version: 66.12
glider: 196
mission: 7
dive: 16
start: 7 28 114 21 49 56
data:
$ID,196
$MISSION,7
$DIVE,16
$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,-4694.1934
$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,32
$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
$GPS1,280714,213447,7055.594,-14427.729,20,0.9,40,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.9
$GPS2,280714,214938,7055.479,-14427.517,17,0.8,37,22.3
$SPEED_LIMITS,0.211,0.255
$TGT_NAME,3
$TGT_LATLONG,7054.000,-14428.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,170.0,2756,-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,-145.9,184,2701,500,589,0.0,0.0,0,93,0.00,0.00,-73.62,0.000,16386,0.000,0.000,182,2703,2455,2461,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.71,-145.9,183,2707,2462,2449,3.7,-4.8,7,137,12.35,2.03,-24.15,0.000,19204,0.408,0.133,2663,3795,3913,3976,3851,0,0,0,0,0,0,14.05,14.23,14.43
$GC,361,-0.56,-145.9,2664,3795,3977,3856,76.7,-23.2,58,372,0.22,1.88,0.00,0.000,3078,0.275,0.062,2720,2695,3916,3976,3856,0,0,0,0,0,0,14.20,14.33,28.83
$GC,666,-0.60,-145.9,2719,2695,3977,3856,125.8,-14.9,89,674,0.00,1.95,0.00,0.000,260,0.000,0.112,2713,3792,3916,3976,3856,0,0,0,0,0,0,28.83,14.38,28.83
$GC,898,-0.60,-145.9,2713,3793,3977,3857,161.5,-14.5,135,906,0.00,1.85,0.00,0.000,1030,0.000,0.065,2713,2699,3916,3976,3856,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1211,-0.69,-145.9,2713,2699,3977,3856,200.6,-11.6,167,1219,0.00,1.92,0.00,0.000,260,0.000,0.114,2704,3786,3916,3976,3856,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1443,-0.77,-145.9,2700,3786,3976,3856,228.9,-12.3,213,1451,0.15,1.83,0.00,0.000,5126,0.126,0.067,2649,2708,3915,3974,3856,0,0,0,0,0,0,14.47,14.48,28.83
$GC,1775,-0.77,-145.9,2649,2707,3975,3856,276.0,-14.2,235,1783,0.00,1.90,0.00,0.000,260,0.000,0.112,2640,3786,3914,3973,3856,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1977,-0.77,-145.9,2647,3787,3972,3857,307.3,-15.8,275,1985,0.00,1.80,0.00,0.000,1030,0.000,0.067,2640,2694,3913,3971,3856,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2289,-0.77,-145.9,2641,2694,3971,3855,351.7,-14.0,287,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2694,3913,3971,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,-0.77,-145.9,2641,2694,3971,3856,393.5,-13.9,297,2596,0.00,1.92,0.00,0.000,260,0.000,0.112,2629,3786,3912,3969,3856,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2651,-0.72,-145.9,2632,3786,3970,3856,403.0,-15.3,309,2659,0.17,1.83,0.00,0.000,3078,0.278,0.066,2669,2683,3912,3969,3856,0,0,0,0,0,0,14.40,14.54,28.83
$STATE,2802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2802,begin apogee
$GC,2805,-0.13,0.0,2670,2847,3970,3856,421.8,-12.0,319,2958,0.73,0.00,141.23,2.386,10246,0.242,0.000,2860,2847,3317,3340,3295,0,0,0,0,1,0,14.42,28.83,12.75
$STATE,2961,end apogee,CONTROL_FINISHED_OK
$STATE,2961,begin climb
$GC,2962,0.71,145.9,2862,2848,3345,3297,427.4,0.0,324,3103,0.93,1.83,127.30,1.493,10500,0.142,0.109,3132,3780,2713,2722,2705,0,0,0,0,0,0,13.70,13.59,13.05
$GC,3247,0.57,145.9,3133,3780,2719,2698,401.2,15.6,374,3257,0.17,1.65,0.00,0.000,5126,0.271,0.063,3098,2832,2707,2718,2696,0,0,0,0,0,0,13.86,14.01,28.83
$GC,3571,0.58,166.4,3099,2832,2720,2695,364.9,11.0,388,3597,0.00,2.45,17.65,1.558,8708,0.000,0.079,3106,1444,2630,2641,2619,0,0,0,0,0,0,28.83,14.08,13.54
$GC,3616,0.60,191.4,3107,1445,2639,2618,359.9,10.8,396,3644,0.00,2.53,22.48,1.499,9222,0.000,0.101,3107,2835,2535,2546,2525,0,0,0,0,0,0,28.83,14.11,13.40
$GC,3936,0.60,191.4,3108,2836,2536,2508,318.4,13.1,410,3946,0.00,2.42,0.00,0.000,516,0.000,0.078,3115,1442,2519,2535,2504,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3965,0.60,191.4,3116,1442,2536,2507,314.8,12.6,415,3974,0.00,2.53,0.00,0.000,1030,0.000,0.101,3115,2842,2520,2535,2506,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4270,0.60,191.4,3116,2842,2536,2506,274.2,13.2,426,4279,0.00,2.42,0.00,0.000,516,0.000,0.079,3125,1442,2521,2535,2507,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4298,0.60,196.4,3126,1442,2536,2507,270.6,11.9,431,4307,0.00,2.50,0.00,0.000,1030,0.000,0.102,3125,2841,2520,2535,2506,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4603,0.60,196.4,3126,2842,2536,2507,229.5,13.6,452,4611,0.00,2.40,0.00,0.000,516,0.000,0.078,3133,1440,2520,2535,2506,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4655,0.61,202.7,3134,1440,2537,2506,223.0,11.8,462,4665,0.00,2.50,4.28,1.276,9222,0.000,0.103,3133,2842,2491,2502,2480,0,0,0,0,0,0,28.83,14.40,13.74
$GC,4970,0.61,202.7,3134,2840,2526,2497,183.2,12.3,494,4975,0.00,0.00,2.12,0.418,8198,0.000,0.000,3133,2842,2489,2505,2474,0,0,0,0,0,0,28.83,28.83,13.52
$GC,5269,0.65,267.3,3133,2843,2526,2487,153.5,8.6,524,5341,0.00,1.73,62.65,1.284,8452,0.000,0.109,3133,3795,2214,2217,2211,0,0,0,0,0,0,28.83,14.05,13.60
$GC,5360,0.65,267.3,3134,3796,2215,2209,144.6,12.2,535,5370,0.00,1.65,0.00,0.000,1030,0.000,0.064,3139,2841,2210,2214,2206,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5666,0.73,306.8,3140,2842,2215,2201,112.1,10.0,566,5709,0.00,2.45,34.45,1.125,8708,0.000,0.077,3150,1442,2053,2058,2048,0,0,0,0,0,0,28.83,14.15,13.69
$GC,5733,0.85,326.1,3151,1442,2053,2041,105.1,11.1,577,5757,0.00,2.55,16.80,1.151,9222,0.000,0.103,3146,2848,1983,1982,1984,0,0,0,0,0,0,28.83,14.15,13.66
$GC,6051,0.95,356.0,3151,2848,1970,1964,69.6,10.5,610,6073,0.17,2.50,12.15,0.379,10756,0.114,0.080,3226,1441,1865,1861,1869,0,0,0,0,0,0,14.27,14.25,14.09
$GC,6107,0.95,356.0,3227,1440,1876,1872,62.2,13.4,620,6116,0.00,2.53,1.20,0.272,9222,0.000,0.103,3226,2843,1862,1861,1864,0,0,0,0,0,0,28.83,14.28,14.16
$GC,6421,0.98,400.1,3227,2844,1884,1873,24.8,9.7,652,6451,0.00,2.50,21.42,0.263,8708,0.000,0.079,3235,1442,1684,1681,1687,0,0,0,0,0,0,28.83,14.31,14.23
$GC,6535,1.10,466.1,3236,1442,1695,1688,13.7,8.5,673,6571,0.00,2.50,30.58,0.224,9222,0.000,0.103,3234,2841,1416,1416,1417,0,0,0,0,0,0,28.83,14.35,14.23
$GC,6865,1.42,683.5,3236,2841,1427,1408,10.1,0.1,708,6973,0.38,1.75,98.93,0.210,10500,0.086,0.111,3378,3787,527,509,545,0,0,0,0,0,0,14.40,14.27,14.21
$STATE,6976,end climb,SURFACE_DEPTH_REACHED
$STATE,6976,begin surface coast
$FINISH,0.2,1.019480
$STATE,6987,end surface coast,CONTROL_FINISHED_OK
$STATE,6987,begin surface
$SM_CCo,7070,0.00,0.000,0,0,527,684.39
$SM_GC,1.05,9.75,1.90,0.00,0.087,0.069,0.000,210,2704,527,-8.39,0.99,684.39,0,0,0,0,0,0,14.31,14.31,28.83
$RAFOS_CLK,317
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14429.27,280714,213805
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.08
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.30
$XPDR_PINGS,7
$SC_FREEKB,3930976
$TM_FREEKB,7757872
$24V_AH,12.75,6.524
$10V_AH,12.67,0.000
$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,25.025,64.475,593.225,0.000,0.000,0.000,0.000,610.375,1.750,0.000,38.891,0.000,4860.571,716.941,2309.694,75.158,0.000,1984.745,0.000,1076.333,0.000,0.540,0.000
$DEVICE_MAMPS,407.745,133.110,2386.035,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7006.000,7050.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.237,13.282,0.000,0.000
$MEM,307984
$DATA_FILE_SIZE,23394,727
$CAP_FILE_SIZE,117168,0
$CFSIZE,2097872896,2089189376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8086.35,0x2378b6,7,5
$SOUNDSPEED,1448.4
$EKF,7159,4254.963379,-8668.687500,0.249485,-0.391154,-0.001418,-0.166803,0.000091,0.000849,0.000095,0.000025,0.000025,0.000035
$CURRENT,0.076,162.04,1
$GPS,280714,234912,7054.647,-14428.410,36,0.8,56,22.3