version: 66.13
glider: 198
mission: 8
dive: 6
start: 8 26 116 4 58 24
data:
$ID,198
$MISSION,8
$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,0.1
$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,3000
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,29
$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
$GPS1,260816,044922,7422.6079,-15334.1709,7,1.1,40,19.4,0.0,4.6,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.3
$GPS2,260816,045756,7422.6475,-15334.0576,8,1.0,11,19.4,0.0,139.8,9,9.7
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,T5
$TGT_LATLONG,7543.000,-14912.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.3,190747,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.61,-145.9,182,3011,522,550,0.0,0.0,0,135,0.00,0.00,-120.93,0.000,16386,0.000,0.000,181,3010,2429,2387,2471,0,0,0,0,0,0,14.43,28.83,14.45
$GC,138,-0.61,-145.9,181,3011,2389,2472,3.6,-4.7,12,188,11.00,1.52,-34.70,0.000,18724,0.460,2.278,2296,3776,3964,3901,4027,0,0,0,0,0,0,14.08,13.49,14.25
$GC,413,-0.69,-145.9,2296,3775,3901,4029,55.5,-12.5,67,419,0.00,1.27,0.00,0.000,1158,0.000,0.059,2296,3013,3963,3899,4027,0,0,0,0,0,0,14.36,14.33,14.38
$GC,599,-0.80,-145.9,2296,3014,3901,4028,75.8,-10.5,86,604,0.15,1.38,0.00,0.000,4484,0.106,0.111,2216,3774,3964,3900,4028,0,0,0,0,0,0,14.38,14.31,14.43
$GC,829,-0.85,-145.9,2217,3775,3900,4028,109.7,-14.0,132,833,0.00,1.27,0.00,0.000,1158,0.000,0.058,2216,3004,3964,3900,4028,0,0,0,0,0,0,14.43,14.40,14.45
$GC,1019,-0.89,-145.9,2213,3004,3904,4028,135.2,-13.2,143,1024,0.00,1.40,0.00,0.000,388,0.000,0.112,2211,3776,3964,3901,4027,0,0,0,0,0,0,14.59,14.38,14.62
$GC,1145,-0.94,-145.9,2212,3777,3900,4028,151.5,-12.9,168,1150,0.00,1.27,0.00,0.000,1158,0.000,0.060,2212,3004,3964,3901,4028,0,0,0,0,0,0,14.47,14.44,14.48
$GC,1340,-1.00,-145.9,2212,3005,3901,4028,176.0,-12.4,180,1341,0.00,0.00,0.00,0.000,134,0.000,0.000,2211,3004,3964,3900,4028,0,0,0,0,0,0,14.64,14.67,14.66
$STATE,1378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1378,begin apogee
$GC,1384,-0.14,0.0,2212,2282,3902,4029,181.0,-12.5,182,1521,0.88,0.00,126.55,2.105,10246,0.223,0.000,2457,2280,3367,3300,3435,0,0,0,0,1,0,14.38,13.51,12.94
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1525,0.61,145.9,2457,2281,3301,3436,188.5,0.0,189,1672,0.80,2.47,130.07,2.036,11012,0.121,0.060,2709,916,2768,2685,2852,0,0,0,0,1,0,13.67,13.56,12.87
$GC,1897,0.65,294.8,2708,917,2688,2851,190.6,3.2,258,2045,0.00,2.38,133.52,2.031,9382,0.000,0.069,2709,2297,2161,2077,2245,0,0,0,0,1,0,14.21,14.13,12.85
$GC,2222,0.65,294.8,2709,2297,2074,2241,162.5,10.6,296,2227,0.00,2.38,0.00,0.000,516,0.000,0.066,2717,921,2156,2074,2239,0,0,0,0,0,0,14.17,14.02,14.21
$GC,2349,0.68,305.6,2717,922,2073,2235,150.3,9.5,321,2377,0.00,2.38,16.67,1.200,9382,0.000,0.070,2717,2303,2114,2033,2196,0,0,0,0,1,0,14.21,14.13,13.45
$GC,2562,0.69,321.9,2717,2304,2033,2193,129.9,9.3,337,2593,0.00,2.53,25.62,1.126,8484,0.000,0.101,2717,3708,2049,1969,2129,0,0,0,0,0,0,14.37,14.02,13.71
$GC,2743,0.67,321.9,2717,3708,1966,2120,110.3,11.4,373,2748,0.00,2.30,0.00,0.000,1158,0.000,0.047,2723,2305,2041,1964,2118,0,0,0,0,0,0,14.26,14.21,14.27
$GC,2933,0.70,337.7,2724,2305,1962,2117,91.6,9.3,389,2944,0.00,0.00,9.45,0.448,8358,0.000,0.000,2723,2304,1986,1911,2061,0,0,0,0,0,0,14.40,14.26,14.02
$GC,3123,0.76,378.9,2723,2305,1918,2063,75.0,8.1,408,3155,0.00,0.00,28.55,0.421,8358,0.000,0.000,2724,2305,1817,1745,1890,0,0,0,0,0,0,14.43,14.24,14.04
$GC,3335,0.85,418.0,2723,2305,1746,1891,57.4,8.2,429,3366,0.15,2.58,26.12,0.364,10660,0.113,0.101,2808,3711,1659,1592,1726,0,0,0,0,0,0,14.31,14.21,14.10
$GC,3521,0.78,418.0,2808,3711,1593,1726,34.5,10.9,466,3528,0.22,2.30,0.00,0.000,5254,0.269,0.047,2761,2292,1658,1592,1725,0,0,0,0,0,0,14.18,14.31,14.33
$GC,3708,0.96,573.9,2765,2293,1588,1722,25.1,2.9,485,3817,0.17,0.00,105.43,0.265,10406,0.104,0.000,2843,2292,1025,961,1089,0,0,0,0,0,0,14.35,14.24,14.09
$GC,3996,1.04,594.3,2843,2292,951,1090,3.6,9.1,514,4017,0.00,2.53,14.65,0.207,8612,0.000,0.099,2843,3709,939,875,1003,0,0,0,0,0,0,14.44,14.24,14.18
$STATE,4020,end climb,SURFACE_DEPTH_REACHED
$STATE,4020,begin surface coast
$FINISH,0.4,1.021226
$STATE,4025,end surface coast,CONTROL_FINISHED_OK
$STATE,4025,begin surface
$SM_CCo,4044,68.22,0.198,0,0,537,692.97
$SM_GC,1.13,7.88,1.17,68.22,0.081,0.054,0.198,194,3009,537,-7.17,1.72,692.97,0,0,0,0,0,0,14.32,14.32,14.17
$RAFOS_CLK,251
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7342.54,-15347.54,260816,033510
$TT8_MAMPS,0.040446,0.862099
$HUMID,59.88
$INTERNAL_PRESSURE,8.3101
$TCM_TEMP,13.00
$XPDR_PINGS,5
$SC_FREEKB,4017376
$PM_FREEKB,62165568
$24V_AH,12.85,4.236
$10V_AH,12.86,0.000
$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,21.250,32.950,616.650,68.225,0.000,0.000,0.000,338.750,1.250,0.000,12.654,0.000,2336.671,771.757,1314.555,216.994,0.000,1583.940,0.000,747.416,0.000,0.535,0.000
$DEVICE_MAMPS,459.765,2278.170,2105.280,198.135,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4034.000,4013.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.674,18.491,0.000,0.000
$MEM,311492
$DATA_FILE_SIZE,16789,519
$CAP_FILE_SIZE,61636,0
$CFSIZE,2097872896,2090434560
$ERRORS,0,0,3,0,0,0,0,0,0,0,0,0,0,4,2,0
$SOUNDSPEED,1443.0
$GPS,260816,060755,7423.001,-15332.424,8,0.8,17,19.4,0.5,52.7,10,8.5