version: 66.12
glider: 196
mission: 7
dive: 6
start: 7 28 114 2 37 3
data:
$ID,196
$MISSION,7
$DIVE,6
$N_DIVES,0
$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,-4681.6177
$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,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,36
$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
$GPS1,280714,022711,7054.029,-14431.077,36,0.7,56,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.5
$GPS2,280714,023649,7054.079,-14431.205,4,0.8,24,22.3
$SPEED_LIMITS,0.192,0.249
$TGT_NAME,1
$TGT_LATLONG,7054.000,-14430.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,58.7,745,-27.8,-11.111,-30.00,1212
$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,-1.09,-87.4,206,2618,507,586,0.0,0.0,0,83,0.00,0.00,-63.38,0.000,16386,0.000,0.000,205,2617,2232,2238,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.13,-145.9,206,2618,2239,2228,3.8,-5.5,6,133,11.85,2.12,-29.48,0.000,18692,0.409,0.131,2569,3771,3915,3969,3862,0,0,0,0,0,0,14.03,14.24,14.49
$GC,356,-0.92,-145.9,2569,3771,3970,3864,91.5,-30.2,58,366,0.28,2.00,0.00,0.000,3078,0.311,0.067,2644,2605,3914,3969,3860,0,0,0,0,0,0,14.16,14.35,28.83
$GC,670,-0.92,-145.9,2645,2606,3970,3865,156.9,-19.5,90,681,0.00,2.08,0.00,0.000,260,0.000,0.112,2637,3767,3916,3969,3863,0,0,0,0,0,0,28.83,14.31,28.83
$GC,905,-0.92,-145.9,2638,3768,3970,3865,202.8,-17.6,136,913,0.00,1.95,0.00,0.000,1030,0.000,0.069,2637,2600,3916,3969,3864,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1237,-1.00,-145.9,2638,2601,3970,3864,255.6,-15.3,168,1245,0.00,2.08,0.00,0.000,260,0.000,0.115,2628,3767,3916,3969,3863,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1468,-1.00,-145.9,2629,3767,3970,3863,294.3,-16.6,214,1479,0.00,2.00,0.00,0.000,1030,0.000,0.070,2628,2594,3916,3969,3863,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,1512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1512,begin apogee
$GC,1515,-0.19,0.0,2629,2690,3970,3864,301.3,-15.5,217,1649,1.00,0.00,124.35,1.960,10246,0.259,0.000,2884,2690,3318,3340,3296,0,0,0,0,1,0,14.32,28.83,13.00
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1653,1.13,145.9,2885,2690,3345,3297,305.3,0.0,221,1802,1.38,2.62,123.30,1.822,10756,0.111,0.085,3318,1299,2725,2728,2722,0,0,0,0,1,0,13.78,13.58,12.88
$GC,1850,0.92,145.9,3319,1299,2732,2726,293.0,18.0,253,1859,0.32,2.60,0.00,0.000,5126,0.318,0.103,3254,2697,2728,2731,2726,0,0,0,0,0,0,13.71,13.85,28.83
$GC,2163,0.75,145.9,3254,2697,2732,2725,238.4,16.4,270,2166,0.28,0.00,0.00,0.000,4102,0.335,0.000,3197,2697,2728,2731,2725,0,0,0,0,0,0,14.04,28.83,28.83
$GC,2463,0.67,145.9,3198,2698,2731,2725,198.0,12.2,300,2467,0.12,0.00,0.00,0.000,4102,0.340,0.000,3174,2697,2728,2731,2725,0,0,0,0,0,0,14.16,28.83,28.83
$GC,2763,0.69,173.4,3175,2697,2734,2724,168.4,8.8,330,2799,0.00,2.47,27.62,1.352,8708,0.000,0.086,3182,1301,2604,2611,2598,0,0,0,0,0,0,28.83,14.14,13.66
$GC,2924,0.77,213.2,3183,1301,2612,2596,154.1,7.7,360,2967,0.00,2.53,35.50,1.289,9222,0.000,0.106,3182,2701,2448,2452,2445,0,0,0,0,0,0,28.83,14.23,13.54
$GC,3261,0.79,234.9,3184,2702,2446,2431,120.5,9.3,396,3290,0.00,2.50,19.02,1.274,8708,0.000,0.087,3193,1299,2350,2351,2349,0,0,0,0,0,0,28.83,14.13,13.69
$GC,3325,0.88,251.9,3194,1300,2350,2348,114.4,9.7,407,3347,0.12,2.55,14.38,1.237,11270,0.149,0.106,3240,2703,2284,2281,2287,0,0,0,0,0,0,14.20,14.17,13.63
$GC,3640,0.84,251.9,3241,2704,2278,2278,72.0,13.6,440,3648,0.00,1.95,0.00,0.000,260,0.000,0.112,3240,3788,2277,2277,2277,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3723,0.72,251.9,3240,3789,2277,2277,60.2,15.0,456,3730,0.28,1.85,0.00,0.000,5126,0.308,0.070,3188,2689,2277,2277,2277,0,0,0,0,0,0,14.19,14.34,28.83
$GC,4035,0.88,351.6,3189,2689,2279,2274,42.9,2.7,488,4090,0.12,2.03,44.15,0.323,10500,0.149,0.115,3237,3782,1881,1857,1906,0,0,0,0,0,0,14.38,14.23,14.15
$GC,4184,0.88,351.6,3235,3783,1863,1906,28.3,13.1,515,4193,0.00,1.85,0.00,0.000,1030,0.000,0.069,3244,2707,1883,1861,1906,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4490,1.08,473.7,3245,2708,1862,1901,14.8,0.8,546,4553,0.15,2.03,54.78,0.233,10500,0.127,0.116,3302,3792,1382,1362,1403,0,0,0,0,0,0,14.40,14.28,14.21
$GC,4777,1.25,592.8,3303,3792,1362,1399,10.6,1.0,600,4839,0.10,1.88,53.70,0.217,11270,0.090,0.068,3357,2702,897,890,904,0,0,0,0,0,0,14.38,14.39,14.19
$STATE,4912,end climb,SURFACE_DEPTH_REACHED
$STATE,4912,begin surface coast
$FINISH,0.8,1.018223
$STATE,4933,end surface coast,CONTROL_FINISHED_OK
$STATE,4933,begin surface
$SM_CCo,4955,41.25,0.198,0,0,540,681.20
$SM_GC,1.60,9.75,0.17,41.25,0.092,0.121,0.198,208,2587,540,-8.53,0.76,681.20,0,0,0,0,0,0,14.31,14.33,14.20
$RAFOS_CLK,9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14433.08,280714,004752
$TT8_MAMPS,0.08239,0.08239
$HUMID,48.85
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.70
$XPDR_PINGS,1
$SC_FREEKB,3935456
$TM_FREEKB,7857896
$24V_AH,12.88,3.585
$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,25.750,39.600,496.800,41.250,0.000,0.000,0.000,330.800,0.250,0.000,25.973,0.000,3110.528,633.943,1778.001,51.350,0.000,1514.924,0.000,917.792,1496.000,0.539,0.000
$DEVICE_MAMPS,409.275,150.705,1959.930,198.135,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4951.000,4981.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.690,13.268,0.000,0.000
$MEM,312324
$DATA_FILE_SIZE,20110,618
$CAP_FILE_SIZE,94677,0
$CFSIZE,2097872896,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1446.3
$EKF,5065,4253.890625,-8670.124023,0.794399,-0.019712,-0.230568,-0.078367,0.000034,0.000315,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.045,192.36,1
$GPS,280714,040125,7053.768,-14430.261,14,1.0,35,22.3