version: 66.12
glider: 196
mission: 7
dive: 14
start: 7 28 114 17 26 42
data:
$ID,196
$MISSION,7
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,460
$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,115
$T_MISSION,140
$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,-4691.6753
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,18
$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
$GPS1,280714,171753,7056.157,-14427.781,32,0.9,53,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.5
$GPS2,280714,172625,7056.168,-14427.887,4,1.0,24,22.3
$SPEED_LIMITS,0.211,0.255
$TGT_NAME,3
$TGT_LATLONG,7100.000,-14430.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,327.7,7210,-23.2,-12.174,-25.50,1845
$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,-0.96,-145.9,186,2802,509,592,0.0,0.0,0,93,0.00,0.00,-72.68,0.000,16386,0.000,0.000,184,2802,2470,2477,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.96,-145.9,186,2803,2478,2466,4.5,-6.7,7,137,12.10,1.85,-23.50,0.000,18692,0.407,0.142,2630,3793,3915,3975,3855,0,0,0,0,0,0,14.04,14.21,14.46
$GC,360,-0.76,-145.9,2621,3794,3977,3859,83.3,-25.2,58,370,0.28,1.70,0.00,0.000,3078,0.285,0.066,2693,2796,3917,3976,3859,0,0,0,0,0,0,14.16,14.32,28.83
$GC,666,-0.76,-145.9,2694,2797,3976,3860,138.2,-16.6,89,673,0.00,1.80,0.00,0.000,260,0.000,0.113,2688,3785,3917,3975,3859,0,0,0,0,0,0,28.83,14.37,28.83
$GC,887,-0.76,-145.9,2689,3785,3976,3860,174.4,-14.5,133,896,0.00,1.67,0.00,0.000,1030,0.000,0.068,2688,2801,3917,3975,3859,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1200,-0.81,-145.9,2688,2802,3976,3859,216.5,-12.8,165,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2801,3919,3975,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1520,-0.87,-145.9,2688,2802,3976,3860,254.4,-11.7,195,1528,0.00,2.40,0.00,0.000,516,0.000,0.082,2688,1391,3916,3975,3858,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1567,-0.96,-145.9,2688,1392,3975,3859,259.7,-10.9,204,1576,0.12,2.53,0.00,0.000,5126,0.140,0.109,2628,2807,3916,3975,3858,0,0,0,0,0,0,14.47,14.45,28.83
$GC,1886,-0.96,-145.9,2629,2809,3974,3858,308.1,-15.4,217,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2808,3916,3974,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2185,-0.96,-145.9,2628,2808,3975,3858,353.0,-14.9,227,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2808,3915,3973,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.96,-145.9,2628,2809,3974,3859,397.7,-14.9,237,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2807,3915,3973,3858,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2667,-0.19,0.0,2628,2808,3974,3858,423.9,-14.6,243,2820,0.98,0.00,142.88,2.441,10246,0.256,0.000,2882,2808,3318,3340,3296,0,0,0,0,1,0,14.42,28.83,12.73
$STATE,2823,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin climb
$GC,2824,0.96,145.9,2889,2808,3347,3298,428.9,0.0,248,2968,1.20,1.92,127.57,1.503,11012,0.114,0.106,3253,3793,2711,2712,2710,0,0,0,0,0,0,13.69,13.57,13.04
$GC,3067,0.60,145.9,3254,3794,2711,2705,400.8,22.3,289,3075,0.52,1.70,0.00,0.000,5126,0.329,0.065,3150,2798,2707,2711,2703,0,0,0,0,0,0,13.76,13.94,28.83
$GC,3379,0.49,145.9,3150,2798,2714,2697,354.7,14.3,301,3383,0.17,0.00,0.00,0.000,4102,0.306,0.000,3113,2798,2707,2713,2701,0,0,0,0,0,0,14.07,28.83,28.83
$GC,3679,0.49,153.2,3114,2798,2714,2700,318.8,11.8,311,3684,0.00,0.00,2.12,0.384,8198,0.000,0.000,3113,2798,2695,2711,2680,0,0,0,0,0,0,28.83,28.83,13.45
$GC,3979,0.50,161.0,3114,2798,2724,2688,283.9,11.7,321,3995,0.00,0.00,12.77,1.496,8198,0.000,0.000,3113,2798,2660,2673,2648,0,0,0,0,0,0,28.83,28.83,13.74
$GC,4279,0.51,168.5,3114,2798,2665,2637,248.4,11.8,331,4285,0.00,0.00,2.42,0.649,8198,0.000,0.000,3113,2798,2630,2643,2617,0,0,0,0,0,0,28.83,28.83,13.51
$GC,4579,0.52,186.5,3115,2798,2668,2628,214.2,11.2,361,4608,0.00,2.50,22.10,1.356,8708,0.000,0.080,3122,1401,2547,2558,2536,0,0,0,0,0,0,28.83,14.21,13.77
$GC,4648,0.58,218.1,3123,1400,2554,2533,206.8,10.4,373,4682,0.00,2.53,27.77,1.265,9222,0.000,0.103,3122,2808,2423,2430,2417,0,0,0,0,0,0,28.83,14.28,13.65
$GC,4986,0.59,231.2,3123,2810,2421,2403,167.2,11.4,409,5001,0.00,0.00,10.57,1.294,8198,0.000,0.000,3122,2809,2371,2378,2364,0,0,0,0,0,0,28.83,28.83,13.74
$GC,5297,0.67,277.2,3121,2809,2374,2356,136.7,9.6,440,5346,0.12,2.58,41.55,1.189,10756,0.135,0.081,3185,1392,2176,2178,2175,0,0,0,0,0,0,14.38,14.12,13.66
$GC,5390,0.68,283.0,3186,1393,2171,2168,125.7,11.8,456,5399,0.00,2.55,0.00,0.000,1030,0.000,0.101,3185,2802,2168,2170,2167,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5703,0.68,283.0,3186,2798,2172,2162,85.4,12.3,488,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2802,2164,2164,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6003,0.72,337.4,3185,2802,2171,2162,52.4,9.1,518,6033,0.00,0.00,25.75,0.338,8710,0.000,0.000,3185,2802,1941,1931,1951,0,0,0,0,0,0,28.83,28.83,14.19
$GC,6327,0.84,419.1,3185,2801,1954,1951,26.4,7.6,552,6376,0.10,2.50,38.22,0.260,10756,0.161,0.083,3234,1395,1606,1599,1613,0,0,0,0,0,0,14.42,14.32,14.23
$GC,6461,0.97,489.0,3235,1395,1607,1613,13.8,8.3,576,6504,0.00,2.53,32.15,0.225,9222,0.000,0.104,3234,2804,1319,1320,1319,0,0,0,0,0,0,28.83,14.30,14.22
$GC,6798,1.29,667.1,3235,2805,1328,1313,6.6,2.3,612,6881,0.38,0.00,78.10,0.203,11010,0.086,0.000,3376,2804,618,609,628,0,0,0,0,0,0,14.41,28.83,28.83
$STATE,6881,end climb,SURFACE_DEPTH_REACHED
$STATE,6881,begin surface coast
$FINISH,-0.0,1.019284
$STATE,6894,end surface coast,CONTROL_FINISHED_OK
$STATE,6894,begin surface
$SM_CCo,6917,9.77,0.202,0,0,538,681.20
$SM_GC,2.30,9.85,0.00,9.77,0.097,0.000,0.202,211,2804,538,-8.52,0.11,681.20,0,0,0,0,0,0,14.32,28.83,14.24
$RAFOS_CLK,315
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14426.97,280714,152601
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.16
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.80
$XPDR_PINGS,4
$SC_FREEKB,3931872
$TM_FREEKB,7779960
$24V_AH,12.73,5.867
$10V_AH,12.65,0.000
$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,25.825,30.750,564.000,9.775,0.000,0.000,0.000,313.900,1.000,0.000,26.038,0.000,4927.756,649.575,1804.943,58.412,0.000,1530.813,0.000,934.161,0.000,0.540,0.000
$DEVICE_MAMPS,406.980,141.525,2441.115,201.960,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6914.000,6950.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.327,13.298,0.000,0.000
$MEM,308944
$DATA_FILE_SIZE,20122,626
$CAP_FILE_SIZE,102471,0
$CFSIZE,2097872896,2089648128
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6909.57,0x2378b6,7,5
$INTR,1,2665.34,0x2378b6,2,5
$INTR,2,6904.76,0x2378b6,7,5
$SOUNDSPEED,1447.4
$EKF,6985,4256.967285,-8667.887695,-0.038090,-0.001748,0.000145,-0.051089,0.000112,0.001047,0.000099,0.001025,0.001025,0.000052
$CURRENT,0.075,156.01,1
$GPS,280714,192304,7056.708,-14427.533,3,0.8,24,22.3