version: 66.13
glider: 196
mission: 10
dive: 10
start: 8 26 116 12 19 1
data:
$ID,196
$MISSION,10
$DIVE,10
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,160
$T_MISSION,220
$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,50
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,14
$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
$GPS1,260816,120922,7419.5610,-15320.9609,40,0.8,41,19.4,0.5,68.3,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.4
$GPS2,260816,121833,7419.6162,-15320.5859,5,0.8,9,19.4,0.0,105.2,10,9.6
$SPEED_LIMITS,0.180,0.244
$TGT_NAME,T3
$TGT_LATLONG,7311.100,-14957.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,120.0,167012,-20.4,-10.417,-23.10,2156
$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,-0.64,-145.9,205,2788,579,486,0.0,0.0,0,136,0.00,0.00,-121.57,0.000,16386,0.000,0.000,197,2787,2522,2475,2570,0,0,0,0,0,0,14.21,28.83,14.23
$GC,139,-0.64,-145.9,201,2788,2476,2570,4.6,-6.7,12,188,13.15,2.00,-28.17,0.000,18724,0.423,2.254,2760,3781,3964,3947,3982,0,0,0,0,0,0,13.88,13.32,14.09
$GC,414,-0.74,-145.9,2760,3780,3951,3983,62.5,-15.1,67,419,0.00,1.65,0.00,0.000,1158,0.000,0.060,2760,2804,3967,3951,3983,0,0,0,0,0,0,14.15,14.10,14.16
$GC,599,-0.86,-145.9,2760,2803,3953,3984,85.9,-11.3,86,604,0.15,1.80,0.00,0.000,4484,0.146,0.109,2701,3792,3967,3952,3983,0,0,0,0,0,0,14.09,14.06,14.13
$GC,829,-0.92,-145.9,2702,3793,3952,3983,120.4,-15.4,132,833,0.00,1.67,0.00,0.000,1158,0.000,0.061,2701,2799,3965,3947,3983,0,0,0,0,0,0,14.18,14.13,14.20
$GC,1019,-1.00,-145.9,2702,2799,3952,3983,146.3,-13.2,143,1024,0.12,1.80,0.00,0.000,4484,0.147,0.109,2649,3792,3967,3952,3983,0,0,0,0,0,0,14.18,14.14,14.22
$GC,1249,-1.00,-145.9,2649,3792,3953,3984,183.4,-16.2,189,1254,0.00,1.70,0.00,0.000,1030,0.000,0.061,2650,2805,3967,3952,3983,0,0,0,0,0,0,14.23,14.20,14.26
$GC,1442,-1.03,-145.9,2648,2806,3954,3984,212.3,-15.1,200,1446,0.00,1.77,0.00,0.000,388,0.000,0.111,2643,3791,3968,3953,3983,0,0,0,0,0,0,14.37,14.18,14.39
$GC,1672,-1.06,-145.9,2643,3792,3953,3984,248.8,-15.3,246,1676,0.00,1.65,0.00,0.000,1158,0.000,0.062,2639,2795,3967,3952,3983,0,0,0,0,0,0,14.34,14.29,14.35
$GC,1862,-1.10,-145.9,2645,2795,3953,3984,274.2,-12.9,257,1866,0.00,1.77,0.00,0.000,388,0.000,0.112,2637,3788,3967,3952,3983,0,0,0,0,0,0,14.49,14.28,14.51
$GC,2091,-1.15,-145.9,2636,3786,3953,3984,304.9,-13.1,303,2096,0.00,1.65,0.00,0.000,1158,0.000,0.063,2637,2789,3966,3952,3981,0,0,0,0,0,0,14.43,14.38,14.45
$GC,2282,-1.19,-145.9,2638,2790,3952,3983,327.6,-11.8,314,2287,0.15,1.77,0.00,0.000,4484,0.145,0.111,2573,3786,3968,3952,3984,0,0,0,0,0,0,14.38,14.35,14.42
$GC,2512,-1.14,-145.9,2574,3787,3952,3983,366.2,-16.8,360,2517,0.17,1.62,0.00,0.000,3206,0.291,0.063,2608,2800,3967,3951,3983,0,0,0,0,0,0,14.33,14.42,14.45
$GC,2702,-1.16,-145.9,2608,2801,3953,3984,391.7,-13.2,371,2707,0.00,1.75,0.00,0.000,388,0.000,0.112,2605,3785,3968,3952,3984,0,0,0,0,0,0,14.58,14.38,14.60
$GC,2932,-1.16,-145.9,2606,3786,3953,3984,424.5,-14.3,417,2937,0.00,1.67,0.00,0.000,1030,0.000,0.062,2605,2796,3967,3952,3983,0,0,0,0,0,0,14.47,14.45,14.49
$GC,3122,-1.16,-145.9,2606,2795,3952,3984,449.7,-13.1,428,3127,0.00,1.75,0.00,0.000,260,0.000,0.113,2605,3786,3967,3952,3983,0,0,0,0,0,0,14.61,14.40,14.63
$GC,3352,-1.16,-145.9,2605,3787,3953,3984,481.4,-13.8,474,3357,0.00,1.67,0.00,0.000,1030,0.000,0.061,2605,2793,3967,3951,3983,0,0,0,0,0,0,14.50,14.47,14.51
$STATE,3499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3499,begin apogee
$GC,3506,-0.13,0.0,2608,2198,3952,3982,501.0,-13.0,483,3694,1.23,0.00,179.65,1.714,10246,0.241,0.000,2932,2196,3362,3386,3339,0,0,0,0,1,0,14.35,13.49,12.74
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3699,0.64,145.9,2932,2197,3393,3340,508.5,0.0,492,3848,0.77,3.08,133.50,2.327,10500,0.082,0.099,3186,3786,2769,2817,2721,0,0,0,0,1,0,13.53,13.33,12.61
$GC,4004,0.39,145.9,3186,3787,2817,2722,482.5,17.6,554,4009,0.38,2.75,0.00,0.000,5254,0.334,0.059,3114,2213,2772,2815,2729,0,0,0,0,0,0,13.75,13.87,13.93
$GC,4194,0.34,145.9,3115,2213,2816,2722,460.3,11.1,565,4199,0.00,3.17,0.00,0.000,644,0.000,0.097,3123,444,2768,2815,2722,0,0,0,0,0,0,14.23,14.02,14.24
$GC,4229,0.30,145.9,3123,445,2817,2723,456.4,11.4,572,4236,0.20,3.15,0.00,0.000,5254,0.278,0.089,3081,2208,2769,2816,2722,0,0,0,0,0,0,13.97,14.06,14.13
$GC,4414,0.32,170.7,3080,2209,2816,2723,438.8,9.2,582,4455,0.00,0.00,37.38,1.495,8230,0.000,0.000,3081,2208,2666,2708,2624,0,0,0,0,0,0,14.34,13.95,13.47
$GC,4634,0.35,183.7,3082,2209,2705,2616,417.5,9.8,593,4656,0.00,0.00,17.73,1.528,8358,0.000,0.000,3081,2209,2611,2658,2565,0,0,0,0,0,0,14.27,14.01,13.52
$GC,4834,0.39,188.2,3081,2209,2654,2559,397.4,10.2,603,4835,0.00,0.00,0.00,0.000,166,0.000,0.000,3081,2209,2606,2654,2558,0,0,0,0,0,0,14.29,14.31,14.31
$GC,5014,0.44,196.4,3081,2208,2654,2558,379.1,10.0,612,5036,0.12,0.00,16.27,1.522,10406,0.158,0.000,3120,2209,2559,2607,2511,0,0,0,0,0,0,14.20,14.03,13.64
$GC,5214,0.41,196.4,3121,2209,2605,2507,354.4,12.7,622,5220,0.00,3.17,0.00,0.000,644,0.000,0.097,3125,441,2555,2604,2506,0,0,0,0,0,0,14.37,14.16,14.41
$GC,5279,0.41,196.4,3126,442,2605,2507,346.1,12.6,635,5285,0.00,3.10,0.00,0.000,1030,0.000,0.086,3125,2203,2555,2604,2507,0,0,0,0,0,0,14.28,14.20,14.31
$GC,5475,0.39,196.4,3126,2204,2604,2506,321.6,12.4,647,5476,0.00,0.00,0.00,0.000,134,0.000,0.000,3125,2203,2552,2599,2506,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5655,0.37,196.4,3126,2204,2604,2507,299.7,12.1,656,5656,0.00,0.00,0.00,0.000,134,0.000,0.000,3125,2204,2554,2602,2506,0,0,0,0,0,0,14.50,14.52,14.52
$GC,5835,0.37,196.4,3126,2204,2605,2507,278.4,11.7,665,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2203,2552,2598,2506,0,0,0,0,0,0,14.53,14.53,14.55
$GC,6015,0.38,209.7,3125,2204,2605,2507,260.3,9.8,674,6045,0.00,3.15,16.67,1.467,8740,0.000,0.093,3125,447,2506,2553,2460,0,0,0,0,1,0,14.56,14.23,13.64
$GC,6090,0.38,215.6,3126,448,2554,2461,252.7,10.1,689,6105,0.00,3.08,8.05,1.565,9254,0.000,0.084,3125,2207,2481,2523,2439,0,0,0,0,0,0,14.33,14.26,13.74
$GC,6295,0.39,230.1,3127,2208,2527,2434,232.5,9.7,703,6325,0.00,2.85,18.33,1.347,8484,0.000,0.103,3125,3783,2427,2471,2383,0,0,0,0,1,0,14.44,14.12,13.73
$GC,6380,0.35,230.1,3126,3784,2475,2387,224.0,10.6,720,6385,0.12,2.70,0.00,0.000,5254,0.304,0.060,3101,2197,2433,2474,2392,0,0,0,0,0,0,14.09,14.19,14.23
$GC,6576,0.47,295.0,3102,2198,2475,2387,209.1,7.3,732,6650,0.00,0.00,64.53,1.939,8870,0.000,0.000,3101,2197,2160,2202,2119,0,0,0,0,1,0,14.42,13.64,13.07
$GC,6838,0.62,346.3,3101,2198,2203,2112,187.5,8.0,757,6902,0.22,3.28,51.67,1.847,10916,0.119,0.099,3191,443,1951,1986,1917,0,0,0,0,1,0,14.06,13.65,13.02
$GC,6957,0.62,346.3,3191,443,1982,1919,172.3,14.1,781,6962,0.00,3.20,0.00,0.000,1030,0.000,0.087,3191,2202,1948,1980,1917,0,0,0,0,0,0,13.90,13.81,13.91
$GC,7157,0.62,346.3,3191,2204,1980,1912,144.7,13.4,794,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2202,1945,1980,1911,0,0,0,0,0,0,14.23,14.26,14.26
$GC,7337,0.64,346.3,3191,2203,1981,1911,122.1,12.3,803,7342,0.00,3.15,0.00,0.000,644,0.000,0.097,3191,444,1944,1979,1909,0,0,0,0,0,0,14.34,14.13,14.35
$GC,7402,0.69,346.3,3192,445,1975,1910,114.6,11.1,816,7407,0.00,3.10,0.00,0.000,1158,0.000,0.085,3191,2204,1942,1975,1909,0,0,0,0,0,0,14.21,14.14,14.23
$GC,7587,0.72,346.3,3192,2206,1974,1910,94.2,10.9,830,7588,0.00,0.00,0.00,0.000,134,0.000,0.000,3198,2205,1941,1974,1909,0,0,0,0,0,0,14.36,14.39,14.38
$GC,7767,0.78,362.2,3192,2206,1974,1908,77.0,9.7,848,7783,0.12,2.85,9.57,0.449,10660,0.162,0.102,3238,3785,1883,1911,1856,0,0,0,0,0,0,14.07,14.18,14.02
$GC,7860,0.72,362.2,3238,3785,1912,1858,65.0,12.6,866,7865,0.15,2.70,0.00,0.000,5254,0.295,0.060,3217,2195,1884,1911,1857,0,0,0,0,0,0,14.11,14.20,14.25
$GC,8052,0.81,432.6,3217,2195,1912,1857,49.7,7.1,886,8106,0.00,2.92,45.55,0.361,8612,0.000,0.102,3217,3782,1598,1625,1572,0,0,0,0,0,0,14.40,14.11,14.00
$GC,8212,0.88,463.6,3217,3782,1626,1575,37.6,8.9,918,8238,0.12,2.70,20.20,0.323,11430,0.142,0.061,3270,2203,1470,1506,1435,0,0,0,0,0,0,14.16,14.18,14.00
$GC,8423,1.01,552.8,3265,2204,1507,1425,19.1,6.2,942,8489,0.12,3.22,57.75,0.266,10916,0.147,0.097,3316,436,1105,1175,1036,0,0,0,0,0,0,14.18,14.05,14.01
$GC,8584,1.06,567.4,3315,436,1172,1036,5.4,9.7,974,8599,0.00,3.12,9.23,0.233,9382,0.000,0.083,3316,2209,1047,1121,974,0,0,0,0,0,0,14.20,14.12,14.04
$STATE,8622,end climb,SURFACE_DEPTH_REACHED
$STATE,8622,begin surface coast
$FINISH,0.3,1.021204
$STATE,8642,end surface coast,CONTROL_FINISHED_OK
$STATE,8642,begin surface
$SM_CCo,8663,83.15,0.211,0,0,539,692.97
$SM_GC,1.22,9.62,1.08,83.15,0.087,0.106,0.211,207,2799,539,-8.62,-0.74,692.97,0,0,0,0,0,0,14.18,14.16,14.06
$RAFOS_CLK,390
$RAFOS_FIX,7518.628418,-15635.666016,260816,080858,2,255,31.52
$IRIDIUM_FIX,7334.88,-15326.10,260816,093740
$TT8_MAMPS,0.039697,1.07257
$HUMID,58.38
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,13.30
$XPDR_PINGS,4
$SC_FREEKB,4015072
$PM_FREEKB,61935680
$24V_AH,12.61,6.395
$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,26.950,90.575,686.075,83.150,0.000,0.000,0.000,354.025,1.000,0.000,10.569,0.000,5905.853,909.086,2210.515,273.154,0.000,2081.382,0.000,1404.227,0.000,0.540,0.000
$DEVICE_MAMPS,423.045,2253.690,2327.130,211.140,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8668.000,8643.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.760,18.704,0.000,0.000
$MEM,311564
$DATA_FILE_SIZE,33357,982
$CAP_FILE_SIZE,117352,0
$CFSIZE,2097872896,2091384832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$SOUNDSPEED,1448.7
$GPS,260816,144542,7419.009,-15318.089,17,0.8,18,19.5,0.0,0.0,9,10.0