version: 66.12
glider: 196
mission: 7
dive: 24
start: 7 29 114 17 53 40
data:
$ID,196
$MISSION,7
$DIVE,24
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4704.2563
$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,17
$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
$GPS1,290714,174302,7059.717,-14423.375,25,0.7,45,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.8
$GPS2,290714,175323,7059.660,-14423.421,5,0.8,25,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.4,67757,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.70,-145.9,168,2709,496,573,0.0,0.0,0,96,0.00,0.00,-73.50,0.000,16386,0.000,0.000,166,2709,2517,2526,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.70,-145.9,167,2710,2527,2508,4.9,-7.1,7,140,12.43,2.00,-21.88,0.000,19204,0.408,0.134,2666,3790,3915,3975,3856,0,0,0,0,0,0,14.07,14.24,14.45
$GC,363,-0.55,-145.9,2667,3792,3975,3862,79.6,-22.6,58,372,0.17,1.85,0.00,0.000,3078,0.264,0.058,2722,2693,3917,3974,3861,0,0,0,0,0,0,14.23,14.37,28.83
$GC,676,-0.55,-145.9,2723,2693,3976,3861,129.0,-14.5,90,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2693,3918,3975,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.62,-145.9,2722,2693,3976,3861,169.9,-12.6,120,985,0.00,2.38,0.00,0.000,516,0.000,0.076,2722,1298,3921,3983,3860,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1019,-0.74,-145.9,2723,1299,3975,3862,175.1,-11.6,128,1029,0.15,2.50,0.00,0.000,5126,0.123,0.104,2653,2703,3917,3974,3861,0,0,0,0,0,0,14.42,14.38,28.83
$GC,1333,-0.74,-145.9,2654,2703,3976,3860,221.3,-14.4,160,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2703,3917,3974,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.74,-145.9,2654,2703,3975,3861,264.0,-14.0,184,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2703,3917,3974,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.74,-145.9,2654,2704,3974,3862,304.8,-13.4,194,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2703,3917,3973,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.74,-145.9,2654,2703,3973,3860,344.3,-13.1,204,2243,0.00,2.38,0.00,0.000,516,0.000,0.078,2653,1298,3915,3971,3860,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2271,-0.78,-145.9,2653,1298,3973,3859,349.2,-12.7,211,2279,0.00,2.50,0.00,0.000,1030,0.000,0.106,2642,2709,3916,3971,3861,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2599,-0.78,-145.9,2642,2709,3971,3861,393.9,-13.8,226,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2709,3915,3971,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.78,-145.9,2643,2716,3970,3860,434.3,-13.4,236,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2709,3917,3974,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3199,-0.78,-145.9,2643,2709,3970,3861,474.7,-13.4,246,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2708,3914,3969,3860,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3409,begin apogee
$GC,3412,-0.13,0.0,2641,2852,3970,3861,502.9,-13.4,253,3541,0.82,0.00,124.07,1.753,10246,0.249,0.000,2858,2853,3315,3336,3295,0,0,0,0,0,0,14.46,28.83,13.21
$STATE,3544,end apogee,CONTROL_FINISHED_OK
$STATE,3544,begin climb
$GC,3545,0.70,145.9,2859,2853,3332,3292,506.9,0.0,257,3681,0.90,1.80,121.32,1.523,10500,0.143,0.106,3126,3780,2714,2723,2706,0,0,0,0,0,0,13.83,13.65,13.10
$GC,3715,0.56,145.9,3127,3780,2723,2703,494.1,14.4,284,3725,0.15,1.65,0.00,0.000,5126,0.265,0.060,3098,2837,2712,2722,2703,0,0,0,0,0,0,13.74,13.89,28.83
$GC,4034,0.57,155.0,3099,2837,2723,2700,457.4,11.4,297,4042,0.00,0.00,4.57,1.473,8198,0.000,0.000,3098,2836,2686,2699,2674,0,0,0,0,0,0,28.83,28.83,13.54
$GC,4334,0.57,163.7,3099,2837,2714,2677,423.1,11.4,307,4351,0.00,0.00,12.90,1.643,8198,0.000,0.000,3098,2837,2648,2662,2634,0,0,0,0,0,0,28.83,28.83,13.57
$GC,4635,0.58,165.8,3099,2837,2657,2627,387.9,11.8,317,4642,0.00,2.38,0.00,0.000,516,0.000,0.075,3107,1442,2641,2656,2626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4671,0.59,184.7,3107,1441,2657,2626,383.8,10.9,324,4697,0.00,2.47,18.42,1.506,9222,0.000,0.099,3107,2835,2558,2570,2547,0,0,0,0,0,0,28.83,14.33,13.69
$GC,5001,0.59,184.7,3108,2836,2569,2542,341.1,13.0,339,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2835,2555,2569,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,0.59,184.7,3107,2835,2570,2541,303.0,12.6,349,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2835,2555,2569,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5602,0.59,184.7,3107,2835,2570,2549,265.7,12.5,359,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2834,2554,2568,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5902,0.59,185.9,3107,2835,2569,2540,229.6,11.8,379,5909,0.00,2.38,0.00,0.000,516,0.000,0.074,3116,1437,2554,2569,2540,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5938,0.61,207.8,3116,1437,2564,2540,225.5,10.7,386,5967,0.00,2.47,20.08,1.470,9222,0.000,0.099,3115,2841,2462,2473,2452,0,0,0,0,0,0,28.83,14.47,13.77
$GC,6271,0.61,214.1,3116,2841,2475,2449,185.4,11.6,421,6280,0.00,1.73,3.15,1.117,8452,0.000,0.109,3115,3786,2446,2459,2433,0,0,0,0,0,0,28.83,14.38,13.55
$GC,6324,0.57,214.1,3115,3786,2467,2441,178.8,12.4,431,6332,0.00,1.60,1.10,0.311,9222,0.000,0.060,3122,2831,2444,2456,2432,0,0,0,0,0,0,28.83,14.40,14.14
$GC,6637,0.60,263.6,3123,2832,2469,2439,147.6,9.2,463,6692,0.00,2.40,46.17,1.239,8708,0.000,0.073,3125,1452,2233,2238,2228,0,0,0,0,0,0,28.83,14.14,13.69
$GC,6736,0.74,304.6,3126,1452,2237,2226,138.2,9.7,480,6779,0.00,2.50,35.03,1.146,9222,0.000,0.100,3125,2839,2069,2071,2068,0,0,0,0,0,0,28.83,14.19,13.59
$GC,7083,0.85,344.5,3126,2840,2070,2055,101.7,9.7,517,7124,0.17,2.42,32.22,1.146,10756,0.115,0.073,3198,1452,1902,1896,1909,0,0,0,0,0,0,14.29,14.09,13.69
$GC,7178,0.85,344.5,3199,1455,1895,1904,88.9,13.8,534,7187,0.00,2.50,0.00,0.000,1030,0.000,0.099,3199,2839,1899,1894,1904,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7484,0.86,354.1,3200,2840,1894,1901,47.6,11.4,565,7493,0.00,2.47,2.88,0.322,8708,0.000,0.075,3208,1448,1873,1869,1877,0,0,0,0,0,0,28.83,14.31,14.16
$GC,7539,0.96,396.0,3209,1448,1882,1878,43.4,9.6,573,7568,0.00,2.50,19.85,0.320,9222,0.000,0.100,3208,2845,1702,1696,1708,0,0,0,0,0,0,28.83,14.31,14.14
$GC,7862,1.22,567.3,3209,2844,1704,1704,14.0,2.6,607,7950,0.25,1.73,76.10,0.227,10500,0.101,0.110,3302,3779,1002,994,1010,0,0,0,0,0,0,14.34,14.21,14.16
$STATE,8158,end climb,SURFACE_DEPTH_REACHED
$STATE,8158,begin surface coast
$FINISH,0.1,1.019515
$STATE,8178,end surface coast,CONTROL_FINISHED_OK
$STATE,8178,begin surface
$SM_CCo,8202,51.05,0.197,0,0,539,681.20
$SM_GC,0.95,9.38,1.85,51.05,0.072,0.065,0.197,208,2708,539,-8.40,1.50,681.20,0,0,0,0,0,0,14.28,14.31,14.18
$RAFOS_CLK,38
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14430.80,290714,151434
$TT8_MAMPS,0.08239,0.08239
$HUMID,45.66
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.30
$XPDR_PINGS,3
$SC_FREEKB,3927392
$TM_FREEKB,7652636
$24V_AH,13.10,9.104
$10V_AH,12.75,0.000
$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,24.425,48.700,517.875,51.050,0.000,0.000,0.000,386.825,2.250,0.000,26.241,0.000,6102.925,672.327,2023.681,72.815,0.000,1670.592,0.000,991.823,1495.000,13.152,0.000
$DEVICE_MAMPS,407.745,133.875,1752.615,196.605,0.000,0.000,0.000,185.130,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8201.000,8257.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.108,13.044,0.000,0.000
$MEM,304424
$DATA_FILE_SIZE,23372,666
$CAP_FILE_SIZE,118002,0
$CFSIZE,2097872896,2087157760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9119.34,0x2378b6,7,5
$SOUNDSPEED,1448.8
$EKF,8328,4260.771484,-8663.221680,0.101122,-0.000007,-0.002234,-0.027281,0.000156,0.001469,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.038,143.05,1
$GPS,290714,201225,7100.634,-14422.904,22,0.8,42,22.4