,5,0.8,20,20.8,0.4,121.1,11,9.9