version: 66.12
glider: 196
mission: 7
dive: 20
start: 7 29 114 7 38 30
data:
$ID,196
$MISSION,7
$DIVE,20
$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,-4699.2266
$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,36
$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
$GPS1,290714,072748,7056.820,-14426.329,44,0.8,64,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.0
$GPS2,290714,073812,7056.784,-14426.216,5,0.8,25,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.8,73243,-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,-145.9,196,2701,501,586,0.0,0.0,0,74,0.00,0.00,-53.55,0.000,16386,0.000,0.000,195,2701,1953,1960,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.70,-145.9,196,2703,1961,1947,3.2,-3.7,5,132,12.20,2.50,-36.58,0.000,18948,0.404,0.099,2676,1295,3915,3975,3855,0,0,0,0,0,0,14.07,14.27,14.45
$GC,356,-0.63,-145.9,2676,1295,3976,3859,65.0,-19.2,58,367,0.15,2.53,0.00,0.000,3078,0.307,0.101,2696,2701,3917,3975,3859,0,0,0,0,0,0,14.22,14.33,28.83
$GC,661,-0.63,-145.9,2698,2702,3975,3860,118.9,-16.9,89,669,0.00,2.42,0.00,0.000,516,0.000,0.075,2696,1289,3917,3975,3859,0,0,0,0,0,0,28.83,14.40,28.83
$GC,754,-0.67,-145.9,2697,1289,3975,3861,132.8,-13.9,107,761,0.00,2.53,0.00,0.000,1030,0.000,0.103,2688,2706,3917,3975,3859,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1065,-0.67,-145.9,2688,2706,3976,3860,180.5,-14.6,139,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2706,3917,3975,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-0.67,-145.9,2688,2706,3976,3859,220.1,-12.4,169,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2706,3915,3975,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.73,-145.9,2688,2706,3975,3859,257.1,-11.9,196,1687,0.00,1.92,0.00,0.000,260,0.000,0.114,2679,3789,3916,3974,3858,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1735,-0.73,-145.9,2679,3790,3976,3859,264.5,-13.3,207,1745,0.00,1.88,0.00,0.000,1030,0.000,0.064,2678,2686,3915,3974,3857,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2041,-0.77,-145.9,2680,2685,3974,3858,301.2,-11.9,218,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2686,3915,3973,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.82,-145.9,2680,2686,3975,3857,336.8,-11.9,228,2344,0.12,0.00,0.00,0.000,4102,0.148,0.000,2634,2685,3915,3973,3857,0,0,0,0,0,0,14.42,28.83,28.83
$GC,2640,-0.82,-145.9,2634,2685,3974,3857,380.0,-14.6,238,2650,0.00,2.00,0.00,0.000,260,0.000,0.112,2625,3785,3917,3972,3863,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2694,-0.75,-145.9,2626,3787,3972,3858,388.5,-16.0,248,2702,0.17,1.80,0.00,0.000,3078,0.278,0.065,2663,2695,3914,3972,3857,0,0,0,0,0,0,14.29,14.43,28.83
$GC,3007,-0.75,-145.9,2663,2694,3973,3857,427.4,-12.1,260,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2694,3914,3971,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,-0.75,-145.9,2664,2696,3972,3858,463.6,-12.0,270,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2695,3914,3972,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-0.75,-145.9,2664,2695,3972,3858,499.7,-11.9,280,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2698,3914,3971,3857,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3637,begin apogee
$GC,3640,-0.13,0.0,2663,2847,3973,3857,503.3,-12.0,281,3823,0.75,0.00,179.18,1.593,10246,0.246,0.000,2860,2848,3318,3341,3295,0,0,0,0,0,0,14.42,28.83,13.18
$STATE,3825,end apogee,CONTROL_FINISHED_OK
$STATE,3825,begin climb
$GC,3826,0.70,145.9,2861,2848,3335,3288,509.3,0.0,287,3963,0.90,1.83,122.40,1.478,10500,0.145,0.109,3126,3784,2714,2722,2706,0,0,0,0,0,0,13.76,13.62,13.04
$GC,4107,0.55,145.9,3127,3785,2716,2697,481.6,16.2,336,4115,0.15,1.62,0.00,0.000,5126,0.269,0.062,3097,2843,2705,2716,2695,0,0,0,0,0,0,13.90,14.04,28.83
$GC,4434,0.56,153.8,3098,2843,2716,2692,443.3,11.5,351,4442,0.00,0.00,1.83,0.239,8710,0.000,0.000,3097,2843,2689,2704,2674,0,0,0,0,0,0,28.83,28.83,14.12
$GC,4766,0.56,161.3,3098,2843,2723,2685,405.2,11.5,367,4785,0.00,2.42,12.98,1.577,8708,0.000,0.076,3106,1443,2652,2667,2638,0,0,0,0,0,0,28.83,14.25,13.61
$GC,4850,0.58,184.8,3107,1443,2661,2635,395.9,10.6,383,4878,0.00,2.50,21.23,1.503,9222,0.000,0.101,3106,2838,2558,2569,2548,0,0,0,0,0,0,28.83,14.28,13.58
$GC,5197,0.58,184.8,3107,2838,2564,2534,351.0,12.9,401,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2838,2547,2562,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5497,0.58,184.8,3107,2838,2564,2533,312.4,12.8,411,5505,0.00,2.40,0.00,0.000,516,0.000,0.077,3115,1442,2547,2562,2533,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5548,0.58,187.0,3115,1442,2564,2532,306.0,11.8,421,5556,0.00,2.47,0.00,0.000,1030,0.000,0.100,3113,2839,2547,2562,2533,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5861,0.58,187.0,3115,2840,2563,2531,264.7,13.2,433,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2840,2547,2562,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,0.58,187.0,3115,2840,2560,2531,226.0,12.3,455,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2840,2547,2562,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,0.59,204.4,3115,2840,2563,2533,191.1,11.0,485,6483,0.00,2.47,16.60,1.416,8708,0.000,0.076,3125,1443,2474,2487,2462,0,0,0,0,0,0,28.83,14.33,13.80
$GC,6528,0.68,246.3,3125,1442,2481,2461,184.1,9.6,497,6572,0.00,2.50,36.15,1.288,9222,0.000,0.102,3125,2844,2309,2312,2307,0,0,0,0,0,0,28.83,14.35,13.64
$GC,6866,0.73,269.7,3125,2844,2305,2289,146.0,10.6,533,6895,0.00,2.45,20.48,1.268,8708,0.000,0.074,3133,1439,2203,2209,2198,0,0,0,0,0,0,28.83,14.19,13.72
$GC,6935,0.87,319.5,3134,1440,2206,2197,139.3,9.2,545,6985,0.17,2.53,42.80,1.139,11270,0.114,0.101,3199,2839,2013,2009,2017,0,0,0,0,0,0,14.26,14.24,13.55
$GC,7289,0.87,319.5,3200,2839,1989,1997,85.8,14.3,583,7297,0.00,2.42,0.00,0.000,516,0.000,0.078,3209,1444,1992,1988,1996,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7355,0.87,319.5,3209,1443,1988,1997,76.8,13.4,596,7365,0.00,2.50,0.00,0.000,1030,0.000,0.101,3209,2839,1992,1987,1997,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7661,0.90,368.4,3210,2840,1988,1999,39.7,9.2,627,7689,0.00,0.00,19.55,0.308,8454,0.000,0.000,3209,2839,1815,1805,1825,0,0,0,0,0,0,28.83,28.83,14.20
$GC,7983,1.07,495.6,3219,2840,1826,1826,11.7,5.0,661,8054,0.12,2.42,57.60,0.224,10756,0.144,0.078,3272,1441,1290,1287,1293,0,0,0,0,0,0,14.42,14.33,14.24
$GC,8278,1.36,671.8,3273,1442,1299,1283,6.3,2.3,716,8366,0.22,2.50,79.05,0.198,11270,0.108,0.101,3357,2845,574,558,591,0,0,0,0,0,0,14.38,14.35,14.21
$STATE,8380,end climb,SURFACE_DEPTH_REACHED
$STATE,8380,begin surface coast
$FINISH,0.2,1.018064
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8410,begin surface
$SM_CCo,8431,4.30,0.216,0,0,538,681.69
$SM_GC,2.70,9.62,0.22,4.30,0.082,0.095,0.216,202,2706,538,-8.41,1.24,681.69,0,0,0,0,0,0,14.33,14.35,14.24
$RAFOS_CLK,340
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14412.41,290714,045922
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.14
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.70
$XPDR_PINGS,7
$SC_FREEKB,3929184
$TM_FREEKB,7705288
$24V_AH,13.04,7.842
$10V_AH,12.71,0.000
$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,24.600,51.125,609.825,4.300,0.000,0.000,0.000,398.750,3.250,0.000,26.545,0.000,6131.574,700.976,2155.782,72.462,0.000,1767.646,0.000,1088.826,1496.000,13.154,0.000
$DEVICE_MAMPS,403.920,125.460,1592.730,215.730,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8431.000,8485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.947,13.283,0.000,0.000
$MEM,306232
$DATA_FILE_SIZE,26716,734
$CAP_FILE_SIZE,121380,0
$CFSIZE,2097872896,2088206336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9147.00,0x2378b6,7,5
$SOUNDSPEED,1449.1
$EKF,8542,4257.946289,-8666.458008,0.166976,-0.056197,0.187550,0.000775,0.000145,0.001366,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.096,149.74,1
$GPS,290714,100049,7057.558,-14425.728,53,0.7,73,22.3