version: 66.13
glider: 196
mission: 20
dive: 499
start: 9 24 120 18 9 47
data:
$ID,196
$MISSION,20
$DIVE,499
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,60
$T_MISSION,90
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,6
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$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,6
$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
$GPS1,240920,174436,7201.3818,-15159.8164,8,0.8,10,19.5,0.0,45.8,9,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.7
$GPS2,240920,180906,7201.5898,-15200.7930,5,1.0,12,19.5,0.7,296.5,8,9.4
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,RECOV
$TGT_LATLONG,7200.000,-15200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,151.7,2979,-20.8,-10.000,-22.74,1497
$D_GRID,180
$EXEC,0,999,2,0.000000,0.000000
$EXEC,4,999,2,0.000000,0.000000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.82,-97.3,253,2035,900,940,0.0,0.0,0,102,0.00,0.00,-91.43,0.003,16386,0.000,0.000,251,2041,2344,2303,2385,0,0,0,0,0,0,14.54,28.83,14.56
$GC,105,-0.82,-97.3,252,2036,2307,2386,5.0,-8.1,9,146,12.45,2.62,-19.62,0.008,19204,0.442,0.122,2442,633,3158,3251,3066,0,0,0,0,0,0,13.73,12.48,14.00
$GC,203,-0.82,-97.3,2441,633,3252,3068,27.5,-18.9,27,210,0.00,2.42,0.00,0.000,1030,0.000,0.084,2442,1956,3159,3252,3067,0,0,0,0,0,0,14.21,14.05,14.26
$GC,516,-0.82,-97.3,2442,1957,3252,3068,70.9,-13.0,39,522,0.00,2.65,0.00,0.000,260,0.000,0.103,2441,3369,3159,3252,3067,0,0,0,0,0,0,14.66,13.91,14.68
$GC,608,-0.82,-97.3,2441,3369,3250,3068,83.2,-13.1,57,613,0.00,2.40,0.00,0.000,1030,0.000,0.061,2442,2028,3159,3251,3067,0,0,0,0,0,0,14.19,14.06,14.23
$GC,998,-0.82,-97.3,2442,2028,3251,3067,132.9,-12.3,75,1004,0.00,2.65,0.00,0.000,516,0.000,0.104,2441,625,3159,3252,3067,0,0,0,0,0,0,14.66,13.85,14.69
$GC,1044,-0.82,-97.3,2441,626,3253,3068,138.7,-12.5,84,1049,0.00,2.45,0.00,0.000,1030,0.000,0.083,2442,1955,3156,3246,3067,0,0,0,0,0,0,14.12,13.94,14.17
$GC,1420,-0.82,-97.3,2442,1956,3253,3068,178.7,-9.7,99,1426,0.00,2.53,0.00,0.000,516,0.000,0.105,2441,633,3159,3251,3067,0,0,0,0,0,0,14.45,13.82,14.47
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1442,-0.17,0.0,2442,2043,3252,3068,180.3,-9.5,102,1545,0.90,0.00,100.57,1.410,10246,0.258,0.000,2654,2044,2757,2877,2638,0,0,0,0,0,0,13.63,13.90,13.14
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,0.82,97.3,2655,2045,2876,2639,183.9,0.0,105,1652,1.15,2.78,94.50,1.358,10500,0.161,0.106,2977,3445,2359,2481,2237,0,0,0,0,0,0,13.86,13.59,12.84
$GC,1710,0.86,127.9,2976,3445,2475,2236,176.3,7.9,121,1745,0.00,2.47,30.50,1.299,9254,0.000,0.065,2978,2109,2236,2357,2115,0,0,0,0,0,0,13.81,13.69,12.89
$GC,2133,0.93,180.5,2978,2110,2346,2108,146.6,6.4,145,2202,0.12,2.67,62.60,1.269,10788,0.142,0.112,3017,712,2020,2124,1917,0,0,0,0,0,0,14.16,13.95,13.22
$GC,2293,0.96,180.5,3022,713,2122,1916,134.0,8.5,177,2298,0.00,2.45,0.00,0.000,1094,0.000,0.086,3022,2036,2015,2115,1915,0,0,0,0,0,0,14.14,13.97,14.19
$GC,2673,1.01,217.2,3022,2036,2114,1915,103.8,7.5,193,2721,0.00,0.00,46.05,1.248,8230,0.000,0.000,3021,2035,1872,1967,1778,0,0,0,0,0,0,14.49,14.05,13.34
$GC,3063,1.05,248.7,3022,2036,1959,1775,73.1,7.8,206,3109,0.00,0.00,44.28,1.217,8230,0.000,0.000,3021,2035,1744,1829,1659,0,0,0,0,0,0,14.52,14.06,13.34
$GC,3453,1.06,248.7,3022,2036,1821,1659,40.7,9.1,219,3455,0.12,0.00,0.00,0.000,2118,0.142,0.000,3076,2035,1742,1820,1665,0,0,0,0,0,0,14.23,14.35,14.31
$GC,3813,1.14,307.1,3077,2036,1819,1659,15.2,6.0,247,3921,0.00,2.75,101.22,1.176,8484,0.000,0.109,3075,3445,1504,1569,1439,0,0,0,0,0,0,14.50,13.94,13.24
$FREEZE,9.90,0.967,-1.605,2,1,0
$FREEZE,9.80,0.916,-1.594,2,1,0
$FREEZE,9.71,0.916,-1.594,2,1,0
$FREEZE,9.58,0.863,-1.589,2,1,0
$FREEZE,9.47,0.863,-1.589,2,1,0
$FREEZE,9.34,0.837,-1.587,2,1,0
$FREEZE,9.23,0.837,-1.587,2,1,0
$FREEZE,9.09,0.816,-1.579,2,1,0
$FREEZE,8.94,0.816,-1.579,2,1,0
$FREEZE,8.79,0.802,-1.570,2,1,0
$FREEZE,8.70,0.802,-1.570,2,1,0
$FREEZE,8.59,0.816,-1.562,2,1,0
$FREEZE,8.48,0.816,-1.562,2,1,0
$FREEZE,8.37,0.733,-1.558,2,1,0
$FREEZE,8.25,0.733,-1.558,2,1,0
$FREEZE,8.16,0.733,-1.553,2,1,0
$FREEZE,8.04,0.733,-1.553,2,1,0
$FREEZE,7.96,0.752,-1.551,2,1,0
$FREEZE,7.79,0.752,-1.551,2,1,0
$FREEZE,7.58,0.741,-1.549,2,1,0
$FREEZE,7.25,0.741,-1.549,2,1,0
$FREEZE,6.96,0.805,-1.547,2,1,0
$FREEZE,6.59,0.805,-1.547,2,1,0
$FREEZE,6.16,0.779,-1.547,2,1,0
$FREEZE,5.72,0.779,-1.547,2,1,0
$FREEZE,5.35,0.762,-1.545,2,1,0
$FREEZE,4.96,0.762,-1.545,2,1,0
$FREEZE,4.45,0.739,-1.544,2,1,0
$FREEZE,3.92,0.739,-1.543,2,1,0
$FREEZE,3.42,0.732,-1.542,2,1,0
$FREEZE,2.79,0.732,-1.541,2,1,0
$GC,3996,1.29,420.2,3077,3445,1566,1440,8.5,2.2,282,4130,0.17,2.42,126.20,1.121,11298,0.129,0.067,3147,2109,1168,1193,1143,0,0,0,0,0,0,14.02,13.99,14.14
$STATE,4131,end climb,SURFACE_DEPTH_REACHED
$STATE,4131,begin surface coast
$FREEZE,1.82,0.731,-1.540,2,1,0
$FREEZE,1.48,0.731,-1.540,2,1,0
$FREEZE,1.08,0.733,-1.540,2,1,0
$FINISH,1.1,1.022625
$STATE,4144,end surface coast,CONTROL_FINISHED_OK
$STATE,4144,begin surface
$SM_CCo,4163,131.05,0.799,1,0,924,450.37
$SM_GC,1.13,9.38,0.15,131.05,0.088,0.138,0.799,253,2025,924,-7.61,2.94,450.37,0,0,0,0,1,0,13.88,13.81,13.02
$RAFOS_CLK,105
$RAFOS_FIX,7201.142578,-15200.736328,240920,191948,0,1,0.20
$IRIDIUM_FIX,7202.69,-15211.24,240920,175103
$TT8_MAMPS,0.038948,0.331807
$HUMID,52.12
$INTERNAL_PRESSURE,8.79012
$TCM_TEMP,12.30
$XPDR_PINGS,108
$SC_FREEKB,3587360
$24V_AH,12.48,263.962
$10V_AH,11.99,0.000
$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,24.300,36.100,605.925,131.050,0.000,0.000,0.000,1035.050,27.000,0.000,23.750,0.000,2884.657,811.939,1636.645,452.078,0.000,2151.067,0.000,462.055,0.000,0.532,0.000
$DEVICE_MAMPS,442.170,137.700,1409.895,798.660,0.000,0.000,0.000,193.545,420.000,0.000,21.720,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.104,0.000,0.000,0.000
$MEM,334680
$DATA_FILE_SIZE,10141,303
$CAP_FILE_SIZE,55212,0
$CFSIZE,1047117824,979238912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1446.1
$GPS,240920,192225,7201.730,-15200.957,8,0.9,22,19.5,0.7,333.4,10,9.5