version: 66.12
glider: 196
mission: 7
dive: 32
start: 7 30 114 14 11 55
data:
$ID,196
$MISSION,7
$DIVE,32
$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,-4714.3237
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,300714,140126,7108.035,-14417.423,14,0.8,34,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.5
$GPS2,300714,141138,7108.065,-14417.190,5,0.8,26,22.4
$SPEED_LIMITS,0.206,0.254
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.3,51906,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.70,-145.9,203,2709,451,527,0.0,0.0,0,87,0.00,0.00,-63.50,0.000,16386,0.000,0.000,207,2708,2170,2179,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.70,-145.9,202,2709,2180,2166,3.5,-4.1,6,138,12.18,2.47,-29.62,0.000,19204,0.405,0.095,2672,1307,3913,3976,3851,0,0,0,0,0,0,14.05,14.27,14.46
$GC,202,-0.56,-145.9,2673,1308,3977,3855,31.5,-21.0,26,212,0.28,2.47,0.00,0.000,3078,0.295,0.097,2724,2697,3916,3976,3856,0,0,0,0,0,0,14.18,14.27,28.83
$GC,516,-0.56,-145.9,2725,2697,3971,3858,88.0,-15.6,58,525,0.00,1.92,0.00,0.000,260,0.000,0.108,2718,3792,3917,3976,3858,0,0,0,0,0,0,28.83,14.40,28.83
$GC,549,-0.56,-145.9,2719,3793,3977,3859,93.4,-16.1,64,557,0.00,1.83,0.00,0.000,1030,0.000,0.057,2718,2694,3917,3976,3858,0,0,0,0,0,0,28.83,14.42,28.83
$GC,861,-0.60,-145.9,2719,2695,3977,3859,139.4,-13.7,96,869,0.00,1.95,0.00,0.000,260,0.000,0.109,2709,3792,3917,3976,3858,0,0,0,0,0,0,28.83,14.39,28.83
$GC,913,-0.60,-145.9,2710,3793,3976,3859,147.1,-15.3,106,922,0.00,1.83,0.00,0.000,1030,0.000,0.060,2709,2702,3917,3976,3858,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1227,-0.65,-145.9,2710,2702,3976,3858,186.9,-11.2,138,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2702,3917,3976,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.73,-145.9,2710,2702,3977,3858,219.8,-10.8,168,1529,0.12,0.00,0.00,0.000,4102,0.138,0.000,2657,2702,3915,3976,3854,0,0,0,0,0,0,14.50,28.83,28.83
$GC,1846,-0.73,-145.9,2657,2703,3975,3859,262.9,-13.5,194,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2702,3915,3974,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-0.73,-145.9,2657,2703,3974,3857,302.0,-13.0,204,2154,0.00,1.90,0.00,0.000,260,0.000,0.109,2648,3786,3915,3973,3858,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2198,-0.69,-145.9,2649,3786,3973,3858,309.4,-14.9,214,2208,0.12,1.80,0.00,0.000,3078,0.245,0.061,2681,2709,3915,3972,3858,0,0,0,0,0,0,14.40,14.55,28.83
$GC,2513,-0.74,-145.9,2682,2710,3973,3859,345.8,-11.3,226,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2709,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2813,-0.80,-145.9,2682,2710,3972,3859,379.0,-11.0,236,2821,0.00,1.90,0.00,0.000,260,0.000,0.110,2675,3791,3914,3971,3857,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2890,-0.80,-145.9,2676,3792,3971,3858,388.4,-12.2,251,2898,0.00,1.83,0.00,0.000,1030,0.000,0.060,2675,2694,3914,3970,3858,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3207,-0.84,-145.9,2675,2694,3971,3858,424.6,-11.4,264,3210,0.12,0.00,0.00,0.000,4102,0.139,0.000,2626,2694,3913,3969,3858,0,0,0,0,0,0,14.56,28.83,28.83
$GC,3506,-0.84,-145.9,2626,2695,3965,3858,466.4,-14.0,274,3517,0.00,1.95,0.00,0.000,260,0.000,0.108,2617,3785,3913,3969,3857,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3606,-0.76,-145.9,2618,3785,3970,3857,481.9,-15.7,293,3615,0.17,1.75,0.00,0.000,3078,0.269,0.060,2656,2702,3913,3969,3857,0,0,0,0,0,0,14.45,14.59,28.83
$STATE,3754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3754,begin apogee
$GC,3757,-0.13,0.0,2663,2847,3970,3857,500.4,-11.9,302,3883,0.75,0.00,121.78,1.743,10246,0.238,0.000,2857,2847,3316,3337,3295,0,0,0,0,0,0,14.45,28.83,13.18
$STATE,3885,end apogee,CONTROL_FINISHED_OK
$STATE,3885,begin climb
$GC,3886,0.70,145.9,2857,2847,3334,3289,503.8,0.0,306,4017,0.93,0.00,121.30,1.639,10246,0.138,0.000,3128,2848,2719,2726,2713,0,0,0,0,0,0,13.83,28.83,13.06
$GC,4294,0.62,145.9,3128,2845,2726,2702,458.1,13.7,320,4301,0.00,2.45,0.00,0.000,516,0.000,0.072,3139,1439,2713,2724,2702,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4340,0.62,145.9,3139,1439,2725,2702,451.9,12.7,329,4349,0.00,2.53,0.00,0.000,1030,0.000,0.097,3138,2843,2713,2724,2702,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4659,0.53,145.9,3140,2844,2725,2702,406.3,14.4,342,4662,0.22,0.00,0.00,0.000,4102,0.265,0.000,3087,2844,2712,2724,2701,0,0,0,0,0,0,14.21,28.83,28.83
$GC,4958,0.54,163.4,3088,2844,2725,2701,372.4,11.0,352,4980,0.00,2.47,15.38,1.505,8708,0.000,0.070,3095,1446,2644,2656,2633,0,0,0,0,0,0,28.83,14.28,13.69
$GC,5009,0.62,192.2,3096,1447,2655,2634,366.9,10.3,361,5042,0.00,2.50,24.45,1.600,9222,0.000,0.097,3096,2845,2527,2537,2517,0,0,0,0,0,0,28.83,14.28,13.54
$GC,5361,0.62,192.2,3096,2845,2537,2512,323.0,12.5,380,5369,0.00,2.40,0.00,0.000,516,0.000,0.072,3105,1444,2524,2537,2512,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5413,0.67,193.0,3106,1444,2538,2512,316.8,11.9,390,5423,0.00,2.47,0.00,0.000,1030,0.000,0.097,3105,2839,2524,2537,2512,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5727,0.67,193.0,3112,2840,2538,2512,275.5,13.3,402,5737,0.00,2.38,0.00,0.000,516,0.000,0.072,3114,1439,2524,2537,2511,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5761,0.72,199.3,3115,1439,2538,2512,271.2,11.6,408,5775,0.00,2.47,3.97,1.369,9222,0.000,0.097,3114,2839,2510,2521,2499,0,0,0,0,0,0,28.83,14.42,13.57
$GC,6074,0.72,199.3,3115,2840,2532,2495,229.6,12.9,432,6082,0.00,2.38,1.05,0.331,8708,0.000,0.068,3124,1443,2508,2527,2489,0,0,0,0,0,0,28.83,14.44,14.16
$GC,6121,0.72,201.1,3125,1443,2533,2493,223.8,11.8,441,6131,0.00,2.47,2.75,0.979,9222,0.000,0.097,3125,2841,2500,2517,2484,0,0,0,0,0,0,28.83,14.43,13.59
$GC,6427,0.72,201.1,3125,2842,2529,2489,185.2,12.1,472,6444,0.00,2.42,1.75,0.453,8708,0.000,0.071,3132,1451,2503,2522,2484,0,0,0,0,0,0,28.83,14.41,14.16
$GC,6473,0.72,209.7,3132,1452,2528,2491,179.9,11.4,479,6494,0.00,2.45,11.57,1.340,9222,0.000,0.097,3131,2839,2457,2471,2444,0,0,0,0,0,0,28.83,14.39,13.81
$GC,6789,0.74,240.6,3132,2839,2472,2444,144.4,10.2,512,6824,0.00,2.45,27.02,1.389,8708,0.000,0.069,3139,1440,2327,2332,2323,0,0,0,0,0,0,28.83,14.16,13.64
$GC,6888,0.84,276.6,3140,1440,2334,2323,134.6,9.9,530,6925,0.12,2.53,30.25,1.318,11270,0.129,0.098,3191,2846,2189,2189,2189,0,0,0,0,0,0,14.22,14.19,13.53
$GC,7229,0.84,276.6,3192,2845,2186,2179,87.9,13.7,566,7238,0.00,2.42,0.00,0.000,516,0.000,0.071,3200,1440,2181,2186,2177,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7267,0.84,276.6,3201,1438,2185,2176,83.0,12.7,573,7276,0.00,2.53,0.00,0.000,1030,0.000,0.096,3200,2845,2180,2185,2176,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7572,0.89,338.2,3201,2845,2184,2173,47.2,8.5,604,7606,0.00,2.42,26.05,0.329,8708,0.000,0.069,3209,1442,1937,1929,1946,0,0,0,0,0,0,28.83,14.23,14.11
$GC,7665,1.00,399.0,3210,1442,1933,1945,38.8,8.6,621,7701,0.00,2.53,27.45,0.316,9222,0.000,0.097,3209,2846,1690,1682,1699,0,0,0,0,0,0,28.83,14.26,14.06
$GC,7995,1.31,623.3,3209,2846,1686,1688,11.5,-0.3,656,8103,0.35,2.42,98.05,0.227,10756,0.083,0.073,3341,1449,771,756,787,0,0,0,0,0,0,14.30,14.21,14.09
$STATE,8242,end climb,SURFACE_DEPTH_REACHED
$STATE,8242,begin surface coast
$FINISH,0.4,1.015602
$STATE,8282,end surface coast,CONTROL_FINISHED_OK
$STATE,8282,begin surface
$SM_CCo,8306,25.55,0.206,0,0,539,681.20
$SM_GC,3.19,9.68,2.28,25.55,0.089,0.095,0.206,205,2698,539,-8.41,-0.68,681.20,0,0,0,0,0,0,14.32,14.29,14.21
$RAFOS_CLK,91
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14426.20,300714,113149
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.84
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3923808
$TM_FREEKB,7548436
$24V_AH,13.06,11.553
$10V_AH,13.22,0.000
$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,25.050,72.825,512.825,25.550,0.000,0.000,0.000,382.500,2.500,0.000,27.750,0.000,6042.570,696.204,2123.148,83.276,0.000,1741.660,0.000,1053.109,1495.000,13.605,0.000
$DEVICE_MAMPS,404.685,123.165,1743.435,205.785,0.000,0.000,0.000,182.070,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8295.000,8349.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.217,13.073,0.000,0.000
$MEM,300916
$DATA_FILE_SIZE,23431,708
$CAP_FILE_SIZE,127345,0
$CFSIZE,2097872896,2085158912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9184.36,0x2378b6,7,5
$SOUNDSPEED,1448.7
$EKF,8404,4269.168457,-8657.098633,0.448324,0.010027,0.026267,0.003405,0.000143,0.001370,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.049,81.34,1
$GPS,300714,163156,7109.202,-14416.417,20,0.8,40,22.4