version: 66.12
glider: 196
mission: 7
dive: 21
start: 7 29 114 10 11 27
data:
$ID,196
$MISSION,7
$DIVE,21
$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,-4700.4834
$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,35
$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
$GPS1,290714,100049,7057.558,-14425.728,53,0.7,73,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.5
$GPS2,290714,101109,7057.456,-14425.400,5,0.8,25,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,331.5,71948,-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,-145.9,176,2705,502,581,0.0,0.0,0,84,0.00,0.00,-63.78,0.000,16386,0.000,0.000,174,2706,2287,2296,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.70,-145.9,175,2706,2297,2280,4.7,-6.6,6,135,12.18,2.45,-28.45,0.000,18948,0.400,0.099,2672,1294,3915,3976,3855,0,0,0,0,0,0,14.08,14.26,14.46
$GC,310,-0.61,-145.9,2673,1295,3977,3859,57.0,-20.8,48,318,0.20,2.53,0.00,0.000,3078,0.294,0.102,2706,2703,3917,3976,3858,0,0,0,0,0,0,14.19,14.27,28.83
$GC,622,-0.61,-145.9,2706,2704,3977,3861,111.6,-16.7,80,630,0.00,1.92,0.00,0.000,260,0.000,0.109,2699,3790,3917,3976,3859,0,0,0,0,0,0,28.83,14.38,28.83
$GC,664,-0.61,-145.9,2700,3790,3978,3859,119.1,-18.0,88,672,0.00,1.85,0.00,0.000,1030,0.000,0.061,2699,2688,3918,3976,3860,0,0,0,0,0,0,28.83,14.43,28.83
$GC,976,-0.61,-145.9,2700,2688,3977,3860,167.7,-14.5,120,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2687,3917,3976,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.66,-145.9,2701,2687,3977,3859,206.5,-12.0,150,1285,0.00,1.95,0.00,0.000,260,0.000,0.113,2691,3792,3917,3976,3859,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1333,-0.66,-145.9,2691,3792,3977,3859,214.0,-13.4,161,1342,0.00,1.83,0.00,0.000,1030,0.000,0.063,2691,2704,3917,3976,3859,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1639,-0.71,-145.9,2692,2705,3976,3860,250.0,-11.3,192,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2704,3917,3975,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1949,-0.77,-145.9,2692,2705,3975,3860,285.0,-11.3,203,1959,0.00,1.90,0.00,0.000,260,0.000,0.113,2682,3787,3916,3974,3859,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2033,-0.77,-145.9,2683,3786,3974,3859,295.5,-12.4,219,2043,0.00,1.83,0.00,0.000,1030,0.000,0.064,2682,2704,3916,3973,3859,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2347,-0.83,-145.9,2683,2704,3974,3860,332.1,-11.5,231,2350,0.12,0.00,0.00,0.000,4102,0.143,0.000,2635,2703,3915,3973,3858,0,0,0,0,0,0,14.53,28.83,28.83
$GC,2647,-0.83,-145.9,2634,2704,3974,3860,374.7,-14.2,241,2655,0.00,1.95,0.00,0.000,260,0.000,0.112,2627,3788,3915,3972,3859,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2734,-0.76,-145.9,2627,3787,3972,3859,388.5,-16.1,258,2744,0.15,1.77,0.00,0.000,3078,0.286,0.064,2657,2700,3915,3971,3859,0,0,0,0,0,0,14.42,14.56,28.83
$GC,3039,-0.76,-145.9,2658,2701,3972,3860,427.0,-12.4,269,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2700,3915,3971,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3339,-0.76,-145.9,2658,2701,3972,3860,464.1,-12.3,279,3349,0.00,1.90,0.00,0.000,260,0.000,0.112,2651,3787,3915,3971,3859,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3433,-0.76,-145.9,2652,3789,3970,3860,477.1,-14.2,297,3442,0.00,1.83,0.00,0.000,1030,0.000,0.063,2652,2699,3913,3967,3859,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3617,begin apogee
$GC,3620,-0.13,0.0,2651,2853,3971,3860,500.2,-12.7,308,3754,0.80,0.00,129.50,1.759,10246,0.250,0.000,2859,2852,3315,3336,3294,0,0,0,0,0,0,14.45,28.83,13.14
$STATE,3757,end apogee,CONTROL_FINISHED_OK
$STATE,3757,begin climb
$GC,3758,0.70,145.9,2860,2852,3330,3285,504.1,0.0,312,3891,0.90,0.00,123.25,1.525,10246,0.148,0.000,3125,2852,2715,2725,2706,0,0,0,0,0,0,13.81,28.83,13.02
$GC,4186,0.63,145.9,3131,2853,2718,2693,458.2,13.3,327,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2852,2705,2717,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,0.56,145.9,3125,2852,2718,2692,418.8,13.0,337,4494,0.15,2.42,0.00,0.000,4612,0.281,0.076,3102,1443,2704,2717,2692,0,0,0,0,0,0,14.22,14.28,28.83
$GC,4553,0.58,179.9,3103,1443,2718,2692,411.4,10.1,350,4594,0.00,2.50,28.75,1.496,9222,0.000,0.101,3103,2841,2573,2584,2562,0,0,0,0,0,0,28.83,14.33,13.61
$GC,4918,0.58,179.9,3104,2841,2583,2554,365.5,12.7,371,4927,0.00,2.40,0.00,0.000,516,0.000,0.076,3111,1446,2567,2581,2554,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4956,0.59,183.0,3112,1447,2583,2554,360.8,11.7,378,4964,0.00,2.50,0.00,0.000,1030,0.000,0.100,3111,2846,2567,2581,2554,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5283,0.59,183.0,3110,2845,2578,2553,318.6,12.9,393,5291,0.00,2.40,0.00,0.000,516,0.000,0.075,3119,1437,2570,2581,2560,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5334,0.59,183.0,3122,1437,2582,2553,312.3,11.9,403,5344,0.00,2.50,0.00,0.000,1030,0.000,0.101,3119,2843,2566,2582,2551,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5648,0.59,183.0,3120,2844,2583,2554,270.6,13.3,415,5658,0.00,2.40,0.00,0.000,516,0.000,0.075,3127,1436,2567,2582,2553,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5687,0.59,183.0,3128,1436,2580,2550,265.6,12.2,422,5695,0.00,2.47,0.00,0.000,1030,0.000,0.101,3127,2839,2567,2582,2553,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5994,0.59,183.0,3128,2840,2583,2553,224.2,13.4,449,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2838,2567,2581,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,0.60,201.3,3128,2839,2583,2553,187.9,10.9,479,6323,0.00,2.45,18.20,1.336,8708,0.000,0.076,3138,1450,2483,2492,2475,0,0,0,0,0,0,28.83,14.34,13.85
$GC,6387,0.62,238.9,3138,1451,2491,2472,178.3,9.9,496,6428,0.00,2.50,32.12,1.171,9222,0.000,0.101,3143,2849,2333,2335,2331,0,0,0,0,0,0,28.83,14.34,13.72
$GC,6735,0.64,264.4,3138,2849,2329,2320,139.1,10.5,533,6764,0.00,2.53,21.70,1.217,8708,0.000,0.075,3146,1443,2229,2231,2227,0,0,0,0,0,0,28.83,14.14,13.71
$GC,6809,0.74,300.3,3147,1444,2226,2219,131.7,9.9,546,6852,0.00,2.53,31.48,1.105,9222,0.000,0.101,3147,2841,2079,2079,2080,0,0,0,0,0,0,28.83,14.19,13.61
$GC,7156,0.80,315.8,3146,2840,2078,2068,92.3,11.1,583,7173,0.00,2.50,4.85,0.389,8708,0.000,0.076,3154,1446,2036,2045,2028,0,0,0,0,0,0,28.83,14.22,14.02
$GC,7243,0.94,364.6,3155,1449,2061,2033,83.4,9.3,599,7279,0.17,2.53,24.77,0.435,11270,0.114,0.103,3218,2847,1829,1820,1838,0,0,0,0,0,0,14.27,14.24,14.00
$GC,7583,0.96,394.8,3219,2847,1842,1839,37.7,10.3,635,7605,0.00,1.67,14.98,0.299,8452,0.000,0.106,3218,3787,1705,1701,1710,0,0,0,0,0,0,28.83,14.23,14.12
$GC,7643,0.96,394.8,3219,3788,1713,1712,30.2,13.4,646,7653,0.00,1.60,0.00,0.000,1030,0.000,0.061,3222,2847,1711,1712,1711,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7949,1.21,604.2,3224,2839,1717,1711,12.5,0.5,677,8053,0.20,2.50,94.07,0.221,10756,0.112,0.078,3306,1438,850,844,857,0,0,0,0,0,0,14.31,14.23,14.14
$STATE,8231,end climb,SURFACE_DEPTH_REACHED
$STATE,8231,begin surface coast
$FINISH,0.3,1.018524
$STATE,8301,end surface coast,CONTROL_FINISHED_OK
$STATE,8301,begin surface
$SM_CCo,8325,35.25,0.207,0,0,540,681.20
$SM_GC,0.85,9.57,2.33,35.25,0.093,0.110,0.207,205,2696,540,-8.41,-0.74,681.20,0,0,0,0,0,0,14.35,14.32,14.23
$RAFOS_CLK,89
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14421.61,290714,073137
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.90
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.60
$XPDR_PINGS,5
$SC_FREEKB,3928736
$TM_FREEKB,7692220
$24V_AH,13.02,8.157
$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,24.450,66.700,523.675,35.250,0.000,0.000,0.000,392.775,2.750,0.000,26.512,0.000,6000.387,724.553,2180.437,75.347,0.000,1788.522,0.000,1102.235,1492.000,13.153,0.000
$DEVICE_MAMPS,400.095,123.165,1758.735,207.315,0.000,0.000,0.000,181.305,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8321.000,8376.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.329,13.303,0.000,0.000
$MEM,305804
$DATA_FILE_SIZE,26729,742
$CAP_FILE_SIZE,124865,0
$CFSIZE,2097872896,2087944192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9176.30,0x2378b6,7,5
$SOUNDSPEED,1448.9
$EKF,8443,4258.575684,-8665.372070,0.330541,-0.133236,0.371708,0.015674,0.000133,0.001255,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.080,154.87,1
$GPS,290714,123207,7058.232,-14424.804,29,0.8,49,22.3