version: 66.12
glider: 196
mission: 7
dive: 15
start: 7 28 114 19 35 9
data:
$ID,196
$MISSION,7
$DIVE,15
$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,-4692.9336
$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,42
$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
$GPS1,280714,192304,7056.708,-14427.533,3,0.8,24,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.0
$GPS2,280714,193455,7056.700,-14427.474,17,0.9,37,22.3
$SPEED_LIMITS,0.211,0.255
$TGT_NAME,3
$TGT_LATLONG,7054.000,-14428.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,169.1,5009,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.71,-145.9,190,2688,498,584,0.0,0.0,0,93,0.00,0.00,-73.70,0.000,16386,0.000,0.000,188,2688,2519,2529,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.71,-145.9,188,2689,2531,2511,5.0,-7.6,7,137,12.30,2.47,-22.62,0.000,18948,0.408,0.099,2669,1302,3915,3976,3854,0,0,0,0,0,0,14.05,14.23,14.45
$GC,360,-0.65,-145.9,2670,1299,3976,3858,68.6,-20.2,58,370,0.15,2.53,0.00,0.000,3078,0.310,0.102,2689,2699,3916,3976,3857,0,0,0,0,0,0,14.20,14.31,28.83
$GC,666,-0.65,-145.9,2690,2699,3977,3857,124.0,-16.9,89,673,0.00,2.40,0.00,0.000,516,0.000,0.077,2689,1299,3916,3975,3857,0,0,0,0,0,0,28.83,14.39,28.83
$GC,737,-0.70,-145.9,2690,1299,3977,3857,135.2,-15.0,103,747,0.00,2.50,0.00,0.000,1030,0.000,0.104,2680,2699,3916,3976,3857,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1051,-0.70,-145.9,2681,2700,3977,3858,184.8,-14.4,135,1060,0.00,1.95,0.00,0.000,260,0.000,0.111,2671,3799,3916,3976,3857,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1164,-0.70,-145.9,2672,3800,3977,3858,202.9,-16.0,157,1172,0.00,1.88,0.00,0.000,1030,0.000,0.066,2671,2693,3916,3976,3857,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1479,-0.70,-145.9,2673,2694,3983,3864,245.3,-13.2,189,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2691,3916,3976,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.75,-145.9,2673,2693,3975,3857,284.2,-12.5,202,1797,0.00,1.95,0.00,0.000,260,0.000,0.114,2662,3782,3915,3974,3857,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1870,-0.75,-145.9,2664,3786,3975,3857,295.6,-14.5,218,1878,0.00,1.85,0.00,0.000,1030,0.000,0.066,2662,2696,3915,3973,3857,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2183,-0.75,-145.9,2664,2697,3973,3858,335.1,-12.5,230,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2696,3914,3973,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,-0.75,-145.9,2663,2692,3974,3857,372.1,-12.2,240,2490,0.00,1.98,0.00,0.000,260,0.000,0.113,2654,3780,3914,3972,3857,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2534,-0.75,-145.9,2655,3781,3973,3858,379.3,-14.1,250,2542,0.00,1.83,0.00,0.000,1030,0.000,0.067,2654,2703,3914,3972,3857,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2847,-0.75,-145.9,2655,2705,3973,3865,419.6,-13.0,262,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2703,3914,3972,3856,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2875,begin apogee
$GC,2878,-0.13,0.0,2654,2855,3972,3857,423.4,-12.9,263,3060,0.80,0.00,173.82,1.463,10246,0.247,0.000,2860,2855,3309,3331,3288,0,0,0,0,0,0,14.31,28.83,13.22
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3063,begin climb
$GC,3064,0.71,145.9,2862,2857,3331,3286,429.7,0.0,269,3205,0.90,1.80,124.80,1.462,10500,0.146,0.111,3127,3780,2709,2718,2700,0,0,0,0,0,0,13.79,13.62,13.07
$GC,3334,0.58,145.9,3127,3781,2713,2693,404.9,14.8,316,3343,0.12,1.65,0.00,0.000,5126,0.269,0.064,3103,2832,2704,2719,2690,0,0,0,0,0,0,13.88,14.03,28.83
$GC,3639,0.58,157.0,3104,2832,2714,2689,369.1,11.6,327,3646,0.00,0.00,3.35,0.892,8198,0.000,0.000,3103,2832,2675,2688,2663,0,0,0,0,0,0,28.83,28.83,13.50
$GC,3939,0.59,169.8,3104,2832,2714,2672,334.4,11.5,337,3965,0.00,2.42,19.08,1.412,8708,0.000,0.078,3112,1439,2613,2626,2601,0,0,0,0,0,0,28.83,14.19,13.65
$GC,4014,0.61,187.9,3113,1439,2618,2594,325.8,11.2,351,4036,0.00,2.53,15.65,1.361,9222,0.000,0.102,3112,2835,2547,2558,2537,0,0,0,0,0,0,28.83,14.21,13.58
$GC,4340,0.61,187.9,3113,2838,2548,2517,282.8,13.3,365,4348,0.00,2.42,0.00,0.000,516,0.000,0.079,3121,1438,2532,2546,2518,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4372,0.61,187.9,3122,1440,2547,2518,278.9,12.3,371,4381,0.00,2.53,0.00,0.000,1030,0.000,0.102,3122,2849,2531,2546,2517,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4685,0.61,187.9,3122,2849,2547,2517,237.5,13.0,391,4695,0.00,2.42,0.00,0.000,516,0.000,0.078,3129,1436,2531,2546,2517,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4729,0.61,196.5,3130,1436,2547,2517,232.2,11.7,399,4739,0.00,2.50,1.95,0.228,9222,0.000,0.102,3129,2844,2514,2530,2498,0,0,0,0,0,0,28.83,14.39,14.29
$GC,5043,0.61,199.9,3130,2844,2551,2511,192.3,12.0,431,5049,0.00,0.00,3.33,0.848,8198,0.000,0.000,3129,2843,2501,2516,2486,0,0,0,0,0,0,28.83,28.83,13.72
$GC,5343,0.65,252.5,3130,2842,2544,2507,161.2,9.2,461,5405,0.00,2.47,54.05,1.234,8708,0.000,0.076,3138,1440,2276,2283,2270,0,0,0,0,0,0,28.83,14.12,13.63
$GC,5419,0.74,297.3,3138,1439,2271,2261,154.1,9.7,472,5466,0.00,2.55,39.10,1.131,9222,0.000,0.103,3138,2842,2098,2099,2098,0,0,0,0,0,0,28.83,14.15,13.53
$GC,5770,0.82,317.4,3138,2843,2085,2070,115.2,11.0,510,5796,0.10,0.00,16.30,1.190,10246,0.155,0.000,3180,2844,2010,2013,2007,0,0,0,0,0,0,14.31,28.83,13.71
$GC,6090,0.82,317.4,3181,2844,2007,1997,73.1,12.2,542,6098,0.00,2.42,0.00,0.000,516,0.000,0.080,3190,1443,2000,2006,1995,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6137,0.89,330.4,3191,1443,2006,1995,67.6,11.5,551,6148,0.00,2.50,3.45,0.232,9222,0.000,0.104,3190,2839,1973,1975,1971,0,0,0,0,0,0,28.83,14.32,14.14
$GC,6443,0.99,385.6,3191,2841,2006,1989,36.4,9.1,582,6478,0.12,2.50,28.25,0.291,10756,0.146,0.080,3252,1441,1743,1735,1752,0,0,0,0,0,0,14.36,14.31,14.22
$GC,6557,1.00,407.8,3253,1441,1757,1751,24.2,10.9,603,6574,0.00,2.53,11.85,0.256,9222,0.000,0.104,3252,2847,1652,1646,1658,0,0,0,0,0,0,28.83,14.35,14.23
$GC,6879,1.22,621.0,3253,2848,1673,1662,10.3,0.3,636,6987,0.12,1.67,97.12,0.217,10500,0.141,0.110,3302,3787,782,778,786,0,0,0,0,0,0,14.42,14.27,14.20
$STATE,7035,end climb,SURFACE_DEPTH_REACHED
$STATE,7035,begin surface coast
$FINISH,0.2,1.019635
$STATE,7056,end surface coast,CONTROL_FINISHED_OK
$STATE,7056,begin surface
$SM_CCo,7078,29.05,0.203,0,0,537,681.20
$SM_GC,1.11,9.57,1.88,29.05,0.093,0.065,0.203,206,2707,537,-8.40,1.19,681.20,0,0,0,0,0,0,14.34,14.35,14.23
$RAFOS_CLK,269
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14426.97,280714,172101
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.41
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.60
$XPDR_PINGS,4
$SC_FREEKB,3931424
$TM_FREEKB,7768864
$24V_AH,13.07,6.187
$10V_AH,12.75,0.000
$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,24.200,58.575,592.100,29.050,0.000,0.000,0.000,493.525,1.000,0.000,38.193,0.000,4925.474,736.916,2085.897,68.724,0.000,1844.150,0.000,990.349,1497.000,0.539,0.000
$DEVICE_MAMPS,407.745,125.460,1463.445,203.490,0.000,0.000,0.000,184.365,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7076.000,7118.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.642,13.294,0.000,0.000
$MEM,308352
$DATA_FILE_SIZE,23435,666
$CAP_FILE_SIZE,112115,0
$CFSIZE,2097872896,2089418752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$EKF,7181,4255.805664,-8668.026367,0.169789,-0.150490,0.176477,-0.045462,0.000109,0.001023,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.056,157.15,1
$GPS,280714,213447,7055.594,-14427.729,20,0.9,40,22.3