version: 66.13
glider: 198
mission: 8
dive: 4
start: 8 26 116 2 3 51
data:
$ID,198
$MISSION,8
$DIVE,4
$N_DIVES,5
$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,0.1
$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,53552
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-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,212
$PITCH_MAX,3894
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,32
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-160.38615
$PRESSURE_SLOPE,0.00010704049
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,147
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043050982
$SEABIRD_T_H,0.00061941822
$SEABIRD_T_I,2.1629137e-05
$SEABIRD_T_J,2.164825e-06
$SEABIRD_C_G,-9.9284992
$SEABIRD_C_H,1.1529615
$SEABIRD_C_I,-0.0017988096
$SEABIRD_C_J,0.00021813816
$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
$GPS1,260816,015940,7421.8716,-15338.0762,7,0.7,8,19.3,0.5,358.7,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.1
$GPS2,260816,020324,7421.8867,-15337.9668,9,0.7,10,19.3,0.0,96.7,11,9.6
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,T5
$TGT_LATLONG,7543.000,-14912.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.6,192964,-18.2,-10.000,-24.02,2246
$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,-0.61,-145.9,201,2606,517,556,0.0,0.0,0,136,0.00,0.00,-121.57,0.000,16386,0.000,0.000,200,2606,2459,2417,2501,0,0,0,0,0,0,14.61,28.83,14.62
$GC,139,-0.61,-145.9,201,2607,2417,2502,3.7,-4.9,12,189,10.60,2.30,-34.10,0.000,18724,0.453,2.285,2297,3776,3962,3893,4031,0,0,0,0,0,0,14.21,13.56,14.39
$GC,414,-0.69,-145.9,2297,3777,3898,4031,55.2,-12.9,67,420,0.00,1.92,0.00,0.000,1158,0.000,0.051,2297,2561,3962,3894,4030,0,0,0,0,0,0,14.47,14.43,14.48
$GC,599,-0.80,-145.9,2297,2562,3897,4031,75.3,-10.6,86,604,0.15,2.12,0.00,0.000,4484,0.109,0.105,2212,3773,3963,3897,4030,0,0,0,0,0,0,14.47,14.42,14.52
$GC,829,-0.83,-145.9,2212,3774,3899,4031,109.8,-13.7,132,834,0.00,1.90,0.00,0.000,1158,0.000,0.051,2212,2611,3963,3897,4030,0,0,0,0,0,0,14.50,14.48,14.52
$GC,1020,-0.88,-145.9,2212,2612,3899,4031,134.2,-13.0,143,1024,0.00,2.03,0.00,0.000,388,0.000,0.109,2204,3774,3964,3898,4030,0,0,0,0,0,0,14.66,14.45,14.69
$GC,1214,-0.93,-145.9,2204,3774,3899,4031,161.0,-13.3,182,1220,0.00,1.88,0.00,0.000,1158,0.000,0.051,2204,2593,3964,3898,4030,0,0,0,0,0,0,14.57,14.54,14.58
$STATE,1377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1383,-0.14,0.0,2204,2192,3900,4031,181.8,-12.4,191,1514,0.90,0.00,123.32,2.114,10246,0.225,0.000,2457,2192,3364,3295,3433,0,0,0,0,1,0,14.44,13.73,13.02
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1518,0.61,145.9,2457,2192,3305,3436,188.0,0.0,197,1661,0.77,2.65,127.95,2.034,11012,0.114,0.097,2699,3595,2770,2688,2853,0,0,0,0,1,0,13.74,13.62,12.97
$GC,1888,0.55,250.3,2699,3595,2689,2854,188.6,5.2,259,1998,0.00,2.25,100.07,1.752,9382,0.000,0.046,2709,2204,2344,2267,2421,0,0,0,0,1,0,14.31,14.26,13.14
$GC,2184,0.54,266.9,2710,2200,2265,2415,163.7,9.2,291,2214,0.00,2.50,20.50,1.014,8612,0.000,0.097,2709,3599,2278,2204,2353,0,0,0,0,1,0,14.35,14.02,13.52
$GC,2329,0.48,266.9,2709,3598,2213,2354,148.4,11.7,320,2334,0.20,2.28,0.00,0.000,5254,0.274,0.047,2672,2200,2281,2210,2353,0,0,0,0,0,0,14.12,14.25,14.28
$GC,2525,0.57,329.3,2672,2201,2206,2353,133.2,7.1,332,2590,0.00,2.58,52.45,1.427,8612,0.000,0.100,2671,3598,2024,1946,2103,0,0,0,0,1,0,14.52,13.97,13.45
$GC,2705,0.65,371.0,2671,3598,1946,2102,118.4,8.1,368,2755,0.12,2.30,38.47,1.275,11430,0.130,0.048,2735,2194,1848,1774,1922,0,0,0,0,1,0,14.20,14.20,13.44
$GC,2935,0.68,371.0,2735,2195,1777,1922,94.6,10.9,390,2936,0.00,0.00,0.00,0.000,134,0.000,0.000,2735,2194,1848,1775,1921,0,0,0,0,0,0,14.35,14.39,14.39
$GC,3116,0.72,377.0,2735,2195,1775,1921,76.7,9.7,408,3127,0.00,2.53,3.55,0.366,8612,0.000,0.099,2735,3599,1827,1758,1896,0,0,0,0,0,0,14.46,14.27,14.11
$GC,3257,0.72,382.0,2735,3600,1763,1900,62.2,9.8,436,3268,0.00,2.28,4.65,0.357,9254,0.000,0.047,2742,2194,1804,1736,1873,0,0,0,0,0,0,14.40,14.35,14.17
$GC,3449,0.81,441.6,2743,2194,1742,1875,46.2,7.3,456,3492,0.00,0.00,41.40,0.337,8614,0.000,0.000,2742,2194,1561,1496,1627,0,0,0,0,0,0,14.54,14.35,14.16
$GC,3679,0.97,528.1,2743,2194,1497,1628,30.0,6.0,481,3744,0.20,2.47,58.90,0.282,10660,0.105,0.096,2837,3604,1208,1129,1287,0,0,0,0,0,0,14.36,14.25,14.16
$GC,3864,0.99,553.5,2838,3604,1131,1287,14.3,8.8,518,3890,0.00,2.28,17.77,0.241,9254,0.000,0.047,2844,2198,1106,1028,1185,0,0,0,0,0,0,14.40,14.35,14.19
$STATE,4017,end climb,SURFACE_DEPTH_REACHED
$STATE,4017,begin surface coast
$FINISH,0.3,1.021237
$STATE,4039,end surface coast,CONTROL_FINISHED_OK
$STATE,4039,begin surface
$SM_CCo,4056,97.55,0.197,0,0,538,692.97
$SM_GC,1.02,7.80,0.70,97.55,0.080,0.097,0.197,187,2588,538,-7.15,-0.99,692.97,0,0,0,0,0,0,14.42,14.36,14.23
$RAFOS_CLK,255
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-15347.54,260816,015803
$TT8_MAMPS,0.040446,0.836633
$HUMID,60.04
$INTERNAL_PRESSURE,8.32963
$TCM_TEMP,13.10
$XPDR_PINGS,13
$SC_FREEKB,4018272
$PM_FREEKB,62236032
$24V_AH,12.97,3.492
$10V_AH,12.97,0.000
$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,20.750,37.550,589.050,97.550,0.000,0.000,0.000,0.000,3.250,0.000,10.791,0.000,2332.094,780.969,1043.793,78.183,0.000,1265.534,0.000,777.527,0.000,0.535,0.000
$DEVICE_MAMPS,452.880,2285.055,2114.460,197.370,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4031.000,4025.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.945,18.500,0.000,0.000
$MEM,311500
$DATA_FILE_SIZE,16743,538
$CAP_FILE_SIZE,69286,0
$CFSIZE,2097872896,2090893312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$SOUNDSPEED,1443.0
$GPS,260816,031357,7422.273,-15336.200,4,0.8,11,19.3,0.5,346.2,9,9.2