version: 66.12
glider: 196
mission: 7
dive: 29
start: 7 30 114 6 29 22
data:
$ID,196
$MISSION,7
$DIVE,29
$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,-4710.5508
$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,41
$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
$GPS1,300714,061838,7104.762,-14419.965,14,0.8,34,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.7
$GPS2,300714,062905,7104.705,-14419.883,6,0.7,26,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.7,58246,-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,19,begin dive
$GC,20,-0.70,-145.9,183,2702,454,528,0.0,0.0,0,96,0.00,0.00,-72.70,0.000,16386,0.000,0.000,182,2701,2460,2467,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.70,-145.9,181,2702,2468,2463,4.9,-7.1,7,140,12.15,2.00,-23.15,0.000,19204,0.399,0.134,2668,3787,3914,3974,3855,0,0,0,0,0,0,14.11,14.24,14.44
$GC,294,-0.53,-145.9,2669,3788,3975,3859,62.1,-23.6,44,304,0.28,1.80,0.00,0.000,3078,0.285,0.057,2729,2690,3917,3974,3860,0,0,0,0,0,0,14.19,14.35,28.83
$GC,599,-0.53,-145.9,2730,2693,3975,3861,109.7,-13.9,75,607,0.00,1.98,0.00,0.000,260,0.000,0.108,2723,3782,3917,3974,3861,0,0,0,0,0,0,28.83,14.37,28.83
$GC,666,-0.53,-145.9,2723,3782,3976,3861,119.7,-15.3,88,675,0.00,1.80,0.00,0.000,1030,0.000,0.058,2723,2703,3917,3974,3861,0,0,0,0,0,0,28.83,14.42,28.83
$GC,971,-0.59,-145.9,2724,2704,3975,3862,160.5,-12.3,119,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2703,3917,3974,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.68,-145.9,2724,2704,3975,3862,194.6,-10.3,149,1274,0.12,0.00,0.00,0.000,4102,0.142,0.000,2673,2703,3916,3974,3858,0,0,0,0,0,0,14.49,28.83,28.83
$GC,1571,-0.68,-145.9,2673,2704,3975,3862,232.8,-12.8,179,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2703,3917,3974,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-0.68,-145.9,2674,2704,3973,3861,272.9,-12.4,199,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2703,3917,3973,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.68,-145.9,2674,2704,3973,3861,309.3,-11.9,209,2200,0.00,1.90,0.00,0.000,260,0.000,0.109,2665,3786,3915,3970,3861,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2249,-0.68,-145.9,2665,3787,3971,3862,317.0,-13.0,220,2259,0.00,1.80,0.00,0.000,1030,0.000,0.061,2664,2708,3915,3970,3861,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2555,-0.68,-145.9,2665,2708,3970,3862,354.8,-12.3,231,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2708,3915,3970,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-0.68,-145.9,2665,2709,3970,3863,391.0,-11.9,241,2864,0.00,1.90,0.00,0.000,260,0.000,0.109,2655,3792,3914,3969,3860,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2907,-0.68,-145.9,2656,3793,3969,3861,398.2,-13.9,251,2915,0.10,1.83,0.00,0.000,3078,0.256,0.060,2679,2699,3914,3968,3860,0,0,0,0,0,0,14.44,14.57,28.83
$GC,3220,-0.74,-145.9,2682,2700,3969,3861,432.1,-10.7,263,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2699,3914,3968,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.81,-145.9,2682,2700,3969,3861,463.6,-10.4,273,3529,0.00,1.90,0.00,0.000,260,0.000,0.110,2675,3786,3914,3968,3860,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3583,-0.81,-145.9,2675,3786,3969,3860,471.0,-11.9,285,3593,0.00,1.80,0.00,0.000,1030,0.000,0.061,2675,2703,3913,3968,3859,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3857,begin apogee
$GC,3860,-0.13,0.0,2675,2846,3969,3860,500.5,-10.7,299,3987,0.70,0.00,122.25,1.760,10246,0.238,0.000,2859,2845,3316,3336,3296,0,0,0,0,0,0,14.45,28.83,13.15
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3990,0.70,145.9,2860,2845,3333,3290,503.5,0.0,303,4121,0.93,0.00,120.72,1.609,10246,0.144,0.000,3129,2845,2719,2727,2712,0,0,0,0,0,0,13.83,28.83,13.03
$GC,4397,0.62,145.9,3130,2846,2725,2704,457.6,13.7,317,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2845,2713,2724,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4697,0.55,145.9,3130,2845,2725,2701,417.0,13.4,327,4705,0.15,2.40,0.00,0.000,4612,0.279,0.070,3104,1449,2712,2724,2701,0,0,0,0,0,0,14.18,14.31,28.83
$GC,4734,0.56,155.6,3105,1448,2725,2701,412.5,11.4,334,4753,0.00,2.47,8.88,1.531,9222,0.000,0.099,3104,2838,2677,2689,2666,0,0,0,0,0,0,28.83,14.31,13.64
$GC,5062,0.56,155.6,3105,2838,2690,2663,372.7,12.1,349,5072,0.00,2.38,0.00,0.000,516,0.000,0.072,3112,1448,2676,2689,2663,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5096,0.56,155.6,3113,1448,2690,2663,368.8,12.0,355,5104,0.00,2.47,0.00,0.000,1030,0.000,0.099,3112,2842,2676,2689,2663,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5428,0.56,155.6,3113,2843,2690,2663,327.0,12.7,371,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2842,2672,2682,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,0.56,155.6,3113,2843,2690,2663,289.3,12.7,381,5737,0.00,2.38,0.00,0.000,516,0.000,0.070,3121,1440,2675,2689,2662,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5786,0.56,165.6,3122,1440,2690,2663,282.5,11.4,392,5803,0.00,2.50,9.45,1.454,9222,0.000,0.098,3121,2848,2637,2649,2626,0,0,0,0,0,0,28.83,14.39,13.76
$GC,6107,0.56,165.6,3119,2848,2650,2624,242.0,12.1,411,6111,0.12,0.00,0.00,0.000,4102,0.272,0.000,3094,2848,2637,2649,2625,0,0,0,0,0,0,14.24,28.83,28.83
$GC,6407,0.58,191.4,3097,2849,2650,2625,209.5,10.5,441,6437,0.00,2.50,21.90,1.473,8708,0.000,0.073,3105,1449,2532,2543,2522,0,0,0,0,0,0,28.83,14.20,13.62
$GC,6506,0.68,224.7,3106,1449,2543,2521,199.3,10.1,459,6542,0.00,2.47,28.92,1.408,9222,0.000,0.098,3105,2836,2400,2405,2395,0,0,0,0,0,0,28.83,14.23,13.52
$GC,6846,0.76,256.9,3106,2837,2401,2384,162.0,10.2,495,6881,0.15,0.00,27.55,1.347,10758,0.125,0.000,3165,2836,2262,2265,2259,0,0,0,0,0,0,14.27,28.83,13.55
$GC,7176,0.76,256.9,3166,2837,2266,2254,120.2,12.3,530,7184,0.00,2.42,0.00,0.000,516,0.000,0.073,3174,1440,2259,2266,2252,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7268,0.79,292.1,3175,1441,2266,2253,110.1,10.0,548,7303,0.00,2.50,26.98,1.270,9222,0.000,0.099,3174,2841,2121,2123,2120,0,0,0,0,0,0,28.83,14.31,13.62
$GC,7607,0.79,299.2,3175,2840,2122,2110,68.6,11.5,584,7612,0.00,0.00,2.08,0.356,8198,0.000,0.000,3174,2841,2096,2101,2091,0,0,0,0,0,0,28.83,28.83,14.12
$GC,7907,0.91,393.6,3175,2842,2118,2092,40.8,6.8,614,7962,0.00,2.45,42.15,0.308,8708,0.000,0.076,3178,1453,1710,1707,1714,0,0,0,0,0,0,28.83,14.28,14.18
$GC,8056,1.10,456.8,3178,1454,1704,1708,28.7,8.5,641,8095,0.28,2.47,28.05,0.282,11270,0.096,0.099,3280,2839,1451,1446,1457,0,0,0,0,0,0,14.35,14.30,14.17
$GC,8389,1.32,656.5,3281,2841,1451,1442,12.8,1.0,676,8485,0.17,1.75,87.28,0.231,10500,0.121,0.109,3345,3786,637,618,657,0,0,0,0,0,0,14.38,14.24,14.19
$STATE,8559,end climb,SURFACE_DEPTH_REACHED
$STATE,8559,begin surface coast
$FINISH,0.2,1.018943
$STATE,8579,end surface coast,CONTROL_FINISHED_OK
$STATE,8579,begin surface
$SM_CCo,8602,10.65,0.203,0,0,540,681.44
$SM_GC,2.08,9.43,1.85,10.65,0.068,0.061,0.203,207,2706,540,-8.40,1.47,681.44,0,0,0,0,0,0,14.33,14.36,14.24
$RAFOS_CLK,152
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14419.28,300714,035029
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.79
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.50
$XPDR_PINGS,5
$SC_FREEKB,3925152
$TM_FREEKB,7587288
$24V_AH,13.03,10.642
$10V_AH,13.30,0.000
$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,24.575,51.975,526.200,10.650,0.000,0.000,0.000,393.425,2.750,0.000,27.427,0.000,6357.380,677.460,2125.015,77.998,0.000,1709.406,0.000,1056.233,1482.000,13.655,0.000
$DEVICE_MAMPS,399.330,133.875,1760.265,203.490,0.000,0.000,0.000,182.070,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8593.000,8647.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.251,13.055,0.000,0.000
$MEM,302316
$DATA_FILE_SIZE,23379,709
$CAP_FILE_SIZE,123779,0
$CFSIZE,2097872896,2085945344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9093.36,0x2378b6,7,5
$SOUNDSPEED,1449.0
$EKF,8683,4265.847656,-8659.707031,0.238172,-0.022504,-0.251221,-0.012184,0.000153,0.001458,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.037,96.72,1
$GPS,300714,085402,7105.826,-14419.214,17,0.8,37,22.4