version: 66.12
glider: 196
mission: 7
dive: 5
start: 7 28 114 0 52 51
data:
$ID,196
$MISSION,7
$DIVE,5
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,115
$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,-4680.3604
$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,2950
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$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
$GPS1,280714,004519,7054.175,-14432.390,3,1.2,24,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-78.2
$GPS2,280714,005233,7054.190,-14432.547,4,0.9,24,22.3
$SPEED_LIMITS,0.192,0.249
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,58.4,1583,-21.5,-11.111,-24.06,2021
$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,16,begin dive
$GC,17,-0.90,-145.9,199,2527,507,584,0.0,0.0,0,83,0.00,0.00,-63.15,0.000,16386,0.000,0.000,198,2527,2164,2168,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.90,-145.9,199,2527,2169,2155,3.2,-4.1,6,140,12.20,2.28,-30.80,0.000,18692,0.405,0.132,2644,3769,3916,3973,3859,0,0,0,0,0,0,14.02,14.21,14.46
$GC,364,-0.70,-145.9,2645,3768,3968,3862,82.1,-25.2,59,373,0.25,2.20,0.00,0.000,3078,0.282,0.069,2717,2488,3916,3972,3861,0,0,0,0,0,0,14.16,14.33,28.83
$GC,669,-0.70,-145.9,2718,2489,3973,3862,130.9,-14.5,90,679,0.00,2.30,0.00,0.000,260,0.000,0.115,2709,3773,3916,3972,3861,0,0,0,0,0,0,28.83,14.28,28.83
$GC,903,-0.70,-145.9,2715,3773,3974,3861,166.9,-15.0,136,910,0.00,2.15,0.00,0.000,1030,0.000,0.070,2709,2495,3917,3973,3861,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1214,-0.76,-145.9,2711,2495,3973,3862,205.7,-11.4,168,1223,0.00,2.28,0.00,0.000,260,0.000,0.118,2699,3772,3916,3971,3861,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1351,-0.76,-145.9,2700,3768,3974,3861,223.2,-12.5,195,1361,0.00,2.17,0.00,0.000,1030,0.000,0.070,2699,2501,3916,3972,3860,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1677,-0.82,-145.9,2700,2502,3973,3861,260.2,-11.2,222,1686,0.00,2.28,0.00,0.000,260,0.000,0.117,2689,3776,3917,3972,3862,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1790,-0.82,-145.9,2690,3776,3973,3861,274.4,-12.5,244,1798,0.00,2.15,0.00,0.000,1030,0.000,0.070,2690,2493,3916,3972,3860,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,2041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2041,begin apogee
$GC,2044,-0.19,0.0,2692,2492,3973,3860,303.2,-11.4,254,2178,0.73,0.00,124.07,2.018,10246,0.236,0.000,2881,2491,3316,3339,3294,0,0,0,0,1,0,14.34,28.83,13.00
$STATE,2180,end apogee,CONTROL_FINISHED_OK
$STATE,2180,begin climb
$GC,2181,0.90,145.9,2882,2493,3345,3296,307.4,0.0,258,2329,1.15,2.60,129.05,1.319,10756,0.122,0.088,3242,1101,2710,2719,2702,0,0,0,0,0,0,13.78,13.69,13.21
$GC,2363,0.69,145.9,3243,1104,2720,2699,299.4,13.9,287,2372,0.30,2.58,0.00,0.000,5126,0.301,0.103,3178,2490,2707,2718,2697,0,0,0,0,0,0,13.76,13.88,28.83
$GC,2668,0.52,145.9,3179,2491,2720,2696,256.3,14.0,298,2678,0.22,2.35,0.00,0.000,4356,0.319,0.108,3127,3793,2707,2719,2695,0,0,0,0,0,0,14.08,14.16,28.83
$GC,2747,0.36,145.9,3128,3793,2719,2696,245.6,13.5,313,2757,0.28,2.20,0.00,0.000,5126,0.298,0.067,3073,2492,2707,2719,2695,0,0,0,0,0,0,14.09,14.28,28.83
$GC,3052,0.40,203.6,3074,2486,2720,2695,219.1,8.2,344,3113,0.00,2.42,50.30,1.177,8452,0.000,0.112,3073,3781,2474,2483,2466,0,0,0,0,0,0,28.83,14.01,13.59
$GC,3192,0.40,203.6,3074,3781,2480,2464,204.8,11.4,369,3201,0.00,2.17,0.00,0.000,1030,0.000,0.067,3080,2501,2470,2477,2463,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3497,0.51,254.1,3081,2502,2478,2461,177.8,8.5,400,3553,0.10,2.40,44.08,1.118,10500,0.160,0.113,3116,3779,2266,2267,2266,0,0,0,0,0,0,14.32,14.04,13.62
$GC,3567,0.51,254.1,3117,3779,2262,2269,170.7,11.4,411,3576,0.00,2.20,0.00,0.000,1030,0.000,0.067,3124,2497,2263,2261,2266,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3872,0.53,287.3,3126,2498,2262,2261,139.1,9.4,442,3907,0.00,0.00,29.83,1.086,8454,0.000,0.000,3125,2497,2139,2138,2140,0,0,0,0,0,0,28.83,28.83,13.71
$GC,4202,0.64,334.3,3126,2497,2127,2119,108.2,8.7,476,4251,0.00,2.45,41.53,1.040,8452,0.000,0.114,3125,3791,1944,1933,1956,0,0,0,0,0,0,28.83,14.08,13.69
$GC,4340,0.69,334.3,3125,3792,1913,1953,93.3,12.1,501,4350,0.12,2.22,0.00,0.000,3078,0.140,0.068,3175,2492,1931,1911,1951,0,0,0,0,0,0,14.20,14.21,28.83
$GC,4646,0.70,346.5,3176,2492,1912,1945,57.1,10.5,532,4658,0.00,0.00,3.78,0.225,8198,0.000,0.000,3175,2492,1906,1893,1920,0,0,0,0,0,0,28.83,28.83,14.22
$GC,4956,0.81,423.1,3176,2493,1920,1931,32.0,7.2,563,5002,0.12,2.35,38.22,0.285,10500,0.145,0.112,3226,3792,1590,1568,1613,0,0,0,0,0,0,14.40,14.29,14.18
$GC,5226,0.96,637.4,3227,3793,1592,1614,13.3,0.2,615,5336,0.00,2.17,98.95,0.226,9222,0.000,0.069,3233,2498,715,719,711,0,0,0,0,0,0,28.83,14.39,14.15
$STATE,5489,end climb,SURFACE_DEPTH_REACHED
$STATE,5489,begin surface coast
$FINISH,1.3,1.020354
$STATE,5529,end surface coast,CONTROL_FINISHED_OK
$STATE,5529,begin surface
$SM_CCo,5550,21.85,0.197,0,0,538,681.69
$SM_GC,1.11,9.43,0.00,21.85,0.099,0.000,0.197,207,2498,538,-8.53,-0.06,681.69,0,0,0,0,0,0,14.33,28.83,14.23
$RAFOS_CLK,253
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,270714,233806
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.20
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.60
$XPDR_PINGS,1
$SC_FREEKB,3935904
$TM_FREEKB,7865648
$24V_AH,13.00,3.298
$10V_AH,12.65,0.000
$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,24.900,46.825,559.800,21.850,0.000,0.000,0.000,273.325,0.250,0.000,26.060,0.000,3516.802,687.017,1756.314,53.456,0.000,1545.791,0.000,966.098,0.000,0.539,0.000
$DEVICE_MAMPS,405.450,131.580,2018.070,197.370,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5540.000,5563.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.151,13.341,0.000,0.000
$MEM,312736
$DATA_FILE_SIZE,23354,651
$CAP_FILE_SIZE,97268,0
$CFSIZE,2097872896,2091745280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2042.20,0x2378b6,2,5
$INTR,1,5538.95,0x2378b6,7,5
$SOUNDSPEED,1446.4
$EKF,5663,4254.205566,-8670.680664,1.264702,0.097219,0.018165,-0.022309,0.000047,0.000440,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.073,215.45,1
$GPS,280714,022711,7054.029,-14431.077,36,0.7,56,22.3