version: 66.12
glider: 196
mission: 7
dive: 22
start: 7 29 114 12 45 50
data:
$ID,196
$MISSION,7
$DIVE,22
$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,-4701.7432
$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,38
$R_STBD_OVSHOOT,15
$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
$GPS1,290714,123207,7058.232,-14424.804,29,0.8,49,22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.0
$GPS2,290714,124532,7058.039,-14424.609,5,0.8,25,22.3
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.0,70820,-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,-145.9,173,2705,494,579,0.0,0.0,0,74,0.00,0.00,-53.58,0.000,16386,0.000,0.000,170,2700,1945,1953,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.70,-145.9,171,2701,1954,1939,3.1,-3.7,5,132,12.32,2.50,-37.83,0.000,18948,0.404,0.096,2672,1287,3912,3975,3850,0,0,0,0,0,0,14.08,14.27,14.49
$GC,181,-0.55,-145.9,2673,1286,3976,3855,26.5,-21.3,23,192,0.28,2.55,0.00,0.000,3078,0.301,0.099,2723,2707,3917,3980,3855,0,0,0,0,0,0,14.16,14.26,28.83
$GC,495,-0.55,-145.9,2724,2708,3975,3858,86.4,-16.0,55,505,0.00,1.90,0.00,0.000,260,0.000,0.109,2716,3786,3914,3975,3854,0,0,0,0,0,0,28.83,14.36,28.83
$GC,639,-0.55,-145.9,2718,3787,3976,3859,110.8,-16.5,83,649,0.00,1.80,0.00,0.000,1030,0.000,0.060,2717,2685,3916,3975,3858,0,0,0,0,0,0,28.83,14.40,28.83
$GC,953,-0.60,-145.9,2717,2685,3976,3858,156.3,-13.6,115,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2685,3916,3975,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.67,-145.9,2717,2685,3976,3857,192.7,-11.2,145,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2685,3916,3975,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-0.76,-145.9,2718,2686,3975,3859,224.9,-10.3,175,1556,0.17,0.00,0.00,0.000,4102,0.119,0.000,2650,2685,3915,3974,3857,0,0,0,0,0,0,14.48,28.83,28.83
$GC,1863,-0.76,-145.9,2650,2687,3973,3858,267.9,-14.0,198,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2685,3915,3973,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.76,-145.9,2649,2686,3973,3858,308.9,-13.7,208,2171,0.00,1.98,0.00,0.000,260,0.000,0.112,2641,3782,3914,3971,3857,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2210,-0.71,-145.9,2641,3782,3971,3857,315.9,-15.5,217,2218,0.12,1.80,0.00,0.000,3078,0.256,0.063,2672,2707,3914,3971,3858,0,0,0,0,0,0,14.40,14.52,28.83
$GC,2527,-0.76,-145.9,2674,2711,3972,3857,354.5,-11.8,230,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2711,3913,3970,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2827,-0.80,-145.9,2673,2711,3971,3857,389.8,-11.7,240,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2710,3913,3970,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.84,-145.9,2674,2711,3971,3857,424.3,-11.3,250,3130,0.12,0.00,0.00,0.000,4102,0.148,0.000,2629,2711,3913,3971,3855,0,0,0,0,0,0,14.57,28.83,28.83
$GC,3427,-0.84,-145.9,2630,2711,3971,3866,465.8,-13.9,260,3435,0.00,1.90,0.00,0.000,260,0.000,0.111,2620,3793,3913,3970,3856,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3489,-0.77,-145.9,2621,3794,3970,3857,475.5,-15.9,272,3497,0.17,1.80,0.00,0.000,3078,0.278,0.063,2658,2690,3911,3967,3856,0,0,0,0,0,0,14.45,14.59,28.83
$STATE,3701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3702,begin apogee
$GC,3704,-0.13,0.0,2659,2846,3970,3856,501.4,-11.9,284,3885,0.75,0.00,171.30,1.580,10246,0.246,0.000,2856,2847,3313,3336,3290,0,0,0,0,0,0,14.45,28.83,13.21
$STATE,3888,end apogee,CONTROL_FINISHED_OK
$STATE,3888,begin climb
$GC,3889,0.70,145.9,2857,2847,3336,3289,507.0,0.0,290,4025,0.90,1.75,121.85,1.441,10500,0.148,0.106,3123,3785,2710,2718,2703,0,0,0,0,0,0,13.81,13.64,13.09
$GC,4135,0.56,145.9,3124,3785,2714,2696,483.3,15.6,332,4143,0.17,1.60,0.00,0.000,5126,0.293,0.062,3095,2835,2705,2715,2695,0,0,0,0,0,0,13.88,14.02,28.83
$GC,4466,0.56,145.9,3095,2835,2716,2694,443.1,11.9,348,4474,0.00,2.40,0.00,0.000,516,0.000,0.076,3103,1445,2704,2716,2693,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4498,0.57,159.1,3104,1446,2717,2694,439.6,11.2,354,4519,0.00,2.50,11.07,1.584,9222,0.000,0.101,3103,2837,2661,2674,2649,0,0,0,0,0,0,28.83,14.25,13.53
$GC,4833,0.57,159.1,3104,2837,2674,2643,398.1,12.4,370,4841,0.00,2.42,0.00,0.000,516,0.000,0.075,3112,1437,2658,2673,2643,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4875,0.58,165.7,3113,1436,2673,2643,393.2,11.5,378,4883,0.00,2.50,1.92,0.262,9222,0.000,0.099,3112,2840,2641,2657,2626,0,0,0,0,0,0,28.83,14.33,14.19
$GC,5197,0.58,165.7,3113,2841,2678,2638,351.9,12.8,392,5203,0.00,0.00,1.88,0.262,8198,0.000,0.000,3112,2841,2640,2656,2624,0,0,0,0,0,0,28.83,28.83,14.27
$GC,5497,0.58,165.7,3113,2841,2679,2635,314.3,12.4,402,5506,0.00,2.45,1.60,0.257,8708,0.000,0.075,3121,1443,2644,2663,2625,0,0,0,0,0,0,28.83,14.45,14.34
$GC,5550,0.58,165.7,3122,1443,2672,2633,308.1,11.9,412,5558,0.00,2.47,1.27,0.273,9222,0.000,0.101,3121,2845,2642,2659,2625,0,0,0,0,0,0,28.83,14.45,14.33
$GC,5863,0.53,165.7,3122,2847,2679,2633,268.3,12.8,424,5868,0.17,0.00,1.55,0.255,12294,0.271,0.000,3083,2845,2641,2659,2624,0,0,0,0,0,0,14.39,28.83,14.37
$GC,6162,0.55,199.7,3084,2845,2679,2633,237.6,10.1,442,6206,0.00,2.50,34.80,1.313,8708,0.000,0.076,3092,1445,2491,2501,2481,0,0,0,0,0,0,28.83,14.26,13.72
$GC,6270,0.67,237.0,3093,1446,2498,2479,226.5,9.9,461,6311,0.00,2.53,31.85,1.203,9222,0.000,0.101,3089,2851,2339,2344,2335,0,0,0,0,0,0,28.83,14.28,13.66
$GC,6615,0.75,257.2,3092,2852,2341,2327,187.0,10.8,498,6638,0.17,2.53,16.73,1.311,10756,0.121,0.076,3167,1443,2261,2265,2258,0,0,0,0,0,0,14.35,14.21,13.74
$GC,6712,0.75,257.2,3168,1443,2259,2251,174.0,13.6,516,6720,0.00,2.53,0.00,0.000,1030,0.000,0.099,3167,2842,2254,2259,2249,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7024,0.75,257.2,3167,2843,2260,2249,131.4,12.4,548,7033,0.00,2.40,0.00,0.000,516,0.000,0.075,3177,1443,2252,2260,2245,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7061,0.75,257.2,3178,1443,2260,2248,126.8,12.3,555,7073,0.00,2.50,0.00,0.000,1030,0.000,0.100,3177,2846,2253,2261,2246,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7367,0.75,257.2,3178,2847,2264,2246,90.2,12.0,586,7376,0.00,2.40,0.00,0.000,516,0.000,0.075,3185,1444,2253,2261,2245,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7450,0.77,292.9,3186,1443,2261,2246,81.3,10.0,602,7473,0.00,2.47,14.50,0.422,9222,0.000,0.101,3186,2839,2123,2125,2122,0,0,0,0,0,0,28.83,14.39,14.16
$GC,7777,0.84,382.0,3187,2836,2148,2121,48.2,7.0,636,7822,0.00,0.00,41.08,0.330,8454,0.000,0.000,3186,2839,1757,1751,1764,0,0,0,0,0,0,28.83,28.83,14.19
$GC,8117,0.98,449.5,3186,2840,1763,1764,18.6,8.2,671,8154,0.12,1.75,30.40,0.239,10500,0.144,0.111,3233,3787,1481,1477,1486,0,0,0,0,0,0,14.45,14.35,14.24
$GC,8378,1.22,659.7,3234,3788,1485,1486,10.8,0.5,720,8480,0.15,1.60,93.53,0.216,11270,0.083,0.063,3297,2833,624,612,636,0,0,0,0,0,0,14.41,14.43,14.22
$STATE,8573,end climb,SURFACE_DEPTH_REACHED
$STATE,8573,begin surface coast
$FINISH,0.2,1.009902
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8627,9.98,0.204,0,0,539,681.20
$SM_GC,2.55,9.32,0.20,9.98,0.073,0.103,0.204,204,2706,539,-8.41,1.19,681.20,0,0,0,0,0,0,14.37,14.38,14.27
$RAFOS_CLK,390
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14426.97,290714,123548
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.51
$INTERNAL_PRESSURE,8.61163
$TCM_TEMP,12.80
$XPDR_PINGS,3
$SC_FREEKB,3928288
$TM_FREEKB,7678680
$24V_AH,13.09,8.458
$10V_AH,12.73,0.000
$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,24.975,58.000,575.325,9.975,0.000,0.000,0.000,515.525,2.250,0.000,26.351,0.000,6359.333,697.182,2306.667,78.079,0.000,1891.599,0.000,1115.567,0.000,13.614,0.000
$DEVICE_MAMPS,403.920,126.225,1584.315,204.255,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8627.000,8681.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.317,13.324,0.000,0.000
$MEM,305328
$DATA_FILE_SIZE,26710,748
$CAP_FILE_SIZE,129484,0
$CFSIZE,2097872896,2087682048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9262.34,0x2378b6,7,5
$SOUNDSPEED,1449.3
$EKF,8703,4259.156250,-8664.511719,0.176785,-0.320685,0.382601,-0.023076,0.000144,0.001352,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.050,162.95,1
$GPS,290714,151050,7058.913,-14424.235,13,0.9,33,22.4