version: 66.12
glider: 196
mission: 7
dive: 17
start: 7 28 114 23 59 26
data:
$ID,196
$MISSION,7
$DIVE,17
$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,-4695.4526
$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,28
$R_STBD_OVSHOOT,18
$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
$GPS1,280714,234912,7054.647,-14428.410,36,0.8,56,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.2
$GPS2,280714,235909,7054.542,-14428.384,4,0.8,24,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.1,77528,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.70,-145.9,198,2699,492,567,0.0,0.0,0,89,0.00,0.00,-69.00,0.000,16386,0.000,0.000,203,2699,2313,2320,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.70,-145.9,196,2699,2321,2307,4.5,-7.0,7,138,12.27,0.00,-27.67,0.000,19206,0.406,0.000,2672,2696,3913,3974,3853,0,0,0,0,0,0,14.04,28.83,14.42
$GC,433,-0.61,-145.9,2673,2698,3975,3858,84.1,-20.1,44,442,0.15,1.95,0.00,0.000,2308,0.305,0.106,2701,3790,3916,3975,3857,0,0,0,0,0,0,14.16,14.28,28.83
$GC,556,-0.57,-145.9,2701,3789,3976,3857,107.2,-18.1,68,565,0.00,1.88,0.00,0.000,1030,0.000,0.062,2701,2687,3915,3974,3857,0,0,0,0,0,0,28.83,14.33,28.83
$GC,869,-0.57,-145.9,2702,2688,3974,3858,156.9,-14.9,100,878,0.00,2.38,0.00,0.000,516,0.000,0.078,2700,1299,3915,3974,3857,0,0,0,0,0,0,28.83,14.34,28.83
$GC,892,-0.57,-145.9,2701,1297,3975,3858,160.4,-14.9,104,902,0.15,2.50,0.00,0.000,3078,0.271,0.103,2721,2698,3915,3974,3857,0,0,0,0,0,0,14.23,14.32,28.83
$GC,1207,-0.66,-145.9,2722,2699,3975,3858,198.4,-10.8,136,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2698,3915,3974,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1509,-0.77,-145.9,2722,2699,3976,3856,228.7,-9.8,166,1512,0.20,0.00,0.00,0.000,4102,0.109,0.000,2649,2698,3915,3974,3856,0,0,0,0,0,0,14.41,28.83,28.83
$GC,1816,-0.77,-145.9,2649,2698,3975,3856,271.8,-14.0,187,1824,0.00,1.92,0.00,0.000,260,0.000,0.112,2639,3792,3914,3973,3856,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1873,-0.72,-145.9,2640,3792,3973,3856,280.5,-15.7,198,1882,0.08,1.85,0.00,0.000,3078,0.258,0.065,2671,2701,3914,3972,3856,0,0,0,0,0,0,14.34,14.47,28.83
$GC,2178,-0.72,-145.9,2672,2701,3972,3857,318.2,-12.2,209,2186,0.00,1.92,0.00,0.000,260,0.000,0.113,2665,3792,3913,3971,3856,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2224,-0.72,-145.9,2665,3792,3973,3855,324.3,-13.3,218,2232,0.00,1.85,0.00,0.000,1030,0.000,0.065,2665,2693,3913,3970,3856,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2542,-0.72,-145.9,2665,2696,3971,3856,363.9,-12.4,231,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2696,3913,3970,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2843,-0.72,-145.9,2665,2696,3971,3856,400.6,-12.2,241,2850,0.00,1.92,0.00,0.000,260,0.000,0.113,2656,3792,3913,3970,3856,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2914,-0.72,-145.9,2658,3793,3970,3857,410.4,-13.5,255,2922,0.00,1.83,0.00,0.000,1030,0.000,0.065,2656,2704,3912,3970,3855,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3236,-0.72,-145.9,2657,2704,3970,3856,451.5,-12.7,269,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2703,3913,3970,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-0.72,-145.9,2658,2703,3970,3855,489.6,-12.7,279,3544,0.00,1.90,0.00,0.000,260,0.000,0.113,2648,3787,3912,3969,3855,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3582,-0.72,-145.9,2648,3788,3970,3855,496.2,-14.0,288,3592,0.00,1.77,0.00,0.000,1030,0.000,0.066,2648,2701,3912,3969,3856,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3631,begin apogee
$GC,3634,-0.13,0.0,2648,2852,3964,3856,502.6,-13.3,292,3768,0.80,0.00,127.80,1.700,10246,0.249,0.000,2856,2852,3314,3335,3293,0,0,0,0,0,0,14.43,28.83,13.14
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3771,0.70,145.9,2857,2852,3326,3285,506.6,0.0,296,3908,0.95,0.00,126.12,1.638,10246,0.145,0.000,3132,2852,2716,2723,2709,0,0,0,0,0,0,13.83,28.83,13.05
$GC,4201,0.61,145.9,3132,2853,2714,2690,459.7,13.5,311,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2852,2701,2713,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,0.53,145.9,3133,2853,2714,2689,419.1,13.5,321,4510,0.20,2.42,0.00,0.000,4612,0.275,0.076,3094,1448,2701,2713,2689,0,0,0,0,0,0,14.17,14.32,28.83
$GC,4544,0.60,176.4,3093,1443,2714,2688,414.4,10.2,329,4578,0.00,2.50,26.60,1.482,9222,0.000,0.103,3094,2837,2594,2604,2584,0,0,0,0,0,0,28.83,14.32,13.57
$GC,4902,0.60,176.4,3095,2841,2593,2564,371.3,12.0,349,4910,0.00,2.42,0.00,0.000,516,0.000,0.078,3103,1439,2577,2592,2563,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4934,0.65,193.6,3104,1439,2592,2564,367.7,11.0,355,4955,0.00,2.50,14.70,1.444,9222,0.000,0.101,3103,2841,2524,2536,2512,0,0,0,0,0,0,28.83,14.33,13.68
$GC,5269,0.65,193.6,3104,2841,2525,2495,325.5,12.6,371,5277,0.00,2.40,0.00,0.000,516,0.000,0.078,3112,1440,2509,2524,2495,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5311,0.70,199.3,3112,1443,2525,2494,320.4,11.6,379,5319,0.00,2.50,0.00,0.000,1030,0.000,0.102,3111,2845,2509,2525,2494,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5633,0.70,199.3,3113,2846,2525,2496,279.0,12.8,393,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2845,2509,2524,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,0.70,199.3,3113,2842,2525,2495,240.9,12.8,407,5941,0.00,2.38,0.00,0.000,516,0.000,0.077,3120,1443,2509,2525,2494,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6006,0.70,208.2,3121,1443,2524,2495,232.5,11.4,421,6026,0.00,2.47,12.32,1.327,9222,0.000,0.103,3121,2841,2464,2474,2454,0,0,0,0,0,0,28.83,14.45,13.83
$GC,6331,0.70,208.2,3121,2841,2467,2440,191.1,12.2,455,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2841,2453,2467,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,0.73,250.4,3122,2842,2468,2440,159.1,9.6,485,6677,0.00,2.45,37.72,1.244,8708,0.000,0.079,3125,1445,2281,2286,2277,0,0,0,0,0,0,28.83,14.21,13.71
$GC,6786,0.88,305.5,3126,1445,2279,2266,144.3,8.9,514,6842,0.20,2.53,47.28,1.214,11270,0.104,0.103,3201,2846,2066,2062,2071,0,0,0,0,0,0,14.32,14.27,13.54
$GC,7146,0.84,305.5,3202,2847,2051,2045,91.4,14.3,553,7154,0.00,2.45,0.00,0.000,516,0.000,0.079,3209,1440,2046,2050,2043,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7253,0.84,305.5,3210,1441,2051,2043,77.3,13.0,574,7262,0.12,2.53,0.00,0.000,5126,0.263,0.102,3184,2844,2046,2050,2042,0,0,0,0,0,0,14.24,14.31,28.83
$GC,7558,0.88,367.4,3185,2845,2052,2041,45.0,8.5,605,7592,0.00,0.00,25.75,0.315,8198,0.000,0.000,3184,2846,1816,1808,1825,0,0,0,0,0,0,28.83,28.83,14.20
$GC,7888,1.02,434.3,3185,2845,1838,1828,17.9,8.3,638,7931,0.17,1.73,31.95,0.233,10500,0.124,0.111,3250,3786,1543,1537,1549,0,0,0,0,0,0,14.44,14.31,14.27
$GC,8155,1.16,629.6,3252,3786,1557,1550,10.9,1.3,687,8251,0.00,1.60,88.32,0.217,9222,0.000,0.067,3257,2840,747,745,749,0,0,0,0,0,0,28.83,14.42,14.22
$STATE,8374,end climb,SURFACE_DEPTH_REACHED
$STATE,8374,begin surface coast
$FINISH,0.1,1.019165
$STATE,8414,end surface coast,CONTROL_FINISHED_OK
$STATE,8414,begin surface
$SM_CCo,8436,25.10,0.205,0,0,539,681.20
$SM_GC,0.92,9.38,0.20,25.10,0.090,0.105,0.205,209,2702,539,-8.39,1.39,681.20,0,0,0,0,0,0,14.38,14.40,14.26
$RAFOS_CLK,393
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14420.10,280714,214050
$TT8_MAMPS,0.04494,0.04494
$HUMID,47.87
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.80
$XPDR_PINGS,6
$SC_FREEKB,3930528
$TM_FREEKB,7744640
$24V_AH,13.05,6.843
$10V_AH,13.26,0.000
$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,24.675,57.025,538.575,25.100,0.000,0.000,0.000,386.575,3.000,0.000,26.127,0.000,6167.282,672.893,2147.228,70.737,0.000,1748.886,0.000,1069.641,1435.000,13.151,0.000
$DEVICE_MAMPS,406.215,122.400,1699.830,205.020,0.000,0.000,0.000,177.480,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8434.000,8475.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.793,13.297,0.000,0.000
$MEM,307612
$DATA_FILE_SIZE,23385,718
$CAP_FILE_SIZE,123322,0
$CFSIZE,2097872896,2088960000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7770.19,0x2378b6,7,5
$SOUNDSPEED,1449.2
$EKF,8551,4255.695801,-8668.131836,0.126012,0.000598,-0.001144,0.014822,0.000152,0.001419,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.084,167.13,1
$GPS,290714,022154,7055.318,-14427.868,36,0.7,56,22.3