version: 66.12
glider: 196
mission: 7
dive: 13
start: 7 28 114 15 31 32
data:
$ID,196
$MISSION,7
$DIVE,13
$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,-4690.4194
$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,32
$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
$GPS1,280714,152041,7055.747,-14428.110,3,0.8,24,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.1
$GPS2,280714,153114,7055.730,-14428.291,5,0.8,25,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,333.8,7974,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.89,-145.9,169,2799,511,587,0.0,0.0,0,93,0.00,0.00,-72.85,0.000,16386,0.000,0.000,168,2797,2467,2475,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.89,-145.9,171,2798,2474,2461,4.3,-6.8,7,137,12.38,1.85,-23.12,0.000,18692,0.410,0.140,2648,3791,3914,3976,3852,0,0,0,0,0,0,14.06,14.20,14.46
$GC,361,-0.67,-145.9,2649,3795,3977,3857,80.2,-25.1,58,370,0.30,1.70,0.00,0.000,3078,0.285,0.066,2723,2792,3916,3976,3856,0,0,0,0,0,0,14.18,14.33,28.83
$GC,666,-0.67,-145.9,2724,2793,3977,3857,129.0,-14.6,89,673,0.00,1.80,0.00,0.000,260,0.000,0.114,2717,3780,3916,3976,3856,0,0,0,0,0,0,28.83,14.37,28.83
$GC,847,-0.67,-145.9,2718,3780,3977,3858,155.9,-14.3,125,855,0.00,1.65,0.00,0.000,1030,0.000,0.069,2717,2803,3916,3976,3857,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1159,-0.72,-145.9,2718,2803,3976,3857,194.6,-11.3,157,1168,0.00,2.40,0.00,0.000,516,0.000,0.081,2717,1394,3916,3976,3856,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1237,-0.79,-145.9,2719,1393,3977,3856,202.7,-9.9,172,1246,0.00,2.53,0.00,0.000,1030,0.000,0.109,2715,2806,3916,3976,3856,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1542,-0.84,-145.9,2710,2807,3976,3857,235.9,-10.9,203,1551,0.00,1.73,0.00,0.000,260,0.000,0.116,2701,3786,3915,3975,3856,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1605,-0.84,-145.9,2703,3787,3975,3857,243.4,-12.1,215,1614,0.00,1.67,0.00,0.000,1030,0.000,0.070,2702,2799,3915,3974,3856,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1941,-0.89,-145.9,2702,2800,3975,3856,281.1,-10.9,231,1944,0.12,0.00,0.00,0.000,4102,0.141,0.000,2653,2801,3915,3974,3856,0,0,0,0,0,0,14.45,28.83,28.83
$GC,2241,-0.89,-145.9,2655,2802,3974,3857,320.8,-13.2,241,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2801,3914,3973,3856,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2540,begin apogee
$GC,2543,-0.19,0.0,2654,2907,3973,3856,360.7,-13.2,251,2726,0.88,0.00,178.68,1.359,10246,0.246,0.000,2880,2907,3319,3341,3297,0,0,0,0,0,0,14.30,28.83,13.22
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2730,0.89,145.9,2881,2909,3332,3289,367.0,0.0,257,2870,1.15,1.67,124.15,1.341,10500,0.122,0.111,3232,3779,2708,2712,2705,0,0,0,0,0,0,13.78,13.62,13.09
$GC,2939,0.52,145.9,3232,3778,2707,2697,345.7,21.1,292,2949,0.47,1.55,0.00,0.000,5126,0.317,0.067,3131,2901,2701,2706,2696,0,0,0,0,0,0,13.74,13.91,28.83
$GC,3245,0.41,145.9,3132,2902,2708,2693,304.7,12.9,303,3248,0.20,0.00,0.00,0.000,4102,0.298,0.000,3086,2901,2697,2707,2688,0,0,0,0,0,0,14.08,28.83,28.83
$GC,3545,0.41,155.8,3087,2901,2710,2690,273.1,10.4,313,3553,0.00,2.50,2.33,0.475,8708,0.000,0.080,3095,1499,2682,2695,2670,0,0,0,0,0,0,28.83,14.27,13.61
$GC,3617,0.43,181.4,3097,1499,2709,2677,266.1,9.6,327,3653,0.00,2.50,29.95,1.352,9222,0.000,0.104,3095,2896,2576,2587,2566,0,0,0,0,0,0,28.83,14.31,13.60
$GC,3957,0.43,181.4,3097,2897,2569,2542,227.1,11.0,359,3966,0.00,2.42,0.00,0.000,516,0.000,0.078,3104,1501,2554,2568,2540,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4041,0.44,190.6,3110,1502,2570,2540,218.5,10.4,375,4050,0.00,2.53,1.98,0.223,9222,0.000,0.103,3105,2909,2536,2550,2522,0,0,0,0,0,0,28.83,14.31,14.24
$GC,4355,0.45,211.0,3106,2916,2574,2531,184.2,9.9,407,4391,0.00,2.53,25.00,1.264,8708,0.000,0.079,3112,1502,2441,2451,2431,0,0,0,0,0,0,28.83,14.23,13.70
$GC,4450,0.54,262.2,3112,1503,2445,2428,175.4,8.4,424,4505,0.00,2.53,44.55,1.204,9222,0.000,0.103,3112,2903,2235,2238,2232,0,0,0,0,0,0,28.83,14.24,13.54
$GC,4809,0.60,282.0,3112,2903,2230,2214,138.3,9.9,463,4832,0.00,2.53,16.45,1.206,8708,0.000,0.079,3119,1504,2158,2163,2153,0,0,0,0,0,0,28.83,14.14,13.68
$GC,4936,0.72,330.3,3121,1504,2154,2140,126.8,8.5,487,4991,0.20,2.53,43.25,1.157,11270,0.104,0.104,3196,2901,1955,1946,1964,0,0,0,0,0,0,14.23,14.19,13.58
$GC,5285,0.67,330.3,3197,2902,1937,1946,74.6,14.8,525,5294,0.12,2.42,0.00,0.000,4612,0.259,0.081,3180,1504,1941,1937,1945,0,0,0,0,0,0,14.18,14.26,28.83
$GC,5372,0.67,330.3,3181,1504,1935,1945,64.1,11.8,542,5382,0.00,2.55,0.00,0.000,1030,0.000,0.103,3180,2897,1940,1936,1945,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5678,0.71,396.4,3181,2898,1938,1945,34.5,7.6,573,5713,0.00,2.45,27.58,0.285,8708,0.000,0.078,3190,1496,1697,1685,1709,0,0,0,0,0,0,28.83,14.31,14.16
$GC,5767,0.83,436.2,3191,1497,1707,1708,27.4,8.9,589,5796,0.00,2.53,19.35,0.265,9222,0.000,0.105,3190,2900,1536,1530,1542,0,0,0,0,0,0,28.83,14.28,14.14
$GC,6090,1.15,651.9,3190,2900,1559,1541,11.4,0.1,623,6198,0.38,1.65,98.62,0.218,10500,0.086,0.112,3327,3787,655,647,664,0,0,0,0,0,0,14.39,14.25,14.16
$STATE,6241,end climb,SURFACE_DEPTH_REACHED
$STATE,6241,begin surface coast
$FINISH,0.2,1.019468
$STATE,6261,end surface coast,CONTROL_FINISHED_OK
$STATE,6261,begin surface
$SM_CCo,6284,14.15,0.200,0,0,541,681.20
$SM_GC,1.77,9.55,1.70,14.15,0.083,0.068,0.200,204,2802,541,-8.53,1.33,681.20,0,0,0,0,0,0,14.33,14.34,14.22
$RAFOS_CLK,221
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14434.62,280714,152349
$TT8_MAMPS,0.04494,0.04494
$HUMID,47.32
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,13.20
$XPDR_PINGS,1
$SC_FREEKB,3932320
$TM_FREEKB,7790800
$24V_AH,13.09,5.560
$10V_AH,12.70,0.000
$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,25.750,52.100,611.875,14.150,0.000,0.000,0.000,377.175,0.250,0.000,26.380,0.000,4234.607,721.752,1918.079,58.811,0.000,1696.294,0.000,969.947,1491.000,0.539,0.000
$DEVICE_MAMPS,410.040,139.995,1359.405,200.430,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6279.000,6315.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.155,13.293,0.000,0.000
$MEM,309376
$DATA_FILE_SIZE,23383,652
$CAP_FILE_SIZE,105580,0
$CFSIZE,2097872896,2089877504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6839.30,0x2378b6,7,5
$SOUNDSPEED,1446.8
$EKF,6384,4256.505859,-8667.947266,0.137151,0.064319,-0.091895,-0.000382,0.000085,0.000799,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.103,170.29,1
$GPS,280714,171753,7056.157,-14427.781,32,0.9,53,22.3