version: 66.12
glider: 196
mission: 7
dive: 18
start: 7 29 114 2 32 28
data:
$ID,196
$MISSION,7
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-4696.7109
$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,40
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,20
$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
$GPS1,290714,022154,7055.318,-14427.868,36,0.7,56,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.6
$GPS2,290714,023210,7055.249,-14428.020,5,0.8,25,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.0,76203,-22.8,-11.905,-25.14,1887
$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,-0.70,-145.9,205,2701,495,590,0.0,0.0,0,83,0.00,0.00,-63.17,0.000,16386,0.000,0.000,204,2701,2170,2175,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.70,-145.9,211,2701,2176,2162,3.0,-3.4,6,135,12.10,2.47,-31.35,0.000,18948,0.402,0.096,2673,1298,3914,3976,3853,0,0,0,0,0,0,14.07,14.27,14.46
$GC,254,-0.59,-145.9,2674,1298,3977,3856,45.7,-24.0,37,263,0.22,2.50,0.00,0.000,3078,0.298,0.102,2710,2698,3916,3976,3856,0,0,0,0,0,0,14.18,14.30,28.83
$GC,558,-0.59,-145.9,2713,2696,3977,3858,100.6,-16.2,68,568,0.00,1.92,0.00,0.000,260,0.000,0.110,2706,3789,3916,3976,3857,0,0,0,0,0,0,28.83,14.37,28.83
$GC,617,-0.59,-145.9,2707,3790,3976,3859,110.9,-18.0,79,626,0.00,1.85,0.00,0.000,1030,0.000,0.061,2706,2693,3915,3973,3857,0,0,0,0,0,0,28.83,14.43,28.83
$GC,922,-0.59,-145.9,2706,2693,3977,3857,157.1,-14.4,110,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2693,3916,3975,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.64,-145.9,2706,2693,3976,3858,196.3,-12.3,140,1232,0.00,2.35,0.00,0.000,516,0.000,0.078,2706,1303,3916,3975,3857,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1256,-0.73,-145.9,2706,1304,3976,3858,200.2,-11.6,146,1264,0.00,2.50,0.00,0.000,1030,0.000,0.106,2696,2707,3916,3975,3857,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1569,-0.80,-145.9,2696,2707,3976,3857,236.7,-11.4,178,1578,0.12,1.92,0.00,0.000,4356,0.144,0.110,2634,3794,3915,3974,3857,0,0,0,0,0,0,14.49,14.42,28.83
$GC,1687,-0.72,-145.9,2635,3794,3974,3858,255.7,-17.1,201,1696,0.10,1.85,0.00,0.000,3078,0.262,0.064,2673,2696,3915,3973,3857,0,0,0,0,0,0,14.37,14.50,28.83
$GC,1992,-0.72,-145.9,2674,2696,3974,3857,293.8,-12.1,212,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2696,3915,3973,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.77,-145.9,2674,2697,3973,3858,330.0,-12.1,222,2299,0.00,1.92,0.00,0.000,260,0.000,0.114,2666,3788,3914,3972,3857,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2368,-0.77,-145.9,2667,3788,3972,3857,340.1,-13.2,237,2376,0.00,1.83,0.00,0.000,1030,0.000,0.065,2666,2699,3914,3971,3857,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2685,-0.77,-145.9,2667,2700,3972,3857,379.4,-12.3,250,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2699,3911,3971,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-0.77,-145.9,2667,2700,3972,3858,415.5,-12.0,260,2994,0.00,1.92,0.00,0.000,260,0.000,0.114,2657,3795,3913,3970,3857,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3093,-0.77,-145.9,2659,3796,3970,3858,430.0,-13.6,281,3101,0.00,1.85,0.00,0.000,1030,0.000,0.064,2658,2693,3913,3970,3856,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3410,-0.77,-145.9,2659,2693,3970,3858,469.6,-12.4,294,3418,0.00,1.92,0.00,0.000,260,0.000,0.114,2649,3788,3912,3968,3856,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3476,-0.77,-145.9,2650,3788,3970,3858,478.6,-13.4,307,3484,0.00,1.83,0.00,0.000,1030,0.000,0.064,2649,2700,3913,3969,3857,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3654,begin apogee
$GC,3657,-0.13,0.0,2649,2854,3970,3857,501.4,-12.9,317,3807,0.80,0.00,137.15,2.682,10246,0.248,0.000,2858,2856,3317,3339,3295,0,0,0,0,1,0,14.45,28.83,12.66
$STATE,3810,end apogee,CONTROL_FINISHED_OK
$STATE,3810,begin climb
$GC,3811,0.70,145.9,2859,2855,3346,3298,506.5,0.0,322,3952,0.93,1.83,127.60,1.644,10500,0.141,0.109,3131,3783,2716,2724,2709,0,0,0,0,0,0,13.69,13.54,12.97
$GC,4036,0.55,145.9,3131,3783,2722,2700,488.3,15.1,360,4045,0.15,1.65,0.00,0.000,5126,0.274,0.063,3091,2843,2710,2721,2699,0,0,0,0,0,0,13.74,13.88,28.83
$GC,4359,0.56,166.5,3092,2842,2720,2698,452.3,10.8,374,4386,0.00,2.47,18.17,1.644,8708,0.000,0.079,3099,1442,2630,2642,2619,0,0,0,0,0,0,28.83,14.02,13.45
$GC,4425,0.62,187.5,3100,1441,2641,2615,445.1,10.8,386,4452,0.00,2.55,18.70,1.515,9222,0.000,0.102,3099,2836,2547,2559,2536,0,0,0,0,0,0,28.83,14.07,13.45
$GC,4761,0.62,187.5,3100,2832,2555,2526,403.1,12.5,402,4769,0.00,2.42,0.00,0.000,516,0.000,0.077,3109,1442,2539,2554,2525,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4807,0.63,193.1,3110,1442,2555,2525,397.4,11.6,411,4816,0.00,2.53,1.38,0.251,9222,0.000,0.101,3110,2845,2527,2542,2512,0,0,0,0,0,0,28.83,14.20,14.14
$GC,5125,0.63,193.1,3110,2845,2561,2522,355.2,13.3,424,5135,0.00,2.42,1.05,0.268,8708,0.000,0.075,3118,1440,2529,2548,2510,0,0,0,0,0,0,28.83,14.35,14.28
$GC,5184,0.63,193.1,3120,1440,2557,2514,347.7,12.4,435,5194,0.00,2.50,0.00,0.000,1030,0.000,0.101,3119,2847,2536,2557,2516,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5489,0.63,193.1,3120,2843,2562,2518,306.2,13.6,446,5498,0.00,2.42,1.10,0.265,8708,0.000,0.075,3126,1434,2528,2549,2508,0,0,0,0,0,0,28.83,14.37,14.28
$GC,5526,0.63,193.1,3126,1435,2558,2517,301.4,12.7,453,5534,0.00,2.50,0.00,0.000,1030,0.000,0.100,3126,2837,2537,2558,2516,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5854,0.59,193.1,3126,2837,2563,2517,256.9,13.5,468,5863,0.00,2.40,1.15,0.262,8708,0.000,0.073,3133,1436,2528,2548,2508,0,0,0,0,0,0,28.83,14.37,14.30
$GC,5892,0.59,196.4,3134,1440,2558,2516,252.0,11.7,475,5908,0.15,2.50,3.55,1.216,13318,0.262,0.099,3102,2844,2521,2542,2501,0,0,0,0,0,0,14.28,14.35,13.50
$GC,6212,0.59,205.1,3102,2844,2553,2507,215.0,11.4,509,6232,0.00,2.45,12.75,1.493,8708,0.000,0.076,3110,1436,2475,2489,2461,0,0,0,0,0,0,28.83,14.26,13.69
$GC,6281,0.68,230.3,3112,1437,2488,2461,207.7,10.5,522,6311,0.00,2.53,22.40,1.438,9222,0.000,0.101,3110,2842,2373,2378,2369,0,0,0,0,0,0,28.83,14.26,13.61
$GC,6615,0.74,249.8,3111,2843,2380,2361,169.2,10.8,557,6645,0.12,2.45,18.02,1.311,10756,0.139,0.076,3178,1445,2288,2292,2285,0,0,0,0,0,0,14.29,14.14,13.69
$GC,6768,0.74,249.8,3179,1446,2292,2283,150.4,12.2,586,6778,0.00,2.53,0.00,0.000,1030,0.000,0.101,3178,2843,2286,2292,2281,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7074,0.69,249.8,3179,2845,2293,2282,111.7,12.1,617,7082,0.17,2.42,0.00,0.000,4612,0.278,0.079,3148,1447,2284,2287,2281,0,0,0,0,0,0,14.24,14.35,28.83
$GC,7151,0.81,310.0,3149,1442,2294,2280,104.5,8.6,632,7215,0.00,2.50,50.50,1.170,9222,0.000,0.103,3148,2841,2041,2041,2042,0,0,0,0,0,0,28.83,14.35,13.68
$GC,7509,0.91,341.3,3149,2842,2042,2032,67.3,10.2,671,7531,0.15,2.45,13.18,0.383,10756,0.129,0.080,3213,1439,1925,1919,1931,0,0,0,0,0,0,14.33,14.26,14.11
$GC,7630,0.92,356.1,3213,1439,1931,1931,53.0,11.1,694,7645,0.00,2.53,7.62,0.343,9222,0.000,0.101,3213,2842,1864,1858,1871,0,0,0,0,0,0,28.83,14.31,14.12
$GC,7950,0.95,410.0,3213,2842,1873,1872,20.6,9.0,727,7984,0.00,0.00,25.10,0.249,8198,0.000,0.000,3212,2842,1643,1636,1650,0,0,0,0,0,0,28.83,28.83,14.23
$FREEZE,11.81,2.778,-1.466,0,1,0
$STATE,8218,end climb,NO_VERTICAL_VELOCITY
$STATE,8219,begin surface
$SM_CCo,8222,127.10,0.218,0,0,498,691.50
$SM_GC,1.49,9.18,0.22,0.00,0.084,0.096,0.000,202,2697,496,-8.41,1.16,691.75,0,0,0,0,0,0,14.37,14.40,28.83
$RAFOS_CLK,156
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14434.62,280714,235232
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.35
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.30
$XPDR_PINGS,5
$SC_FREEKB,3930080
$TM_FREEKB,7731704
$24V_AH,12.66,7.210
$10V_AH,12.69,0.000
$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,24.200,77.200,459.425,127.100,0.000,0.000,0.000,389.175,2.750,0.000,26.611,0.000,6098.493,771.283,2204.613,72.373,0.000,1847.718,0.000,1116.724,1474.000,13.154,0.000
$DEVICE_MAMPS,401.625,123.930,2682.090,218.025,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8242.000,8290.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.034,13.298,0.000,0.000
$MEM,307104
$DATA_FILE_SIZE,26736,754
$CAP_FILE_SIZE,130600,0
$CFSIZE,2097872896,2088697856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9181.21,0x2378b6,7,5
$SOUNDSPEED,1449.1
$EKF,8598,4256.376465,-8667.593750,11.809597,0.010554,-0.034580,0.008326,0.000126,0.001176,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.080,154.85,1
$GPS,290714,045543,7056.042,-14427.131,14,0.8,34,22.3