version: 66.12
glider: 196
mission: 7
dive: 210
start: 8 25 114 8 40 14
data:
$ID,196
$MISSION,7
$DIVE,210
$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,-5277.6216
$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,54
$R_STBD_OVSHOOT,22
$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
$GPS1,250814,083323,7311.284,-14459.374,33,0.8,53,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.2
$GPS2,250814,083955,7311.231,-14459.402,5,0.7,26,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.1,35204,-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,16,-0.69,-145.9,194,2743,432,548,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,16386,0.000,0.000,191,2742,2298,2307,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,191,2741,2308,2292,3.8,-4.3,7,139,12.15,0.00,-27.90,0.000,18950,0.401,0.000,2663,2742,3857,3919,3795,0,0,0,0,0,0,14.02,28.83,14.48
$GC,438,-0.69,-145.9,2663,2742,3920,3798,101.5,-21.1,45,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2742,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.69,-145.9,2664,2743,3920,3799,162.3,-19.2,75,743,0.00,2.30,0.00,0.000,516,0.000,0.067,2662,1369,3859,3920,3798,0,0,0,0,0,0,28.83,14.42,28.83
$GC,777,-0.69,-145.9,2663,1372,3921,3799,169.4,-16.3,83,783,0.00,2.45,0.00,0.000,1030,0.000,0.097,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1088,-0.69,-145.9,2655,2759,3920,3799,225.1,-17.1,115,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1397,-0.69,-145.9,2654,2758,3920,3799,273.7,-15.2,136,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-0.69,-145.9,2655,2758,3920,3798,317.5,-14.4,146,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.69,-145.9,2655,2757,3919,3798,359.7,-14.0,156,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2757,3862,3927,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,-0.69,-145.9,2654,2758,3920,3798,401.0,-13.7,166,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-0.69,-145.9,2654,2758,3920,3798,441.6,-13.6,176,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.69,-145.9,2655,2759,3920,3799,481.5,-13.2,186,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3198,-0.69,-145.9,2654,2758,3920,3798,520.9,-13.0,196,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3498,-0.69,-145.9,2654,2758,3921,3799,559.6,-12.8,206,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.69,-145.9,2654,2758,3919,3798,598.3,-12.9,216,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4098,-0.69,-145.9,2655,2759,3920,3799,636.5,-12.8,226,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4398,-0.69,-145.9,2653,2758,3921,3799,674.3,-12.5,236,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.69,-145.9,2654,2758,3920,3799,711.5,-12.3,246,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2758,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.69,-145.9,2655,2759,3920,3800,748.5,-12.3,256,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2754,3859,3919,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5026,begin apogee
$GC,5030,-0.13,0.0,2655,2759,3920,3800,752.2,-12.3,257,5158,0.73,0.00,125.40,1.974,10246,0.230,0.000,2848,2758,3260,3279,3241,0,0,0,0,0,0,14.49,28.83,13.12
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5160,0.69,145.9,2849,2759,3274,3238,755.6,0.0,261,5290,0.90,0.00,126.20,1.850,10246,0.124,0.000,3116,2758,2660,2666,2655,0,0,0,0,0,0,13.81,28.83,12.74
$GC,5567,0.69,145.9,3117,2759,2664,2646,712.8,13.6,275,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5868,0.69,145.9,3116,2758,2664,2644,671.9,13.5,285,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,0.69,145.9,3117,2758,2664,2644,631.5,13.3,295,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2758,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6468,0.69,145.9,3117,2759,2664,2645,591.9,13.1,305,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6768,0.69,145.9,3117,2759,2664,2645,552.8,13.0,315,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7068,0.69,145.9,3116,2758,2666,2644,514.1,12.8,325,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,0.69,145.9,3117,2757,2665,2643,475.7,12.7,335,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2754,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7668,0.69,145.9,3117,2759,2664,2644,438.1,12.6,345,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2758,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7968,0.69,145.9,3117,2758,2664,2644,400.8,12.3,355,7973,0.00,1.83,0.00,0.000,260,0.000,0.099,3116,3784,2653,2663,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7992,0.69,145.9,3117,3785,2664,2644,397.3,13.9,360,7999,0.00,1.70,0.00,0.000,1030,0.000,0.052,3124,2737,2653,2663,2643,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8298,0.69,145.9,3125,2737,2664,2644,358.8,12.4,371,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2736,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8598,0.69,145.9,3125,2737,2665,2644,321.7,12.2,381,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2737,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8898,0.69,149.3,3125,2737,2665,2643,286.9,11.4,391,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2737,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9198,0.71,177.1,3125,2737,2665,2644,254.9,10.2,401,9229,0.00,0.00,25.45,1.294,8198,0.000,0.000,3124,2736,2532,2540,2524,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9528,0.74,213.2,3125,2738,2540,2521,220.4,9.7,430,9560,0.00,0.00,30.60,1.263,8198,0.000,0.000,3124,2736,2386,2393,2380,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9859,0.76,250.0,3124,2737,2391,2373,187.0,9.7,463,9894,0.00,2.38,31.12,1.250,8708,0.000,0.067,3124,1351,2233,2237,2230,0,0,0,0,0,0,28.83,14.26,13.68
$GC,9949,0.79,294.9,3126,1351,2234,2227,178.9,9.2,481,9994,0.00,2.47,38.42,1.285,9222,0.000,0.093,3125,2746,2049,2052,2046,0,0,0,0,0,0,28.83,14.28,13.54
$GC,10299,0.82,326.9,3126,2746,2053,2038,142.0,9.9,521,10331,0.00,1.92,27.20,1.212,8452,0.000,0.100,3125,3786,1918,1919,1918,0,0,0,0,0,0,28.83,14.14,13.65
$GC,10356,0.82,326.9,3126,3786,1917,1919,135.8,12.1,531,10362,0.00,1.75,0.00,0.000,1030,0.000,0.052,3125,2750,1917,1916,1918,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10662,0.84,360.6,3126,2750,1917,1912,105.1,9.8,562,10693,0.12,2.50,25.95,1.164,10756,0.130,0.069,3192,1342,1781,1781,1782,0,0,0,0,0,0,14.33,14.19,13.65
$GC,10724,0.84,360.6,3193,1342,1777,1777,97.1,13.8,574,10728,0.00,2.53,0.00,0.000,1030,0.000,0.093,3192,2752,1777,1777,1777,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11033,0.86,382.5,3193,2753,1780,1772,58.3,10.5,606,11049,0.00,2.45,8.48,0.360,8708,0.000,0.067,3203,1353,1700,1705,1695,0,0,0,0,0,0,28.83,14.26,14.05
$GC,11183,0.92,471.6,3203,1354,1709,1696,46.2,6.9,636,11230,0.00,2.47,40.25,0.323,9222,0.000,0.093,3202,2743,1334,1345,1324,0,0,0,0,0,0,28.83,14.27,14.03
$GC,11534,0.98,557.8,3203,2742,1349,1311,16.4,7.0,676,11577,0.00,1.92,38.85,0.246,8452,0.000,0.101,3203,3784,981,984,978,0,0,0,0,0,0,28.83,14.22,14.10
$FREEZE,8.95,0.517,-1.431,2,1,0
$FREEZE,8.66,0.517,-1.431,2,1,0
$FREEZE,8.34,0.520,-1.431,2,1,0
$FREEZE,8.02,0.520,-1.431,2,1,0
$GC,11641,1.06,675.9,3203,3784,984,978,10.6,5.3,695,11704,0.00,1.75,53.28,0.224,9222,0.000,0.052,3206,2741,500,451,549,0,0,0,0,0,0,28.83,14.28,14.09
$FREEZE,7.52,0.512,-1.431,2,1,0
$FREEZE,6.90,0.514,-1.431,2,1,0
$FREEZE,6.33,0.512,-1.430,2,1,0
$FREEZE,5.70,0.508,-1.430,2,1,0
$FREEZE,5.01,0.514,-1.429,2,1,0
$FREEZE,4.40,0.513,-1.429,2,1,0
$FREEZE,4.10,0.510,-1.429,2,1,0
$FREEZE,3.69,0.511,-1.428,2,1,0
$FREEZE,3.00,0.519,-1.428,2,1,0
$FREEZE,2.40,0.519,-1.427,2,1,0
$FREEZE,1.77,0.517,-1.427,2,1,0
$STATE,11806,end climb,SURFACE_DEPTH_REACHED
$STATE,11807,begin surface coast
$FREEZE,1.14,0.520,-1.426,2,1,0
$FREEZE,0.86,0.356,-1.430,2,1,0
$FREEZE,0.94,0.462,-0.870,2,1,0
$FINISH,0.9,1.012849
$STATE,11837,end surface coast,CONTROL_FINISHED_OK
$STATE,11837,begin surface
$SM_CCo,11913,0.00,0.000,0,0,495,677.76
$SM_GC,1.95,9.35,0.00,0.00,0.091,0.000,0.000,202,2741,495,-8.37,-0.57,677.76,0,0,0,0,0,0,14.30,28.83,28.83
$RAFOS_CLK,584
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7235.57,-14450.15,250814,050401
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.22
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3844576
$24V_AH,12.74,63.216
$10V_AH,13.07,0.000
$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,23.250,30.425,571.200,0.000,0.000,0.000,0.000,217.325,0.000,0.000,27.504,0.000,9779.655,653.320,1721.481,147.555,0.000,1450.405,0.000,1083.048,0.000,0.539,0.000
$DEVICE_MAMPS,400.860,100.980,1973.700,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11867.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.159,0.000,0.000,0.000
$MEM,242340
$DATA_FILE_SIZE,23399,720
$CAP_FILE_SIZE,121566,0
$CFSIZE,2097872896,2050949120
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12676.35,0x2378b6,7,5
$INTR,1,5027.42,0x2378b6,2,5
$INTR,2,11840.45,0x2378b6,7,5
$SOUNDSPEED,1448.1
$GPS,250814,120054,7312.671,-14459.926,79,0.8,99,22.8