version: 66.12
glider: 196
mission: 7
dive: 19
start: 7 29 114 5 6 3
data:
$ID,196
$MISSION,7
$DIVE,19
$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,-4697.9688
$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,20
$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
$GPS1,290714,045543,7056.042,-14427.131,14,0.8,34,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-78.3
$GPS2,290714,050545,7056.000,-14427.205,4,0.8,24,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.6,74760,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-145.9,199,2697,461,527,0.0,0.0,0,83,0.00,0.00,-63.58,0.000,16386,0.000,0.000,198,2697,2231,2240,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.70,-145.9,199,2698,2241,2225,4.5,-6.5,6,135,12.25,0.00,-28.40,0.000,18950,0.409,0.000,2673,2697,3915,3976,3855,0,0,0,0,0,0,14.08,28.83,14.47
$GC,428,-0.61,-145.9,2672,2696,3977,3859,86.3,-20.2,43,436,0.15,1.92,0.00,0.000,2308,0.311,0.108,2698,3788,3917,3976,3859,0,0,0,0,0,0,14.26,14.36,28.83
$GC,590,-0.61,-145.9,2698,3789,3977,3858,116.4,-18.2,75,599,0.00,1.85,0.00,0.000,1030,0.000,0.063,2697,2697,3917,3976,3859,0,0,0,0,0,0,28.83,14.40,28.83
$GC,903,-0.61,-145.9,2698,2698,3977,3860,166.2,-14.8,107,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2698,3917,3976,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-0.66,-145.9,2698,2697,3977,3858,205.1,-12.2,137,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2697,3917,3976,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-0.72,-145.9,2698,2698,3977,3859,240.4,-11.2,167,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2698,3916,3975,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1803,-0.79,-145.9,2698,2698,3976,3858,273.0,-10.5,183,1807,0.15,0.00,0.00,0.000,4102,0.131,0.000,2648,2697,3916,3975,3858,0,0,0,0,0,0,14.52,28.83,28.83
$GC,2103,-0.79,-145.9,2642,2698,3975,3859,313.6,-13.8,193,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2697,3916,3974,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.79,-145.9,2642,2698,3974,3859,355.2,-13.8,203,2411,0.00,1.92,0.00,0.000,260,0.000,0.114,2632,3790,3915,3973,3858,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2455,-0.73,-145.9,2633,3790,3974,3858,363.0,-16.3,213,2465,0.12,1.85,0.00,0.000,3078,0.259,0.064,2665,2694,3916,3974,3858,0,0,0,0,0,0,14.42,14.57,28.83
$GC,2770,-0.73,-145.9,2664,2695,3973,3859,401.3,-12.0,225,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2694,3915,3973,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.73,-145.9,2665,2695,3974,3859,437.4,-12.0,235,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2694,3915,3973,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,-0.78,-145.9,2666,2695,3973,3859,473.1,-11.9,245,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2694,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3609,begin apogee
$GC,3612,-0.13,0.0,2665,2846,3974,3857,501.4,-11.7,253,3742,0.73,0.00,125.47,1.751,10246,0.246,0.000,2857,2847,3317,3338,3296,0,0,0,0,0,0,14.47,28.83,13.17
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3745,0.70,145.9,2858,2848,3332,3289,505.1,0.0,257,3885,0.95,0.00,125.47,1.658,10246,0.149,0.000,3131,2847,2710,2718,2703,0,0,0,0,0,0,13.83,28.83,13.05
$GC,4179,0.62,145.9,3134,2847,2718,2694,458.3,13.3,272,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2846,2705,2717,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,0.53,145.9,3132,2845,2718,2693,417.6,13.4,282,4487,0.20,2.42,0.00,0.000,4612,0.278,0.074,3093,1439,2708,2717,2700,0,0,0,0,0,0,14.18,14.32,28.83
$GC,4521,0.60,177.8,3094,1438,2717,2693,412.9,10.2,290,4555,0.00,2.50,27.48,1.513,9222,0.000,0.101,3093,2836,2586,2594,2579,0,0,0,0,0,0,28.83,14.33,13.57
$GC,4879,0.60,177.8,3094,2837,2590,2563,369.9,12.2,310,4887,0.00,2.42,0.00,0.000,516,0.000,0.076,3102,1433,2575,2589,2562,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4916,0.66,189.2,3103,1434,2591,2563,365.6,11.3,317,4926,0.00,2.53,3.88,1.089,9222,0.000,0.101,3102,2848,2545,2558,2532,0,0,0,0,0,0,28.83,14.33,13.55
$GC,5245,0.66,189.2,3103,2849,2585,2544,324.4,12.6,332,5254,0.00,2.50,2.28,0.494,8708,0.000,0.076,3112,1435,2546,2565,2528,0,0,0,0,0,0,28.83,14.40,13.66
$GC,5278,0.66,189.2,3112,1437,2577,2542,320.4,12.3,338,5286,0.00,2.50,1.45,0.265,9222,0.000,0.101,3112,2843,2544,2562,2527,0,0,0,0,0,0,28.83,14.40,14.29
$GC,5610,0.66,189.2,3113,2845,2585,2538,277.3,13.0,354,5616,0.00,0.00,1.90,0.246,8198,0.000,0.000,3112,2844,2543,2561,2526,0,0,0,0,0,0,28.83,28.83,14.36
$GC,5910,0.66,189.2,3113,2844,2585,2536,240.1,12.2,368,5919,0.00,2.47,1.77,0.252,8708,0.000,0.076,3120,1436,2546,2566,2526,0,0,0,0,0,0,28.83,14.48,14.38
$GC,5973,0.67,199.5,3121,1436,2580,2539,232.8,11.3,380,5996,0.00,2.47,15.23,1.439,9222,0.000,0.101,3120,2840,2498,2511,2485,0,0,0,0,0,0,28.83,14.46,13.81
$GC,6300,0.67,201.0,3120,2840,2506,2477,192.7,11.8,414,6308,0.00,2.40,0.00,0.000,516,0.000,0.076,3128,1434,2490,2504,2477,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6322,0.68,222.7,3129,1433,2506,2478,190.4,10.7,418,6352,0.00,2.50,20.60,1.320,9222,0.000,0.101,3128,2842,2401,2409,2393,0,0,0,0,0,0,28.83,14.39,13.78
$GC,6646,0.71,264.6,3129,2843,2405,2384,153.9,9.6,452,6691,0.00,2.53,36.33,1.260,8708,0.000,0.077,3138,1440,2228,2232,2224,0,0,0,0,0,0,28.83,14.14,13.66
$GC,6725,0.82,294.0,3139,1441,2226,2215,145.8,10.3,465,6762,0.10,2.53,25.35,1.255,11270,0.156,0.101,3180,2839,2107,2107,2108,0,0,0,0,0,0,14.20,14.18,13.58
$GC,7056,0.82,294.0,3181,2839,2106,2095,100.8,13.0,500,7064,0.00,2.42,0.00,0.000,516,0.000,0.077,3191,1441,2099,2104,2095,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7149,0.83,307.8,3191,1440,2105,2094,89.9,11.2,518,7163,0.00,2.50,4.57,0.377,9222,0.000,0.103,3191,2839,2064,2070,2058,0,0,0,0,0,0,28.83,14.31,14.09
$GC,7459,0.85,333.6,3191,2840,2090,2068,52.0,10.5,550,7479,0.00,2.50,13.52,0.339,8708,0.000,0.077,3199,1434,1955,1952,1959,0,0,0,0,0,0,28.83,14.35,14.21
$GC,7524,0.96,394.9,3199,1433,1970,1961,46.1,8.6,562,7564,0.00,2.53,29.08,0.325,9222,0.000,0.102,3199,2848,1705,1699,1711,0,0,0,0,0,0,28.83,14.35,14.16
$GC,7859,1.09,459.9,3200,2848,1713,1709,13.6,8.4,598,7899,0.20,2.50,29.62,0.226,10756,0.115,0.077,3285,1434,1440,1437,1443,0,0,0,0,0,0,14.42,14.34,14.26
$GC,7903,1.18,587.9,3286,1436,1440,1444,11.1,4.9,604,7973,0.00,2.50,57.40,0.220,9222,0.000,0.101,3285,2841,916,911,922,0,0,0,0,0,0,28.83,14.34,14.20
$GC,8277,1.53,780.1,3286,2842,919,915,3.1,1.4,645,8315,0.35,0.00,33.53,0.196,10754,0.090,0.000,3411,2841,619,602,637,0,0,0,0,0,0,14.41,28.83,28.83
$STATE,8315,end climb,SURFACE_DEPTH_REACHED
$STATE,8315,begin surface coast
$FINISH,0.2,1.007380
$STATE,8378,end surface coast,CONTROL_FINISHED_OK
$STATE,8379,begin surface
$SM_CCo,8401,9.65,0.207,0,0,539,681.20
$SM_GC,2.94,9.90,0.22,9.65,0.095,0.098,0.207,200,2701,539,-8.41,1.16,681.20,0,0,0,0,0,0,14.39,14.40,14.28
$RAFOS_CLK,391
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7019.90,-14434.62,290714,022533
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.36
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.90
$XPDR_PINGS,7
$SC_FREEKB,3929632
$TM_FREEKB,7718524
$24V_AH,13.05,7.508
$10V_AH,13.27,0.000
$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,25.100,52.775,554.925,9.650,0.000,0.000,0.000,379.575,3.250,0.000,26.094,0.000,6255.845,689.481,1997.199,69.084,0.000,1677.464,0.000,984.403,0.000,13.148,0.000
$DEVICE_MAMPS,408.510,126.990,1751.085,207.315,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8396.000,8446.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.432,13.294,0.000,0.000
$MEM,306680
$DATA_FILE_SIZE,23344,657
$CAP_FILE_SIZE,119551,0
$CFSIZE,2097872896,2088435712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9213.68,0x2378b6,7,5
$SOUNDSPEED,1448.0
$EKF,8508,4257.201660,-8666.865234,0.202676,-0.177501,0.155940,-0.005769,0.000161,0.001506,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.088,156.08,1
$GPS,290714,072748,7056.820,-14426.329,44,0.8,64,22.3