version: 66.13
glider: 198
mission: 8
dive: 3
start: 8 26 116 0 37 48
data:
$ID,198
$MISSION,8
$DIVE,3
$N_DIVES,3
$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,0.1
$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,53552
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-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,212
$PITCH_MAX,3894
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-160.38615
$PRESSURE_SLOPE,0.00010704049
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$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
$GPS1,260816,003345,7421.7183,-15339.8818,5,1.1,13,19.3,0.0,57.9,7,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.9
$GPS2,260816,003720,7421.7437,-15339.8125,4,1.1,13,19.3,0.0,0.0,7,9.9
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,T5
$TGT_LATLONG,7543.000,-14912.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.7,193700,-18.2,-10.000,-24.02,2246
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.61,-145.9,201,1985,509,563,0.0,0.0,0,136,0.00,0.00,-121.28,0.000,16386,0.000,0.000,202,1985,2450,2405,2495,0,0,0,0,0,0,14.60,28.83,14.63
$GC,139,-0.61,-145.9,203,1986,2406,2495,3.3,-3.9,12,192,10.62,2.67,-35.70,0.000,18724,0.445,2.254,2336,3397,3961,3898,4025,0,0,0,0,0,0,14.20,13.49,14.45
$GC,417,-0.74,-145.9,2333,3398,3901,4025,46.9,-10.9,67,423,0.00,2.25,0.00,0.000,1158,0.000,0.045,2336,1993,3961,3900,4023,0,0,0,0,0,0,14.47,14.40,14.49
$GC,602,-0.90,-145.9,2336,1993,3902,4025,64.7,-9.2,86,607,0.20,2.42,0.00,0.000,4516,0.090,0.093,2226,3400,3963,3901,4025,0,0,0,0,0,0,14.48,14.42,14.51
$GC,832,-0.94,-145.9,2226,3401,3902,4025,98.0,-13.8,132,837,0.00,2.25,0.00,0.000,1158,0.000,0.046,2226,1989,3963,3901,4025,0,0,0,0,0,0,14.55,14.50,14.57
$GC,1032,-1.01,-145.9,2226,1988,3902,4025,123.5,-12.4,144,1037,0.00,2.42,0.00,0.000,388,0.000,0.098,2217,3402,3963,3902,4024,0,0,0,0,0,0,14.69,14.48,14.71
$GC,1262,-1.07,-145.9,2218,3404,3902,4025,152.6,-12.4,190,1267,0.00,2.25,0.00,0.000,1158,0.000,0.047,2217,1988,3963,3902,4025,0,0,0,0,0,0,14.63,14.57,14.64
$GC,1452,-1.15,-145.9,2218,1987,3902,4025,175.2,-11.7,201,1457,0.12,2.42,0.00,0.000,4484,0.129,0.096,2142,3405,3963,3902,4025,0,0,0,0,0,0,14.59,14.53,14.65
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1492,-0.14,0.0,2142,1985,3903,4026,180.6,-16.8,208,1617,1.27,0.00,116.45,2.141,10246,0.242,0.000,2495,1983,3363,3294,3433,0,0,0,0,1,0,14.45,13.79,13.05
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1621,0.61,145.9,2496,1984,3300,3434,187.9,0.0,214,1755,0.77,2.60,119.35,2.064,11012,0.099,0.092,2747,3409,2769,2686,2852,0,0,0,0,1,0,13.81,13.71,13.02
$GC,1981,0.49,249.6,2745,3410,2686,2848,187.8,5.3,282,2081,0.20,2.30,86.90,2.037,13478,0.295,0.044,2712,1979,2346,2269,2424,0,0,0,0,1,0,14.18,14.33,13.07
$GC,2273,0.47,258.8,2712,1980,2269,2416,164.1,9.6,313,2298,0.00,2.53,13.00,1.255,8612,0.000,0.093,2713,3391,2305,2230,2380,0,0,0,0,1,0,14.42,14.16,13.64
$GC,2524,0.42,272.3,2713,3391,2231,2378,139.2,9.4,363,2549,0.15,2.22,16.23,1.227,13478,0.291,0.046,2689,2003,2253,2180,2327,0,0,0,0,1,0,14.28,14.40,13.54
$GC,2736,0.49,323.1,2690,2004,2184,2324,123.2,7.7,378,2789,0.00,2.42,41.85,1.761,8868,0.000,0.076,2697,602,2046,1971,2122,0,0,0,0,1,0,14.58,14.06,13.43
$GC,3015,0.57,350.1,2698,603,1972,2114,98.7,8.8,434,3040,0.12,2.33,17.83,0.493,11430,0.130,0.064,2758,1993,1937,1865,2009,0,0,0,0,0,0,14.31,14.29,14.07
$GC,3225,0.57,350.1,2758,1994,1864,2010,75.7,10.8,458,3230,0.00,2.35,0.00,0.000,516,0.000,0.075,2764,607,1939,1870,2008,0,0,0,0,0,0,14.54,14.33,14.56
$GC,3290,0.57,350.1,2764,603,1865,2006,69.2,10.2,471,3296,0.00,2.33,0.00,0.000,1030,0.000,0.064,2764,1999,1933,1863,2003,0,0,0,0,0,0,14.45,14.38,14.47
$GC,3475,0.60,384.1,2765,2000,1862,2006,51.9,8.4,490,3507,0.00,2.47,22.92,0.350,8484,0.000,0.096,2765,3401,1796,1725,1867,0,0,0,0,0,0,14.60,14.37,14.26
$GC,3732,0.66,476.0,2764,3402,1729,1865,31.4,5.8,541,3799,0.00,2.25,62.58,0.281,9254,0.000,0.047,2772,1993,1423,1356,1491,0,0,0,0,0,0,14.51,14.45,14.22
$GC,3977,0.86,614.7,2772,1993,1351,1490,19.3,3.6,572,4079,0.15,2.53,96.68,0.242,10660,0.125,0.093,2847,3404,857,784,930,0,0,0,0,0,0,14.39,14.26,14.21
$GC,4154,0.91,622.4,2847,3405,784,931,4.3,9.6,600,4165,0.00,2.28,6.32,0.212,9382,0.000,0.047,2855,2001,825,755,895,0,0,0,0,0,0,14.42,14.35,14.27
$STATE,4178,end climb,SURFACE_DEPTH_REACHED
$STATE,4178,begin surface coast
$FINISH,0.4,1.021285
$STATE,4188,end surface coast,CONTROL_FINISHED_OK
$STATE,4188,begin surface
$SM_CCo,4205,50.40,0.197,0,0,537,692.97
$SM_GC,1.26,7.80,0.00,50.40,0.076,0.000,0.197,202,2000,537,-7.28,0.14,692.97,0,0,0,0,0,0,14.38,14.57,14.27
$RAFOS_CLK,253
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15336.77,260816,003004
$TT8_MAMPS,0.040446,0.495838
$HUMID,59.45
$INTERNAL_PRESSURE,8.32963
$TCM_TEMP,13.20
$XPDR_PINGS,13
$SC_FREEKB,4018720
$PM_FREEKB,62264768
$24V_AH,13.02,3.137
$10V_AH,12.75,0.000
$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,21.425,47.625,600.100,50.400,0.000,0.000,0.000,0.000,3.250,0.000,14.242,0.000,2355.392,739.554,1166.805,80.761,0.000,1276.337,0.000,867.915,0.000,0.536,0.000
$DEVICE_MAMPS,445.230,2253.690,2141.235,196.605,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4180.000,4175.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.210,18.511,0.000,0.000
$MEM,311552
$DATA_FILE_SIZE,20127,605
$CAP_FILE_SIZE,79428,0
$CFSIZE,2097872896,2091122688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$SOUNDSPEED,1443.0
$GPS,260816,015003,7421.831,-15338.368,36,0.8,37,19.3,0.0,0.0,9,6.5