version: 66.12
glider: 196
mission: 7
dive: 11
start: 7 28 114 11 40 7
data:
$ID,196
$MISSION,7
$DIVE,11
$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,-4687.9067
$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,40
$R_STBD_OVSHOOT,15
$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
$GPS1,280714,113107,7054.963,-14428.454,12,1.0,32,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.3
$GPS2,280714,113950,7054.908,-14428.662,14,1.0,34,22.3
$SPEED_LIMITS,0.189,0.248
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,338.8,9465,-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,-145.9,190,2805,482,547,0.0,0.0,0,85,0.00,0.00,-65.32,0.000,16386,0.000,0.000,186,2809,2201,2206,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.89,-145.9,187,2805,2207,2196,3.1,-4.1,6,135,12.30,1.83,-29.75,0.000,18692,0.409,0.138,2650,3796,3917,3978,3856,0,0,0,0,0,0,14.05,14.21,14.45
$GC,359,-0.68,-145.9,2651,3792,3979,3860,80.3,-24.6,58,367,0.28,1.70,0.00,0.000,3078,0.280,0.067,2719,2797,3918,3978,3859,0,0,0,0,0,0,14.18,14.36,28.83
$GC,671,-0.68,-145.9,2720,2797,3979,3861,131.0,-14.6,90,679,0.00,1.80,0.00,0.000,260,0.000,0.115,2714,3783,3918,3978,3859,0,0,0,0,0,0,28.83,14.35,28.83
$GC,838,-0.68,-145.9,2715,3784,3979,3861,156.2,-14.7,123,848,0.00,1.67,0.00,0.000,1030,0.000,0.070,2714,2801,3918,3978,3859,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1154,-0.73,-145.9,2715,2802,3978,3860,194.4,-11.7,154,1162,0.00,2.40,0.00,0.000,516,0.000,0.083,2714,1397,3918,3977,3859,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1221,-0.81,-145.9,2715,1396,3979,3859,202.9,-10.3,167,1233,0.00,2.53,0.00,0.000,1030,0.000,0.109,2705,2803,3919,3978,3860,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1527,-0.85,-145.9,2704,2803,3978,3860,237.7,-10.8,198,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2803,3918,3978,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.91,-145.9,2704,2804,3978,3859,270.1,-10.7,216,1830,0.15,0.00,0.00,0.000,4102,0.129,0.000,2646,2801,3917,3977,3858,0,0,0,0,0,0,14.40,28.83,28.83
$GC,2127,-0.87,-145.9,2647,2804,3977,3858,311.0,-13.6,226,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2803,3916,3976,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2427,-0.87,-145.9,2647,2803,3977,3853,351.6,-13.5,236,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2803,3914,3976,3853,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2516,begin apogee
$GC,2518,-0.19,0.0,2651,2904,3975,3858,363.7,-13.4,239,2704,0.93,0.00,181.20,1.365,10246,0.249,0.000,2884,2903,3317,3338,3296,0,0,0,0,0,0,14.28,28.83,13.16
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2708,0.89,145.9,2885,2904,3331,3289,369.7,0.0,245,2847,1.12,2.65,125.70,1.440,11012,0.113,0.079,3242,1499,2713,2716,2711,0,0,0,0,0,0,13.78,13.64,13.07
$GC,2891,0.65,145.9,3244,1499,2705,2695,355.8,16.9,271,2901,0.35,2.62,0.00,0.000,5126,0.298,0.100,3168,2909,2698,2704,2693,0,0,0,0,0,0,13.70,13.83,28.83
$GC,3224,0.47,145.9,3169,2910,2706,2691,303.4,15.4,287,3228,0.28,0.00,0.00,0.000,4102,0.311,0.000,3108,2909,2697,2704,2690,0,0,0,0,0,0,14.08,28.83,28.83
$GC,3525,0.40,145.9,3108,2910,2705,2689,267.4,11.7,297,3533,0.00,2.45,0.00,0.000,516,0.000,0.081,3116,1500,2697,2705,2689,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3597,0.41,160.5,3117,1500,2706,2688,259.6,10.2,311,3618,0.15,2.53,11.45,1.346,13318,0.268,0.103,3085,2908,2656,2666,2646,0,0,0,0,0,0,14.23,14.33,13.66
$GC,3922,0.43,185.6,3086,2908,2661,2636,226.4,9.7,339,3951,0.00,0.00,23.73,1.268,8710,0.000,0.000,3085,2908,2550,2562,2539,0,0,0,0,0,0,28.83,28.83,13.70
$GC,4245,0.44,209.1,3086,2907,2550,2523,193.1,9.7,373,4274,0.00,2.50,20.67,1.246,8708,0.000,0.079,3094,1495,2450,2459,2442,0,0,0,0,0,0,28.83,14.17,13.70
$GC,4368,0.55,240.6,3095,1500,2450,2430,181.8,9.3,396,4404,0.00,2.55,27.77,1.200,9222,0.000,0.104,3095,2903,2329,2332,2326,0,0,0,0,0,0,28.83,14.24,13.60
$GC,4698,0.63,276.9,3095,2905,2321,2305,150.1,9.1,431,4741,0.17,2.53,31.80,1.197,10756,0.119,0.080,3173,1509,2171,2170,2172,0,0,0,0,0,0,14.30,14.09,13.64
$GC,4835,0.63,276.9,3174,1508,2165,2160,133.5,11.9,456,4844,0.00,2.53,0.00,0.000,1030,0.000,0.104,3174,2901,2162,2164,2160,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5140,0.58,276.9,3174,2902,2164,2156,94.1,12.6,487,5150,0.15,2.42,0.00,0.000,4612,0.279,0.081,3152,1504,2160,2163,2157,0,0,0,0,0,0,14.21,14.31,28.83
$GC,5214,0.66,310.9,3153,1504,2165,2157,86.9,9.2,501,5236,0.00,2.53,13.18,0.401,9222,0.000,0.105,3152,2910,2052,2054,2050,0,0,0,0,0,0,28.83,14.28,14.09
$GC,5540,0.69,351.7,3152,2911,2089,2062,55.0,8.9,535,5569,0.00,2.53,21.52,0.340,8708,0.000,0.081,3160,1501,1882,1873,1891,0,0,0,0,0,0,28.83,14.32,14.16
$GC,5599,0.81,391.4,3161,1501,1892,1892,49.8,8.9,545,5628,0.17,2.50,19.48,0.333,11270,0.118,0.105,3225,2899,1720,1709,1732,0,0,0,0,0,0,14.35,14.31,14.14
$GC,5921,0.85,447.3,3226,2900,1741,1735,14.2,8.1,579,5958,0.00,1.58,27.20,0.226,8452,0.000,0.110,3225,3787,1490,1482,1499,0,0,0,0,0,0,28.83,14.32,14.24
$GC,6182,1.07,644.7,3225,3787,1502,1500,11.8,1.1,629,6284,0.15,1.52,90.12,0.220,11270,0.078,0.070,3294,2895,685,683,687,0,0,0,0,0,0,14.40,14.40,14.17
$STATE,6367,end climb,SURFACE_DEPTH_REACHED
$STATE,6367,begin surface coast
$FINISH,0.1,1.019423
$STATE,6387,end surface coast,CONTROL_FINISHED_OK
$STATE,6387,begin surface
$SM_CCo,6409,17.83,0.196,0,0,541,681.44
$SM_GC,0.81,9.35,0.15,17.83,0.076,0.119,0.196,205,2799,541,-8.53,0.96,681.44,0,0,0,0,0,0,14.33,14.36,14.24
$RAFOS_CLK,245
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,280714,093901
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.20
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3933216
$TM_FREEKB,7810252
$24V_AH,13.07,4.990
$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,25.550,45.675,593.825,17.825,0.000,0.000,0.000,318.425,0.000,0.000,35.815,0.000,4306.350,708.931,1878.115,58.040,0.000,1617.528,0.000,975.405,1492.000,0.539,0.000
$DEVICE_MAMPS,409.275,143.820,1439.730,195.840,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6405.000,6443.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.353,13.265,0.000,0.000
$MEM,310168
$DATA_FILE_SIZE,23439,655
$CAP_FILE_SIZE,106337,0
$CFSIZE,2097872896,2090336256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6888.03,0x2378b6,7,5
$SOUNDSPEED,1447.2
$EKF,6496,4255.641602,-8668.035156,0.049358,-0.297913,0.038292,-0.056341,0.000077,0.000724,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.094,196.52,1
$GPS,280714,132820,7055.306,-14428.316,16,0.8,36,22.3