version: 66.12
glider: 196
mission: 7
dive: 146
start: 8 16 114 0 6 38
data:
$ID,196
$MISSION,7
$DIVE,146
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-5195.6333
$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,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,0
$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
$GPS1,150814,235942,7241.105,-14413.476,61,0.7,81,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.0
$GPS2,160814,000619,7241.098,-14413.694,4,0.7,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.1,16611,-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,15,-0.69,-145.9,146,2755,423,563,0.0,0.0,0,85,0.00,0.00,-68.72,0.000,16386,0.000,0.000,145,2756,2230,2239,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.69,-145.9,145,2756,2239,2223,4.0,-4.9,7,133,12.07,1.88,-29.70,0.000,18692,0.392,0.126,2657,3786,3856,3917,3795,0,0,0,0,0,0,14.07,14.27,14.47
$GC,357,-0.69,-145.9,2658,3787,3917,3802,85.3,-23.7,61,363,0.00,1.70,0.00,0.000,1030,0.000,0.052,2657,2760,3858,3916,3801,0,0,0,0,0,0,28.83,14.36,28.83
$GC,667,-0.69,-145.9,2657,2758,3918,3801,152.5,-20.4,93,673,0.00,1.85,0.00,0.000,260,0.000,0.101,2649,3784,3858,3916,3801,0,0,0,0,0,0,28.83,14.33,28.83
$GC,847,-0.69,-145.9,2650,3785,3917,3802,189.5,-19.9,129,853,0.00,1.70,0.00,0.000,1030,0.000,0.054,2648,2760,3858,3916,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1158,-0.69,-145.9,2649,2761,3917,3802,241.8,-16.1,161,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2760,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1458,-0.69,-145.9,2649,2760,3918,3801,288.5,-15.2,175,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2760,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.69,-145.9,2649,2760,3918,3801,332.9,-14.8,185,1763,0.00,2.35,0.00,0.000,516,0.000,0.067,2649,1370,3859,3917,3801,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1812,-0.69,-145.9,2649,1372,3917,3802,340.4,-13.3,196,1819,0.10,2.47,0.00,0.000,3078,0.238,0.098,2664,2755,3858,3916,3801,0,0,0,0,0,0,14.40,14.51,28.83
$GC,2118,-0.69,-145.9,2665,2756,3917,3801,380.1,-12.9,207,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2755,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2417,-0.69,-145.9,2665,2755,3917,3801,418.6,-12.8,217,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2759,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-0.69,-145.9,2665,2756,3917,3801,456.7,-12.6,227,2723,0.00,2.35,0.00,0.000,516,0.000,0.065,2665,1340,3858,3916,3801,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2752,-0.69,-145.9,2665,1338,3918,3801,460.9,-11.7,234,2758,0.00,2.50,0.00,0.000,1030,0.000,0.096,2655,2747,3858,3916,3801,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3078,-0.69,-145.9,2656,2747,3917,3801,503.6,-13.2,249,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2748,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3377,-0.69,-145.9,2656,2748,3917,3802,542.7,-13.1,259,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2747,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3677,-0.69,-145.9,2656,2748,3917,3802,581.5,-12.9,269,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2748,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,-0.69,-145.9,2655,2748,3917,3801,620.3,-12.9,279,3983,0.00,2.33,0.00,0.000,516,0.000,0.064,2655,1366,3858,3916,3800,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4012,-0.69,-145.9,2656,1365,3917,3801,624.6,-11.9,286,4018,0.00,2.45,0.00,0.000,1030,0.000,0.096,2644,2749,3858,3916,3801,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4338,-0.69,-145.9,2645,2749,3918,3801,668.1,-13.4,301,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2749,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.69,-145.9,2644,2750,3917,3801,708.0,-13.2,311,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2749,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.69,-145.9,2645,2749,3916,3801,746.9,-13.0,321,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2749,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4966,begin apogee
$GC,4969,-0.13,0.0,2645,2750,3917,3800,750.9,-13.0,322,5097,0.75,0.00,125.50,1.973,10244,0.233,0.000,2846,2749,3257,3274,3241,0,0,0,0,0,0,14.54,28.83,13.18
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5100,0.69,145.9,2847,2750,3269,3238,754.7,0.0,326,5229,0.88,0.00,123.72,1.797,11270,0.136,0.000,3108,2750,2659,2665,2654,0,0,0,0,0,0,13.81,28.83,12.86
$GC,5538,0.69,145.9,3109,2751,2664,2644,709.0,12.9,366,5544,0.00,1.90,0.00,0.000,260,0.000,0.097,3108,3784,2653,2663,2643,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5588,0.69,145.9,3110,3785,2664,2644,701.8,15.0,376,5594,0.00,1.75,0.00,0.000,1030,0.000,0.050,3115,2741,2653,2663,2643,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5898,0.69,145.9,3115,2741,2664,2643,660.8,13.0,388,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6199,0.69,145.9,3116,2742,2664,2643,621.6,13.0,398,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2741,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,0.69,145.9,3116,2741,2664,2642,582.9,12.9,408,6504,0.00,1.88,0.00,0.000,260,0.000,0.099,3115,3792,2652,2662,2642,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6523,0.69,145.9,3116,3792,2664,2641,579.4,14.3,413,6530,0.00,1.73,0.00,0.000,1030,0.000,0.050,3123,2740,2652,2663,2642,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6828,0.69,145.9,3124,2739,2664,2643,539.8,12.8,424,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2738,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,0.69,145.9,3124,2738,2664,2642,501.2,13.0,434,7134,0.00,1.88,0.00,0.000,260,0.000,0.100,3123,3790,2652,2663,2642,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7148,0.69,145.9,3124,3791,2663,2642,498.4,13.8,438,7154,0.00,1.70,0.00,0.000,1030,0.000,0.050,3128,2742,2652,2663,2642,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7458,0.69,145.9,3129,2742,2664,2642,457.6,13.0,450,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2742,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,0.69,145.9,3129,2742,2664,2642,418.7,12.9,460,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8058,0.69,145.9,3129,2743,2664,2642,380.4,12.9,470,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8358,0.69,145.9,3129,2743,2664,2643,342.4,12.7,480,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2742,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,0.69,145.9,3129,2742,2664,2642,305.2,12.2,490,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8958,0.69,145.9,3128,2742,2672,2642,269.2,12.0,500,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9258,0.71,175.3,3129,2743,2664,2643,236.8,10.1,518,9284,0.00,0.00,24.27,1.277,8198,0.000,0.000,3128,2742,2541,2548,2535,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9579,0.73,207.9,3129,2742,2545,2525,202.9,9.9,550,9610,0.00,0.00,27.62,1.268,8198,0.000,0.000,3128,2742,2404,2409,2400,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9909,0.76,250.8,3129,2743,2410,2394,171.1,9.3,583,9951,0.00,1.88,35.97,1.282,8452,0.000,0.097,3128,3791,2230,2233,2227,0,0,0,0,0,0,28.83,14.19,13.64
$GC,9991,0.76,250.8,3129,3793,2229,2229,162.2,12.3,599,9995,0.00,1.75,0.00,0.000,1030,0.000,0.051,3141,2748,2227,2228,2226,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10301,0.79,288.0,3137,2748,2229,2222,129.8,9.6,631,10336,0.00,2.47,31.65,1.200,8708,0.000,0.067,3146,1350,2077,2081,2073,0,0,0,0,0,0,28.83,14.19,13.68
$GC,10396,0.82,329.3,3146,1348,2077,2070,120.8,9.4,650,10433,0.00,2.53,33.03,1.177,9222,0.000,0.093,3146,2736,1916,1913,1919,0,0,0,0,0,0,28.83,14.23,13.60
$GC,10731,0.82,335.8,3147,2736,1908,1901,83.2,11.3,687,10734,0.00,0.00,1.77,0.356,8198,0.000,0.000,3146,2736,1888,1891,1886,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11031,0.86,393.1,3147,2736,1906,1889,54.7,8.6,717,11063,0.00,2.35,26.35,0.352,8708,0.000,0.065,3155,1352,1653,1658,1649,0,0,0,0,0,0,28.83,14.35,14.16
$GC,11097,0.93,485.8,3156,1353,1663,1648,49.9,6.7,729,11144,0.12,2.47,40.97,0.334,11270,0.126,0.093,3207,2726,1276,1285,1268,0,0,0,0,0,0,14.39,14.33,14.13
$GC,11442,0.98,559.8,3208,2726,1291,1253,16.5,7.7,768,11477,0.00,0.00,32.80,0.248,8454,0.000,0.000,3207,2726,973,973,974,0,0,0,0,0,0,28.83,28.83,14.21
$FREEZE,8.56,1.714,-1.429,2,1,0
$FREEZE,8.08,1.741,-1.428,2,1,0
$FREEZE,7.69,1.747,-1.427,2,1,0
$FREEZE,7.23,1.746,-1.427,2,1,0
$FREEZE,6.60,1.750,-1.427,2,1,0
$FREEZE,5.97,1.752,-1.426,2,1,0
$FREEZE,5.77,1.753,-1.426,2,1,0
$FREEZE,5.27,1.752,-1.426,2,1,0
$FREEZE,4.71,1.749,-1.425,2,1,0
$FREEZE,4.00,1.748,-1.425,2,1,0
$FREEZE,3.39,1.751,-1.424,2,1,0
$FREEZE,2.79,1.749,-1.424,2,1,0
$FREEZE,2.38,1.754,-1.423,2,1,0
$FREEZE,2.13,1.750,-1.423,2,1,0
$FREEZE,1.56,1.752,-1.423,2,1,0
$STATE,11761,end climb,SURFACE_DEPTH_REACHED
$STATE,11761,begin surface coast
$FREEZE,0.94,1.752,-1.422,2,1,0
$FREEZE,0.91,1.675,-0.769,2,1,0
$FREEZE,0.74,1.735,-1.423,2,1,0
$FREEZE,0.79,1.700,-0.979,2,1,0
$FINISH,0.8,1.014448
$STATE,11801,end surface coast,CONTROL_FINISHED_OK
$STATE,11801,begin surface
$SM_CCo,11817,51.97,0.198,0,0,499,676.54
$SM_GC,1.84,8.98,0.05,51.97,0.066,0.258,0.198,203,2759,499,-8.35,-0.76,676.54,0,0,0,0,0,0,14.46,14.42,14.30
$RAFOS_CLK,585
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14408.44,150814,203717
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.70
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.80
$XPDR_PINGS,1
$SC_FREEKB,3873248
$24V_AH,12.86,43.953
$10V_AH,12.86,0.000
$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,22.900,45.900,503.675,51.975,0.000,0.000,0.000,239.325,0.250,0.000,25.816,0.000,9622.457,581.382,1933.991,127.849,0.000,1520.832,0.000,1205.229,1014.000,0.539,0.000
$DEVICE_MAMPS,391.680,257.805,1972.935,198.135,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11839.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.759,0.000,0.000,0.000
$MEM,279060
$DATA_FILE_SIZE,26741,807
$CAP_FILE_SIZE,130358,0
$CFSIZE,2097872896,2063171584
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12310.38,0x2378b6,7,5
$INTR,1,4967.79,0x2378b6,2,5
$SOUNDSPEED,1449.8
$GPS,160814,032554,7242.272,-14413.953,37,0.9,57,22.9