version: 66.13
glider: 196
mission: 12
dive: 4
start: 6 6 117 19 34 53
data:
$ID,196
$MISSION,12
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55142
$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,627.77997
$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,2650
$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,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-162.24501
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$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
$SC_NDIVE,1.0
$CP_RECORDABOVE,200.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,6.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,060617,193125,4742.9766,-12224.8008,2,0.9,8,16.3,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.7
$GPS2,060617,193421,4742.9390,-12224.8184,10,0.9,10,16.3,0.5,192.9,9,8.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,349.3,1063,-17.9,-10.000,-21.28,2227
$D_GRID,178
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.6,196,2028,539,545,0.0,0.0,0,123,0.00,0.00,-104.93,0.000,16386,0.000,0.000,195,2028,3025,3012,3038,0,0,0,0,0,0,14.64,28.83,14.65
$GC,126,-0.57,-146.6,196,2029,3019,3036,3.2,-5.7,19,157,11.75,2.62,-14.25,0.000,18724,0.425,2.136,2445,3404,3699,3696,3703,0,0,0,0,0,0,14.11,13.24,14.44
$GC,272,-0.41,-146.6,2446,3404,3698,3704,31.3,-18.9,47,278,0.30,2.33,0.00,0.000,3206,0.276,0.063,2512,2016,3701,3699,3703,0,0,0,0,0,0,14.12,14.34,14.38
$GC,458,-0.41,-146.6,2512,2015,3699,3703,54.4,-10.3,84,464,0.00,2.38,0.00,0.000,260,0.000,0.085,2509,3398,3701,3699,3703,0,0,0,0,0,0,14.63,14.23,14.64
$GC,495,-0.46,-146.6,2510,3402,3700,3704,58.3,-10.4,91,500,0.00,2.33,0.00,0.000,1158,0.000,0.059,2510,2002,3701,3699,3703,0,0,0,0,0,0,14.44,14.36,14.49
$GC,681,-0.53,-146.6,2510,2000,3700,3704,75.6,-9.1,128,687,0.00,2.42,0.00,0.000,420,0.000,0.088,2509,3396,3701,3699,3703,0,0,0,0,0,0,14.63,14.26,14.65
$GC,772,-0.67,-146.6,2510,3398,3700,3704,83.2,-8.4,146,779,0.25,2.33,0.00,0.000,5286,0.078,0.058,2403,1998,3701,3699,3703,0,0,0,0,0,0,14.42,14.35,14.48
$GC,960,-0.47,-146.6,2403,1998,3699,3703,120.3,-21.2,183,966,0.35,2.42,0.00,0.000,2436,0.285,0.081,2478,3399,3700,3699,3702,0,0,0,0,0,0,14.04,14.32,14.23
$GC,1106,-0.55,-146.6,2479,3401,3700,3703,136.7,-8.8,212,1112,0.00,2.35,0.00,0.000,1190,0.000,0.059,2478,1999,3700,3699,3702,0,0,0,0,0,0,14.42,14.31,14.45
$STATE,1232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1237,-0.13,0.0,2479,1998,3700,3703,150.2,-10.8,237,1429,0.43,0.00,185.07,0.987,10246,0.207,0.000,2594,1997,3096,3114,3078,0,0,0,0,0,0,14.16,14.03,13.59
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1433,0.57,146.6,2594,1997,3110,3071,159.1,0.0,270,1581,0.75,2.50,141.60,0.971,11012,0.082,0.072,2841,3400,2494,2527,2461,0,0,0,0,0,0,14.06,13.85,13.50
$GC,1727,0.21,146.6,2843,3398,2493,2443,121.3,20.2,336,1734,0.57,2.38,0.00,0.000,5254,0.298,0.060,2725,2000,2466,2492,2441,0,0,0,0,0,0,13.85,14.09,14.09
$GC,1914,0.26,216.5,2726,1999,2496,2436,105.8,6.8,373,1990,0.00,2.45,69.65,0.936,8484,0.000,0.078,2725,3399,2204,2241,2168,0,0,0,0,0,0,14.42,13.99,13.66
$GC,2075,0.34,223.5,2725,3399,2213,2160,93.3,9.7,403,2082,0.00,2.40,0.00,0.000,1190,0.000,0.064,2731,2003,2184,2213,2156,0,0,0,0,0,0,14.21,14.12,14.23
$GC,2262,0.41,238.7,2731,2002,2214,2151,73.5,9.3,440,2280,0.12,2.50,8.38,0.287,10660,0.115,0.079,2794,3403,2129,2163,2095,0,0,0,0,0,0,14.22,14.19,13.93
$GC,2325,0.26,238.7,2795,3404,2171,2112,63.9,17.6,452,2332,0.28,2.40,2.30,0.213,13446,0.265,0.063,2740,1995,2125,2156,2095,0,0,0,0,0,0,14.02,14.21,14.03
$GC,2513,0.36,293.4,2740,1993,2181,2103,45.5,7.5,489,2548,0.00,2.50,30.23,0.285,8612,0.000,0.078,2740,3398,1901,1920,1882,0,0,0,0,0,0,14.43,14.16,14.04
$GC,2578,0.51,332.1,2737,3400,1921,1895,40.3,8.2,501,2603,0.20,2.38,20.65,0.275,11430,0.083,0.067,2829,2006,1747,1754,1741,0,0,0,0,0,0,14.20,14.14,14.04
$GC,2783,0.45,332.1,2829,2005,1771,1742,9.1,14.4,541,2790,0.12,2.47,1.65,0.187,12676,0.259,0.076,2799,3399,1746,1763,1730,0,0,0,0,0,0,14.04,14.20,14.07
$GC,2826,0.50,332.1,2800,3401,1756,1742,3.9,11.9,549,2832,0.00,2.40,0.00,0.000,1158,0.000,0.066,2807,1991,1749,1757,1742,0,0,0,0,0,0,14.30,14.21,14.32
$STATE,2844,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,0.2,1.018937
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2884,146.88,0.159,0,0,538,628.21
$SM_GC,1.09,7.80,0.00,146.88,0.070,0.000,0.159,204,1989,538,-7.60,-0.37,628.21,0,0,0,0,0,0,14.28,14.51,14.15
$RAFOS_CLK,30
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4744.97,-12226.80,060617,192746
$TT8_MAMPS,0.086884,0.918274
$HUMID,37.95
$INTERNAL_PRESSURE,8.09403
$TCM_TEMP,18.20
$XPDR_PINGS,10
$SC_FREEKB,4015904
$CP_FREE,16017719296.000000
$PM_FREEKB,62251520
$24V_AH,13.24,38.877
$10V_AH,13.41,0.000
$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,22.925,43.550,459.525,146.875,0.000,0.000,0.000,0.000,2.500,0.000,11.162,0.000,1288.520,560.091,1182.571,86.538,0.000,1136.677,0.000,804.612,2201.000,0.546,0.000
$DEVICE_MAMPS,424.575,2135.880,986.850,159.120,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.190,13.970,33.440,38.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2856.000,1428.000,2850.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.414,111.000,16.763,0.000
$MEM,301708
$DATA_FILE_SIZE,20106,557
$CAP_FILE_SIZE,77335,0
$CFSIZE,2097872896,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1484.4
$CURRENT,0.261,224.42,1
$GPS,060617,202614,4742.970,-12225.102,1,0.9,8,16.3,0.0,210.8,9,9.9