version: 66.12
glider: 196
mission: 7
dive: 3
start: 7 27 114 22 32 2
data:
$ID,196
$MISSION,7
$DIVE,3
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,55
$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,0.30000001
$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,54281
$MASS_COMP,0
$NAV_MODE,10
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4677.8467
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3317
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$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,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270714,222856,7054.756,-14431.386,4,0.8,4,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.3
$GPS2,270714,223145,7054.742,-14431.436,5,0.8,26,22.3
$SPEED_LIMITS,0.210,0.255
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,322.2,19785,-23.1,-12.121,-25.43,1854
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.96,-145.9,213,2008,505,581,0.0,0.0,0,94,0.00,0.00,-73.53,0.000,16386,0.000,0.000,205,2007,2475,2481,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.96,-145.9,205,2008,2481,2472,4.4,-6.8,7,138,12.05,2.58,-23.15,0.000,18692,0.399,0.127,2672,3415,3913,3968,3859,0,0,0,0,0,0,14.12,14.33,14.57
$GC,362,-0.83,-145.9,2673,3415,3969,3861,76.4,-23.0,58,371,0.25,2.42,0.00,0.000,3078,0.279,0.072,2728,1998,3914,3968,3861,0,0,0,0,0,0,14.24,14.40,28.83
$GC,667,-0.91,-145.9,2728,1997,3969,3861,122.2,-13.3,89,676,0.00,2.42,0.00,0.000,516,0.000,0.096,2728,600,3914,3968,3861,0,0,0,0,0,0,28.83,14.39,28.83
$GC,901,-1.06,-145.9,2729,600,3969,3862,151.2,-12.1,135,909,0.20,2.50,0.00,0.000,5126,0.109,0.109,2645,2001,3914,3968,3861,0,0,0,0,0,0,14.42,14.34,28.83
$STATE,1212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1212,begin apogee
$GC,1214,-0.19,0.0,2645,2001,3969,3861,200.8,-15.2,167,1348,1.10,0.00,123.55,2.086,10246,0.246,0.000,2931,2002,3317,3343,3292,0,0,0,0,1,0,14.28,28.83,13.05
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1352,0.96,145.9,2932,2003,3345,3297,206.3,0.0,180,1493,1.17,2.70,126.82,1.181,11012,0.094,0.106,3304,3411,2713,2721,2706,0,0,0,0,0,0,13.83,13.75,13.26
$GC,1717,0.58,145.9,3306,3412,2714,2700,169.2,14.5,244,1726,0.57,2.45,0.00,0.000,5126,0.334,0.073,3192,1999,2706,2714,2699,0,0,0,0,0,0,14.02,14.18,28.83
$GC,2030,0.57,263.6,3193,2000,2714,2698,146.5,5.6,276,2140,0.00,2.70,101.70,1.079,8452,0.000,0.110,3192,3412,2234,2232,2237,0,0,0,0,0,0,28.83,13.88,13.45
$GC,2364,0.47,263.6,3193,3412,2210,2227,105.7,13.2,337,2375,0.20,2.45,0.00,0.000,5126,0.297,0.074,3159,2002,2218,2210,2226,0,0,0,0,0,0,14.07,14.19,28.83
$GC,2670,0.57,318.2,3160,2001,2213,2222,76.9,9.1,368,2700,0.00,2.62,23.83,0.393,8452,0.000,0.112,3159,3416,2020,2011,2029,0,0,0,0,0,0,28.83,14.23,14.05
$GC,2923,0.64,356.2,3160,3417,2046,2037,50.1,10.0,417,2953,0.12,2.42,19.88,0.324,11270,0.142,0.076,3216,2003,1864,1844,1884,0,0,0,0,0,0,14.33,14.32,14.11
$GC,3257,0.75,417.8,3211,2003,1877,1887,21.3,8.7,452,3300,0.00,2.55,30.35,0.241,8708,0.000,0.105,3219,597,1609,1589,1630,0,0,0,0,0,0,28.83,14.25,14.21
$GC,3449,1.11,629.5,3220,604,1608,1630,12.7,0.4,488,3558,0.43,2.53,98.30,0.218,11270,0.083,0.106,3373,2008,748,747,749,0,0,0,0,0,0,14.34,14.25,14.09
$STATE,3641,end climb,SURFACE_DEPTH_REACHED
$STATE,3641,begin surface coast
$FINISH,0.7,1.018593
$STATE,3651,end surface coast,CONTROL_FINISHED_OK
$STATE,3651,begin surface
$SM_CCo,3673,25.88,0.211,0,0,540,681.20
$SM_GC,2.06,9.98,0.00,25.88,0.105,0.000,0.211,202,2008,540,-8.70,0.17,681.20,0,0,0,0,0,0,14.28,28.83,14.19
$RAFOS_CLK,144
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,270714,222400
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.96
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.60
$XPDR_PINGS,10
$SC_FREEKB,3936800
$TM_FREEKB,7880048
$24V_AH,13.05,2.787
$10V_AH,12.62,0.000
$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,26.075,30.350,524.425,25.875,0.000,0.000,0.000,0.000,2.500,0.000,27.834,0.000,2039.396,602.475,1102.015,27.533,0.000,1065.592,0.000,762.760,0.000,0.539,0.000
$DEVICE_MAMPS,398.565,126.990,2086.155,211.140,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3631.000,3641.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.252,13.557,0.000,0.000
$MEM,313744
$DATA_FILE_SIZE,16756,514
$CAP_FILE_SIZE,86858,0
$CFSIZE,2097872896,2092204032
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,3643.38,0x2378b6,7,5
$INTR,1,1212.72,0x2378b6,2,5
$INTR,2,3661.25,0x2378b6,7,5
$SOUNDSPEED,1442.9
$EKF,3810,4254.608887,-8671.605469,0.679920,0.142531,0.016564,-0.072532,0.000018,0.000170,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.107,195.86,1
$GPS,270714,233529,7054.408,-14431.786,66,1.0,86,22.3