version: 66.12
glider: 196
mission: 7
dive: 84
start: 8 6 114 23 41 12
data:
$ID,196
$MISSION,7
$DIVE,84
$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,42
$R_STBD_OVSHOOT,29
$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,2.37
$_SM_ANGLEo,-7.4
$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,-145.9,2985,2780,834,800,0.0,0.0,0,79,0.00,0.00,-62.47,0.000,16386,0.000,0.000,2984,2779,2489,2532,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,2985,2779,2533,2446,3.4,-2.8,6,119,0.93,0.00,-35.38,0.000,20998,0.070,0.000,2662,2780,3854,3915,3794,0,0,0,0,0,0,14.47,28.83,14.64
$GC,417,-0.69,-145.9,2663,2781,3915,3801,90.5,-21.5,41,422,0.00,1.77,0.00,0.000,260,0.000,0.106,2654,3769,3857,3914,3800,0,0,0,0,0,0,28.83,14.45,28.83
$GC,471,-0.69,-145.9,2652,3771,3915,3801,102.8,-22.5,52,478,0.00,1.67,0.00,0.000,1030,0.000,0.060,2654,2764,3857,3915,3800,0,0,0,0,0,0,28.83,14.47,28.83
$GC,776,-0.69,-145.9,2654,2765,3916,3800,161.5,-18.3,83,782,0.00,1.80,0.00,0.000,260,0.000,0.107,2646,3772,3856,3914,3799,0,0,0,0,0,0,28.83,14.48,28.83
$GC,796,-0.69,-145.9,2647,3772,3916,3801,165.3,-19.3,87,802,0.00,1.67,0.00,0.000,1030,0.000,0.061,2646,2770,3857,3915,3800,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1106,-0.69,-145.9,2647,2771,3916,3800,217.7,-15.6,119,1112,0.00,2.40,0.00,0.000,516,0.000,0.075,2646,1368,3857,3915,3800,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1144,-0.69,-145.9,2647,1368,3915,3801,223.1,-14.7,125,1150,0.10,2.50,0.00,0.000,3078,0.258,0.103,2661,2752,3857,3915,3800,0,0,0,0,0,0,14.39,14.47,28.83
$GC,1464,-0.69,-145.9,2663,2753,3915,3801,265.7,-13.0,150,1469,0.00,1.88,0.00,0.000,260,0.000,0.109,2656,3793,3856,3914,3799,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1574,-0.69,-145.9,2657,3794,3915,3801,281.3,-14.1,172,1579,0.00,1.73,0.00,0.000,1030,0.000,0.060,2656,2761,3857,3915,3800,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1884,-0.69,-145.9,2657,2761,3916,3800,320.7,-12.6,184,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.69,-145.9,2657,2762,3915,3800,357.6,-12.2,194,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.69,-145.9,2657,2762,3922,3801,393.7,-11.9,204,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,-0.69,-145.9,2657,2761,3916,3800,429.4,-11.9,214,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.69,-145.9,2657,2762,3915,3801,464.6,-11.7,224,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3384,-0.69,-145.9,2657,2762,3915,3801,499.7,-11.7,234,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3684,-0.69,-145.9,2657,2762,3916,3801,534.7,-11.6,244,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3984,-0.69,-145.9,2656,2761,3915,3800,569.1,-11.4,254,3989,0.00,1.83,0.00,0.000,260,0.000,0.108,2648,3788,3857,3914,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4024,-0.69,-145.9,2649,3788,3916,3800,574.1,-12.7,262,4029,0.00,1.70,0.00,0.000,1030,0.000,0.060,2648,2758,3857,3915,3800,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4344,-0.69,-145.9,2649,2758,3915,3796,612.5,-12.0,276,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2757,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4644,-0.69,-145.9,2649,2757,3916,3800,648.7,-12.0,286,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2757,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.69,-145.9,2649,2758,3915,3801,684.3,-11.9,296,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2758,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,-0.69,-145.9,2649,2758,3916,3801,719.6,-11.6,306,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2757,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5513,begin apogee
$GC,5516,-0.13,0.0,2649,2757,3916,3800,750.9,-11.7,315,5643,0.73,0.00,125.10,1.955,10244,0.234,0.000,2843,2757,3256,3276,3237,0,0,0,0,0,0,14.57,28.83,13.14
$STATE,5644,end apogee,CONTROL_FINISHED_OK
$STATE,5644,begin climb
$GC,5646,0.69,145.9,2844,2757,3274,3234,754.1,0.0,319,5776,0.90,0.00,125.03,1.922,11270,0.139,0.000,3113,2757,2661,2670,2652,0,0,0,0,0,0,13.78,28.83,12.87
$GC,6085,0.69,145.9,3112,2757,2667,2642,702.8,13.7,359,6090,0.00,2.50,0.00,0.000,516,0.000,0.074,3123,1354,2654,2667,2642,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6115,0.69,145.9,3123,1354,2668,2642,698.8,12.4,365,6121,0.00,2.58,0.00,0.000,1030,0.000,0.096,3123,2748,2654,2667,2641,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6445,0.69,145.9,3124,2748,2668,2642,651.9,14.2,381,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2748,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,0.69,145.9,3124,2749,2668,2642,609.5,14.0,391,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2748,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,0.69,145.9,3124,2748,2668,2641,567.5,13.9,401,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2748,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,0.69,145.9,3123,2748,2668,2641,525.9,13.8,411,7350,0.00,2.42,0.00,0.000,516,0.000,0.074,3131,1344,2654,2667,2641,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7359,0.69,145.9,3131,1347,2668,2641,523.9,13.9,414,7365,0.00,2.47,0.00,0.000,1030,0.000,0.096,3131,2741,2654,2667,2641,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7675,0.69,145.9,3132,2742,2668,2642,479.3,14.1,427,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2741,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7975,0.69,145.9,3132,2742,2668,2642,437.5,13.9,437,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2741,2657,2667,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8275,0.69,145.9,3130,2742,2668,2641,396.2,13.8,447,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2742,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8575,0.69,145.9,3131,2742,2668,2642,355.3,13.6,457,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2741,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8875,0.69,145.9,3132,2742,2668,2642,315.0,13.5,467,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2741,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9175,0.69,145.9,3132,2742,2668,2642,275.2,12.9,477,9180,0.00,2.38,0.00,0.000,516,0.000,0.073,3141,1350,2654,2668,2641,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9214,0.69,145.9,3141,1350,2669,2641,270.3,11.8,485,9221,0.00,2.45,0.00,0.000,1030,0.000,0.096,3141,2736,2654,2668,2641,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9525,0.69,145.9,3141,2736,2669,2641,232.0,11.9,508,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2736,2654,2668,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9825,0.71,172.6,3141,2736,2670,2640,199.0,10.2,538,9851,0.00,1.85,22.60,1.347,8452,0.000,0.102,3141,3792,2547,2557,2538,0,0,0,0,0,0,28.83,14.44,13.85
$GC,9930,0.71,172.6,3141,3786,2555,2538,186.7,12.6,559,9938,0.08,1.75,0.00,0.000,5126,0.262,0.057,3129,2738,2545,2553,2538,0,0,0,0,0,0,14.34,14.48,28.83
$GC,10236,0.75,238.8,3130,2739,2555,2537,159.5,8.1,590,10298,0.00,2.42,54.88,1.258,8708,0.000,0.075,3138,1352,2277,2279,2275,0,0,0,0,0,0,28.83,14.16,13.69
$GC,10328,0.78,277.1,3139,1352,2277,2274,151.4,9.6,605,10369,0.00,2.50,32.58,1.260,9222,0.000,0.096,3138,2741,2121,2122,2121,0,0,0,0,0,0,28.83,14.19,13.55
$GC,10667,0.80,302.0,3138,2740,2123,2110,115.0,10.3,643,10690,0.00,1.90,17.83,1.206,8452,0.000,0.103,3137,3792,2021,2024,2019,0,0,0,0,0,0,28.83,14.20,13.70
$GC,10709,0.80,302.0,3138,3791,2024,2019,110.2,11.9,651,10715,0.00,1.77,0.00,0.000,1030,0.000,0.057,3143,2747,2020,2023,2018,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11020,0.83,340.4,3144,2747,2023,2012,77.1,9.6,683,11041,0.00,2.40,16.20,0.418,8708,0.000,0.073,3152,1348,1870,1867,1873,0,0,0,0,0,0,28.83,14.33,14.12
$GC,11151,0.86,390.9,3153,1349,1874,1874,65.3,8.9,709,11182,0.00,2.53,23.15,0.379,9222,0.000,0.097,3152,2738,1663,1664,1663,0,0,0,0,0,0,28.83,14.33,14.14
$GC,11481,0.93,486.1,3152,2737,1668,1654,37.6,6.6,745,11528,0.12,2.40,42.17,0.314,10756,0.130,0.074,3213,1347,1273,1277,1270,0,0,0,0,0,0,14.40,14.33,14.19
$GC,11552,0.95,511.3,3214,1347,1280,1268,30.5,10.3,759,11568,0.00,2.47,11.25,0.299,9222,0.000,0.097,3213,2737,1171,1172,1170,0,0,0,0,0,0,28.83,14.32,14.19
$FREEZE,8.77,-0.740,-1.495,2,3,0
$FREEZE,8.07,-0.117,-1.483,2,3,0
$FREEZE,7.44,0.386,-1.478,2,3,0
$FREEZE,6.87,0.244,-1.477,2,3,0
$FREEZE,6.16,-0.112,-1.472,2,3,0
$FREEZE,5.65,-0.439,-1.470,2,3,0
$FREEZE,5.14,-0.330,-1.460,2,3,0
$FREEZE,4.56,-0.508,-1.453,2,3,0
$FREEZE,4.06,-0.568,-1.447,2,3,0
$FREEZE,3.58,-0.618,-1.439,2,3,0
$FREEZE,3.17,-0.698,-1.428,2,3,0
$FREEZE,2.79,-0.858,-1.415,2,3,0
$FREEZE,2.62,-0.858,-1.415,2,3,0
$FREEZE,2.67,-0.909,-1.405,2,3,0
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$STATE,12282,end climb,NO_VERTICAL_VELOCITY
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$STATE,12293,end subsurface finish,NO_VERTICAL_VELOCITY
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$XPDR_PINGS,7
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$10V_AH,12.77,0.000
$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,262.395,179.775,1954.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.041,0.000,0.000,0.000
$MEM,314304
$DATA_FILE_SIZE,30056,841
$CAP_FILE_SIZE,133307,0
$CFSIZE,2097872896,2075230208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5514.27,0x2378b6,2,5
$SOUNDSPEED,1448.6
$GPS,060814,164746,7201.875,-14411.736,5,0.9,25,22.7