version: 66.12
glider: 196
mission: 7
dive: 10
start: 7 28 114 9 45 18
data:
$ID,196
$MISSION,7
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,110
$T_MISSION,135
$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,-4686.6528
$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,33
$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,3
$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
$GPS1,280714,093600,7054.703,-14428.635,19,0.8,39,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.1
$GPS2,280714,094501,7054.657,-14428.685,18,0.8,38,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,334.5,9926,-21.2,-10.909,-23.78,2059
$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,-0.89,-145.9,190,2805,485,534,0.0,0.0,0,84,0.00,0.00,-63.75,0.000,16386,0.000,0.000,188,2805,2182,2188,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.89,-145.9,189,2805,2189,2177,3.5,-5.0,6,141,12.32,1.80,-30.73,0.000,18692,0.411,0.140,2650,3785,3915,3974,3856,0,0,0,0,0,0,14.06,14.24,14.47
$GC,365,-0.68,-145.9,2657,3785,3975,3860,80.8,-23.4,59,376,0.28,1.70,0.00,0.000,3078,0.282,0.067,2719,2788,3916,3974,3859,0,0,0,0,0,0,14.19,14.36,28.83
$GC,670,-0.68,-145.9,2720,2788,3975,3859,130.5,-15.6,90,678,0.00,1.77,0.00,0.000,260,0.000,0.116,2714,3783,3916,3974,3859,0,0,0,0,0,0,28.83,14.33,28.83
$GC,902,-0.68,-145.9,2714,3784,3975,3860,166.3,-14.2,136,910,0.00,1.67,0.00,0.000,1030,0.000,0.070,2713,2802,3916,3974,3859,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1215,-0.73,-145.9,2714,2803,3974,3860,204.9,-11.7,168,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2802,3916,3974,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,-0.79,-145.9,2714,2803,3974,3860,237.4,-10.7,198,1522,0.00,2.40,0.00,0.000,516,0.000,0.083,2713,1394,3916,3974,3859,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1566,-0.89,-145.9,2714,1394,3975,3859,242.6,-9.7,208,1574,0.12,2.53,0.00,0.000,5126,0.139,0.111,2653,2807,3916,3974,3858,0,0,0,0,0,0,14.48,14.44,28.83
$GC,1898,-0.89,-145.9,2653,2808,3975,3857,288.8,-14.0,224,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2808,3915,3974,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-0.89,-145.9,2653,2808,3975,3856,329.5,-13.5,234,2206,0.00,2.40,0.00,0.000,516,0.000,0.082,2651,1400,3915,3973,3857,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2265,-0.89,-145.9,2654,1401,3973,3858,338.1,-12.3,247,2273,0.00,2.50,0.00,0.000,1030,0.000,0.109,2638,2808,3915,3973,3857,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,2441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2441,begin apogee
$GC,2444,-0.19,0.0,2639,2903,3971,3858,362.9,-14.1,257,2631,0.90,0.00,182.32,1.304,10246,0.255,0.000,2880,2902,3314,3336,3293,0,0,0,0,0,0,14.40,28.83,13.31
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2635,0.89,145.9,2881,2902,3330,3286,369.4,0.0,263,2771,1.17,0.00,125.55,1.323,10502,0.119,0.000,3237,2903,2721,2724,2718,0,0,0,0,0,0,13.85,28.83,13.17
$GC,3080,0.59,145.9,3237,2903,2705,2688,304.6,19.2,283,3084,0.40,0.00,0.00,0.000,4102,0.311,0.000,3149,2903,2696,2704,2688,0,0,0,0,0,0,14.05,28.83,28.83
$GC,3381,0.45,145.9,3148,2904,2705,2688,261.0,14.1,293,3384,0.22,0.00,0.00,0.000,4102,0.302,0.000,3099,2903,2695,2704,2687,0,0,0,0,0,0,14.21,28.83,28.83
$GC,3680,0.41,152.9,3099,2903,2706,2687,228.6,10.6,315,3688,0.00,2.42,0.00,0.000,516,0.000,0.082,3108,1502,2697,2707,2687,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3737,0.44,187.1,3109,1502,2706,2687,223.1,9.2,326,3779,0.00,2.50,35.80,1.236,9222,0.000,0.104,3108,2899,2551,2560,2543,0,0,0,0,0,0,28.83,14.38,13.66
$GC,4083,0.44,189.6,3109,2900,2541,2518,184.0,10.8,363,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2899,2529,2542,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,0.48,247.8,3108,2898,2541,2517,156.6,8.0,393,4446,0.00,2.47,53.47,1.160,8708,0.000,0.080,3115,1500,2291,2295,2288,0,0,0,0,0,0,28.83,14.07,13.62
$GC,4550,0.60,300.5,3116,1500,2287,2274,142.5,8.3,423,4605,0.00,2.53,47.00,1.115,9222,0.000,0.104,3115,2899,2085,2085,2085,0,0,0,0,0,0,28.83,14.15,13.54
$GC,4899,0.69,330.8,3116,2899,2074,2061,107.3,9.4,461,4936,0.17,2.50,26.02,1.132,10756,0.117,0.083,3192,1500,1954,1947,1962,0,0,0,0,0,0,14.31,14.11,13.65
$GC,5005,0.69,330.8,3193,1501,1936,1954,93.6,12.7,480,5014,0.00,2.60,0.00,0.000,1030,0.000,0.105,3192,2925,1945,1938,1952,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5310,0.69,330.8,3193,2926,1939,1950,52.4,12.0,511,5318,0.00,2.50,0.00,0.000,516,0.000,0.083,3202,1497,1943,1938,1949,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5352,0.70,349.0,3203,1496,1939,1948,47.9,10.0,519,5367,0.00,2.55,6.25,0.280,9222,0.000,0.106,3202,2908,1895,1889,1902,0,0,0,0,0,0,28.83,14.29,14.16
$GC,5662,0.73,382.7,3203,2909,1915,1917,20.0,9.2,551,5687,0.00,2.53,18.23,0.246,8708,0.000,0.082,3210,1501,1753,1739,1768,0,0,0,0,0,0,28.83,14.31,14.24
$GC,5732,0.87,479.4,3211,1501,1756,1769,15.0,6.1,562,5787,0.00,2.53,44.35,0.226,9222,0.000,0.107,3210,2900,1358,1351,1365,0,0,0,0,0,0,28.83,14.33,14.21
$GC,6091,1.23,688.6,3211,2899,1370,1358,9.4,0.5,601,6196,0.40,2.53,95.93,0.209,10756,0.085,0.083,3366,1498,507,496,518,0,0,0,0,0,0,14.40,14.26,14.20
$STATE,6199,end climb,SURFACE_DEPTH_REACHED
$STATE,6199,begin surface coast
$FINISH,1.4,1.019202
$STATE,6204,end surface coast,CONTROL_FINISHED_OK
$STATE,6204,begin surface
$SM_CCo,6288,0.00,0.000,0,0,510,688.56
$SM_GC,1.38,9.73,2.40,0.00,0.086,0.105,0.000,209,2800,510,-8.52,-0.54,688.56,0,0,0,0,0,0,14.30,14.27,28.83
$RAFOS_CLK,291
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14416.26,280714,074230
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.16
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.70
$XPDR_PINGS,2
$SC_FREEKB,3933664
$TM_FREEKB,7820296
$24V_AH,13.17,4.697
$10V_AH,13.09,0.000
$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,25.725,47.000,634.925,0.000,0.000,0.000,0.000,335.975,0.500,0.000,39.577,0.000,4231.182,731.429,1816.365,54.163,0.000,1628.620,0.000,920.111,0.000,0.878,0.000
$DEVICE_MAMPS,410.805,143.820,1323.450,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6212.000,6249.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.663,13.288,0.000,0.000
$MEM,310600
$DATA_FILE_SIZE,20051,617
$CAP_FILE_SIZE,100515,0
$CFSIZE,2097872896,2090565632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7001.47,0x2378b6,7,5
$SOUNDSPEED,1446.6
$EKF,6352,4255.381836,-8668.357422,1.390742,0.288172,0.236579,-0.095890,0.000082,0.000769,0.000098,0.003925,0.003925,0.000035
$CURRENT,0.129,186.56,1
$GPS,280714,113107,7054.963,-14428.454,12,1.0,32,22.3