version: 66.12
glider: 196
mission: 7
dive: 31
start: 7 30 114 11 38 50
data:
$ID,196
$MISSION,7
$DIVE,31
$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,-4713.0659
$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,46
$R_STBD_OVSHOOT,18
$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
$GPS1,300714,112808,7106.896,-14418.378,12,0.8,32,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.9
$GPS2,300714,113833,7106.925,-14418.373,5,0.8,26,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,335.1,54069,-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,20,-0.70,-145.9,199,2709,457,527,0.0,0.0,0,86,0.00,0.00,-63.20,0.000,16386,0.000,0.000,197,2709,2198,2201,2195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.70,-145.9,198,2709,2204,2196,4.1,-5.6,6,138,12.10,1.98,-29.15,0.000,18692,0.400,0.125,2667,3792,3916,3974,3858,0,0,0,0,0,0,14.09,14.22,14.45
$GC,362,-0.55,-145.9,2668,3792,3975,3863,77.5,-22.7,58,372,0.22,1.83,0.00,0.000,3078,0.266,0.056,2723,2700,3918,3974,3863,0,0,0,0,0,0,14.22,14.36,28.83
$GC,668,-0.59,-145.9,2724,2701,3974,3864,123.6,-13.5,89,675,0.00,1.92,0.00,0.000,260,0.000,0.108,2717,3793,3918,3974,3863,0,0,0,0,0,0,28.83,14.39,28.83
$GC,844,-0.59,-145.9,2718,3794,3975,3863,149.0,-13.6,124,855,0.00,1.83,0.00,0.000,1030,0.000,0.059,2717,2698,3918,3973,3863,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1150,-0.66,-145.9,2718,2698,3975,3864,186.3,-11.2,155,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2698,3918,3974,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,-0.76,-145.9,2718,2697,3975,3863,218.7,-10.2,185,1457,0.17,0.00,0.00,0.000,4102,0.118,0.000,2650,2698,3922,3975,3869,0,0,0,0,0,0,14.44,28.83,28.83
$GC,1773,-0.76,-145.9,2646,2698,3973,3864,262.2,-13.4,211,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2698,3918,3973,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2073,-0.76,-145.9,2651,2698,3968,3862,302.2,-13.5,221,2081,0.00,1.95,0.00,0.000,260,0.000,0.109,2641,3795,3916,3971,3862,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2130,-0.71,-145.9,2642,3796,3971,3863,310.8,-15.3,232,2141,0.08,1.83,0.00,0.000,3078,0.262,0.060,2673,2709,3916,3970,3863,0,0,0,0,0,0,14.26,14.40,28.83
$GC,2436,-0.75,-145.9,2674,2709,3971,3863,347.2,-11.7,243,2443,0.00,1.90,0.00,0.000,260,0.000,0.109,2667,3787,3915,3968,3862,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2487,-0.75,-145.9,2668,3787,3970,3863,353.9,-13.1,253,2495,0.00,1.83,0.00,0.000,1030,0.000,0.060,2667,2701,3915,3969,3862,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2799,-0.75,-145.9,2668,2701,3970,3863,391.7,-12.0,265,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2700,3915,3969,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3099,-0.75,-145.9,2676,2701,3969,3863,427.0,-11.7,275,3107,0.00,1.90,0.00,0.000,260,0.000,0.109,2658,3786,3915,3968,3862,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3146,-0.75,-145.9,2659,3787,3968,3863,433.3,-13.9,284,3156,0.00,1.77,0.00,0.000,1030,0.000,0.060,2658,2695,3912,3962,3862,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3465,-0.75,-145.9,2659,2694,3968,3863,472.3,-12.2,297,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2694,3914,3967,3862,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3706,begin apogee
$GC,3709,-0.13,0.0,2658,2850,3969,3862,501.5,-12.1,305,3837,0.77,0.00,122.80,1.767,10246,0.241,0.000,2861,2850,3315,3334,3296,0,0,0,0,0,0,14.43,28.83,13.16
$STATE,3839,end apogee,CONTROL_FINISHED_OK
$STATE,3839,begin climb
$GC,3840,0.70,145.9,2861,2850,3328,3293,505.1,0.0,309,3972,0.93,0.00,121.68,1.655,10246,0.142,0.000,3131,2850,2720,2726,2714,0,0,0,0,0,0,13.82,28.83,13.03
$GC,4246,0.62,145.9,3132,2850,2724,2703,460.5,13.5,323,4253,0.00,2.45,0.00,0.000,516,0.000,0.073,3142,1443,2713,2723,2703,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4302,0.62,145.9,3143,1445,2725,2710,453.1,12.4,334,4312,0.15,2.50,0.00,0.000,5126,0.269,0.096,3113,2830,2713,2724,2703,0,0,0,0,0,0,14.07,14.17,28.83
$GC,4608,0.57,145.9,3112,2830,2725,2703,415.2,12.3,345,4616,0.00,2.38,0.00,0.000,516,0.000,0.071,3121,1446,2713,2723,2703,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4630,0.57,145.9,3122,1447,2725,2703,412.6,12.0,349,4638,0.00,2.50,0.00,0.000,1030,0.000,0.097,3121,2848,2713,2723,2703,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4943,0.51,145.9,3121,2849,2725,2702,372.2,13.0,361,4951,0.15,2.40,0.00,0.000,4612,0.272,0.069,3094,1443,2713,2724,2702,0,0,0,0,0,0,14.29,14.39,28.83
$GC,4991,0.59,179.5,3095,1444,2725,2703,367.1,10.1,370,5029,0.00,2.47,27.95,1.576,9222,0.000,0.098,3091,2843,2584,2589,2580,0,0,0,0,0,0,28.83,14.40,13.55
$GC,5343,0.59,179.5,3095,2843,2591,2568,324.0,12.4,389,5351,0.00,2.38,0.00,0.000,516,0.000,0.070,3103,1449,2578,2590,2567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5380,0.65,194.3,3104,1450,2589,2568,319.7,11.1,396,5401,0.00,2.47,13.25,1.484,9222,0.000,0.097,3103,2842,2518,2526,2510,0,0,0,0,0,0,28.83,14.35,13.67
$GC,5710,0.65,194.3,3104,2843,2527,2508,277.2,12.9,411,5718,0.00,2.38,0.00,0.000,516,0.000,0.073,3112,1445,2516,2527,2506,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5747,0.65,194.3,3113,1445,2529,2505,272.6,11.9,418,5755,0.00,2.47,0.00,0.000,1030,0.000,0.097,3112,2839,2517,2528,2506,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6054,0.65,194.3,3113,2840,2529,2507,232.8,12.7,441,6061,0.00,2.38,0.00,0.000,516,0.000,0.072,3120,1447,2516,2527,2506,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6110,0.69,194.3,3121,1447,2529,2505,225.8,12.2,452,6121,0.00,2.45,0.00,0.000,1030,0.000,0.097,3120,2839,2516,2528,2505,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6415,0.69,194.3,3121,2840,2529,2506,187.0,12.0,483,6424,0.00,2.38,0.00,0.000,516,0.000,0.073,3125,1445,2516,2528,2505,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6494,0.75,222.7,3126,1445,2528,2506,178.8,10.4,498,6530,0.00,2.47,24.02,1.384,9222,0.000,0.098,3125,2847,2403,2411,2396,0,0,0,0,0,0,28.83,14.40,13.70
$GC,6824,0.78,256.8,3126,2848,2411,2394,142.9,10.0,533,6860,0.10,2.50,29.02,1.329,10756,0.161,0.071,3178,1450,2264,2267,2261,0,0,0,0,0,0,14.39,14.15,13.68
$GC,6914,0.78,260.5,3178,1451,2264,2259,132.2,11.7,549,6922,0.00,2.50,0.00,0.000,1030,0.000,0.097,3178,2840,2258,2264,2253,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7226,0.78,260.5,3178,2841,2265,2255,93.3,12.0,581,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2840,2260,2265,2255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,0.81,302.4,3178,2841,2267,2254,60.7,9.6,611,7554,0.00,2.40,18.83,0.374,8708,0.000,0.074,3177,1445,2085,2085,2085,0,0,0,0,0,0,28.83,14.35,14.21
$GC,7614,0.94,368.6,3178,1449,2091,2085,52.2,8.3,627,7657,0.10,2.47,29.83,0.340,11270,0.157,0.099,3217,2840,1813,1802,1824,0,0,0,0,0,0,14.35,14.36,14.14
$GC,7951,1.03,434.3,3217,2841,1806,1818,14.8,8.3,663,7986,0.00,2.45,28.62,0.242,8708,0.000,0.072,3221,1449,1544,1538,1551,0,0,0,0,0,0,28.83,14.35,14.26
$FREEZE,12.91,4.317,-1.430,0,1,0
$STATE,8174,end climb,NO_VERTICAL_VELOCITY
$STATE,8174,begin surface
$SM_CCo,8177,113.22,0.231,0,0,497,691.01
$SM_GC,1.86,9.27,2.28,0.00,0.091,0.097,0.000,206,2706,493,-8.40,-0.51,692.73,0,0,0,0,0,0,14.39,14.36,28.83
$RAFOS_CLK,345
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14415.41,300714,085748
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.78
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,13.20
$XPDR_PINGS,1
$SC_FREEKB,3924256
$TM_FREEKB,7561452
$24V_AH,13.03,11.242
$10V_AH,13.29,0.000
$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,24.050,67.675,416.000,113.225,0.000,0.000,0.000,392.700,1.750,0.000,27.557,0.000,6199.215,711.078,2124.682,80.579,0.000,1737.532,0.000,1052.008,1492.000,13.732,0.000
$DEVICE_MAMPS,400.095,125.460,1767.150,231.030,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8190.000,8241.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.152,13.071,0.000,0.000
$MEM,301444
$DATA_FILE_SIZE,23417,706
$CAP_FILE_SIZE,124348,0
$CFSIZE,2097872896,2085421056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9241.41,0x2378b6,7,5
$SOUNDSPEED,1448.9
$EKF,8559,4268.019531,-8657.950195,12.917158,0.006784,0.035870,-0.000884,0.000143,0.001368,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.035,85.20,1
$GPS,300714,140126,7108.035,-14417.423,14,0.8,34,22.4