version: 66.13
glider: 196
mission: 9
dive: 4
start: 8 3 116 19 14 57
data:
$ID,196
$MISSION,9
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$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,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53460
$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,400
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_BLANK_MOTORS,1
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,2900
$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,-162.47736
$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
$GPS1,030816,190427,4744.2397,-12224.5625,4,0.9,12,16.3,0.0,39.9,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.4
$GPS2,030816,191429,4744.2358,-12224.5254,5,1.0,14,16.3,0.0,0.0,9,9.1
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,187.1,1485,-19.7,-10.000,-22.48,2245
$D_GRID,175
$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,-146.6,206,2305,1247,1272,0.0,0.0,0,113,0.00,0.00,-98.57,0.000,16386,0.000,0.000,206,2305,3492,3440,3544,0,0,0,0,0,0,14.71,28.83,14.73
$GC,116,-0.62,-146.6,205,2306,3440,3545,3.3,-5.8,18,134,11.93,2.40,0.00,0.000,2340,0.388,0.075,2767,3725,3493,3443,3544,0,0,0,0,0,0,14.37,14.51,14.51
$GC,359,-0.58,-146.6,2765,3726,3451,3540,46.6,-13.9,66,365,0.12,2.30,0.00,0.000,3206,0.257,0.047,2788,2290,3495,3453,3537,0,0,0,0,0,0,14.50,14.57,14.64
$GC,426,-0.61,-146.6,2787,2292,3456,3536,54.0,-10.3,79,431,0.00,2.42,0.00,0.000,388,0.000,0.093,2784,3710,3495,3455,3535,0,0,0,0,0,0,14.74,14.53,14.76
$GC,657,-0.63,-146.6,2785,3711,3454,3535,81.6,-11.1,125,663,0.00,2.25,0.00,0.000,1158,0.000,0.043,2782,2294,3495,3456,3535,0,0,0,0,0,0,14.68,14.62,14.69
$GC,785,-0.67,-146.6,2784,2294,3465,3535,96.7,-12.6,150,791,0.00,2.42,0.00,0.000,388,0.000,0.092,2775,3719,3495,3457,3533,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1016,-0.67,-146.6,2777,3720,3457,3535,129.8,-14.5,196,1022,0.00,2.28,0.00,0.000,1030,0.000,0.044,2775,2293,3495,3457,3534,0,0,0,0,0,0,14.66,14.62,14.67
$GC,1144,-0.70,-146.6,2775,2293,3457,3535,147.5,-12.5,221,1150,0.00,2.42,0.00,0.000,388,0.000,0.093,2773,3719,3495,3456,3534,0,0,0,0,0,0,14.82,14.57,14.81
$STATE,1362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1362,begin apogee
$GC,1370,-0.13,0.0,2772,2390,3458,3535,175.3,-11.9,265,1511,0.55,0.00,126.35,1.095,10246,0.211,0.000,2927,2389,2902,2922,2882,0,0,0,0,1,0,14.56,14.12,13.63
$STATE,1513,end apogee,CONTROL_FINISHED_OK
$STATE,1513,begin climb
$GC,1515,0.62,146.6,2928,2390,2927,2883,181.8,0.0,289,1641,0.77,2.40,112.38,1.601,10756,0.135,0.065,3177,987,2301,2330,2272,0,0,0,0,1,0,14.21,13.95,13.47
$GC,1767,0.71,196.4,3177,986,2341,2273,168.6,7.7,334,1821,0.00,2.42,48.95,1.056,9382,0.000,0.078,3177,2405,2098,2127,2070,0,0,0,0,0,0,14.50,14.41,13.90
$GC,1941,0.76,199.5,3177,2405,2109,2058,152.0,9.9,367,1947,0.12,0.00,0.00,0.000,2214,0.122,0.000,3243,2405,2078,2107,2050,0,0,0,0,0,0,14.50,14.57,14.54
$GC,2069,0.69,199.5,3244,2406,2107,2051,134.8,15.3,392,2075,0.12,0.00,0.00,0.000,4230,0.242,0.000,3211,2405,2077,2105,2050,0,0,0,0,0,0,14.50,14.64,14.59
$GC,2197,0.69,199.5,3211,2404,2106,2051,117.3,13.7,417,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2405,2077,2104,2050,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2322,0.69,199.5,3211,2406,2105,2051,99.8,13.4,442,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2405,2077,2104,2050,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2448,0.69,199.5,3212,2406,2102,2050,82.7,13.1,467,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2404,2076,2103,2050,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2574,0.69,199.5,3212,2406,2103,2051,66.7,12.4,492,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2405,2076,2103,2050,0,0,0,0,0,0,14.82,14.84,14.84
$GC,2710,0.72,199.5,3211,2405,2104,2051,50.2,11.8,517,2716,0.00,2.33,0.00,0.000,644,0.000,0.068,3218,996,2076,2103,2050,0,0,0,0,0,0,14.79,14.63,14.81
$GC,2828,0.76,210.7,3218,997,2104,2051,38.0,9.5,540,2840,0.00,2.35,4.82,0.246,9382,0.000,0.076,3224,2406,2039,2066,2013,0,0,0,0,0,0,14.70,14.62,14.50
$GC,2900,0.76,210.7,3219,2407,2078,2019,30.5,10.5,554,2906,0.00,2.35,0.00,0.000,260,0.000,0.088,3219,3785,2047,2076,2019,0,0,0,0,0,0,14.77,14.57,14.78
$GC,2926,0.73,210.7,3218,3786,2078,2021,27.2,12.7,559,2932,0.00,2.20,0.00,0.000,1158,0.000,0.046,3221,2399,2048,2077,2020,0,0,0,0,0,0,14.67,14.62,14.69
$GC,2992,0.73,210.7,3221,2399,2077,2021,19.3,11.4,572,2998,0.00,2.30,0.00,0.000,516,0.000,0.069,3221,1000,2050,2081,2019,0,0,0,0,0,0,14.76,14.61,14.78
$GC,3069,0.76,210.7,3221,1000,2078,2021,10.3,12.1,587,3075,0.00,2.35,1.42,0.223,9350,0.000,0.074,3221,2409,2038,2065,2012,0,0,0,0,0,0,14.65,14.59,14.54
$GC,3135,0.76,210.7,3222,2409,2077,2025,2.5,12.3,600,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2409,2048,2077,2019,0,0,0,0,0,0,14.76,14.78,14.78
$STATE,3143,end climb,SURFACE_DEPTH_REACHED
$STATE,3143,begin surface coast
$FINISH,0.1,1.021929
$STATE,3159,end surface coast,CONTROL_FINISHED_OK
$STATE,3159,begin surface
$SM_CCo,3177,90.68,0.162,0,0,1266,400.08
$SM_GC,1.09,8.68,0.17,90.68,0.059,0.089,0.162,203,2288,1266,-8.62,0.96,400.08,0,0,0,0,0,0,14.64,14.65,14.52
$RAFOS_CLK,13
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12225.08,030816,180251
$TT8_MAMPS,0.084637,1.06208
$HUMID,55.04
$INTERNAL_PRESSURE,8.84601
$TCM_TEMP,19.30
$XPDR_PINGS,3
$SC_FREEKB,4015944
$PM_FREEKB,62243392
$24V_AH,13.47,2.290
$10V_AH,13.73,0.000
$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,22.300,37.550,293.925,90.675,0.000,0.000,0.000,367.975,0.750,0.000,16.377,0.000,1558.464,485.744,1617.868,214.177,0.000,1362.134,0.000,873.041,2216.000,0.548,0.000
$DEVICE_MAMPS,387.855,93.330,1601.145,162.180,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,11.720,30.450,35.690,0.000,10.000,0.000,6.740,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3206.000,3159.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,43.693,18.641,0.000,0.000
$MEM,310476
$DATA_FILE_SIZE,20053,605
$CAP_FILE_SIZE,72202,0
$CFSIZE,2097872896,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1494.1
$GPS,030816,201026,4744.012,-12224.873,4,1.2,24,16.3,0.0,0.0,7,10.0