version: 66.13
glider: 196
mission: 10
dive: 6
start: 8 26 116 4 29 39
data:
$ID,196
$MISSION,10
$DIVE,6
$N_DIVES,8
$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,0.050000001
$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,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,20
$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,3
$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
$GPS1,260816,041531,7420.8457,-15333.3750,8,0.9,10,19.4,0.0,312.7,10,9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.5
$GPS2,260816,042912,7420.9087,-15333.0596,5,0.9,12,19.4,0.0,277.0,10,9.6
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.9,173212,-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,-145.9,190,2592,576,492,0.0,0.0,0,135,0.00,0.00,-121.05,0.000,16386,0.000,0.000,187,2591,2485,2437,2533,0,0,0,0,0,0,14.31,28.83,14.33
$GC,138,-0.62,-145.9,190,2592,2439,2534,4.2,-5.8,12,188,13.38,2.33,-30.25,0.000,18724,0.430,2.252,2765,3780,3961,3947,3975,0,0,0,0,0,0,13.94,13.35,14.16
$GC,413,-0.71,-145.9,2764,3781,3954,3976,57.7,-12.9,67,421,0.00,2.03,0.00,0.000,1158,0.000,0.060,2765,2589,3963,3952,3975,0,0,0,0,0,0,14.21,14.15,14.22
$GC,598,-0.83,-145.9,2764,2589,3954,3976,79.4,-11.3,86,603,0.15,2.17,0.00,0.000,4484,0.145,0.107,2702,3794,3964,3953,3975,0,0,0,0,0,0,14.14,14.09,14.18
$GC,829,-0.88,-145.9,2703,3794,3953,3975,112.6,-13.8,132,833,0.00,2.03,0.00,0.000,1158,0.000,0.060,2702,2596,3964,3953,3975,0,0,0,0,0,0,14.21,14.15,14.23
$GC,1019,-0.95,-145.9,2703,2597,3953,3976,137.0,-12.5,143,1023,0.00,2.15,0.00,0.000,388,0.000,0.112,2701,3785,3964,3953,3975,0,0,0,0,0,0,14.42,14.21,14.45
$GC,1249,-1.04,-145.9,2702,3785,3954,3975,165.5,-12.1,189,1254,0.17,2.00,0.00,0.000,5254,0.130,0.062,2645,2590,3965,3955,3975,0,0,0,0,0,0,14.30,14.31,14.38
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1363,-0.13,0.0,2645,2196,3955,3976,183.0,-16.3,196,1500,1.10,0.00,127.12,2.015,10246,0.246,0.000,2938,2200,3362,3388,3336,0,0,0,0,1,0,14.22,13.52,12.87
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1505,0.62,145.9,2931,2194,3392,3338,191.0,0.0,203,1647,0.82,2.70,127.55,1.950,10500,0.109,0.099,3182,3613,2768,2816,2720,0,0,0,0,1,0,13.58,13.43,12.82
$GC,1873,0.49,223.9,3182,3614,2812,2721,189.0,6.4,274,1958,0.22,2.40,72.50,1.870,13478,0.324,0.056,3147,2202,2450,2495,2405,0,0,0,0,1,0,13.90,14.04,12.93
$GC,2143,0.53,270.9,3147,2202,2495,2400,169.6,7.8,301,2204,0.00,2.67,47.38,1.760,8484,0.000,0.100,3147,3600,2257,2298,2216,0,0,0,0,1,0,14.15,13.65,13.05
$GC,2429,0.53,270.9,3148,3601,2296,2215,140.3,10.9,358,2434,0.00,2.40,0.00,0.000,1030,0.000,0.060,3152,2207,2254,2295,2214,0,0,0,0,0,0,14.08,14.02,14.09
$GC,2624,0.58,297.8,3151,2209,2297,2211,123.1,8.8,370,2665,0.00,2.62,26.52,1.538,8868,0.000,0.096,3151,794,2150,2186,2114,0,0,0,0,1,0,14.33,13.96,13.34
$GC,2700,0.68,323.8,3151,795,2189,2121,116.8,8.8,382,2747,0.15,2.53,36.03,1.286,11430,0.138,0.090,3201,2202,2044,2071,2017,0,0,0,0,1,0,14.02,14.00,13.24
$GC,2925,0.68,323.8,3202,2203,2071,2017,91.0,11.0,403,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2202,2043,2070,2017,0,0,0,0,0,0,14.19,14.21,14.21
$GC,3105,0.69,344.7,3201,2203,2070,2015,74.0,9.0,421,3125,0.00,0.00,14.07,0.431,8230,0.000,0.000,3204,2202,1955,1976,1935,0,0,0,0,0,0,14.29,14.13,13.93
$GC,3305,0.74,370.2,3202,2203,1977,1935,55.6,8.8,441,3327,0.00,2.62,17.17,0.380,8612,0.000,0.101,3201,3618,1852,1864,1840,0,0,0,0,0,0,14.33,14.09,13.99
$GC,3392,0.76,400.7,3201,3619,1865,1841,47.8,8.6,458,3419,0.00,2.45,20.58,0.355,9254,0.000,0.061,3208,2197,1727,1736,1718,0,0,0,0,0,0,14.23,14.16,13.97
$GC,3599,0.90,488.6,3208,2197,1738,1715,33.8,6.0,481,3663,0.20,2.55,56.83,0.306,10916,0.128,0.094,3286,799,1370,1406,1335,0,0,0,0,0,0,14.17,14.08,14.00
$GC,3844,1.01,572.6,3285,799,1406,1328,15.8,6.2,525,3904,0.00,2.47,55.00,0.252,9382,0.000,0.085,3286,2204,1027,1099,955,0,0,0,0,0,0,14.21,14.13,14.00
$STATE,4019,end climb,SURFACE_DEPTH_REACHED
$STATE,4019,begin surface coast
$FINISH,0.3,1.021229
$STATE,4037,end surface coast,CONTROL_FINISHED_OK
$STATE,4037,begin surface
$SM_CCo,4057,79.68,0.209,0,0,538,692.97
$SM_GC,1.27,9.50,0.73,79.68,0.083,0.108,0.209,205,2599,538,-8.63,-0.65,692.97,0,0,0,0,0,0,14.18,14.16,14.07
$RAFOS_CLK,158
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15333.23,260816,042443
$TT8_MAMPS,0.040446,1.0104
$HUMID,59.45
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.50
$XPDR_PINGS,2
$SC_FREEKB,4015704
$PM_FREEKB,62181312
$24V_AH,12.82,4.633
$10V_AH,12.87,0.000
$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,25.700,39.500,600.750,79.675,0.000,0.000,0.000,518.900,0.500,0.000,13.564,0.000,2414.228,771.182,1516.162,262.798,0.000,1792.060,0.000,793.109,0.000,0.540,0.000
$DEVICE_MAMPS,429.930,2252.160,2015.010,208.845,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4046.000,4026.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.743,18.714,0.000,0.000
$MEM,311556
$DATA_FILE_SIZE,16760,551
$CAP_FILE_SIZE,68802,0
$CFSIZE,2097872896,2092433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$SOUNDSPEED,1443.1
$GPS,260816,053930,7420.800,-15331.182,9,0.8,17,19.4,0.3,28.6,10,8.1