version: 66.13
glider: 198
mission: 8
dive: 7
start: 8 26 116 6 16 9
data:
$ID,198
$MISSION,8
$DIVE,7
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,260816,060755,7423.0015,-15332.4238,8,0.8,17,19.4,0.5,52.7,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.0
$GPS2,260816,061541,7423.0454,-15332.3105,5,0.8,23,19.4,0.0,73.9,10,10.0
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,T5
$TGT_LATLONG,7543.000,-14912.900
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.3,189673,-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,-145.9,191,3010,528,545,0.0,0.0,0,136,0.00,0.00,-121.68,0.000,16386,0.000,0.000,191,3009,2482,2443,2522,0,0,0,0,0,0,14.42,28.83,14.45
$GC,139,-0.61,-145.9,192,3010,2444,2523,4.2,-6.4,12,189,10.98,1.52,-31.67,0.000,18724,0.461,2.280,2297,3776,3962,3901,4024,0,0,0,0,0,0,14.08,13.50,14.25
$GC,414,-0.70,-145.9,2298,3776,3903,4026,56.5,-13.6,67,420,0.00,1.30,0.00,0.000,1158,0.000,0.057,2297,2999,3964,3903,4025,0,0,0,0,0,0,14.33,14.30,14.35
$GC,599,-0.80,-145.9,2298,2998,3903,4025,77.9,-10.9,86,604,0.15,1.42,0.00,0.000,4484,0.109,0.111,2218,3780,3963,3903,4024,0,0,0,0,0,0,14.36,14.28,14.40
$GC,829,-0.83,-145.9,2217,3780,3910,4026,111.6,-13.6,132,834,0.00,1.30,0.00,0.000,1158,0.000,0.058,2218,3000,3964,3903,4025,0,0,0,0,0,0,14.40,14.38,14.42
$GC,1019,-0.88,-145.9,2217,2999,3904,4025,137.5,-13.6,143,1020,0.00,0.00,0.00,0.000,134,0.000,0.000,2218,3000,3963,3903,4024,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1199,-0.94,-145.9,2218,3001,3903,4024,160.6,-12.7,152,1204,0.00,2.28,0.00,0.000,644,0.000,0.051,2218,1600,3964,3903,4025,0,0,0,0,0,0,14.60,14.43,14.62
$GC,1249,-1.01,-145.9,2218,1600,3903,4025,167.0,-12.6,162,1254,0.00,2.42,0.00,0.000,1158,0.000,0.093,2209,2997,3962,3903,4022,0,0,0,0,0,0,14.50,14.40,14.51
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1363,-0.14,0.0,2211,2285,3900,4025,181.0,-12.6,169,1501,0.90,0.00,127.43,2.113,10246,0.224,0.000,2469,2283,3368,3303,3433,0,0,0,0,1,0,14.36,13.60,12.91
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1505,0.61,145.9,2462,2284,3305,3435,188.2,0.0,176,1651,0.80,2.45,129.70,2.043,11012,0.114,0.060,2715,921,2769,2686,2852,0,0,0,0,1,0,13.64,13.52,12.84
$GC,1876,0.64,281.9,2714,921,2688,2852,189.2,3.8,248,2011,0.00,2.40,122.78,2.024,9382,0.000,0.070,2714,2311,2217,2140,2295,0,0,0,0,1,0,14.16,14.09,12.83
$GC,2203,0.64,281.9,2714,2311,2130,2287,161.2,10.1,286,2208,0.00,2.38,0.00,0.000,516,0.000,0.066,2722,922,2209,2129,2289,0,0,0,0,0,0,14.16,14.00,14.19
$GC,2278,0.65,293.8,2723,923,2129,2286,154.0,9.5,301,2305,0.00,2.38,17.05,1.183,9254,0.000,0.069,2722,2298,2165,2085,2245,0,0,0,0,1,0,14.14,14.07,13.63
$GC,2483,0.65,302.0,2720,2300,2084,2245,134.4,9.6,315,2503,0.00,0.00,14.15,1.229,8230,0.000,0.000,2722,2299,2128,2048,2208,0,0,0,0,0,0,14.30,14.11,13.71
$GC,2683,0.65,304.1,2722,2299,2042,2202,114.3,9.9,325,2688,0.00,2.53,0.00,0.000,292,0.000,0.104,2722,3708,2122,2042,2202,0,0,0,0,0,0,14.34,14.16,14.37
$GC,2820,0.61,304.1,2722,3708,2043,2203,99.4,10.6,352,2826,0.00,2.30,0.00,0.000,1158,0.000,0.048,2730,2299,2121,2041,2202,0,0,0,0,0,0,14.28,14.23,14.30
$GC,3003,0.63,332.2,2729,2300,2041,2201,82.5,8.7,371,3029,0.00,2.55,18.83,0.443,8484,0.000,0.102,2736,3700,2008,1930,2087,0,0,0,0,0,0,14.42,14.19,14.04
$GC,3064,0.60,332.9,2730,3701,1933,2087,76.8,10.0,381,3069,0.12,2.28,0.00,0.000,5286,0.264,0.047,2709,2298,2010,1933,2087,0,0,0,0,0,0,14.14,14.24,14.28
$GC,3256,0.69,381.0,2710,2297,1921,2085,61.9,7.8,401,3296,0.00,2.53,32.62,0.382,8612,0.000,0.102,2709,3708,1808,1735,1882,0,0,0,0,0,0,14.44,14.17,14.07
$GC,3391,0.78,411.4,2709,3708,1736,1883,50.7,8.6,428,3418,0.15,2.30,20.45,0.345,11430,0.118,0.047,2783,2292,1684,1614,1754,0,0,0,0,0,0,14.27,14.27,14.07
$GC,3596,0.81,462.0,2783,2292,1615,1754,33.3,7.7,451,3636,0.00,0.00,34.20,0.288,8486,0.000,0.000,2783,2291,1480,1408,1552,0,0,0,0,0,0,14.44,14.27,14.12
$GC,3817,0.98,573.2,2784,2292,1405,1553,20.8,4.9,476,3897,0.12,0.00,76.53,0.251,10662,0.132,0.000,2846,2291,1024,957,1092,0,0,0,0,0,0,14.30,14.26,14.11
$STATE,4073,end climb,SURFACE_DEPTH_REACHED
$STATE,4074,begin surface coast
$FINISH,0.2,1.010204
$STATE,4094,end surface coast,CONTROL_FINISHED_OK
$STATE,4094,begin surface
$SM_CCo,4112,81.32,0.197,0,0,539,692.97
$SM_GC,0.95,7.85,1.25,81.32,0.080,0.093,0.197,199,2996,539,-7.14,-0.88,692.97,0,0,0,0,0,0,14.32,14.27,14.18
$RAFOS_CLK,257
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7342.54,-15340.38,260816,045215
$TT8_MAMPS,0.041195,0.814163
$HUMID,59.76
$INTERNAL_PRESSURE,8.3101
$TCM_TEMP,13.10
$XPDR_PINGS,2
$SC_FREEKB,4016928
$PM_FREEKB,62132480
$24V_AH,12.83,4.583
$10V_AH,12.81,0.000
$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,21.075,36.700,593.725,81.325,0.000,0.000,0.000,280.475,0.500,0.000,26.348,0.000,2442.462,765.061,1266.075,199.104,0.000,1517.551,0.000,730.752,0.000,0.535,0.000
$DEVICE_MAMPS,461.295,2280.465,2112.930,197.370,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.310,10.720,29.450,34.690,0.000,11.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4101.000,4081.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.229,18.490,0.000,0.000
$MEM,311516
$DATA_FILE_SIZE,16727,507
$CAP_FILE_SIZE,61434,0
$CFSIZE,2097872896,2090205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$SOUNDSPEED,1442.9
$GPS,260816,072703,7423.502,-15330.686,16,0.7,20,19.4,0.3,311.8,11,9.3