version: 66.12
glider: 196
mission: 7
dive: 23
start: 7 29 114 15 21 40
data:
$ID,196
$MISSION,7
$DIVE,23
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4703
$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,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
$GPS1,290714,151050,7058.913,-14424.235,13,0.9,33,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.2
$GPS2,290714,152123,7058.797,-14424.251,4,0.9,24,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,339.9,69402,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.70,-145.9,169,2705,502,582,0.0,0.0,0,86,0.00,0.00,-63.85,0.000,16386,0.000,0.000,166,2706,2244,2254,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.70,-145.9,168,2706,2255,2235,4.2,-5.6,6,137,12.25,0.00,-28.65,0.000,18950,0.401,0.000,2672,2706,3916,3977,3856,0,0,0,0,0,0,14.08,28.83,14.46
$GC,431,-0.61,-145.9,2673,2707,3979,3862,85.6,-20.3,43,439,0.12,1.92,0.00,0.000,2308,0.313,0.105,2695,3790,3920,3978,3862,0,0,0,0,0,0,14.25,14.36,28.83
$GC,663,-0.61,-145.9,2696,3790,3979,3861,128.6,-17.3,89,673,0.00,1.80,0.00,0.000,1030,0.000,0.061,2695,2686,3919,3978,3861,0,0,0,0,0,0,28.83,14.44,28.83
$GC,977,-0.61,-145.9,2696,2686,3979,3861,177.0,-13.9,121,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2685,3919,3978,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-0.65,-145.9,2696,2686,3978,3860,215.3,-12.0,151,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2686,3919,3978,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.71,-145.9,2696,2686,3979,3861,249.9,-11.0,181,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2686,3919,3978,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-0.78,-145.9,2696,2686,3978,3860,284.6,-11.0,192,1896,0.12,1.95,0.00,0.000,4356,0.142,0.109,2632,3788,3916,3976,3856,0,0,0,0,0,0,14.52,14.49,28.83
$GC,1945,-0.71,-145.9,2633,3787,3977,3861,293.2,-15.5,203,1954,0.15,1.83,0.00,0.000,3078,0.256,0.063,2672,2701,3918,3975,3861,0,0,0,0,0,0,14.38,14.54,28.83
$GC,2262,-0.71,-145.9,2670,2700,3977,3861,331.2,-12.2,214,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2700,3918,3976,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2550,-0.71,-145.9,2673,2701,3976,3861,366.8,-11.7,224,2557,0.00,1.92,0.00,0.000,260,0.000,0.112,2665,3794,3917,3974,3861,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2586,-0.71,-145.9,2666,3794,3975,3861,371.6,-13.3,231,2595,0.00,1.85,0.00,0.000,1030,0.000,0.062,2664,2695,3917,3973,3861,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2914,-0.71,-145.9,2666,2696,3975,3862,411.7,-12.2,246,2922,0.00,1.92,0.00,0.000,260,0.000,0.112,2657,3786,3917,3974,3860,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2966,-0.71,-145.9,2658,3787,3974,3861,418.7,-13.4,256,2974,0.00,1.83,0.00,0.000,1030,0.000,0.061,2657,2697,3915,3973,3857,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3277,-0.71,-145.9,2658,2698,3974,3861,458.5,-12.6,268,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2696,3916,3974,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-0.71,-145.9,2658,2698,3975,3861,496.1,-12.3,278,3586,0.00,1.92,0.00,0.000,260,0.000,0.111,2649,3788,3916,3973,3860,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,3611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3611,begin apogee
$GC,3615,-0.13,0.0,2650,2842,3974,3861,500.5,-14.1,284,3801,0.80,0.00,179.77,1.512,10246,0.247,0.000,2857,2842,3315,3337,3294,0,0,0,0,0,0,14.30,28.83,13.14
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3804,begin climb
$GC,3805,0.70,145.9,2857,2842,3333,3289,507.2,0.0,290,3941,0.93,1.85,121.40,1.442,10500,0.143,0.108,3130,3786,2712,2720,2704,0,0,0,0,0,0,13.75,13.61,13.09
$GC,4036,0.55,145.9,3129,3786,2714,2698,486.4,15.9,329,4045,0.22,1.62,0.00,0.000,5126,0.285,0.061,3091,2824,2707,2717,2698,0,0,0,0,0,0,13.82,13.97,28.83
$GC,4355,0.55,156.0,3092,2824,2718,2695,449.4,11.4,342,4363,0.00,2.47,2.95,0.923,8708,0.000,0.076,3099,1438,2682,2696,2669,0,0,0,0,0,0,28.83,14.20,13.32
$GC,4407,0.56,170.9,3100,1437,2714,2678,443.5,11.1,352,4435,0.00,2.53,20.55,1.693,9222,0.000,0.100,3099,2840,2614,2626,2603,0,0,0,0,0,0,28.83,14.21,13.45
$GC,4755,0.56,170.9,3100,2841,2622,2595,400.2,12.5,370,4762,0.00,2.42,0.00,0.000,516,0.000,0.076,3110,1438,2608,2622,2594,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4801,0.57,183.0,3111,1438,2623,2593,394.8,11.2,379,4823,0.00,2.53,10.43,1.571,9222,0.000,0.099,3110,2845,2564,2577,2551,0,0,0,0,0,0,28.83,14.25,13.66
$GC,5117,0.57,183.0,3111,2846,2578,2548,354.0,12.9,392,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2846,2562,2576,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5416,0.57,183.0,3111,2847,2577,2549,315.8,12.7,402,5425,0.00,2.40,0.00,0.000,516,0.000,0.076,3119,1442,2561,2576,2547,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5489,0.58,190.5,3120,1442,2578,2547,307.3,11.5,416,5498,0.00,2.47,2.53,0.735,9222,0.000,0.100,3119,2839,2540,2553,2527,0,0,0,0,0,0,28.83,14.42,13.52
$GC,5812,0.58,190.5,3120,2841,2578,2539,265.4,13.2,430,5820,0.00,2.45,1.83,0.276,8708,0.000,0.074,3125,1446,2542,2561,2523,0,0,0,0,0,0,28.83,14.45,14.26
$GC,5864,0.58,198.7,3126,1446,2574,2533,259.1,11.5,440,5887,0.00,2.47,12.95,1.472,9222,0.000,0.099,3125,2844,2501,2514,2489,0,0,0,0,0,0,28.83,14.45,13.75
$GC,6191,0.58,198.7,3126,2844,2514,2487,215.0,13.5,474,6199,0.00,2.38,0.00,0.000,516,0.000,0.073,3133,1445,2499,2513,2486,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6243,0.59,201.5,3134,1446,2514,2487,208.5,11.8,484,6251,0.15,2.47,0.00,0.000,5126,0.262,0.100,3102,2840,2499,2513,2486,0,0,0,0,0,0,14.31,14.40,28.83
$GC,6555,0.66,242.5,3102,2841,2514,2486,175.1,9.7,516,6604,0.00,2.47,37.80,1.342,8708,0.000,0.076,3110,1449,2320,2325,2316,0,0,0,0,0,0,28.83,14.17,13.62
$GC,6668,0.80,289.0,3110,1449,2324,2313,164.6,9.4,536,6717,0.17,2.50,39.70,1.346,11270,0.111,0.100,3182,2839,2134,2133,2136,0,0,0,0,0,0,14.28,14.23,13.50
$GC,7021,0.80,289.0,3183,2840,2133,2125,114.2,14.1,574,7028,0.00,2.40,0.00,0.000,516,0.000,0.076,3191,1446,2128,2132,2124,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7122,0.80,289.0,3192,1446,2133,2122,101.5,12.0,594,7130,0.00,2.50,0.00,0.000,1030,0.000,0.100,3191,2841,2127,2133,2122,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7434,0.80,289.0,3192,2841,2134,2122,61.4,12.0,626,7442,0.00,2.40,0.00,0.000,516,0.000,0.076,3200,1447,2127,2133,2121,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7556,0.92,380.8,3201,1447,2133,2121,50.7,6.9,650,7603,0.00,2.50,39.67,0.341,9222,0.000,0.101,3200,2841,1762,1754,1771,0,0,0,0,0,0,28.83,14.35,14.16
$GC,7907,1.02,429.1,3201,2843,1759,1764,17.3,9.3,688,7936,0.12,1.75,21.45,0.243,10500,0.139,0.111,3251,3791,1565,1558,1572,0,0,0,0,0,0,14.40,14.34,14.26
$GC,8160,1.23,642.0,3252,3792,1558,1568,11.7,0.3,736,8264,0.10,1.60,93.85,0.224,11270,0.086,0.063,3305,2841,697,686,708,0,0,0,0,0,0,14.40,14.42,14.20
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8347,begin surface coast
$FINISH,0.9,1.019109
$STATE,8368,end surface coast,CONTROL_FINISHED_OK
$STATE,8368,begin surface
$SM_CCo,8389,17.70,0.203,0,0,538,681.20
$SM_GC,1.33,9.32,0.20,17.70,0.070,0.101,0.203,204,2709,538,-8.40,1.33,681.20,0,0,0,0,0,0,14.35,14.37,14.26
$RAFOS_CLK,290
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14412.41,290714,124201
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.08
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.70
$XPDR_PINGS,1
$SC_FREEKB,3927840
$TM_FREEKB,7665508
$24V_AH,13.09,8.784
$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,24.475,64.950,584.875,17.700,0.000,0.000,0.000,397.825,1.750,0.000,26.112,0.000,6014.317,722.731,2225.039,75.511,0.000,1817.931,0.000,1132.199,1491.000,13.152,0.000
$DEVICE_MAMPS,400.860,111.690,1692.945,203.490,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8392.000,8448.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.192,13.045,0.000,0.000
$MEM,304992
$DATA_FILE_SIZE,26757,762
$CAP_FILE_SIZE,126920,0
$CFSIZE,2097872896,2087419904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9349.36,0x2378b6,7,5
$SOUNDSPEED,1449.4
$EKF,8485,4259.912109,-8663.673828,0.945002,-0.072205,0.018816,-0.030693,0.000140,0.001321,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.046,153.26,1
$GPS,290714,174302,7059.717,-14423.375,25,0.7,45,22.4