version: 66.12
glider: 196
mission: 7
dive: 9
start: 7 28 114 7 48 36
data:
$ID,196
$MISSION,7
$DIVE,9
$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,-4685.394
$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
$GPS1,280714,073917,7054.367,-14429.095,32,0.7,52,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.1
$GPS2,280714,074819,7054.361,-14429.055,12,0.9,32,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,334.0,10459,-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,-145.9,209,2805,475,532,0.0,0.0,0,83,0.00,0.00,-63.10,0.000,16386,0.000,0.000,208,2804,2153,2161,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.89,-145.9,208,2805,2162,2146,3.5,-4.5,6,139,12.20,1.75,-32.30,0.000,18692,0.410,0.138,2649,3786,3914,3973,3855,0,0,0,0,0,0,14.05,14.21,14.47
$GC,362,-0.68,-145.9,2650,3787,3974,3858,80.2,-24.0,59,375,0.28,1.70,0.00,0.000,3078,0.277,0.067,2722,2790,3915,3973,3857,0,0,0,0,0,0,14.21,14.37,28.83
$GC,671,-0.68,-145.9,2725,2790,3975,3857,128.8,-14.6,90,679,0.00,1.83,0.00,0.000,260,0.000,0.116,2719,3786,3915,3973,3857,0,0,0,0,0,0,28.83,14.31,28.83
$GC,903,-0.68,-145.9,2720,3787,3974,3858,162.6,-13.7,136,910,0.00,1.70,0.00,0.000,1030,0.000,0.070,2719,2798,3915,3973,3857,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1215,-0.74,-145.9,2720,2798,3974,3855,198.8,-10.9,168,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2798,3915,3973,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,-0.82,-145.9,2720,2798,3974,3857,230.5,-10.1,198,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2798,3914,3972,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.91,-145.9,2720,2798,3974,3857,262.0,-9.9,222,1843,0.17,2.42,0.00,0.000,4612,0.119,0.083,2649,1397,3914,3973,3856,0,0,0,0,0,0,14.38,14.35,28.83
$GC,1887,-0.91,-145.9,2648,1397,3974,3857,268.5,-12.4,232,1895,0.00,2.53,0.00,0.000,1030,0.000,0.110,2637,2799,3914,3973,3856,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2200,-0.85,-145.9,2634,2801,3974,3856,314.3,-14.7,244,2208,0.12,2.42,0.00,0.000,2564,0.300,0.080,2667,1401,3914,3972,3856,0,0,0,0,0,0,14.28,14.35,28.83
$GC,2251,-0.90,-145.9,2668,1400,3973,3856,320.7,-11.8,254,2260,0.00,2.53,0.00,0.000,1030,0.000,0.109,2658,2805,3913,3972,3855,0,0,0,0,0,0,28.83,14.39,28.83
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2563,begin apogee
$GC,2566,-0.19,0.0,2658,2904,3973,3857,361.4,-13.0,266,2699,0.88,0.00,128.52,1.434,10246,0.246,0.000,2885,2904,3314,3336,3293,0,0,0,0,0,0,14.34,28.83,13.28
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2702,begin climb
$GC,2703,0.89,145.9,2886,2904,3325,3284,365.1,0.0,270,2841,1.12,1.70,124.65,1.332,10500,0.119,0.110,3232,3781,2714,2718,2710,0,0,0,0,0,0,13.85,13.69,13.18
$GC,3045,0.52,145.9,3232,3782,2705,2693,315.5,20.8,331,3055,0.47,1.52,0.00,0.000,5126,0.315,0.068,3128,2901,2698,2704,2693,0,0,0,0,0,0,13.97,14.15,28.83
$GC,3374,0.42,145.9,3129,2901,2707,2689,272.3,12.5,346,3383,0.17,2.42,0.00,0.000,4612,0.303,0.081,3099,1498,2697,2706,2689,0,0,0,0,0,0,14.19,14.30,28.83
$GC,3422,0.42,157.9,3100,1498,2708,2690,267.2,10.3,355,3433,0.00,2.53,3.47,0.869,9222,0.000,0.105,3099,2903,2673,2684,2663,0,0,0,0,0,0,28.83,14.31,13.62
$GC,3732,0.39,164.0,3101,2904,2708,2671,233.5,10.6,377,3753,0.00,2.45,12.98,1.294,8708,0.000,0.080,3108,1500,2637,2648,2626,0,0,0,0,0,0,28.83,14.27,13.75
$GC,3792,0.40,180.4,3109,1499,2646,2615,227.3,10.1,387,3815,0.00,2.53,14.98,1.230,9222,0.000,0.105,3108,2899,2573,2584,2562,0,0,0,0,0,0,28.83,14.28,13.69
$GC,4110,0.40,181.4,3109,2900,2577,2550,191.3,10.9,420,4118,0.00,2.42,0.00,0.000,516,0.000,0.081,3117,1503,2562,2576,2549,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4172,0.41,193.6,3118,1503,2577,2549,185.1,10.3,432,4187,0.15,2.53,4.03,0.956,13318,0.256,0.105,3084,2908,2527,2539,2515,0,0,0,0,0,0,14.27,14.33,13.69
$GC,4482,0.50,271.4,3085,2906,2569,2529,160.8,7.0,464,4591,0.00,0.00,102.78,1.064,8710,0.000,0.000,3085,2908,2203,2208,2199,0,0,0,0,0,0,28.83,28.83,13.53
$GC,4896,0.65,330.1,3086,2908,2200,2180,127.1,8.0,506,4971,0.25,2.58,63.75,1.057,10756,0.103,0.083,3185,1505,1958,1953,1964,0,0,0,0,0,0,14.29,13.93,13.56
$GC,5099,0.65,330.1,3186,1506,1946,1950,100.7,12.5,543,5110,0.00,2.55,0.00,0.000,1030,0.000,0.104,3185,2903,1947,1945,1950,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5405,0.65,330.1,3186,2904,1946,1948,59.7,11.9,574,5413,0.00,2.45,0.00,0.000,516,0.000,0.085,3193,1502,1946,1945,1947,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5452,0.65,330.1,3194,1503,1946,1947,54.4,11.1,583,5463,0.12,2.53,0.00,0.000,5126,0.262,0.105,3168,2899,1945,1944,1946,0,0,0,0,0,0,14.21,14.29,28.83
$GC,5757,0.76,399.7,3169,2900,1945,1946,29.6,7.4,614,5800,0.00,2.50,29.92,0.269,8708,0.000,0.083,3175,1502,1686,1674,1699,0,0,0,0,0,0,28.83,14.30,14.20
$GC,5864,0.93,470.1,3177,1503,1691,1699,21.2,7.4,633,5905,0.22,2.53,33.15,0.246,11270,0.108,0.106,3261,2903,1396,1385,1408,0,0,0,0,0,0,14.35,14.32,14.19
$FREEZE,10.64,4.682,-1.373,0,1,0
$STATE,6119,end climb,NO_VERTICAL_VELOCITY
$STATE,6119,begin surface
$SM_CCo,6122,103.05,0.216,0,0,497,691.01
$SM_GC,1.63,9.55,0.15,0.00,0.103,0.119,0.000,208,2805,505,-8.52,1.30,689.78,0,0,0,0,0,0,14.33,14.36,28.83
$RAFOS_CLK,270
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14438.42,280714,054215
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.00
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.40
$XPDR_PINGS,3
$SC_FREEKB,3934112
$TM_FREEKB,7830044
$24V_AH,13.18,4.422
$10V_AH,12.78,0.000
$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,25.725,50.425,518.225,103.050,0.000,0.000,0.000,338.275,0.750,0.000,34.093,0.000,4211.327,741.101,1909.236,56.091,0.000,1673.914,0.000,979.928,1497.000,0.539,0.000
$DEVICE_MAMPS,410.040,143.820,1433.610,215.730,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6136.000,6171.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.678,13.290,0.000,0.000
$MEM,311056
$DATA_FILE_SIZE,23378,661
$CAP_FILE_SIZE,106476,0
$CFSIZE,2097872896,2090795008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7233.36,0x2378b6,7,5
$SOUNDSPEED,1446.8
$EKF,6447,4254.984863,-8668.654297,10.637278,0.052797,0.021146,0.004379,0.000058,0.000538,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.084,179.50,1
$GPS,280714,093600,7054.703,-14428.635,19,0.8,39,22.3