version: 66.13
glider: 196
mission: 20
dive: 3
start: 9 23 119 19 5 35
data:
$ID,196
$MISSION,20
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0021800001
$HD_B,0.0102
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,578.71997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$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,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$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
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,230919,190040,7430.2544,-14535.2861,4,1.0,15,22.9,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.3
$GPS2,230919,190440,7430.2622,-14535.3789,5,1.0,18,22.9,0.5,269.0,10,9.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,140.2,189497,-16.3,-10.000,-21.26,2223
$D_GRID,180
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.92,-146.0,272,1942,560,616,0.0,0.0,0,124,0.00,0.00,-112.15,0.003,16386,0.000,0.000,271,1943,2164,2075,2254,0,0,0,0,0,0,14.79,28.83,14.83
$GC,126,-0.92,-146.0,271,1943,2078,2255,4.2,-6.0,11,177,11.25,2.55,-33.62,0.005,18980,0.441,0.148,2451,539,3546,3666,3427,0,0,0,0,0,0,14.28,13.83,14.55
$GC,407,-0.67,-146.0,2451,539,3664,3427,78.6,-20.6,65,413,0.35,2.33,0.00,0.000,3206,0.296,0.103,2533,1850,3547,3665,3429,0,0,0,0,0,0,14.40,14.50,14.61
$GC,600,-0.67,-146.0,2532,1851,3665,3428,105.6,-12.6,85,606,0.00,2.40,0.00,0.000,516,0.000,0.133,2531,530,3546,3665,3428,0,0,0,0,0,0,14.76,14.49,14.80
$GC,724,-0.67,-146.0,2533,530,3665,3428,121.9,-12.7,109,730,0.00,2.35,0.00,0.000,1030,0.000,0.105,2532,1857,3546,3665,3428,0,0,0,0,0,0,14.66,14.54,14.69
$GC,917,-0.72,-146.0,2532,1858,3665,3428,144.2,-11.3,129,919,0.00,0.00,0.00,0.000,134,0.000,0.000,2532,1858,3546,3665,3428,0,0,0,0,0,0,14.78,14.83,14.83
$GC,1097,-0.78,-146.0,2532,1858,3665,3428,164.0,-10.7,147,1102,0.00,2.53,0.00,0.000,388,0.000,0.125,2532,3264,3546,3665,3428,0,0,0,0,0,0,14.81,14.57,14.84
$GC,1160,-0.87,-146.0,2532,3266,3665,3428,170.6,-10.4,159,1166,0.20,2.30,0.00,0.000,5254,0.125,0.097,2466,1948,3546,3665,3428,0,0,0,0,0,0,14.59,14.54,14.67
$STATE,1232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1235,-0.19,0.0,2466,2032,3665,3428,180.3,-13.9,167,1384,0.85,0.00,139.48,1.597,10246,0.249,0.000,2687,2032,2947,3070,2825,0,0,0,0,0,0,14.47,13.81,13.30
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1387,0.92,146.0,2688,2032,3069,2823,187.3,0.0,182,1525,1.25,0.00,128.43,1.533,10758,0.178,0.000,3040,2033,2350,2465,2236,0,0,0,0,0,0,13.93,13.73,13.24
$GC,1703,0.89,209.1,3040,2033,2461,2225,177.6,7.1,215,1764,0.00,0.00,53.38,1.493,8358,0.000,0.000,3040,2032,2094,2209,1980,0,0,0,0,0,0,14.48,13.89,13.40
$GC,1944,0.83,232.5,3040,2033,2203,1972,157.1,8.9,239,1965,0.00,0.00,19.42,1.422,8614,0.000,0.000,3040,2038,2002,2116,1889,0,0,0,0,0,0,14.53,14.21,13.57
$GC,2144,0.79,254.8,3040,2033,2108,1884,139.0,9.0,260,2166,0.00,0.00,19.92,1.421,8614,0.000,0.000,3040,2037,1910,2017,1804,0,0,0,0,0,0,14.58,14.26,13.64
$GC,2344,0.79,281.1,3040,2033,2010,1798,121.1,8.8,281,2374,0.12,0.00,23.00,1.421,12454,0.256,0.000,3013,2033,1800,1898,1703,0,0,0,0,0,0,14.34,14.13,13.64
$GC,2553,0.88,328.1,3013,2033,1889,1701,104.2,7.8,302,2603,0.00,2.70,40.62,1.434,8484,0.000,0.129,3012,3434,1610,1689,1532,0,0,0,0,0,0,14.59,14.10,13.53
$GC,2650,0.90,339.0,3013,3434,1687,1531,95.9,9.5,320,2668,0.00,2.38,10.77,1.268,9254,0.000,0.104,3013,2129,1567,1643,1492,0,0,0,0,0,0,14.33,14.22,13.59
$GC,2855,1.12,414.7,3013,2128,1640,1487,80.7,6.5,342,2941,0.32,2.78,75.40,1.399,10916,0.100,0.141,3123,718,1257,1303,1212,0,0,0,0,0,0,14.35,13.96,13.42
$GC,2982,1.05,414.7,3123,718,1301,1211,66.6,11.9,359,2990,0.12,2.40,0.00,0.000,5254,0.262,0.107,3098,2024,1255,1300,1211,0,0,0,0,0,0,14.04,14.08,14.17
$GC,3168,1.06,420.7,3098,2025,1300,1208,48.3,9.7,378,3178,0.00,0.00,8.40,1.176,8230,0.000,0.000,3099,2025,1234,1279,1189,0,0,0,0,0,0,14.52,14.30,13.70
$GC,3360,1.18,480.8,3098,2025,1278,1188,32.7,7.2,397,3448,0.12,2.72,78.03,1.356,10532,0.158,0.122,3144,3437,988,1006,971,0,0,0,0,0,0,14.35,13.91,13.43
$GC,3572,1.20,516.8,3144,3437,1006,971,14.1,8.3,438,3623,0.00,2.40,45.53,1.317,9382,0.000,0.094,3144,2129,844,839,849,0,0,0,0,0,0,14.26,14.19,13.43
$STATE,3716,end climb,SURFACE_DEPTH_REACHED
$STATE,3716,begin surface coast
$FINISH,0.3,1.021212
$STATE,3746,end surface coast,CONTROL_FINISHED_OK
$STATE,3746,begin surface
$SM_CCo,3760,117.68,0.907,1,0,590,578.91
$SM_GC,1.21,8.93,0.35,117.68,0.090,0.135,0.907,271,1945,590,-7.70,3.25,578.91,0,0,0,0,1,0,14.26,14.20,13.39
$RAFOS_CLK,20
$RAFOS_FIX,7429.868164,-14535.744141,230919,202028,0,1,0.20
$IRIDIUM_FIX,7432.29,-14524.92,230919,185713
$TT8_MAMPS,0.077896,0.860601
$HUMID,55.43
$INTERNAL_PRESSURE,8.76082
$TCM_TEMP,12.10
$XPDR_PINGS,59
$SC_FREEKB,3877024
$24V_AH,13.24,5.889
$10V_AH,13.04,0.000
$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,23.525,30.325,642.375,117.675,0.000,0.000,0.000,0.000,14.750,0.000,30.203,829.652,1476.865,844.430,825.025,24.051,0.000,1278.765,0.000,709.893,2210.000,0.532,0.000
$DEVICE_MAMPS,440.640,176.715,1596.555,906.525,0.000,0.000,0.000,0.000,420.000,0.000,21.720,9.320,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3740.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.589,0.000,0.000,0.000
$MEM,334664
$DATA_FILE_SIZE,13415,460
$CAP_FILE_SIZE,68455,0
$CFSIZE,1047117824,1044807680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1442.9
$CURRENT,0.075,295.94,1
$GPS,230919,201144,7429.938,-14535.047,17,1.2,57,22.9,0.3,301.1,8,17.1