version: 66.12
glider: 196
mission: 7
dive: 83
start: 8 6 114 20 15 20
data:
$ID,196
$MISSION,7
$DIVE,83
$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,-5125.0493
$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,45
$R_STBD_OVSHOOT,19
$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
$GPS1,060814,164746,7201.875,-14411.736,5,0.9,25,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-2.5
$GPS2,060814,164746,7201.875,-14411.736,5,0.9,25,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,156.1,47932,-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,-145.9,2990,2746,570,610,0.0,0.0,0,59,0.00,0.00,-42.22,0.000,16386,0.000,0.000,2989,2746,1800,1853,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.69,-145.9,2990,2747,1854,1750,3.0,-1.0,4,119,0.95,1.90,-53.85,0.000,20740,0.074,0.129,2650,3789,3857,3916,3799,0,0,0,0,0,0,14.35,14.31,14.52
$GC,129,-0.69,-145.9,2651,3789,3917,3798,17.2,-33.2,18,134,0.00,1.75,0.00,0.000,1030,0.000,0.057,2650,2751,3857,3916,3798,0,0,0,0,0,0,28.83,14.36,28.83
$GC,438,-0.69,-145.9,2651,2751,3915,3801,96.9,-21.7,50,444,0.00,1.88,0.00,0.000,260,0.000,0.105,2641,3785,3857,3915,3800,0,0,0,0,0,0,28.83,14.34,28.83
$GC,513,-0.69,-145.9,2642,3786,3917,3800,114.9,-24.5,65,520,0.10,1.70,0.00,0.000,3078,0.268,0.060,2665,2779,3857,3915,3800,0,0,0,0,0,0,14.23,14.38,28.83
$GC,819,-0.69,-145.9,2667,2780,3916,3801,170.1,-16.7,96,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2779,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-0.69,-145.9,2666,2780,3916,3801,216.3,-14.1,126,1124,0.00,2.42,0.00,0.000,516,0.000,0.075,2667,1370,3858,3916,3800,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1198,-0.69,-145.9,2667,1370,3916,3801,226.5,-12.5,142,1204,0.00,2.53,0.00,0.000,1030,0.000,0.103,2658,2765,3857,3915,3800,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1528,-0.69,-145.9,2659,2766,3916,3801,270.6,-13.0,166,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2765,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,-0.69,-145.9,2659,2766,3916,3801,308.9,-12.7,176,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2765,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.69,-145.9,2659,2766,3917,3800,346.1,-12.3,186,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2765,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.69,-145.9,2659,2767,3916,3801,382.1,-11.9,196,2434,0.00,1.83,0.00,0.000,260,0.000,0.109,2650,3790,3857,3915,3800,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2473,-0.69,-145.9,2652,3791,3917,3800,388.0,-13.6,205,2479,0.00,1.70,0.00,0.000,1030,0.000,0.063,2650,2764,3858,3916,3800,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2788,-0.69,-145.9,2651,2765,3916,3801,426.7,-12.1,218,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,-0.69,-145.9,2651,2765,3916,3801,463.1,-12.1,228,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.69,-145.9,2651,2765,3917,3800,499.3,-12.0,238,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2764,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.69,-145.9,2651,2765,3916,3800,534.8,-11.7,248,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,-0.69,-145.9,2651,2764,3917,3800,570.3,-11.9,258,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.69,-145.9,2651,2765,3916,3800,605.2,-11.6,268,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-0.69,-145.9,2651,2765,3915,3801,640.1,-11.6,278,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4888,-0.69,-145.9,2651,2765,3916,3801,675.2,-11.7,288,4894,0.00,1.80,0.00,0.000,260,0.000,0.108,2642,3782,3857,3915,3800,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4928,-0.69,-145.9,2643,3782,3917,3800,680.3,-13.5,296,4934,0.00,1.67,0.00,0.000,1030,0.000,0.062,2642,2766,3858,3916,3800,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5249,-0.69,-145.9,2643,2767,3916,3801,719.3,-12.1,310,5250,0.12,0.00,0.00,0.000,2054,0.277,0.000,2668,2766,3858,3916,3800,0,0,0,0,0,0,14.59,28.83,28.83
$STATE,5547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5547,begin apogee
$GC,5550,-0.13,0.0,2669,2765,3917,3800,750.5,-10.2,320,5677,0.65,0.00,124.80,1.942,10244,0.223,0.000,2848,2766,3257,3278,3237,0,0,0,0,0,0,14.60,28.83,13.14
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5680,0.69,145.9,2849,2767,3274,3234,753.4,0.0,324,5815,0.90,1.92,124.55,1.894,10500,0.150,0.110,3105,3786,2657,2665,2649,0,0,0,0,0,0,13.81,13.82,12.89
$GC,6039,0.69,145.9,3106,3787,2666,2645,707.3,15.4,398,6044,0.00,1.83,0.00,0.000,1030,0.000,0.057,3113,2733,2655,2667,2643,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6359,0.69,145.9,3113,2735,2666,2643,663.8,13.6,412,6364,0.00,2.40,0.00,0.000,516,0.000,0.075,3124,1342,2653,2665,2642,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6589,0.69,145.9,3125,1342,2668,2642,634.9,12.5,458,6594,0.00,2.53,0.00,0.000,1030,0.000,0.096,3124,2735,2653,2665,2642,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6899,0.69,145.9,3124,2736,2666,2643,591.6,14.0,470,6904,0.00,2.42,0.00,0.000,516,0.000,0.074,3131,1341,2653,2665,2642,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6923,0.69,145.9,3132,1341,2666,2642,588.2,13.5,475,6931,0.00,2.50,0.00,0.000,1030,0.000,0.096,3128,2735,2653,2665,2642,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7229,0.69,145.9,3130,2736,2666,2643,544.6,14.3,486,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,0.69,145.9,3132,2735,2666,2641,501.7,14.2,496,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2734,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7829,0.69,145.9,3131,2735,2666,2642,458.9,14.2,506,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,0.69,145.9,3132,2735,2666,2642,416.3,14.1,516,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2734,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,0.69,145.9,3131,2735,2666,2642,374.5,13.8,526,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2734,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8729,0.69,145.9,3132,2735,2666,2643,333.0,13.8,536,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2734,2653,2665,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9029,0.69,145.9,3132,2735,2666,2642,291.7,13.6,546,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,0.69,145.9,3132,2735,2665,2642,252.7,12.5,556,9334,0.00,1.88,0.00,0.000,260,0.000,0.105,3132,3789,2653,2665,2641,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9394,0.69,145.9,3132,3790,2666,2643,243.4,14.2,569,9401,0.00,1.75,0.00,0.000,1030,0.000,0.057,3139,2729,2653,2665,2641,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9699,0.70,166.8,3140,2729,2667,2642,207.4,10.5,600,9721,0.00,2.40,17.75,1.314,8708,0.000,0.073,3150,1349,2572,2581,2563,0,0,0,0,0,0,28.83,14.50,13.93
$GC,9771,0.72,194.0,3150,1348,2580,2562,199.9,10.2,614,9803,0.00,2.45,22.75,1.411,9222,0.000,0.097,3150,2742,2463,2470,2456,0,0,0,0,0,0,28.83,14.48,13.74
$GC,10101,0.74,216.4,3151,2742,2470,2452,163.4,10.4,650,10127,0.00,2.45,19.58,1.332,8708,0.000,0.073,3159,1351,2369,2374,2364,0,0,0,0,0,0,28.83,14.30,13.73
$GC,10186,0.76,251.0,3160,1352,2375,2364,154.8,9.8,667,10223,0.00,2.50,29.80,1.281,9222,0.000,0.096,3159,2734,2227,2227,2227,0,0,0,0,0,0,28.83,14.30,13.65
$GC,10521,0.77,258.4,3159,2732,2229,2219,115.7,11.2,704,10527,0.00,1.88,2.38,0.749,8452,0.000,0.102,3159,3789,2204,2210,2199,0,0,0,0,0,0,28.83,14.28,13.54
$GC,10586,0.77,258.4,3160,3789,2219,2204,107.0,13.2,717,10593,0.00,1.77,0.00,0.000,1030,0.000,0.057,3166,2738,2210,2218,2203,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10891,0.79,292.6,3167,2739,2219,2204,75.5,9.8,748,10914,0.00,2.40,15.73,0.418,8708,0.000,0.075,3176,1340,2065,2068,2063,0,0,0,0,0,0,28.83,14.38,14.19
$GC,10963,0.83,339.6,3183,1340,2075,2063,68.8,9.1,762,10990,0.00,2.50,21.35,0.395,9222,0.000,0.098,3176,2745,1874,1868,1880,0,0,0,0,0,0,28.83,14.37,14.15
$GC,11294,0.88,422.7,3178,2746,1873,1873,38.3,7.2,798,11336,0.00,1.85,36.88,0.320,8452,0.000,0.103,3176,3792,1531,1533,1530,0,0,0,0,0,0,28.83,14.35,14.22
$GC,11380,0.91,454.4,3177,3792,1534,1529,30.6,9.9,815,11398,0.00,1.77,13.60,0.298,9222,0.000,0.058,3178,2742,1406,1412,1400,0,0,0,0,0,0,28.83,14.39,14.19
$FREEZE,8.82,-1.067,-1.493,2,2,0
$FREEZE,8.45,-1.067,-1.493,2,2,0
$FREEZE,8.09,-1.034,-1.491,2,2,0
$FREEZE,7.55,-1.034,-1.491,2,2,0
$FREEZE,7.22,-0.997,-1.487,2,2,0
$FREEZE,6.73,-0.997,-1.486,2,2,0
$FREEZE,6.23,-0.994,-1.481,2,2,0
$GC,11696,1.01,596.8,3178,2743,1414,1389,9.9,4.1,848,11763,0.10,2.47,62.30,0.221,10756,0.151,0.077,3233,1344,823,808,838,0,0,0,0,0,0,14.43,14.35,14.26
$FREEZE,5.47,-0.597,-1.474,2,2,0
$FREEZE,5.12,-0.597,-1.474,2,2,0
$FREEZE,4.80,-0.418,-1.451,2,2,0
$FREEZE,4.58,-0.418,-1.451,2,2,0
$FREEZE,4.41,-0.241,-1.439,2,2,0
$FREEZE,4.22,-0.241,-1.439,2,2,0
$FREEZE,3.84,-0.369,-1.434,2,2,0
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$STATE,12210,end climb,NO_VERTICAL_VELOCITY
$STATE,12210,begin subsurface finish
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$FINISH2,2.3
$STATE,12227,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12227,begin surface
$RAFOS_CLK,599
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$IRIDIUM_FIX,7132.53,-14420.43,060814,131147
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.44
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,13.30
$XPDR_PINGS,3
$SC_FREEKB,3901472
$24V_AH,12.89,25.592
$10V_AH,12.80,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,276.930,129.285,1941.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.988,0.000,0.000,0.000
$MEM,314836
$DATA_FILE_SIZE,33318,930
$CAP_FILE_SIZE,138344,0
$CFSIZE,2097872896,2075394048
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12435.50,0x2378b6,7,5
$INTR,1,5548.32,0x2378b6,2,5
$INTR,2,12211.13,0x2378b6,5,5
$SOUNDSPEED,1449.0
$GPS,060814,164746,7201.875,-14411.736,5,0.9,25,22.7