version: 66.12
glider: 196
mission: 7
dive: 25
start: 7 29 114 20 23 7
data:
$ID,196
$MISSION,7
$DIVE,25
$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,-4705.5146
$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
$GPS1,290714,201225,7100.634,-14422.904,22,0.8,42,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.2
$GPS2,290714,202250,7100.617,-14422.981,4,0.9,25,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.2,65968,-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,20,-0.70,-145.9,168,2702,488,582,0.0,0.0,0,98,0.00,0.00,-74.80,0.000,16386,0.000,0.000,163,2705,2563,2571,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.70,-145.9,161,2702,2578,2556,4.7,-7.1,7,143,12.50,2.47,-20.27,0.000,18948,0.405,0.097,2676,1298,3915,3975,3856,0,0,0,0,0,0,14.00,14.21,14.40
$GC,257,-0.61,-145.9,2676,1298,3976,3860,49.8,-22.0,36,265,0.20,2.53,0.00,0.000,3078,0.294,0.099,2708,2707,3917,3975,3860,0,0,0,0,0,0,14.16,14.25,28.83
$GC,569,-0.61,-145.9,2708,2707,3976,3862,104.2,-15.9,68,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2707,3918,3975,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-0.61,-145.9,2708,2707,3976,3862,149.0,-14.5,98,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2707,3918,3975,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.66,-145.9,2708,2707,3976,3862,188.3,-12.1,128,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2707,3918,3975,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.74,-145.9,2708,2708,3976,3862,222.6,-11.0,158,1479,0.12,1.92,0.00,0.000,4356,0.134,0.109,2645,3787,3917,3974,3861,0,0,0,0,0,0,14.50,14.40,28.83
$GC,1578,-0.68,-145.9,2646,3787,3975,3860,239.6,-16.3,179,1588,0.15,1.85,0.00,0.000,3078,0.246,0.061,2685,2690,3917,3974,3861,0,0,0,0,0,0,14.35,14.50,28.83
$GC,1903,-0.73,-145.9,2685,2690,3974,3861,278.1,-11.4,196,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2690,3917,3973,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.79,-145.9,2685,2691,3973,3861,311.8,-11.1,206,2212,0.00,1.92,0.00,0.000,260,0.000,0.112,2678,3787,3916,3972,3860,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2281,-0.79,-145.9,2679,3787,3973,3861,321.3,-12.6,221,2289,0.00,1.83,0.00,0.000,1030,0.000,0.062,2678,2695,3916,3972,3860,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2599,-0.84,-145.9,2679,2695,3972,3860,357.7,-11.5,234,2608,0.12,1.92,0.00,0.000,4356,0.142,0.108,2618,3789,3915,3971,3860,0,0,0,0,0,0,14.54,14.52,28.83
$GC,2647,-0.75,-145.9,2619,3791,3971,3861,365.1,-16.2,243,2655,0.17,1.83,0.00,0.000,3078,0.275,0.061,2658,2697,3915,3970,3860,0,0,0,0,0,0,14.42,14.57,28.83
$GC,2964,-0.75,-145.9,2659,2697,3970,3860,405.1,-12.3,256,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2696,3915,3970,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3266,-0.75,-145.9,2659,2698,3971,3860,441.8,-12.1,266,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2697,3915,3970,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.75,-145.9,2656,2696,3971,3860,478.5,-12.2,276,3572,0.00,1.92,0.00,0.000,260,0.000,0.111,2652,3793,3914,3970,3859,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3671,-0.75,-145.9,2653,3794,3970,3860,492.8,-13.8,297,3679,0.00,1.83,0.00,0.000,1030,0.000,0.062,2652,2701,3914,3970,3859,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3749,begin apogee
$GC,3752,-0.13,0.0,2652,2845,3971,3859,502.6,-12.7,302,3880,0.77,0.00,124.15,1.740,10246,0.242,0.000,2856,2846,3316,3336,3296,0,0,0,0,0,0,14.45,28.83,13.24
$STATE,3883,end apogee,CONTROL_FINISHED_OK
$STATE,3883,begin climb
$GC,3884,0.70,145.9,2857,2847,3332,3291,506.1,0.0,306,4024,0.93,0.00,123.05,1.623,10246,0.142,0.000,3127,2845,2715,2722,2709,0,0,0,0,0,0,13.84,28.83,13.02
$GC,4319,0.63,145.9,3128,2846,2723,2699,458.0,13.4,321,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2846,2710,2722,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,0.55,145.9,3128,2846,2723,2698,417.9,13.2,331,4627,0.15,2.40,0.00,0.000,4612,0.283,0.073,3102,1449,2710,2722,2698,0,0,0,0,0,0,14.18,14.32,28.83
$GC,4686,0.58,180.7,3103,1448,2723,2698,410.5,10.0,344,4725,0.00,2.47,29.40,1.565,9222,0.000,0.100,3102,2835,2572,2583,2562,0,0,0,0,0,0,28.83,14.33,13.56
$GC,5049,0.58,180.7,3103,2836,2584,2557,364.5,13.0,365,5057,0.00,2.40,0.00,0.000,516,0.000,0.074,3112,1439,2569,2582,2557,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5100,0.58,180.7,3113,1439,2584,2557,358.1,12.1,375,5108,0.00,2.50,0.00,0.000,1030,0.000,0.099,3112,2840,2570,2583,2557,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5413,0.58,180.7,3113,2841,2584,2558,316.4,13.5,387,5421,0.00,2.38,0.00,0.000,516,0.000,0.073,3121,1448,2567,2578,2556,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5445,0.58,180.7,3121,1448,2584,2556,312.4,12.5,393,5452,0.00,2.47,0.00,0.000,1030,0.000,0.099,3121,2843,2569,2583,2556,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5777,0.58,180.7,3120,2844,2584,2557,267.2,13.7,409,5785,0.00,2.38,0.00,0.000,516,0.000,0.073,3127,1448,2569,2583,2556,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5809,0.58,180.7,3129,1449,2584,2557,262.8,12.5,415,5817,0.00,2.47,0.00,0.000,1030,0.000,0.099,3128,2848,2569,2583,2556,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6121,0.58,180.7,3128,2848,2584,2556,221.6,12.9,443,6130,0.12,2.38,0.00,0.000,4612,0.274,0.071,3108,1448,2569,2583,2556,0,0,0,0,0,0,14.38,14.47,28.83
$GC,6169,0.66,209.8,3109,1449,2583,2560,216.4,10.3,452,6205,0.00,2.45,24.35,1.388,9222,0.000,0.099,3108,2841,2454,2464,2445,0,0,0,0,0,0,28.83,14.46,13.79
$GC,6499,0.68,242.5,3108,2841,2464,2441,178.5,10.1,487,6534,0.00,2.50,27.83,1.301,8708,0.000,0.074,3115,1445,2322,2328,2317,0,0,0,0,0,0,28.83,14.19,13.72
$GC,6574,0.81,295.9,3116,1445,2324,2314,171.1,9.0,500,6629,0.17,2.50,45.72,1.236,11270,0.111,0.099,3185,2840,2104,2101,2108,0,0,0,0,0,0,14.26,14.22,13.48
$GC,6933,0.81,295.9,3192,2840,2101,2092,116.4,14.3,539,6941,0.00,2.42,0.00,0.000,516,0.000,0.075,3192,1443,2096,2100,2092,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7000,0.81,295.9,3193,1443,2101,2092,107.6,12.4,552,7009,0.00,2.50,0.00,0.000,1030,0.000,0.099,3192,2841,2095,2100,2091,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7305,0.81,295.9,3192,2841,2101,2090,67.1,12.6,583,7313,0.00,2.40,0.00,0.000,516,0.000,0.075,3199,1443,2095,2101,2089,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7322,0.82,298.4,3205,1444,2102,2089,65.2,11.8,586,7333,0.00,2.50,0.00,0.000,1030,0.000,0.099,3201,2844,2094,2101,2088,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7627,0.87,372.6,3202,2847,2102,2089,36.2,7.9,617,7667,0.00,2.40,32.62,0.299,8708,0.000,0.072,3210,1449,1793,1784,1803,0,0,0,0,0,0,28.83,14.35,14.21
$GC,7726,0.99,422.9,3209,1449,1789,1803,27.7,9.2,633,7756,0.00,2.50,22.48,0.269,9222,0.000,0.100,3210,2850,1589,1582,1596,0,0,0,0,0,0,28.83,14.33,14.23
$GC,8061,1.30,636.4,3210,2851,1588,1586,13.4,0.3,668,8165,0.35,1.70,93.93,0.227,10500,0.086,0.112,3337,3799,718,703,733,0,0,0,0,0,0,14.43,14.28,14.21
$STATE,8228,end climb,SURFACE_DEPTH_REACHED
$STATE,8228,begin surface coast
$FINISH,0.3,1.019577
$STATE,8239,end surface coast,CONTROL_FINISHED_OK
$STATE,8239,begin surface
$SM_CCo,8262,20.08,0.202,0,0,538,681.20
$SM_GC,1.15,9.43,1.88,20.08,0.070,0.059,0.202,208,2713,538,-8.40,1.36,681.20,0,0,0,0,0,0,14.33,14.35,14.24
$RAFOS_CLK,378
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14426.97,290714,174645
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.12
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3926944
$TM_FREEKB,7639684
$24V_AH,13.02,9.397
$10V_AH,13.25,0.000
$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,25.200,67.875,523.525,20.075,0.000,0.000,0.000,395.175,3.250,0.000,26.871,0.000,6022.181,712.509,2094.810,77.995,0.000,1746.204,0.000,1036.188,0.000,13.150,0.000
$DEVICE_MAMPS,405.450,124.695,1739.610,201.960,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8253.000,8309.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.071,13.052,0.000,0.000
$MEM,304044
$DATA_FILE_SIZE,23400,695
$CAP_FILE_SIZE,123341,0
$CFSIZE,2097872896,2086928384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8966.32,0x2378b6,7,5
$SOUNDSPEED,1449.3
$EKF,8360,4261.728027,-8662.701172,0.281113,0.333209,-0.401944,-0.153875,0.000148,0.001395,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.049,122.32,1
$GPS,290714,224224,7101.633,-14422.211,24,0.9,44,22.4