version: 66.12
glider: 196
mission: 7
dive: 51
start: 8 2 114 8 46 50
data:
$ID,196
$MISSION,7
$DIVE,51
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,1
$ICE_FREEZE_MARGIN,0.1
$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,8
$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,681.01007
$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,-4737.0244
$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,47
$R_STBD_OVSHOOT,21
$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,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
$GPS1,020814,084522,7136.697,-14410.361,0,10040.3,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.62
$_SM_ANGLEo,-19.2
$GPS2,020814,084522,7136.697,-14410.361,0,10040.3,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.1,1308,-27.9,-11.628,-30.00,1240
$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,-0.80,-93.6,2963,2761,1673,1560,0.0,0.0,0,30,0.00,0.00,-14.10,0.000,16386,0.000,0.000,2962,2761,2330,2380,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.80,-93.6,2963,2761,2381,2282,11.8,0.0,1,65,0.95,2.40,-24.73,0.000,20996,0.071,0.098,2630,1362,3643,3697,3590,0,0,0,0,0,0,14.36,14.38,14.58
$GC,289,-0.80,-93.6,2631,1361,3698,3594,67.9,-19.8,51,296,0.00,2.53,0.00,0.000,1030,0.000,0.101,2619,2756,3645,3697,3594,0,0,0,0,0,0,28.83,14.41,28.83
$GC,600,-0.80,-93.6,2620,2757,3698,3595,129.6,-18.7,83,607,0.00,2.40,0.00,0.000,516,0.000,0.074,2619,1372,3645,3697,3594,0,0,0,0,0,0,28.83,14.43,28.83
$GC,766,-0.80,-93.6,2620,1373,3698,3595,158.1,-16.0,116,774,0.00,2.53,0.00,0.000,1030,0.000,0.103,2608,2766,3645,3697,3594,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1071,-0.80,-93.6,2609,2767,3698,3595,207.8,-15.3,147,1078,0.00,1.83,0.00,0.000,260,0.000,0.106,2600,3785,3645,3697,3594,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1136,-0.80,-93.6,2601,3785,3698,3595,218.8,-16.7,160,1145,0.12,1.70,0.00,0.000,3078,0.285,0.062,2630,2772,3645,3697,3594,0,0,0,0,0,0,14.38,14.53,28.83
$GC,1462,-0.80,-93.6,2631,2773,3698,3595,261.4,-12.7,187,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1762,-0.80,-93.6,2630,2773,3698,3595,298.2,-12.1,197,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-0.80,-93.6,2631,2772,3698,3594,333.6,-11.7,207,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-0.80,-94.4,2631,2775,3698,3594,368.4,-11.6,217,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-0.80,-94.8,2631,2772,3698,3595,403.2,-11.6,227,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-0.80,-98.7,2631,2773,3698,3595,437.3,-11.3,237,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2769,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.81,-102.9,2631,2771,3698,3594,471.3,-11.3,247,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.81,-108.1,2631,2773,3698,3595,505.0,-11.2,257,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2769,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.81,-115.4,2631,2773,3698,3595,538.2,-11.0,267,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2772,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,-0.82,-126.4,2631,2773,3698,3595,570.8,-10.7,277,4170,0.00,1.77,0.00,0.000,260,0.000,0.106,2625,3778,3643,3697,3590,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4244,-0.82,-126.4,2625,3779,3698,3594,580.9,-12.5,293,4253,0.00,1.70,0.00,0.000,1030,0.000,0.063,2624,2751,3645,3697,3594,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4557,-0.83,-133.1,2621,2753,3703,3595,615.6,-11.1,305,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2751,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.83,-143.9,2625,2752,3698,3594,648.1,-10.7,315,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2752,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.84,-145.9,2625,2752,3698,3594,680.4,-10.7,325,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2752,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.84,-145.9,2625,2752,3705,3595,712.5,-10.7,335,5463,0.00,1.83,0.00,0.000,260,0.000,0.106,2616,3786,3645,3697,3594,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5537,-0.84,-145.9,2617,3787,3698,3595,722.2,-12.5,351,5544,0.00,1.70,0.00,0.000,1030,0.000,0.062,2616,2755,3645,3697,3594,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,5787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5787,begin apogee
$GC,5790,-0.13,0.0,2617,2758,3698,3594,750.3,-11.2,361,5874,0.85,0.00,81.28,1.952,10244,0.252,0.000,2842,2759,3258,3284,3233,0,0,0,0,0,0,14.59,28.83,13.30
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5876,0.84,145.9,2844,2759,3280,3229,752.2,0.0,363,6009,1.08,1.92,124.72,1.927,10500,0.160,0.112,3154,3786,2658,2662,2655,0,0,0,0,0,0,13.95,13.97,12.98
$GC,6233,0.84,145.9,3154,3786,2662,2648,696.7,18.9,429,6242,0.00,1.80,0.00,0.000,1030,0.000,0.059,3162,2742,2655,2662,2648,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6566,0.84,145.9,3163,2743,2663,2649,641.2,16.6,445,6574,0.00,2.42,0.00,0.000,516,0.000,0.076,3173,1334,2654,2662,2647,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6798,0.84,145.9,3172,1334,2663,2647,605.3,15.3,491,6805,0.00,2.53,0.00,0.000,1030,0.000,0.097,3173,2736,2654,2661,2647,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7109,0.84,145.9,3173,2736,2663,2646,552.9,16.8,503,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2653,2661,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,0.84,145.9,3173,2737,2663,2652,502.3,16.8,513,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2653,2661,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,0.84,145.9,3173,2736,2663,2646,452.0,16.8,523,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2733,2653,2661,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,0.84,145.9,3173,2736,2663,2646,401.9,16.6,533,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2653,2661,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.84,145.9,3172,2737,2662,2647,352.3,16.5,543,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2736,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,0.84,145.9,3173,2736,2663,2646,303.5,16.2,553,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,0.84,145.9,3173,2737,2662,2647,256.1,15.5,563,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9209,0.84,145.9,3174,2737,2662,2646,210.6,14.8,589,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2736,2654,2662,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,0.84,156.1,3173,2736,2663,2646,172.8,10.8,619,9523,0.00,2.45,9.00,1.327,8708,0.000,0.076,3181,1334,2614,2622,2607,0,0,0,0,0,0,28.83,14.54,13.99
$GC,9552,0.85,170.7,3181,1333,2625,2609,168.2,10.4,627,9573,0.00,2.53,13.20,1.368,9222,0.000,0.098,3180,2746,2556,2562,2550,0,0,0,0,0,0,28.83,14.52,13.85
$GC,9878,0.87,187.9,3182,2746,2563,2549,132.7,10.2,661,9899,0.00,1.85,15.05,1.369,8452,0.000,0.103,3180,3792,2486,2491,2482,0,0,0,0,0,0,28.83,14.37,13.80
$GC,9933,0.87,187.9,3181,3791,2492,2482,126.1,13.2,671,9940,0.00,1.77,0.00,0.000,1030,0.000,0.058,3188,2738,2486,2490,2482,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10244,0.88,212.6,3189,2739,2491,2481,93.5,9.6,703,10258,0.00,1.92,10.10,0.479,8452,0.000,0.106,3188,3786,2392,2396,2389,0,0,0,0,0,0,28.83,14.40,14.21
$GC,10287,0.88,212.6,3189,3786,2405,2393,88.7,12.2,711,10294,0.00,1.75,0.00,0.000,1030,0.000,0.059,3196,2742,2399,2405,2393,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10598,0.91,246.3,3196,2741,2405,2392,57.7,8.8,743,10619,0.00,0.00,15.30,0.364,8710,0.000,0.000,3196,2741,2253,2255,2252,0,0,0,0,0,0,28.83,28.83,14.28
$GC,10923,0.97,330.4,3197,2742,2262,2253,36.5,4.7,777,10967,0.00,0.00,36.65,0.313,8710,0.000,0.000,3196,2741,1911,1904,1918,0,0,0,0,0,0,28.83,28.83,14.27
$GC,11263,1.02,412.3,3197,2740,1908,1911,11.3,4.8,812,11306,0.00,2.47,35.25,0.229,8708,0.000,0.076,3205,1333,1573,1576,1571,0,0,0,0,0,0,28.83,14.38,14.32
$STATE,11404,end climb,NO_VERTICAL_VELOCITY
$STATE,11404,begin subsurface finish
$SM_CCo,11405,115.68,0.230,0,0,500,676.54
$FINISH1,8.9,1.020328,397
$GC,11565,0.28,397.0,3206,2742,467,532,8.9,2.3,838,11597,0.65,2.45,-25.33,0.000,20996,0.076,0.096,2973,1348,1642,1689,1595,0,0,0,0,0,0,14.34,14.31,14.49
$FINISH2,9.7
$STATE,11597,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$RAFOS_CLK,6
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,021237
$TT8_MAMPS,0.079394,0.079394
$HUMID,44.01
$INTERNAL_PRESSURE,8.66046
$TCM_TEMP,13.20
$XPDR_PINGS,6
$SC_FREEKB,3915296
$24V_AH,12.98,17.111
$10V_AH,12.89,0.000
$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,3.650,51.400,340.550,115.675,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9278.122,556.497,1786.105,61.766,0.000,1213.079,0.000,1256.421,1462.000,0.539,0.000
$DEVICE_MAMPS,285.345,111.690,1952.280,230.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.007,0.000,0.000,0.000
$MEM,292256
$DATA_FILE_SIZE,30025,847
$CAP_FILE_SIZE,122502,0
$CFSIZE,2097872896,2081226752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5788.91,0x2378b6,2,5
$SOUNDSPEED,1450.7
$GPS,020814,120038,7135.449,-14410.046,0,10063.1,0,22.6