version: 66.12
glider: 196
mission: 7
dive: 48
start: 8 1 114 22 42 3
data:
$ID,196
$MISSION,7
$DIVE,48
$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,-4734.4995
$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,46
$R_STBD_OVSHOOT,18
$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
$GPS1,010814,223554,7132.570,-14407.443,33,0.8,53,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.2
$GPS2,010814,224145,7132.604,-14407.483,6,0.9,26,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.9,6458,-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,-145.9,153,2748,466,535,0.0,0.0,0,70,0.00,0.00,-54.47,0.000,16386,0.000,0.000,152,2748,1998,2009,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.69,-145.9,152,2747,2010,1988,4.2,-6.5,5,126,12.15,1.90,-32.58,0.000,19204,0.402,0.131,2660,3792,3857,3918,3796,0,0,0,0,0,0,14.15,14.31,14.56
$GC,350,-0.69,-145.9,2661,3792,3919,3802,75.8,-23.0,58,359,0.00,1.73,0.00,0.000,1030,0.000,0.060,2661,2758,3859,3917,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,655,-0.69,-145.9,2657,2760,3914,3803,134.9,-18.2,89,662,0.00,1.85,0.00,0.000,260,0.000,0.106,2653,3786,3860,3918,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,886,-0.69,-145.9,2653,3786,3918,3802,178.2,-17.6,135,895,0.00,1.73,0.00,0.000,1030,0.000,0.062,2653,2756,3860,3918,3802,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1199,-0.69,-145.9,2653,2756,3919,3802,226.0,-14.4,167,1207,0.00,1.85,0.00,0.000,260,0.000,0.108,2645,3786,3860,3918,3802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1431,-0.69,-145.9,2645,3787,3918,3803,262.0,-15.3,213,1438,0.00,1.73,0.00,0.000,1030,0.000,0.063,2645,2757,3859,3917,3802,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1742,-0.69,-145.9,2645,2757,3918,3802,304.6,-13.4,225,1749,0.00,1.85,0.00,0.000,260,0.000,0.109,2636,3790,3859,3916,3802,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1838,-0.69,-145.9,2637,3791,3917,3802,318.8,-15.0,244,1845,0.10,1.70,0.00,0.000,3078,0.259,0.063,2663,2770,3858,3915,3802,0,0,0,0,0,0,14.45,14.59,28.83
$GC,2164,-0.69,-145.9,2663,2770,3917,3802,358.7,-12.0,259,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2770,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.69,-145.9,2664,2771,3916,3803,394.5,-11.9,269,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-0.69,-145.9,2663,2770,3916,3802,430.4,-11.9,279,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3065,-0.69,-145.9,2664,2771,3915,3803,466.2,-12.0,289,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-0.69,-145.9,2664,2771,3915,3803,501.7,-11.8,299,3373,0.00,2.35,0.00,0.000,516,0.000,0.074,2663,1356,3858,3915,3801,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3412,-0.69,-145.9,2664,1357,3911,3802,507.3,-10.9,308,3419,0.00,2.50,0.00,0.000,1030,0.000,0.102,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3728,-0.69,-145.9,2655,2762,3915,3802,545.8,-12.2,321,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4030,-0.69,-145.9,2655,2762,3915,3802,582.2,-12.1,331,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.69,-145.9,2655,2762,3915,3802,618.7,-12.2,341,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.69,-145.9,2655,2761,3915,3800,654.5,-11.9,351,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-0.69,-145.9,2655,2761,3915,3801,689.8,-11.7,361,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5228,-0.69,-145.9,2655,2762,3915,3802,725.2,-11.8,371,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5467,begin apogee
$GC,5470,-0.13,0.0,2655,2762,3915,3801,753.1,-11.6,379,5598,0.73,0.00,125.55,1.961,10246,0.233,0.000,2848,2761,3256,3277,3236,0,0,0,0,0,0,14.48,28.83,13.09
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5601,0.69,145.9,2848,2761,3273,3234,756.3,0.0,383,5730,0.88,0.00,126.40,1.922,10758,0.143,0.000,3106,2761,2661,2671,2651,0,0,0,0,0,0,13.74,28.83,12.88
$GC,6008,0.69,145.9,3107,2762,2669,2641,711.0,13.1,402,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2760,2654,2668,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6308,0.69,145.9,3107,2761,2670,2639,671.4,13.3,412,6315,0.00,2.47,0.00,0.000,516,0.000,0.075,3117,1337,2654,2668,2640,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6344,0.69,145.9,3118,1338,2669,2640,666.9,12.4,419,6352,0.00,2.55,0.00,0.000,1030,0.000,0.096,3117,2735,2653,2668,2639,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6672,0.69,145.9,3118,2736,2670,2639,621.7,13.9,434,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6971,0.69,145.9,3118,2736,2669,2640,580.5,13.6,444,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,0.69,145.9,3118,2736,2669,2639,539.5,13.5,454,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.69,145.9,3117,2736,2670,2639,498.9,13.4,464,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,0.69,145.9,3118,2736,2670,2638,459.3,13.2,474,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8171,0.69,145.9,3118,2737,2669,2639,420.0,13.0,484,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,0.69,145.9,3116,2736,2670,2638,381.4,12.8,494,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.69,145.9,3118,2736,2670,2638,343.1,12.6,504,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,0.69,145.9,3118,2736,2670,2638,305.5,12.5,514,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2669,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9371,0.69,145.9,3122,2737,2669,2639,268.7,12.2,524,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,0.69,145.9,3118,2736,2670,2638,233.5,11.6,542,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,0.70,160.8,3118,2737,2669,2639,200.1,10.8,572,9991,0.00,1.90,12.73,1.331,8452,0.000,0.108,3117,3790,2596,2608,2584,0,0,0,0,0,0,28.83,14.50,14.00
$GC,10025,0.70,160.8,3118,3792,2607,2585,193.4,13.4,582,10032,0.00,1.75,0.00,0.000,1030,0.000,0.059,3125,2741,2594,2607,2582,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10336,0.74,219.6,3125,2742,2607,2584,161.9,8.5,614,10389,0.00,0.00,48.33,1.298,8198,0.000,0.000,3125,2741,2359,2363,2355,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10687,0.77,260.1,3126,2741,2363,2346,127.7,9.5,649,10727,0.00,2.50,34.10,1.250,8708,0.000,0.076,3129,1346,2190,2194,2186,0,0,0,0,0,0,28.83,14.19,13.71
$GC,10767,0.80,301.0,3130,1346,2190,2185,119.9,9.5,663,10809,0.00,2.53,32.83,1.266,9222,0.000,0.099,3129,2747,2022,2024,2021,0,0,0,0,0,0,28.83,14.21,13.57
$GC,11103,0.82,329.8,3130,2747,2025,2010,84.8,10.1,699,11118,0.00,0.00,11.65,0.443,8198,0.000,0.000,3129,2749,1914,1911,1917,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11413,0.86,385.3,3130,2747,1922,1917,55.3,8.7,730,11441,0.12,0.00,25.30,0.352,10758,0.129,0.000,3185,2747,1686,1683,1690,0,0,0,0,0,0,14.43,28.83,14.19
$GC,11736,0.89,430.3,3186,2748,1689,1684,23.1,9.2,764,11763,0.00,2.50,19.80,0.272,8708,0.000,0.077,3190,1341,1502,1502,1503,0,0,0,0,0,0,28.83,14.39,14.25
$GC,11832,0.93,484.5,3191,1341,1504,1501,14.6,8.7,782,11861,0.00,2.53,24.20,0.239,9222,0.000,0.100,3190,2735,1281,1283,1279,0,0,0,0,0,0,28.83,14.39,14.28
$FREEZE,11.61,4.010,-1.237,0,1,0
$STATE,12024,end climb,NO_VERTICAL_VELOCITY
$STATE,12024,begin surface
$SM_CCo,12026,84.85,0.233,0,0,502,676.54
$SM_CCo,12341,-0.22,0.000,0,0,501,676.54
$SM_CCo,12343,0.15,0.730,0,0,497,676.54
$SM_CCo,12345,-0.15,0.000,0,0,501,676.54
$SM_GC,2.06,8.90,0.00,-0.15,0.067,0.000,0.000,202,2735,501,-8.36,-0.71,676.54,0,0,0,0,0,0,14.45,28.83,14.52
$RAFOS_CLK,379
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14414.33,010814,190636
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.74
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.30
$XPDR_PINGS,5
$SC_FREEKB,3916640
$24V_AH,12.88,16.335
$10V_AH,12.72,0.000
$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,22.875,37.900,460.875,85.000,0.000,0.000,0.000,210.425,5.750,0.000,27.330,0.000,9938.833,689.429,1980.839,86.333,0.000,1517.173,0.000,1194.430,1430.000,38.653,0.000
$DEVICE_MAMPS,402.390,130.815,1961.460,729.810,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.643,0.000,0.000,0.000
$MEM,293424
$DATA_FILE_SIZE,26725,803
$CAP_FILE_SIZE,131832,0
$CFSIZE,2097872896,2081751040
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12647.27,0x2378b6,7,5
$INTR,1,5469.23,0x2378b6,2,5
$INTR,2,12330.32,0x2378b6,7,5
$SOUNDSPEED,1449.9
$EKF,12506,4294.095215,-8647.663086,11.612705,0.030932,0.013931,0.005486,0.000292,0.002913,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.011,215.22,1
$GPS,020814,021026,7134.041,-14407.792,111,0.7,131,22.6