version: 66.13
glider: 196
mission: 8
dive: 2
start: 7 29 116 16 20 0
data:
$ID,196
$MISSION,8
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$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,53460
$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,676.83997
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$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,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,17
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.39859
$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
$GPS1,290716,161651,4743.5513,-12223.9766,2,0.9,15,16.3,0.0,95.6,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.5
$GPS2,290716,161932,4743.5312,-12223.9707,4,0.9,17,16.3,0.0,0.0,9,7.2
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,251.1,1283,-19.7,-10.000,-22.48,2245
$D_GRID,173
$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,-146.6,204,2001,531,473,0.0,0.0,0,146,0.00,0.00,-133.20,0.000,16386,0.000,0.000,204,2001,3527,3474,3581,0,0,0,0,0,0,14.94,28.83,14.97
$GC,151,-0.62,-146.6,204,2000,3476,3581,3.1,-5.8,27,174,11.70,2.70,-3.90,0.000,18724,0.381,2.176,2763,3411,3700,3687,3714,0,0,0,0,0,0,14.47,13.71,14.64
$GC,400,-0.62,-146.6,2763,3412,3691,3712,39.6,-13.6,76,406,0.00,2.30,0.00,0.000,1030,0.000,0.056,2763,1999,3704,3691,3718,0,0,0,0,0,0,14.69,14.60,14.68
$GC,466,-0.66,-146.6,2762,1998,3693,3714,48.2,-12.7,89,472,0.00,2.45,0.00,0.000,388,0.000,0.103,2759,3420,3702,3692,3713,0,0,0,0,0,0,14.81,14.59,14.82
$GC,697,-0.70,-146.6,2758,3420,3693,3714,77.3,-12.8,135,703,0.00,2.33,0.00,0.000,1158,0.000,0.061,2759,1997,3702,3691,3713,0,0,0,0,0,0,14.69,14.60,14.70
$GC,823,-0.75,-146.6,2760,1997,3692,3713,93.0,-12.0,160,829,0.00,2.45,0.00,0.000,388,0.000,0.104,2752,3419,3702,3692,3713,0,0,0,0,0,0,14.85,14.59,14.87
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1044,-0.13,0.0,2757,2001,3692,3713,120.3,-11.8,203,1167,0.60,0.00,110.05,1.224,10246,0.201,0.000,2926,2003,3103,3124,3083,0,0,0,0,1,0,14.59,14.19,13.71
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1173,0.62,146.6,2926,2002,3131,3084,124.4,0.0,224,1312,0.75,0.00,131.60,0.965,10758,0.121,0.000,3176,2000,2490,2528,2453,0,0,0,0,0,0,14.32,14.23,13.93
$GC,1432,0.64,167.4,3176,2001,2516,2444,110.6,9.1,270,1456,0.00,2.45,17.58,0.937,8484,0.000,0.093,3177,3422,2403,2437,2369,0,0,0,0,0,0,14.70,14.44,14.10
$GC,1548,0.60,167.4,3176,3423,2425,2364,98.2,11.8,292,1554,0.00,2.35,0.00,0.000,1158,0.000,0.057,3178,1989,2393,2424,2363,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1676,0.60,167.4,3178,1990,2425,2362,84.7,10.8,317,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1989,2393,2424,2362,0,0,0,0,0,0,14.80,14.83,14.83
$GC,1804,0.64,196.9,3178,1990,2424,2362,72.1,8.7,342,1822,0.00,2.42,11.90,0.332,8612,0.000,0.090,3178,3420,2298,2331,2265,0,0,0,0,0,0,14.83,14.61,14.46
$GC,1837,0.66,225.0,3179,3422,2336,2271,69.0,8.7,348,1856,0.00,2.33,14.60,0.363,9254,0.000,0.057,3178,1995,2181,2210,2152,0,0,0,0,0,0,14.73,14.65,14.44
$GC,1976,0.72,225.0,3177,1996,2236,2162,55.1,10.7,375,1983,0.00,2.47,2.03,0.207,8580,0.000,0.088,3178,3417,2179,2214,2145,0,0,0,0,0,0,14.83,14.60,14.57
$GC,2080,0.72,225.0,3178,3417,2229,2162,44.0,11.2,395,2087,0.00,2.30,1.50,0.213,9222,0.000,0.056,3177,1996,2179,2209,2149,0,0,0,0,0,0,14.73,14.65,14.59
$GC,2147,0.80,260.9,3179,1996,2228,2156,37.8,8.4,408,2171,0.15,0.00,18.17,0.262,10662,0.116,0.000,3257,1994,2033,2058,2009,0,0,0,0,0,0,14.69,14.66,14.52
$GC,2231,0.74,260.9,3255,1995,2074,2014,27.3,13.7,424,2238,0.12,0.00,0.00,0.000,4230,0.249,0.000,3225,1994,2043,2073,2013,0,0,0,0,0,0,14.57,14.72,14.67
$GC,2298,0.74,260.9,3225,1994,2075,2016,18.5,12.6,437,2304,0.00,2.40,0.00,0.000,260,0.000,0.090,3225,3414,2045,2075,2016,0,0,0,0,0,0,14.85,14.62,14.87
$STATE,2416,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,0.2,1.021908
$STATE,2427,end surface coast,CONTROL_FINISHED_OK
$STATE,2427,begin surface
$SM_CCo,2447,183.52,0.157,0,0,500,637.78
$SM_CCo,2634,-0.22,0.000,0,0,501,637.78
$SM_CCo,2637,0.45,0.356,0,0,497,637.78
$SM_GC,1.07,8.68,2.38,0.45,0.064,0.057,0.356,202,1993,497,-8.62,0.54,637.78,0,0,0,0,0,0,14.69,14.67,14.54
$RAFOS_CLK,9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12219.67,290716,161440
$TT8_MAMPS,0.08239,1.08605
$HUMID,55.27
$INTERNAL_PRESSURE,8.72882
$TCM_TEMP,19.10
$XPDR_PINGS,13
$SC_FREEKB,4016192
$PM_FREEKB,62305600
$24V_AH,13.71,0.806
$10V_AH,13.37,0.000
$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,22.000,33.700,307.425,183.975,0.000,0.000,0.000,0.000,3.250,0.000,18.200,0.000,1098.386,503.525,1036.821,83.910,0.000,1003.081,0.000,667.358,2441.000,0.549,0.000
$DEVICE_MAMPS,380.970,2175.660,1224.000,355.725,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2417.000,2412.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,55.061,18.631,0.000,0.000
$MEM,310448
$DATA_FILE_SIZE,13438,461
$CAP_FILE_SIZE,69769,0
$CFSIZE,2097872896,2093973504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1174.01,0x233bae,1,24
$SOUNDSPEED,1492.8
$GPS,290716,170447,4743.307,-12224.455,1,1.0,12,16.3,0.0,0.0,8,9.9