version: 66.12
glider: 196
mission: 7
dive: 42
start: 8 1 114 1 15 10
data:
$ID,196
$MISSION,7
$DIVE,42
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$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,215
$T_MISSION,250
$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,-4726.9292
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$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
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,1
$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
$GPS1,010814,010854,7123.586,-14408.262,43,0.7,63,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.2
$GPS2,010814,011452,7123.634,-14408.250,6,0.7,26,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,329.7,22924,-22.3,-11.628,-24.76,1933
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.69,-145.9,193,2762,461,535,0.0,0.0,0,70,0.00,0.00,-54.47,0.000,16386,0.000,0.000,192,2763,2047,2057,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.69,-145.9,193,2764,2058,2038,4.8,-7.5,5,125,11.98,2.45,-30.62,0.000,19204,0.404,0.094,2665,1363,3856,3917,3796,0,0,0,0,0,0,14.16,14.33,14.54
$GC,348,-0.69,-145.9,2666,1364,3918,3803,64.4,-18.5,58,358,0.00,2.53,0.00,0.000,1030,0.000,0.099,2657,2759,3860,3918,3802,0,0,0,0,0,0,28.83,14.39,28.83
$GC,654,-0.69,-145.9,2657,2760,3919,3804,124.6,-18.5,89,660,0.00,2.40,0.00,0.000,516,0.000,0.073,2657,1369,3860,3918,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,859,-0.69,-145.9,2657,1369,3919,3803,157.6,-15.2,130,869,0.00,2.50,0.00,0.000,1030,0.000,0.100,2645,2760,3860,3917,3803,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1165,-0.69,-145.9,2646,2761,3918,3804,206.3,-15.1,161,1171,0.00,1.83,0.00,0.000,260,0.000,0.106,2637,3780,3860,3918,3803,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1270,-0.69,-145.9,2638,3781,3919,3803,223.5,-16.1,182,1280,0.10,1.70,0.00,0.000,3078,0.269,0.063,2663,2766,3860,3918,3802,0,0,0,0,0,0,14.37,14.54,28.83
$GC,1596,-0.69,-145.9,2664,2767,3918,3803,265.7,-12.7,207,1602,0.00,1.83,0.00,0.000,260,0.000,0.108,2657,3785,3859,3917,3801,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1656,-0.69,-145.9,2658,3786,3917,3803,274.2,-13.9,219,1663,0.00,1.73,0.00,0.000,1030,0.000,0.063,2658,2757,3859,3916,3802,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1988,-0.69,-145.9,2658,2757,3917,3802,315.6,-12.5,235,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2287,-0.69,-145.9,2658,2758,3917,3803,353.7,-12.7,245,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2587,-0.69,-145.9,2658,2758,3916,3803,391.2,-12.4,255,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.69,-145.9,2658,2757,3917,3801,428.0,-12.3,265,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,-0.69,-145.9,2658,2758,3916,3802,464.4,-12.0,275,3194,0.00,1.83,0.00,0.000,260,0.000,0.109,2650,3782,3857,3915,3800,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3233,-0.69,-145.9,2650,3783,3916,3801,470.5,-13.5,284,3240,0.00,1.70,0.00,0.000,1030,0.000,0.064,2650,2759,3857,3915,3800,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3549,-0.69,-145.9,2650,2763,3916,3799,510.3,-12.6,297,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2759,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.69,-145.9,2650,2758,3916,3799,547.1,-12.2,307,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2759,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4150,-0.69,-145.9,2650,2759,3915,3800,583.4,-12.0,317,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2758,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4449,-0.69,-145.9,2655,2760,3915,3801,619.4,-11.9,327,4455,0.00,1.83,0.00,0.000,260,0.000,0.109,2641,3786,3857,3915,3799,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4514,-0.69,-145.9,2642,3786,3916,3798,628.1,-13.5,340,4522,0.10,1.70,0.00,0.000,3078,0.259,0.063,2667,2763,3856,3915,3798,0,0,0,0,0,0,14.57,14.71,28.83
$GC,4841,-0.69,-145.9,2668,2764,3915,3799,663.6,-10.8,355,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.69,-145.9,2668,2764,3915,3799,695.7,-10.7,365,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2762,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.69,-145.9,2668,2763,3916,3798,727.5,-10.6,375,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2763,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5683,-0.13,0.0,2668,2764,3915,3799,752.6,-10.4,383,5810,0.65,0.00,124.60,1.971,10244,0.243,0.000,2843,2763,3257,3278,3236,0,0,0,0,0,0,14.60,28.83,13.13
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5812,0.69,145.9,2844,2764,3274,3233,755.5,0.0,387,5944,0.90,0.00,124.85,1.924,11270,0.154,0.000,3106,2763,2658,2669,2647,0,0,0,0,0,0,13.78,28.83,12.93
$GC,6259,0.69,145.9,3107,2764,2669,2641,704.6,13.2,421,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2763,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6559,0.69,145.9,3107,2763,2670,2639,665.0,13.1,431,6565,0.00,2.40,0.00,0.000,516,0.000,0.078,3115,1395,2654,2669,2639,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6584,0.69,149.7,3115,1395,2669,2639,661.6,11.4,436,6592,0.00,2.53,0.00,0.000,1030,0.000,0.099,3114,2784,2654,2669,2639,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6889,0.69,149.7,3115,2784,2670,2639,620.6,13.4,447,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2784,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7189,0.69,149.7,3116,2785,2669,2640,579.8,13.6,457,7196,0.00,2.40,0.00,0.000,516,0.000,0.076,3125,1396,2653,2668,2639,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7220,0.69,149.7,3126,1397,2670,2638,575.7,12.8,463,7227,0.00,2.47,0.00,0.000,1030,0.000,0.098,3125,2781,2652,2667,2638,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7551,0.69,149.7,3126,2781,2670,2638,529.3,14.1,479,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2781,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,0.69,149.7,3125,2782,2670,2639,487.8,13.8,489,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2780,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,0.69,149.7,3125,2781,2670,2638,446.5,13.6,499,8158,0.00,2.38,0.00,0.000,516,0.000,0.076,3125,1373,2653,2669,2638,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8182,0.69,149.7,3125,1373,2670,2638,442.6,12.6,505,8189,0.00,2.50,0.00,0.000,1030,0.000,0.097,3125,2780,2653,2668,2638,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8513,0.69,149.7,3126,2781,2669,2639,397.7,13.6,521,8519,0.00,2.33,0.00,0.000,516,0.000,0.075,3125,1394,2653,2669,2638,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8538,0.69,149.7,3126,1395,2669,2639,394.4,12.3,526,8548,0.00,2.47,0.00,0.000,1030,0.000,0.097,3123,2786,2653,2669,2638,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8843,0.69,149.7,3126,2786,2670,2638,353.9,13.3,537,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2786,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,0.69,149.7,3126,2786,2669,2639,314.7,12.9,547,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2786,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,0.69,149.7,3126,2786,2669,2639,276.1,12.8,557,9451,0.00,2.38,0.00,0.000,516,0.000,0.076,3125,1395,2653,2669,2638,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9479,0.69,149.7,3126,1395,2670,2638,271.7,12.0,564,9487,0.00,2.45,0.57,0.285,9222,0.000,0.097,3125,2781,2646,2663,2629,0,0,0,0,0,0,28.83,14.63,14.57
$GC,9786,0.69,149.7,3126,2782,2674,2632,232.8,12.2,587,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2781,2652,2673,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10089,0.69,149.7,3126,2781,2674,2630,196.4,11.9,617,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2781,2652,2673,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10389,0.72,193.1,3126,2782,2674,2632,165.6,9.3,647,10432,0.00,0.00,38.65,1.354,8454,0.000,0.000,3125,2781,2464,2474,2455,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10729,0.76,241.1,3126,2782,2475,2450,133.2,9.1,682,10772,0.00,0.00,40.12,1.240,8198,0.000,0.000,3126,2781,2270,2275,2265,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11070,0.78,275.4,3126,2781,2275,2254,100.0,9.8,716,11102,0.00,2.45,25.92,1.212,8708,0.000,0.076,3125,1388,2128,2134,2122,0,0,0,0,0,0,28.83,14.10,13.66
$GC,11142,0.82,334.7,3126,1391,2133,2121,93.7,8.5,729,11176,0.00,2.53,26.27,0.477,9222,0.000,0.099,3125,2790,1894,1889,1900,0,0,0,0,0,0,28.83,14.17,13.91
$GC,11470,0.85,369.7,3126,2790,1895,1896,60.9,9.8,764,11493,0.12,0.00,16.05,0.367,10246,0.136,0.000,3178,2790,1751,1746,1757,0,0,0,0,0,0,14.33,28.83,14.12
$GC,11790,0.88,412.2,3179,2791,1752,1754,25.4,9.4,796,11818,0.00,2.42,19.33,0.278,8708,0.000,0.076,3181,1395,1575,1572,1578,0,0,0,0,0,0,28.83,14.34,14.24
$GC,11867,0.91,465.1,3182,1394,1576,1578,18.6,8.8,810,11896,0.00,2.47,23.42,0.254,9222,0.000,0.099,3181,2785,1360,1359,1361,0,0,0,0,0,0,28.83,14.35,14.24
$FREEZE,11.51,4.803,-1.324,0,1,0
$STATE,12119,end climb,NO_VERTICAL_VELOCITY
$STATE,12119,begin surface
$SM_CCo,12120,93.70,0.229,0,0,499,676.78
$SM_CCo,12446,-0.32,0.000,0,0,501,676.54
$SM_CCo,12448,0.08,1.278,0,0,498,676.54
$SM_CCo,12450,-0.10,0.000,0,0,500,676.54
$SM_GC,2.22,8.95,0.00,-0.10,0.076,0.000,0.000,202,2785,500,-8.36,0.71,676.54,0,0,0,0,0,0,14.43,28.83,14.44
$RAFOS_CLK,128
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7045.80,-14404.29,310714,214126
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.10
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3919328
$24V_AH,12.93,14.605
$10V_AH,12.78,0.000
$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,22.800,58.175,439.800,93.775,0.000,0.000,0.000,217.750,5.500,0.000,27.222,0.000,9949.402,710.687,2058.421,87.478,0.000,1584.796,0.000,1249.584,1496.000,38.004,0.000
$DEVICE_MAMPS,403.920,109.395,1970.640,1277.550,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.619,0.000,0.000,0.000
$MEM,296132
$DATA_FILE_SIZE,29995,837
$CAP_FILE_SIZE,139065,0
$CFSIZE,2097872896,2082930688
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12688.62,0x2378b6,7,5
$INTR,1,5681.82,0x2378b6,2,5
$INTR,2,12436.00,0x2378b6,7,5
$SOUNDSPEED,1450.9
$EKF,12647,4285.167969,-8648.793945,11.505769,-0.062075,0.142832,-0.004885,0.000275,0.002707,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.009,86.67,1
$GPS,010814,044554,7125.154,-14408.480,147,0.9,167,22.6