version: 66.13
glider: 196
mission: 10
dive: 2
start: 8 25 116 23 25 47
data:
$ID,196
$MISSION,10
$DIVE,2
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,135
$D_ABORT,160
$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,45
$T_MISSION,60
$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,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,53599
$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,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,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,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$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,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,-162.35156
$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
$GPS1,250816,231950,7421.2402,-15341.2422,8,0.9,37,19.3,0.4,86.5,9,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.4
$GPS2,250816,232519,7421.2964,-15341.0645,6,0.8,10,19.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.1,176622,-19.7,-10.000,-22.51,2245
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.62,-145.9,206,2002,569,498,0.0,0.0,0,135,0.00,0.00,-121.12,0.000,16386,0.000,0.000,205,2002,2525,2465,2586,0,0,0,0,0,0,14.76,28.83,14.78
$GC,138,-0.62,-145.9,205,2002,2468,2587,3.6,-4.0,12,188,12.82,2.65,-30.42,0.000,18724,0.430,2.243,2760,3411,3962,3954,3971,0,0,0,0,0,0,14.29,13.47,14.55
$GC,413,-0.71,-145.9,2761,3411,3959,3972,57.2,-13.6,67,420,0.00,2.35,0.00,0.000,1158,0.000,0.061,2760,2003,3964,3957,3971,0,0,0,0,0,0,14.49,14.40,14.49
$GC,599,-0.82,-145.9,2760,2003,3961,3972,79.5,-11.2,86,604,0.12,2.47,0.00,0.000,4484,0.151,0.098,2702,3418,3964,3959,3970,0,0,0,0,0,0,14.45,14.45,14.51
$GC,829,-0.89,-145.9,2702,3419,3960,3970,112.3,-14.1,132,834,0.00,2.38,0.00,0.000,1158,0.000,0.063,2702,2003,3965,3960,3971,0,0,0,0,0,0,14.54,14.47,14.58
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1022,-0.13,0.0,2702,2003,3961,3971,137.5,-13.1,143,1151,0.85,0.00,121.05,2.013,10246,0.219,0.000,2933,2002,3364,3385,3343,0,0,0,0,1,0,14.40,13.81,13.12
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1156,0.62,145.9,2933,2002,3386,3345,144.5,0.0,149,1296,0.77,2.62,123.32,1.926,11012,0.122,0.092,3173,3408,2769,2809,2730,0,0,0,0,1,0,13.83,13.72,13.07
$GC,1521,0.60,325.6,3173,3408,2803,2730,152.2,1.8,222,1688,0.00,2.38,152.73,1.922,9382,0.000,0.058,3178,1990,2035,2059,2011,0,0,0,0,1,0,14.37,14.30,13.08
$GC,1884,0.64,325.6,3178,1991,2046,2006,120.9,10.8,267,1888,0.00,2.53,0.00,0.000,388,0.000,0.096,3177,3412,2026,2046,2006,0,0,0,0,0,0,14.40,14.22,14.43
$GC,2076,0.64,325.6,3177,3413,2042,2007,99.9,11.8,302,2082,0.00,2.38,0.00,0.000,1030,0.000,0.061,3185,2005,2023,2040,2006,0,0,0,0,0,0,14.38,14.31,14.40
$GC,2260,0.69,345.2,3185,2005,2043,2004,79.8,9.1,321,2272,0.00,0.00,11.02,0.462,8358,0.000,0.000,3185,2004,1954,1968,1941,0,0,0,0,0,0,14.50,14.35,14.12
$GC,2450,0.78,387.2,3184,2005,1963,1941,63.5,8.1,340,2484,0.12,2.55,26.12,0.402,10660,0.155,0.094,3234,3410,1783,1776,1790,0,0,0,0,0,0,14.33,14.25,14.12
$GC,2526,0.74,387.2,3234,3413,1777,1788,56.0,11.2,355,2531,0.00,2.40,0.00,0.000,1158,0.000,0.062,3242,1994,1781,1776,1787,0,0,0,0,0,0,14.35,14.28,14.36
$GC,2709,0.77,427.8,3242,1994,1775,1783,39.2,8.1,374,2740,0.00,2.47,25.20,0.329,8740,0.000,0.096,3243,591,1617,1612,1622,0,0,0,0,0,0,14.48,14.26,14.14
$GC,2761,0.85,480.3,3247,592,1612,1622,35.2,7.6,384,2802,0.00,2.45,33.08,0.311,9382,0.000,0.084,3246,1996,1402,1415,1390,0,0,0,0,0,0,14.36,14.25,14.09
$GC,2981,1.03,597.5,3248,1997,1415,1378,18.8,4.6,410,3062,0.17,2.53,73.47,0.258,10660,0.122,0.095,3310,3422,924,993,855,0,0,0,0,0,0,14.28,14.18,14.12
$STATE,3165,end climb,SURFACE_DEPTH_REACHED
$STATE,3165,begin surface coast
$FINISH,0.4,1.021222
$STATE,3175,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3197,62.00,0.209,0,0,537,692.97
$SM_GC,1.32,9.62,2.50,62.00,0.096,0.068,0.209,210,1997,537,-8.62,0.57,692.97,0,0,0,0,0,0,14.28,14.27,14.16
$RAFOS_CLK,40
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15343.91,250816,231549
$TT8_MAMPS,0.086135,1.13623
$HUMID,54.33
$INTERNAL_PRESSURE,8.67023
$TCM_TEMP,13.60
$XPDR_PINGS,28
$SC_FREEKB,4016192
$PM_FREEKB,62300928
$24V_AH,13.07,3.169
$10V_AH,12.88,0.000
$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,24.500,34.650,566.000,62.000,0.000,0.000,0.000,0.000,7.000,0.000,10.576,0.000,1683.957,692.946,889.189,69.892,0.000,1122.015,0.000,647.456,2157.000,0.541,0.000
$DEVICE_MAMPS,429.930,2242.980,2013.480,208.845,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3168.000,3162.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.470,18.722,0.000,0.000
$MEM,311560
$DATA_FILE_SIZE,13393,449
$CAP_FILE_SIZE,66882,0
$CFSIZE,2097872896,2093383680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1442.9
$GPS,260816,002051,7421.210,-15339.691,8,0.8,9,19.3,0.0,93.9,10,9.4