version: 66.12
glider: 196
mission: 7
dive: 30
start: 7 30 114 9 4 48
data:
$ID,196
$MISSION,7
$DIVE,30
$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,-4711.8086
$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
$GPS1,300714,085402,7105.826,-14419.214,17,0.8,37,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.8
$GPS2,300714,090431,7105.771,-14419.275,6,0.9,26,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.7,56247,-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,-145.9,199,2701,486,584,0.0,0.0,0,86,0.00,0.00,-63.17,0.000,16386,0.000,0.000,198,2700,2180,2190,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.70,-145.9,198,2700,2191,2175,3.3,-3.7,6,138,12.18,2.03,-30.55,0.000,19204,0.403,0.133,2667,3793,3915,3975,3856,0,0,0,0,0,0,14.07,14.23,14.45
$GC,362,-0.54,-145.9,2668,3792,3979,3862,77.5,-22.0,58,372,0.22,1.85,0.00,0.000,3078,0.261,0.056,2724,2692,3919,3976,3862,0,0,0,0,0,0,14.22,14.37,28.83
$GC,668,-0.58,-145.9,2725,2692,3977,3862,123.4,-13.5,89,675,0.00,1.92,0.00,0.000,260,0.000,0.108,2718,3786,3919,3976,3862,0,0,0,0,0,0,28.83,14.38,28.83
$GC,824,-0.58,-145.9,2719,3787,3977,3863,146.3,-14.1,120,834,0.00,1.83,0.00,0.000,1030,0.000,0.058,2718,2696,3919,3976,3862,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1130,-0.66,-145.9,2719,2696,3977,3863,184.1,-11.5,151,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2696,3919,3976,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-0.76,-145.9,2718,2695,3977,3862,216.1,-10.2,181,1433,0.17,0.00,0.00,0.000,4102,0.116,0.000,2650,2696,3918,3976,3861,0,0,0,0,0,0,14.50,28.83,28.83
$GC,1749,-0.76,-145.9,2650,2696,3975,3863,258.8,-13.3,209,1758,0.00,1.92,0.00,0.000,260,0.000,0.109,2641,3789,3918,3974,3862,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1832,-0.71,-145.9,2641,3789,3975,3862,271.2,-14.7,225,1840,0.10,1.80,0.00,0.000,3078,0.249,0.060,2667,2709,3917,3973,3862,0,0,0,0,0,0,14.38,14.52,28.83
$GC,2144,-0.71,-145.9,2668,2709,3969,3862,309.8,-12.1,237,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2709,3917,3973,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,-0.71,-145.9,2668,2709,3973,3862,346.3,-12.2,247,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2709,3917,3972,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2744,-0.71,-145.9,2668,2709,3972,3862,382.6,-12.1,257,2752,0.00,1.92,0.00,0.000,260,0.000,0.109,2661,3805,3916,3971,3861,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2795,-0.71,-145.9,2662,3806,3971,3861,389.5,-13.9,267,2805,0.00,1.85,0.00,0.000,1030,0.000,0.060,2660,2692,3915,3969,3861,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3109,-0.71,-145.9,2661,2692,3971,3861,428.7,-12.4,279,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2692,3915,3970,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-0.71,-145.9,2660,2692,3971,3861,465.0,-12.1,289,3417,0.00,1.92,0.00,0.000,260,0.000,0.109,2652,3790,3915,3970,3861,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3481,-0.71,-145.9,2652,3794,3971,3861,474.6,-13.6,303,3490,0.00,1.83,0.00,0.000,1030,0.000,0.059,2652,2690,3915,3970,3861,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3715,begin apogee
$GC,3718,-0.13,0.0,2652,2847,3970,3861,503.7,-12.4,314,3846,0.77,0.00,122.95,1.769,10246,0.241,0.000,2856,2846,3316,3337,3296,0,0,0,0,0,0,14.46,28.83,13.16
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3849,0.70,145.9,2858,2847,3333,3292,507.3,0.0,318,3981,0.93,0.00,121.57,1.645,10246,0.141,0.000,3128,2846,2717,2723,2712,0,0,0,0,0,0,13.83,28.83,13.05
$GC,4255,0.63,145.9,3128,2846,2724,2704,462.7,13.5,332,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2846,2713,2724,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,0.56,145.9,3128,2845,2725,2702,421.9,13.7,342,4563,0.17,2.40,0.00,0.000,4612,0.272,0.073,3099,1455,2713,2724,2702,0,0,0,0,0,0,14.18,14.30,28.83
$GC,4612,0.61,167.1,3100,1455,2725,2702,415.6,10.7,353,4640,0.00,2.47,18.02,1.535,9222,0.000,0.098,3099,2841,2632,2642,2622,0,0,0,0,0,0,28.83,14.31,13.57
$GC,4954,0.61,167.1,3100,2840,2643,2617,373.6,12.2,370,4962,0.00,2.38,0.00,0.000,516,0.000,0.071,3109,1452,2629,2642,2617,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4991,0.61,168.1,3110,1453,2642,2618,369.3,11.9,377,4999,0.00,2.47,0.00,0.000,1030,0.000,0.097,3109,2845,2629,2642,2617,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5318,0.61,168.1,3110,2845,2643,2616,327.8,12.8,392,5326,0.00,2.35,0.00,0.000,516,0.000,0.072,3117,1456,2629,2642,2616,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5355,0.62,170.1,3118,1456,2643,2616,323.3,11.8,399,5364,0.00,2.45,0.00,0.000,1030,0.000,0.098,3117,2841,2628,2642,2615,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5684,0.62,170.1,3118,2842,2643,2617,280.8,12.8,414,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2841,2629,2642,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,0.62,170.1,3119,2842,2643,2616,242.7,12.8,426,5991,0.00,2.35,0.00,0.000,516,0.000,0.072,3125,1446,2628,2642,2615,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6050,0.62,171.4,3126,1445,2643,2615,234.8,11.8,439,6061,0.00,2.45,1.05,0.313,9222,0.000,0.098,3125,2841,2621,2637,2606,0,0,0,0,0,0,28.83,14.52,14.31
$GC,6355,0.62,171.4,3126,2840,2648,2609,197.6,11.9,470,6364,0.00,2.35,1.30,0.371,8708,0.000,0.070,3125,1456,2621,2639,2603,0,0,0,0,0,0,28.83,14.49,14.19
$GC,6412,0.64,205.3,3126,1456,2647,2608,191.5,10.1,481,6454,0.00,2.45,32.12,1.433,9222,0.000,0.097,3125,2846,2473,2482,2465,0,0,0,0,0,0,28.83,14.45,13.66
$GC,6758,0.66,227.3,3126,2847,2483,2461,152.9,10.7,518,6787,0.00,2.45,18.45,1.372,8708,0.000,0.073,3122,1462,2384,2391,2378,0,0,0,0,0,0,28.83,14.23,13.69
$GC,6816,0.77,266.9,3126,1461,2392,2376,147.3,9.7,527,6859,0.00,2.47,33.78,1.351,9222,0.000,0.097,3125,2841,2224,2227,2222,0,0,0,0,0,0,28.83,14.26,13.54
$GC,7153,0.86,299.0,3126,2841,2228,2214,112.3,10.2,563,7189,0.20,2.47,24.52,1.238,10756,0.106,0.073,3209,1453,2090,2091,2089,0,0,0,0,0,0,14.32,14.14,13.65
$GC,7233,0.86,299.0,3210,1453,2092,2086,101.4,13.6,577,7241,0.00,2.50,0.00,0.000,1030,0.000,0.097,3209,2838,2088,2091,2085,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7546,0.81,299.0,3210,2836,2092,2084,57.0,13.6,609,7549,0.15,0.00,0.00,0.000,4102,0.265,0.000,3177,2839,2087,2091,2083,0,0,0,0,0,0,14.23,28.83,28.83
$GC,7846,0.93,379.5,3178,2839,2093,2081,32.3,7.5,639,7889,0.00,2.38,34.35,0.298,8708,0.000,0.072,3186,1456,1767,1760,1775,0,0,0,0,0,0,28.83,14.31,14.21
$GC,7948,1.11,453.7,3187,1457,1763,1773,23.8,7.9,657,7991,0.25,2.47,32.70,0.266,11270,0.099,0.099,3281,2847,1465,1457,1473,0,0,0,0,0,0,14.38,14.34,14.17
$FREEZE,12.10,5.316,-1.398,0,1,0
$STATE,8254,end climb,NO_VERTICAL_VELOCITY
$STATE,8254,begin surface
$SM_CCo,8258,104.30,0.226,0,0,499,691.26
$SM_GC,1.30,9.60,0.20,0.00,0.103,0.096,0.000,207,2709,494,-8.40,1.70,691.75,0,0,0,0,0,0,14.37,14.44,28.83
$RAFOS_CLK,387
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14419.28,300714,062219
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.59
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.50
$XPDR_PINGS,1
$SC_FREEKB,3924704
$TM_FREEKB,7574304
$24V_AH,13.05,10.937
$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,24.750,58.225,440.825,104.300,0.000,0.000,0.000,391.450,1.750,0.000,27.298,0.000,6293.114,712.637,2079.003,80.313,0.000,1723.699,0.000,1027.501,0.000,14.074,0.000
$DEVICE_MAMPS,403.155,133.110,1769.445,226.440,0.000,0.000,0.000,184.365,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8270.000,8326.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.110,13.066,0.000,0.000
$MEM,301844
$DATA_FILE_SIZE,23428,690
$CAP_FILE_SIZE,122562,0
$CFSIZE,2097872896,2085683200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9325.27,0x2378b6,7,5
$SOUNDSPEED,1448.6
$EKF,8603,4266.889648,-8658.866211,12.098072,0.001499,-0.000631,-0.010590,0.000147,0.001405,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.034,88.05,1
$GPS,300714,112808,7106.896,-14418.378,12,0.8,32,22.4