version: 66.12
glider: 196
mission: 7
dive: 4
start: 7 27 114 23 42 55
data:
$ID,196
$MISSION,7
$DIVE,4
$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,-4679.1035
$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
$GPS1,270714,233529,7054.408,-14431.786,66,1.0,86,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-77.6
$GPS2,270714,234238,7054.398,-14431.946,4,0.9,25,22.3
$SPEED_LIMITS,0.210,0.255
$TGT_NAME,1
$TGT_LATLONG,7100.000,-14500.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,303.1,19843,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.96,-145.9,202,2011,508,587,0.0,0.0,0,83,0.00,0.00,-63.33,0.000,16386,0.000,0.000,201,2010,2157,2162,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.96,-145.9,202,2011,2162,2153,3.1,-3.9,6,139,12.18,2.53,-31.27,0.000,18948,0.399,0.122,2683,596,3915,3972,3858,0,0,0,0,0,0,14.07,14.19,14.48
$GC,363,-0.96,-145.9,2685,597,3973,3862,66.4,-17.4,59,373,0.00,2.53,0.00,0.000,1030,0.000,0.106,2674,2007,3916,3972,3861,0,0,0,0,0,0,28.83,14.29,28.83
$GC,668,-0.96,-145.9,2675,2007,3973,3861,123.3,-18.0,90,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2007,3916,3972,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.96,-145.9,2675,2008,3973,3861,173.1,-15.4,120,977,0.00,2.53,0.00,0.000,260,0.000,0.115,2663,3414,3916,3971,3861,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1138,-0.19,0.0,2664,2003,3972,3862,200.6,-16.0,151,1279,1.05,0.00,124.50,1.820,10246,0.250,0.000,2932,2001,3320,3345,3295,0,0,0,0,1,0,14.23,28.83,13.03
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1282,0.96,145.9,2933,2002,3349,3295,207.3,0.0,165,1426,1.17,2.62,129.02,1.206,11012,0.104,0.107,3299,3411,2710,2718,2703,0,0,0,0,0,0,13.81,13.66,13.21
$GC,1650,0.59,145.9,3301,3412,2713,2700,170.2,14.1,230,1660,0.52,2.47,0.00,0.000,5126,0.336,0.072,3198,1992,2706,2713,2699,0,0,0,0,0,0,13.93,14.08,28.83
$GC,1965,0.56,253.1,3199,1992,2714,2698,146.4,6.2,262,2066,0.00,2.72,93.57,1.104,8452,0.000,0.109,3199,3409,2273,2269,2278,0,0,0,0,0,0,28.83,13.79,13.41
$GC,2291,0.45,253.1,3199,3413,2259,2268,105.8,13.3,322,2300,0.25,2.45,0.00,0.000,5126,0.292,0.073,3153,2002,2262,2259,2265,0,0,0,0,0,0,14.00,14.11,28.83
$GC,2605,0.56,317.6,3154,2001,2261,2261,77.8,8.5,354,2641,0.00,2.62,28.40,0.413,8964,0.000,0.112,3153,3412,2021,2013,2030,0,0,0,0,0,0,28.83,14.18,14.00
$GC,2865,0.64,361.3,3154,3413,2045,2032,51.4,9.7,404,2895,0.15,2.45,22.10,0.338,11270,0.128,0.076,3213,1995,1842,1824,1860,0,0,0,0,0,0,14.31,14.30,14.09
$GC,3189,0.73,425.0,3214,1996,1853,1861,21.3,8.6,438,3226,0.00,2.58,30.73,0.248,8708,0.000,0.104,3222,592,1579,1562,1596,0,0,0,0,0,0,28.83,14.24,14.18
$GC,3440,1.08,632.5,3222,593,1581,1596,13.1,0.6,486,3549,0.38,2.53,95.70,0.220,11270,0.086,0.106,3357,2002,736,735,738,0,0,0,0,0,0,14.33,14.28,14.13
$STATE,3622,end climb,SURFACE_DEPTH_REACHED
$STATE,3622,begin surface coast
$FINISH,-0.1,1.018473
$STATE,3642,end surface coast,CONTROL_FINISHED_OK
$STATE,3643,begin surface
$SM_CCo,3665,23.95,0.200,0,0,540,681.20
$SM_GC,1.79,9.85,0.00,23.95,0.099,0.000,0.200,203,2002,540,-8.70,0.00,681.20,0,0,0,0,0,0,14.30,28.83,14.19
$RAFOS_CLK,127
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,270714,222932
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.79
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.60
$XPDR_PINGS,1
$SC_FREEKB,3936352
$TM_FREEKB,7874332
$24V_AH,13.03,3.028
$10V_AH,12.66,0.000
$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,25.550,30.500,524.025,23.950,0.000,0.000,0.000,266.875,0.250,0.000,26.714,0.000,2023.708,599.813,1456.381,42.928,0.000,1333.313,0.000,760.295,1435.000,0.539,0.000
$DEVICE_MAMPS,398.565,122.400,1819.935,200.430,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3653.000,3674.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.924,13.360,0.000,0.000
$MEM,313340
$DATA_FILE_SIZE,16779,512
$CAP_FILE_SIZE,74159,0
$CFSIZE,2097872896,2091974656
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4252.16,0x2378b6,7,5
$INTR,1,3652.77,0x2378b6,7,5
$SOUNDSPEED,1443.6
$EKF,3747,4254.359375,-8672.200195,-0.088968,0.019729,-0.166902,-0.027546,0.000020,0.000188,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.094,195.83,1
$GPS,280714,004519,7054.175,-14432.390,3,1.2,24,22.3