version: 66.12
glider: 196
mission: 7
dive: 75
start: 8 5 114 16 4 53
data:
$ID,196
$MISSION,7
$DIVE,75
$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,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,-4753.4165
$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,24
$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
$GPS1,050814,123703,7154.210,-14410.960,5,0.9,26,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,7.1
$GPS2,050814,123703,7154.210,-14410.960,5,0.9,26,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7206.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,338.7,21842,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.69,-145.9,2969,2771,841,800,0.0,0.0,0,79,0.00,0.00,-61.97,0.000,16386,0.000,0.000,2968,2770,2502,2551,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,2969,2772,2552,2456,3.4,-2.5,6,119,0.88,0.00,-35.47,0.000,20998,0.067,0.000,2661,2771,3855,3917,3794,0,0,0,0,0,0,14.40,28.83,14.55
$GC,417,-0.69,-145.9,2662,2772,3918,3801,87.8,-21.0,41,422,0.00,1.83,0.00,0.000,260,0.000,0.106,2653,3784,3858,3917,3799,0,0,0,0,0,0,28.83,14.35,28.83
$GC,521,-0.69,-145.9,2655,3786,3917,3800,111.2,-21.3,62,528,0.00,1.70,0.00,0.000,1030,0.000,0.059,2649,2770,3858,3917,3799,0,0,0,0,0,0,28.83,14.38,28.83
$GC,826,-0.69,-145.9,2651,2770,3917,3800,168.5,-18.0,93,832,0.00,1.83,0.00,0.000,260,0.000,0.106,2645,3779,3858,3917,3799,0,0,0,0,0,0,28.83,14.36,28.83
$GC,866,-0.69,-145.9,2646,3780,3914,3800,176.0,-18.5,101,872,0.00,1.70,0.00,0.000,1030,0.000,0.060,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1176,-0.69,-145.9,2646,2770,3919,3800,225.7,-14.6,133,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.69,-145.9,2646,2770,3919,3799,267.7,-13.8,155,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-0.69,-145.9,2646,2771,3918,3801,307.9,-13.1,165,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.69,-145.9,2652,2771,3918,3800,346.9,-12.9,175,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-0.69,-145.9,2647,2771,3918,3800,385.1,-12.6,185,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.69,-145.9,2646,2770,3918,3799,422.4,-12.4,195,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2769,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-0.69,-145.9,2646,2770,3919,3799,459.1,-12.2,205,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3276,-0.69,-145.9,2646,2771,3920,3800,495.1,-12.1,215,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,-0.69,-145.9,2647,2771,3916,3800,530.9,-12.0,225,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,-0.69,-145.9,2646,2770,3919,3799,566.5,-11.8,235,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2770,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4176,-0.69,-145.9,2646,2770,3919,3799,601.9,-11.9,245,4182,0.00,2.38,0.00,0.000,516,0.000,0.073,2646,1366,3858,3917,3799,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4231,-0.69,-145.9,2647,1365,3920,3799,608.2,-10.8,256,4238,0.15,2.50,0.00,0.000,3078,0.267,0.103,2669,2770,3858,3917,3799,0,0,0,0,0,0,14.57,14.64,28.83
$GC,4537,-0.69,-145.9,2670,2771,3918,3801,639.8,-10.3,267,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2770,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4836,-0.69,-145.9,2669,2770,3919,3800,670.6,-10.3,277,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2770,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5136,-0.69,-145.9,2670,2770,3919,3800,701.6,-10.3,287,5142,0.00,1.80,0.00,0.000,260,0.000,0.108,2663,3786,3858,3917,3800,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5176,-0.69,-145.9,2664,3787,3918,3801,706.2,-11.9,295,5182,0.00,1.65,0.00,0.000,1030,0.000,0.060,2663,2779,3859,3918,3800,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5497,-0.69,-145.9,2664,2780,3918,3801,740.7,-10.7,309,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2779,3858,3917,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5585,begin apogee
$GC,5588,-0.13,0.0,2664,2780,3918,3801,750.3,-10.7,312,5715,0.68,0.00,124.68,1.944,10244,0.223,0.000,2847,2779,3258,3281,3236,0,0,0,0,0,0,14.60,28.83,13.14
$STATE,5716,end apogee,CONTROL_FINISHED_OK
$STATE,5716,begin climb
$GC,5717,0.69,145.9,2848,2780,3277,3234,753.3,0.0,316,5848,0.88,0.00,124.28,1.864,11270,0.135,0.000,3111,2778,2659,2670,2649,0,0,0,0,0,0,13.80,28.83,12.93
$GC,6157,0.69,145.9,3111,2779,2669,2640,702.3,13.7,356,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2779,2653,2667,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6457,0.69,145.9,3111,2779,2669,2639,661.8,13.5,366,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2779,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6757,0.69,145.9,3111,2779,2669,2639,621.0,13.6,376,6762,0.00,2.47,0.00,0.000,516,0.000,0.073,3121,1351,2653,2668,2639,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6796,0.69,145.9,3122,1351,2669,2639,615.9,12.0,384,6802,0.00,2.50,0.00,0.000,1030,0.000,0.096,3120,2742,2653,2668,2639,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7117,0.69,145.9,3122,2744,2669,2640,571.4,13.9,398,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7417,0.69,145.9,3122,2743,2670,2639,530.1,13.7,408,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7717,0.69,145.9,3122,2743,2669,2639,488.7,13.8,418,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8017,0.69,145.9,3122,2744,2669,2640,447.1,13.8,428,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2743,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,0.69,145.9,3123,2744,2669,2640,406.3,13.5,438,8322,0.00,2.40,0.00,0.000,516,0.000,0.073,3129,1340,2653,2668,2639,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8341,0.69,145.9,3129,1340,2669,2639,403.0,12.8,443,8349,0.00,2.47,0.00,0.000,1030,0.000,0.096,3129,2739,2653,2667,2639,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8647,0.69,145.9,3129,2739,2669,2639,360.6,13.9,454,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2739,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8947,0.69,145.9,3129,2739,2669,2639,319.1,13.7,464,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2739,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9247,0.69,145.9,3129,2739,2669,2639,279.2,13.0,474,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2739,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9547,0.69,145.9,3129,2739,2670,2639,242.1,12.1,488,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2739,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9847,0.71,173.7,3130,2740,2669,2640,208.3,10.1,518,9874,0.00,1.90,23.10,1.291,8452,0.000,0.105,3133,3783,2543,2554,2533,0,0,0,0,0,0,28.83,14.42,13.92
$GC,9923,0.71,173.7,3129,3784,2552,2532,199.3,13.0,533,9929,0.00,1.75,0.00,0.000,1030,0.000,0.057,3136,2733,2541,2551,2532,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10228,0.74,221.0,3137,2735,2552,2532,168.3,9.1,564,10270,0.00,0.00,39.72,1.343,8454,0.000,0.000,3136,2734,2351,2355,2348,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10568,0.77,265.3,3137,2735,2354,2340,134.8,9.3,599,10610,0.00,2.47,36.85,1.251,8708,0.000,0.073,3147,1348,2170,2174,2166,0,0,0,0,0,0,28.83,14.17,13.65
$GC,10650,0.79,294.6,3148,1349,2171,2165,126.9,10.1,615,10682,0.00,2.50,24.98,1.286,9222,0.000,0.096,3147,2737,2051,2054,2049,0,0,0,0,0,0,28.83,14.16,13.60
$GC,10979,0.81,313.1,3148,2738,2055,2036,90.1,10.6,651,10992,0.00,1.88,7.12,0.453,8452,0.000,0.103,3146,3793,1981,1983,1980,0,0,0,0,0,0,28.83,14.29,14.07
$GC,11016,0.81,313.1,3148,3794,1991,1981,85.9,12.2,658,11023,0.00,1.77,0.00,0.000,1030,0.000,0.055,3154,2738,1985,1990,1980,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11321,0.85,369.5,3154,2737,1993,1980,56.3,8.6,689,11353,0.00,2.40,25.62,0.353,8708,0.000,0.074,3164,1346,1750,1749,1751,0,0,0,0,0,0,28.83,14.35,14.19
$GC,11388,0.89,434.8,3165,1342,1752,1752,50.7,8.2,702,11424,0.00,2.50,29.00,0.337,9222,0.000,0.097,3164,2746,1485,1487,1483,0,0,0,0,0,0,28.83,14.35,14.15
$GC,11723,0.95,511.5,3165,2746,1491,1467,23.5,7.5,739,11765,0.12,2.45,33.75,0.270,10756,0.129,0.076,3221,1354,1170,1171,1170,0,0,0,0,0,0,14.40,14.35,14.23
$GC,11818,0.99,575.6,3221,1354,1172,1167,14.6,8.2,758,11856,0.00,2.50,28.40,0.239,9222,0.000,0.096,3221,2734,909,900,918,0,0,0,0,0,0,28.83,14.35,14.23
$FREEZE,8.65,-0.980,-1.491,2,2,0
$FREEZE,7.99,-0.985,-1.489,2,2,0
$FREEZE,7.28,-0.988,-1.486,2,2,0
$FREEZE,6.73,-1.015,-1.484,2,2,0
$FREEZE,6.04,-1.029,-1.481,2,2,0
$FREEZE,5.26,-1.037,-1.480,2,2,0
$FREEZE,4.72,-1.057,-1.478,2,2,0
$FREEZE,4.00,-1.081,-1.476,2,2,0
$FREEZE,3.32,-1.119,-1.475,2,2,0
$FREEZE,2.56,-1.122,-1.474,2,2,0
$FREEZE,1.91,-1.113,-1.472,2,2,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FREEZE,1.81,-1.160,-1.453,2,2,0
$FREEZE,1.86,-1.210,-1.434,2,2,0
$FINISH,1.9,1.021144
$STATE,12014,end surface coast,CONTROL_FINISHED_OK
$STATE,12014,begin surface
$RAFOS_CLK,604
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7112.27,-14412.53,050814,020933
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.48
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.40
$XPDR_PINGS,17
$SC_FREEKB,3905056
$24V_AH,12.93,23.252
$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,2.700,47.425,497.500,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,0.000,9976.630,564.660,1592.904,72.122,0.000,1211.245,0.000,1168.346,0.000,0.540,0.000
$DEVICE_MAMPS,266.985,205.020,1943.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.516,0.000,0.000,0.000
$MEM,319368
$DATA_FILE_SIZE,26770,781
$CAP_FILE_SIZE,124018,0
$CFSIZE,2097872896,2076999680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5585.84,0x2378b6,2,5
$SOUNDSPEED,1449.4
$GPS,050814,123703,7154.210,-14410.960,5,0.9,26,22.7