version: 66.12
glider: 196
mission: 7
dive: 28
start: 7 30 114 3 57 48
data:
$ID,196
$MISSION,7
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4709.291
$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,2909
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$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,2700
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,20
$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
$GPS1,300714,034648,7103.739,-14421.003,39,0.8,59,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.7
$GPS2,300714,035731,7103.716,-14420.972,6,0.9,26,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.8,60133,-22.8,-11.905,-25.14,1887
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.70,-145.9,181,2700,494,565,0.0,0.0,0,95,0.00,0.00,-71.72,0.000,16386,0.000,0.000,179,2699,2469,2476,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.70,-145.9,180,2699,2479,2462,3.2,-4.0,6,138,12.10,0.00,-23.70,0.000,18950,0.397,0.000,2673,2699,3914,3974,3854,0,0,0,0,0,0,14.07,28.83,14.41
$GC,432,-0.61,-145.9,2673,2699,3976,3860,85.6,-19.9,42,440,0.12,1.92,0.00,0.000,2308,0.313,0.101,2695,3787,3917,3976,3858,0,0,0,0,0,0,14.16,14.28,28.83
$GC,664,-0.61,-145.9,2696,3789,3976,3862,127.6,-17.7,88,672,0.00,1.80,0.00,0.000,1030,0.000,0.060,2696,2692,3917,3975,3860,0,0,0,0,0,0,28.83,14.35,28.83
$GC,976,-0.61,-145.9,2696,2693,3976,3861,173.5,-13.7,120,983,0.00,1.95,0.00,0.000,260,0.000,0.109,2687,3786,3917,3975,3860,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1052,-0.61,-145.9,2687,3786,3977,3860,184.5,-14.1,135,1062,0.00,1.85,0.00,0.000,1030,0.000,0.059,2686,2693,3915,3970,3860,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1357,-0.61,-145.9,2687,2694,3972,3861,222.7,-12.0,166,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2693,3917,3975,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1658,-0.66,-145.9,2687,2693,3975,3860,257.9,-11.6,192,1666,0.00,1.95,0.00,0.000,260,0.000,0.110,2678,3790,3917,3974,3860,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1720,-0.66,-145.9,2679,3790,3974,3861,265.9,-13.3,204,1727,0.00,1.83,0.00,0.000,1030,0.000,0.060,2678,2702,3916,3973,3860,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2052,-0.70,-145.9,2679,2702,3974,3860,304.9,-11.6,220,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2702,3916,3973,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.74,-145.9,2679,2703,3973,3860,339.5,-11.4,230,2360,0.00,1.92,0.00,0.000,260,0.000,0.110,2670,3792,3915,3971,3860,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2449,-0.74,-145.9,2671,3793,3972,3861,352.0,-12.5,249,2459,0.00,1.83,0.00,0.000,1030,0.000,0.060,2670,2698,3915,3971,3860,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2778,-0.74,-145.9,2670,2700,3971,3860,390.6,-11.7,264,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2699,3914,3970,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.74,-145.9,2670,2700,3971,3861,425.5,-11.6,274,3087,0.00,1.90,0.00,0.000,260,0.000,0.111,2658,3786,3914,3970,3859,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3161,-0.74,-145.9,2662,3786,3970,3861,436.3,-13.2,290,3169,0.00,1.80,0.00,0.000,1030,0.000,0.061,2662,2705,3914,3969,3859,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3473,-0.74,-145.9,2662,2705,3970,3859,473.9,-12.0,302,3481,0.00,1.90,0.00,0.000,260,0.000,0.109,2653,3792,3913,3968,3859,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3521,-0.74,-145.9,2653,3793,3969,3860,480.3,-13.6,311,3528,0.00,1.77,0.00,0.000,1030,0.000,0.060,2653,2697,3913,3968,3859,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3687,begin apogee
$GC,3690,-0.13,0.0,2653,2849,3969,3864,501.3,-12.5,319,3817,0.77,0.00,122.75,1.754,10246,0.243,0.000,2857,2852,3315,3336,3295,0,0,0,0,0,0,14.45,28.83,13.15
$STATE,3820,end apogee,CONTROL_FINISHED_OK
$STATE,3820,begin climb
$GC,3821,0.70,145.9,2857,2852,3333,3290,504.9,0.0,323,3953,0.95,0.00,121.85,1.609,10246,0.143,0.000,3134,2852,2718,2725,2711,0,0,0,0,0,0,13.83,28.83,13.09
$GC,4228,0.62,145.9,3135,2852,2724,2701,459.1,14.0,337,4237,0.00,2.45,0.00,0.000,516,0.000,0.073,3144,1444,2712,2723,2701,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4266,0.62,145.9,3145,1445,2724,2702,454.0,13.6,344,4274,0.15,2.53,0.00,0.000,5126,0.273,0.098,3112,2842,2711,2722,2700,0,0,0,0,0,0,14.07,14.17,28.83
$GC,4593,0.57,145.9,3113,2842,2724,2706,412.6,12.5,359,4601,0.00,2.40,0.00,0.000,516,0.000,0.073,3123,1446,2711,2723,2700,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4630,0.57,146.0,3124,1447,2723,2701,408.1,11.9,366,4638,0.00,2.47,0.00,0.000,1030,0.000,0.098,3123,2841,2711,2723,2700,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4957,0.51,146.0,3124,2841,2724,2699,366.1,13.0,381,4968,0.17,2.38,0.00,0.000,4612,0.268,0.070,3089,1450,2711,2723,2699,0,0,0,0,0,0,14.29,14.40,28.83
$GC,4992,0.59,181.4,3090,1457,2724,2699,362.3,10.0,387,5031,0.00,2.47,29.65,1.595,9222,0.000,0.099,3089,2848,2572,2582,2562,0,0,0,0,0,0,28.83,14.40,13.57
$GC,5322,0.59,182.0,3089,2848,2582,2556,323.2,11.9,403,5330,0.00,2.40,0.00,0.000,516,0.000,0.073,3096,1447,2568,2581,2556,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5369,0.67,202.6,3096,1448,2582,2556,318.0,10.8,412,5396,0.00,2.47,18.12,1.532,9222,0.000,0.099,3096,2841,2484,2494,2475,0,0,0,0,0,0,28.83,14.35,13.64
$GC,5720,0.67,202.6,3097,2841,2494,2470,273.8,12.6,431,5728,0.00,2.38,0.00,0.000,516,0.000,0.073,3105,1450,2482,2494,2471,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5767,0.72,202.6,3105,1451,2495,2472,268.2,12.3,440,5775,0.12,2.47,0.00,0.000,3078,0.138,0.098,3160,2846,2482,2494,2471,0,0,0,0,0,0,14.41,14.38,28.83
$GC,6075,0.64,202.6,3161,2847,2495,2472,218.0,16.0,464,6083,0.17,2.38,0.00,0.000,4612,0.280,0.073,3131,1450,2482,2494,2470,0,0,0,0,0,0,14.31,14.42,28.83
$GC,6112,0.64,202.6,3132,1449,2495,2470,212.8,13.0,471,6121,0.00,2.45,0.00,0.000,1030,0.000,0.098,3131,2840,2480,2494,2466,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6417,0.65,206.0,3132,2842,2495,2471,173.2,11.7,502,6425,0.00,2.38,0.00,0.000,516,0.000,0.073,3139,1440,2483,2496,2470,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6434,0.65,211.3,3140,1441,2495,2471,171.1,11.6,505,6451,0.00,2.47,7.97,1.359,9222,0.000,0.097,3139,2845,2451,2463,2440,0,0,0,0,0,0,28.83,14.44,13.83
$GC,6756,0.68,257.2,3139,2840,2465,2434,137.7,9.4,538,6803,0.00,2.45,39.67,1.349,8708,0.000,0.070,3142,1450,2260,2265,2256,0,0,0,0,0,0,28.83,14.14,13.65
$GC,6917,0.79,300.7,3143,1450,2263,2252,122.1,9.5,568,6960,0.00,2.50,35.88,1.257,9222,0.000,0.099,3142,2843,2087,2088,2086,0,0,0,0,0,0,28.83,14.24,13.55
$GC,7254,0.87,321.5,3143,2843,2085,2073,84.7,10.8,604,7271,0.15,2.47,8.12,0.441,10756,0.119,0.073,3208,1450,2007,2010,2005,0,0,0,0,0,0,14.31,14.26,14.07
$GC,7300,0.87,321.5,3210,1451,2017,2006,78.5,14.0,612,7309,0.00,2.50,0.00,0.000,1030,0.000,0.099,3209,2845,2011,2018,2005,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7613,0.90,365.4,3209,2845,2020,2006,40.3,9.5,644,7641,0.00,2.40,20.23,0.314,8708,0.000,0.071,3222,1448,1825,1819,1832,0,0,0,0,0,0,28.83,14.32,14.19
$GC,7761,1.00,419.7,3217,1449,1823,1834,26.7,8.9,672,7795,0.00,2.47,24.62,0.275,9222,0.000,0.100,3219,2839,1602,1595,1610,0,0,0,0,0,0,28.83,14.35,14.16
$GC,8099,1.31,626.9,3217,2839,1608,1598,14.6,0.6,708,8196,0.35,1.75,90.45,0.236,10500,0.090,0.109,3344,3786,758,745,771,0,0,0,0,0,0,14.40,14.26,14.19
$GC,8206,1.39,737.6,3345,3786,745,772,11.0,5.9,724,8240,0.00,1.60,28.60,0.223,9222,0.000,0.058,3351,2836,497,466,528,0,0,0,0,0,0,28.83,14.34,14.18
$STATE,8293,end climb,SURFACE_DEPTH_REACHED
$STATE,8293,begin surface coast
$FINISH,0.4,1.019102
$STATE,8303,end surface coast,CONTROL_FINISHED_OK
$STATE,8303,begin surface
$SM_CCo,8386,0.00,0.000,0,0,494,692.48
$SM_GC,1.19,9.70,0.20,0.00,0.089,0.099,0.000,203,2701,494,-8.41,1.27,692.48,0,0,0,0,0,0,14.31,14.34,28.83
$RAFOS_CLK,388
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14424.66,300714,011702
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.36
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3925600
$TM_FREEKB,7600776
$24V_AH,13.09,10.328
$10V_AH,13.29,0.000
$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,24.775,75.150,547.925,0.000,0.000,0.000,0.000,407.825,2.500,0.000,27.333,0.000,6044.154,700.356,2202.199,81.167,0.000,1798.178,0.000,1091.405,1491.000,13.649,0.000
$DEVICE_MAMPS,397.035,119.340,1754.145,0.000,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8319.000,8373.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.124,13.046,0.000,0.000
$MEM,302692
$DATA_FILE_SIZE,26674,736
$CAP_FILE_SIZE,128449,0
$CFSIZE,2097872896,2086207488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9214.22,0x2378b6,7,5
$SOUNDSPEED,1449.3
$EKF,8453,4264.771973,-8660.448242,0.413662,-0.292369,0.031012,-0.095508,0.000140,0.001332,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.034,84.92,1
$GPS,300714,061838,7104.762,-14419.965,14,0.8,34,22.4