version: 66.12
glider: 196
mission: 7
dive: 7
start: 7 28 114 4 9 53
data:
$ID,196
$MISSION,7
$DIVE,7
$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,-4682.8735
$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,2800
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$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
$GPS1,280714,040125,7053.768,-14430.261,14,1.0,35,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.1
$GPS2,280714,040935,7053.824,-14430.281,5,0.9,25,22.3
$SPEED_LIMITS,0.192,0.249
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,340.7,11439,-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,15,begin dive
$GC,17,-0.90,-145.9,206,2819,491,578,0.0,0.0,0,83,0.00,0.00,-63.38,0.000,16386,0.000,0.000,205,2819,2242,2245,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.90,-145.9,206,2818,2247,2243,4.1,-5.9,6,134,12.32,1.77,-28.73,0.000,18692,0.412,0.139,2640,3780,3917,3979,3856,0,0,0,0,0,0,13.98,14.18,14.38
$GC,358,-0.70,-145.9,2640,3775,3978,3859,80.9,-23.8,58,366,0.30,1.67,0.00,0.000,3078,0.279,0.068,2726,2802,3918,3977,3859,0,0,0,0,0,0,14.12,14.28,28.83
$GC,670,-0.70,-145.9,2727,2801,3977,3859,129.3,-14.4,90,678,0.00,1.75,0.00,0.000,260,0.000,0.117,2721,3779,3917,3977,3858,0,0,0,0,0,0,28.83,14.23,28.83
$GC,902,-0.75,-145.9,2721,3779,3978,3859,162.6,-13.3,136,911,0.00,1.65,0.00,0.000,1030,0.000,0.071,2721,2790,3918,3977,3859,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1215,-0.82,-145.9,2722,2790,3978,3860,199.8,-11.0,168,1225,0.12,1.77,0.00,0.000,4356,0.142,0.116,2661,3780,3918,3977,3859,0,0,0,0,0,0,14.41,14.37,28.83
$GC,1448,-0.82,-145.9,2661,3781,3978,3859,235.5,-14.7,214,1458,0.00,1.67,0.00,0.000,1030,0.000,0.071,2660,2796,3917,3977,3858,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1761,-0.82,-145.9,2661,2796,3978,3858,278.7,-13.6,232,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2796,3917,3977,3858,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1940,begin apogee
$GC,1943,-0.19,0.0,2660,2890,3978,3858,303.0,-13.4,238,2077,0.85,0.00,128.88,1.414,10246,0.245,0.000,2881,2891,3314,3337,3292,0,0,0,0,0,0,14.35,28.83,13.27
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2080,begin climb
$GC,2081,0.90,145.9,2882,2891,3331,3283,307.1,0.0,242,2222,1.15,1.75,126.22,1.374,10500,0.125,0.113,3232,3789,2710,2716,2705,0,0,0,0,0,0,13.86,13.69,13.18
$GC,2336,0.54,145.9,3233,3789,2709,2699,279.6,20.5,286,2344,0.43,1.55,0.00,0.000,5126,0.319,0.070,3131,2906,2702,2708,2697,0,0,0,0,0,0,13.88,14.06,28.83
$GC,2648,0.43,145.9,3132,2906,2710,2696,239.8,12.1,305,2656,0.17,2.45,0.00,0.000,4612,0.309,0.083,3103,1501,2701,2709,2693,0,0,0,0,0,0,14.15,14.21,28.83
$GC,2700,0.45,176.0,3104,1502,2710,2693,234.5,9.6,315,2735,0.00,2.53,26.00,1.268,9222,0.000,0.107,3103,2897,2591,2601,2581,0,0,0,0,0,0,28.83,14.26,13.59
$GC,3039,0.45,176.0,3103,2897,2595,2569,197.4,11.2,351,3047,0.00,2.45,0.00,0.000,516,0.000,0.083,3112,1498,2578,2589,2568,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3111,0.47,202.1,3113,1499,2595,2569,190.4,9.8,365,3141,0.00,2.53,22.83,1.228,9222,0.000,0.106,3112,2901,2491,2500,2482,0,0,0,0,0,0,28.83,14.29,13.66
$GC,3435,0.51,248.7,3113,2902,2487,2464,157.7,8.7,399,3483,0.00,2.58,41.80,1.161,8708,0.000,0.083,3120,1494,2291,2296,2287,0,0,0,0,0,0,28.83,14.07,13.62
$GC,3538,0.61,291.3,3121,1494,2287,2273,148.4,8.9,416,3580,0.00,2.58,27.70,1.515,9222,0.000,0.106,3120,2903,2130,2133,2128,0,0,0,0,1,0,28.83,14.09,13.00
$GC,3875,0.69,328.2,3121,2904,2167,2136,114.6,9.2,452,3924,0.17,2.60,42.97,1.149,10756,0.114,0.084,3196,1495,1970,1960,1981,0,0,0,0,0,0,14.28,13.99,13.57
$GC,4008,0.69,328.2,3197,1494,1947,1961,97.5,13.1,476,4018,0.00,2.58,0.00,0.000,1030,0.000,0.106,3196,2900,1953,1946,1960,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4322,0.69,328.2,3197,2901,1946,1959,53.6,12.7,508,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2900,1952,1946,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,0.73,380.5,3197,2900,1947,1957,27.2,8.4,538,4652,0.00,2.53,21.90,0.268,8708,0.000,0.084,3204,1495,1763,1743,1784,0,0,0,0,0,0,28.83,14.33,14.21
$GC,4776,0.91,503.5,3205,1495,1773,1784,15.8,4.9,567,4847,0.12,2.53,57.47,0.226,11270,0.142,0.107,3257,2902,1262,1253,1271,0,0,0,0,0,0,14.38,14.34,14.18
$GC,5151,1.17,673.0,3258,2902,1273,1266,8.0,2.5,608,5241,0.17,1.58,79.10,0.204,10500,0.114,0.112,3329,3785,568,559,577,0,0,0,0,0,0,14.38,14.26,14.18
$STATE,5244,end climb,SURFACE_DEPTH_REACHED
$STATE,5244,begin surface coast
$FINISH,0.3,1.018198
$STATE,5264,end surface coast,CONTROL_FINISHED_OK
$STATE,5264,begin surface
$SM_CCo,5287,4.45,0.210,0,0,538,681.20
$SM_GC,2.59,9.73,1.73,4.45,0.097,0.070,0.210,208,2792,538,-8.53,0.96,681.20,0,0,0,0,0,0,14.31,14.33,14.22
$RAFOS_CLK,227
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,280714,023148
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.59
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,12.70
$XPDR_PINGS,6
$SC_FREEKB,3935008
$TM_FREEKB,7849620
$24V_AH,13.00,3.841
$10V_AH,12.72,0.000
$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,25.550,42.800,574.875,4.450,0.000,0.000,0.000,310.425,1.500,0.000,26.402,0.000,3314.282,657.566,1761.942,52.712,0.000,1533.493,0.000,933.024,0.000,0.540,0.000
$DEVICE_MAMPS,411.570,144.585,1515.465,210.375,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5279.000,5308.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.166,13.275,0.000,0.000
$MEM,311892
$DATA_FILE_SIZE,20057,626
$CAP_FILE_SIZE,95576,0
$CFSIZE,2097872896,2091286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1446.2
$EKF,5375,4254.184570,-8669.590820,0.307132,0.132166,-0.057445,-0.051777,0.000046,0.000433,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.068,177.05,1
$GPS,280714,053925,7053.994,-14429.570,29,0.8,49,22.3