version: 66.13
glider: 196
mission: 16
dive: 2
start: 7 24 118 17 31 7
data:
$ID,196
$MISSION,16
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,5
$T_BOOST,0
$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,50
$T_MISSION,68
$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,54362
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$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,3
$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,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,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,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.38234
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$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,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5430594e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240718,172133,4744.7861,-12224.2803,5,1.1,10,16.3,0.0,0.0,7,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.6
$GPS2,240718,173018,4744.7559,-12224.2109,6,1.1,11,16.3,0.0,0.0,7,9.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,181.0,2525,-17.9,-10.000,-21.28,2227
$D_GRID,178
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.79,-146.6,196,2517,575,497,0.0,0.0,0,191,0.00,0.00,-166.45,0.005,16390,0.000,0.000,196,2518,3961,3977,3946,0,0,0,0,0,0,15.66,14.59,15.62
$GC,197,-0.79,-146.6,196,2518,3977,3946,3.7,-8.6,29,219,10.77,2.10,0.00,0.000,2340,0.409,0.084,2471,3760,3961,3977,3946,0,0,0,0,0,0,15.19,15.33,15.45
$GC,450,-0.56,-146.6,2470,3759,3978,3946,57.1,-20.0,77,460,0.35,1.98,0.00,0.000,3206,0.280,0.048,2554,2465,3962,3978,3946,0,0,0,0,0,0,15.27,15.45,15.47
$GC,646,-0.54,-146.6,2553,2465,3977,3945,82.9,-11.9,114,655,0.00,2.20,0.00,0.000,388,0.000,0.102,2552,3758,3961,3977,3945,0,0,0,0,0,0,15.65,15.38,15.64
$GC,887,-0.52,-146.6,2552,3759,3977,3945,109.7,-9.1,160,895,0.00,1.92,0.00,0.000,1190,0.000,0.050,2552,2506,3960,3977,3944,0,0,0,0,0,0,15.52,15.46,15.54
$GC,1084,-0.52,-146.6,2552,2506,3977,3944,126.2,-8.6,180,1092,0.00,2.15,0.00,0.000,292,0.000,0.103,2546,3765,3960,3977,3943,0,0,0,0,0,0,15.66,15.33,15.66
$STATE,1320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1330,-0.19,0.0,2546,2498,3977,3942,150.6,-10.3,226,1465,0.45,0.00,127.05,2.117,10246,0.234,0.000,2670,2499,3365,3482,3248,0,0,0,0,0,0,15.32,14.76,14.05
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1471,0.79,146.6,2670,2498,3480,3248,156.7,0.0,240,1624,1.08,2.45,134.32,2.046,10756,0.173,0.079,2984,1111,2766,2929,2603,0,0,0,0,0,0,14.79,14.71,14.06
$GC,1790,0.76,146.6,2984,1111,2915,2603,131.0,10.0,297,1798,0.00,2.35,0.00,0.000,1158,0.000,0.094,2984,2485,2759,2915,2603,0,0,0,0,0,0,15.22,15.13,15.23
$GC,1978,0.69,146.6,2984,2485,2913,2600,108.1,13.4,316,1985,0.00,2.30,0.00,0.000,644,0.000,0.083,2985,1111,2759,2918,2601,0,0,0,0,0,0,15.52,15.28,15.52
$GC,2065,0.67,146.6,2984,1110,2913,2601,96.3,13.2,332,2074,0.00,2.38,0.00,0.000,1158,0.000,0.096,2984,2506,2757,2913,2601,0,0,0,0,0,0,15.41,15.31,15.42
$GC,2260,0.61,147.1,2984,2507,2912,2600,70.5,10.0,369,2269,0.17,2.20,0.00,0.000,4516,0.264,0.111,2940,3775,2756,2912,2600,0,0,0,0,0,0,15.27,15.31,15.40
$GC,2334,0.58,156.9,2940,3775,2908,2600,62.5,9.6,382,2350,0.00,2.00,5.53,1.319,9382,0.000,0.060,2944,2510,2723,2882,2565,0,0,0,0,0,0,15.45,15.40,14.69
$GC,2537,0.65,209.9,2944,2510,2876,2565,48.7,7.6,420,2576,0.00,2.38,30.58,1.576,8868,0.000,0.080,2945,1099,2506,2638,2374,0,0,0,0,0,0,15.59,15.12,14.58
$GC,2674,0.78,264.9,2944,1099,2624,2374,39.7,7.5,444,2720,0.15,2.40,33.50,1.497,11430,0.109,0.097,3012,2501,2281,2418,2144,0,0,0,0,0,0,15.28,15.22,14.50
$GC,2905,0.75,264.9,3012,2501,2403,2143,11.6,13.9,487,2915,0.00,2.33,0.00,0.000,644,0.000,0.083,3012,1103,2273,2403,2143,0,0,0,0,0,0,15.47,15.25,15.47
$GC,2959,0.75,264.9,3012,1105,2400,2142,4.4,12.5,496,2967,0.00,2.38,0.00,0.000,1030,0.000,0.094,3012,2500,2271,2400,2142,0,0,0,0,0,0,15.30,15.21,15.32
$STATE,2978,end climb,SURFACE_DEPTH_REACHED
$STATE,2978,begin surface coast
$FINISH,0.1,1.010113
$STATE,2994,end surface coast,CONTROL_FINISHED_OK
$STATE,2995,begin surface
$SM_CCo,3021,257.00,0.150,0,0,538,692.97
$SM_GC,0.94,8.12,0.00,257.00,0.066,0.000,0.150,202,2501,538,-7.87,0.03,692.97,0,0,0,0,0,0,15.33,15.53,15.19
$IRIDIUM_FIX,4745.83,-12224.09,240718,172441
$TT8_MAMPS,0.02247,1.07856
$HUMID,53.11
$INTERNAL_PRESSURE,10.2426
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3909344
$TM_FREEKB,7836704
$24V_AH,14.05,1.508
$10V_AH,13.43,0.000
$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,21.100,35.525,330.975,257.000,0.000,0.000,0.000,0.000,0.000,0.000,21.056,1125.770,620.017,718.494,831.329,92.263,0.000,1196.824,0.000,729.111,0.000,0.547,0.000
$DEVICE_MAMPS,408.510,110.925,2116.755,149.940,0.000,0.000,0.000,0.000,420.000,0.000,21.720,10.120,2.190,10.120,29.590,34.840,0.000,11.600,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2980.000,2990.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.347,13.683,0.000,0.000
$MEM,303656
$DATA_FILE_SIZE,16744,502
$CAP_FILE_SIZE,68015,0
$CFSIZE,2097872896,2095120384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,193.71,1
$GPS,240718,182702,4744.538,-12224.629,5,1.3,22,16.3,0.0,0.0,7,9.7