version: 66.12
glider: 196
mission: 7
dive: 221
start: 8 26 114 23 6 36
data:
$ID,196
$MISSION,7
$DIVE,221
$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,-5291.5781
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,260814,225918,7329.022,-14508.626,39,0.7,59,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-79.1
$GPS2,260814,230617,7329.027,-14508.703,5,0.7,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.5,57366,-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,-145.9,202,2734,430,548,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,16386,0.000,0.000,198,2734,2246,2258,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2735,2259,2237,3.2,-2.3,7,141,12.02,1.88,-30.02,0.000,18692,0.397,0.125,2656,3790,3854,3921,3788,0,0,0,0,0,0,14.01,14.25,14.47
$GC,365,-0.69,-145.9,2657,3792,3922,3794,88.8,-24.6,62,372,0.00,1.73,0.00,0.000,1030,0.000,0.052,2656,2756,3857,3921,3793,0,0,0,0,0,0,28.83,14.35,28.83
$GC,671,-0.69,-145.9,2657,2756,3922,3794,154.5,-20.0,93,676,0.00,1.85,0.00,0.000,260,0.000,0.101,2648,3786,3857,3921,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,772,-0.69,-145.9,2649,3787,3921,3795,175.4,-20.8,113,776,0.00,1.65,0.00,0.000,1030,0.000,0.054,2648,2760,3857,3921,3793,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1081,-0.69,-145.9,2649,2761,3922,3795,232.3,-17.1,145,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-0.69,-145.9,2649,2760,3922,3794,282.7,-15.3,163,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-0.69,-145.9,2649,2761,3922,3795,326.5,-14.3,173,1706,0.00,2.33,0.00,0.000,516,0.000,0.068,2648,1369,3857,3921,3794,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1731,-0.69,-145.9,2649,1369,3923,3795,330.7,-13.7,179,1736,0.15,2.47,0.00,0.000,3078,0.259,0.098,2669,2769,3857,3921,3794,0,0,0,0,0,0,14.34,14.45,28.83
$GC,2061,-0.69,-145.9,2670,2770,3923,3794,372.6,-12.6,195,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2769,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.69,-145.9,2670,2770,3922,3795,409.9,-12.5,205,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-0.69,-145.9,2670,2769,3923,3794,446.8,-12.2,215,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-0.69,-145.9,2671,2770,3921,3795,482.6,-11.9,225,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.69,-145.9,2672,2770,3922,3793,517.5,-11.5,235,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.69,-145.9,2670,2770,3922,3795,552.5,-11.6,245,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2769,3861,3921,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.69,-145.9,2670,2770,3922,3794,586.8,-11.5,255,3866,0.00,2.35,0.00,0.000,516,0.000,0.064,2669,1367,3857,3921,3794,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3901,-0.69,-145.9,2670,1367,3922,3794,591.2,-10.9,263,3906,0.00,2.47,0.00,0.000,1030,0.000,0.096,2662,2766,3857,3921,3793,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4222,-0.69,-145.9,2663,2766,3921,3795,629.5,-12.1,277,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2766,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4521,-0.69,-145.9,2663,2767,3922,3795,665.2,-11.9,287,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2766,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4821,-0.69,-145.9,2664,2767,3922,3795,700.1,-11.6,297,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2766,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.69,-145.9,2663,2767,3921,3795,734.8,-11.6,307,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2766,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5269,begin apogee
$GC,5273,-0.13,0.0,2663,2767,3922,3795,752.2,-11.6,312,5403,0.68,0.00,126.68,2.017,10246,0.223,0.000,2843,2767,3255,3274,3236,0,0,0,0,0,0,14.36,28.83,13.09
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5405,0.69,145.9,2844,2768,3273,3235,755.6,0.0,316,5535,0.90,0.00,125.65,1.866,10502,0.124,0.000,3110,2767,2662,2669,2656,0,0,0,0,0,0,13.76,28.83,12.66
$GC,5811,0.69,145.9,3111,2768,2667,2648,714.2,13.1,335,5816,0.00,1.88,0.00,0.000,260,0.000,0.096,3110,3785,2657,2666,2648,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5850,0.69,145.9,3111,3785,2667,2648,708.4,15.2,343,5856,0.00,1.77,0.00,0.000,1030,0.000,0.050,3117,2741,2656,2666,2647,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6172,0.69,145.9,3118,2742,2667,2648,665.2,13.5,357,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2741,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,0.69,145.9,3123,2741,2674,2646,625.4,13.2,367,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2741,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,0.69,145.9,3118,2742,2668,2646,585.9,13.0,377,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2740,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,0.69,145.9,3118,2741,2668,2646,547.1,13.0,387,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2741,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,0.69,145.9,3118,2742,2667,2647,508.7,12.8,397,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2741,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,0.69,145.9,3118,2741,2667,2646,471.0,12.5,407,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2741,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,0.69,145.9,3118,2742,2667,2647,433.5,12.6,417,7976,0.00,1.88,0.00,0.000,260,0.000,0.099,3117,3788,2656,2666,2646,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8005,0.69,145.9,3118,3789,2668,2646,428.6,14.6,424,8011,0.00,1.70,0.00,0.000,1030,0.000,0.050,3125,2742,2656,2667,2646,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8332,0.69,145.9,3125,2742,2668,2646,387.1,12.5,439,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2742,2656,2667,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,0.69,145.9,3126,2743,2667,2647,349.4,12.6,449,8636,0.00,1.85,0.00,0.000,260,0.000,0.098,3125,3783,2656,2666,2646,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8655,0.69,145.9,3126,3784,2667,2647,345.9,13.9,454,8662,0.00,1.70,0.00,0.000,1030,0.000,0.050,3132,2738,2656,2667,2646,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8961,0.69,145.9,3133,2739,2668,2646,308.3,11.9,465,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2738,2656,2667,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9261,0.69,145.9,3133,2739,2668,2646,273.2,11.7,475,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2738,2656,2667,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,0.71,175.4,3133,2738,2669,2647,241.2,10.1,489,9592,0.00,0.00,24.95,1.287,8198,0.000,0.000,3132,2738,2538,2546,2531,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9892,0.75,225.2,3133,2739,2546,2528,209.1,9.0,522,9935,0.00,0.00,41.70,1.291,8454,0.000,0.000,3130,2738,2339,2340,2338,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10231,0.77,254.8,3132,2738,2336,2326,175.0,10.1,560,10262,0.00,0.00,25.35,1.274,8198,0.000,0.000,3132,2738,2212,2216,2209,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10562,0.80,297.1,3133,2739,2218,2203,142.2,9.4,593,10602,0.00,0.00,36.15,1.249,8198,0.000,0.000,3132,2737,2041,2045,2037,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10902,0.82,331.6,3133,2743,2046,2027,107.6,9.8,627,10933,0.00,2.45,26.35,1.200,8708,0.000,0.068,3141,1357,1898,1898,1899,0,0,0,0,0,0,28.83,14.19,13.64
$GC,10988,0.85,372.6,3142,1356,1899,1897,99.2,9.4,644,11014,0.00,2.47,18.15,0.495,9222,0.000,0.093,3141,2738,1739,1741,1737,0,0,0,0,0,0,28.83,14.19,13.89
$GC,11313,0.88,418.7,3142,2739,1750,1734,67.0,9.2,679,11336,0.12,0.00,21.50,0.389,10246,0.127,0.000,3192,2738,1549,1555,1543,0,0,0,0,0,0,14.31,28.83,14.00
$GC,11634,0.94,507.4,3193,2739,1563,1539,37.7,6.9,711,11675,0.00,0.00,39.95,0.301,8198,0.000,0.000,3192,2738,1187,1197,1178,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11974,1.04,649.2,3193,2739,1200,1166,15.3,4.1,745,12044,0.12,0.00,63.70,0.239,10758,0.133,0.000,3257,2738,610,577,644,0,0,0,0,0,0,14.33,28.83,14.09
$FREEZE,8.75,-0.884,-1.432,2,1,0
$FREEZE,7.98,-0.816,-1.428,2,1,0
$FREEZE,6.99,-0.881,-1.428,2,1,0
$FREEZE,6.16,-0.919,-1.426,2,1,0
$FREEZE,5.35,-0.943,-1.425,2,1,0
$FREEZE,4.52,-0.945,-1.424,2,1,0
$FREEZE,3.62,-0.942,-1.422,2,1,0
$FREEZE,2.79,-0.927,-1.421,2,1,0
$FREEZE,2.05,-0.921,-1.420,2,1,0
$FREEZE,1.20,-0.881,-1.419,2,1,0
$STATE,12151,end climb,SURFACE_DEPTH_REACHED
$STATE,12151,begin surface coast
$FREEZE,0.81,-0.828,-0.757,2,1,0
$FINISH,0.8,1.011140
$STATE,12163,end surface coast,FINISH_DEPTH_REACHED
$STATE,12163,begin surface
$SM_CCo,12179,12.35,0.208,0,0,499,676.54
$SM_GC,2.55,9.40,0.00,12.35,0.082,0.000,0.208,202,2738,499,-8.37,-0.62,676.54,0,0,0,0,0,0,14.32,28.83,14.19
$RAFOS_CLK,452
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7250.09,-14511.61,260814,193514
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.27
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.40
$XPDR_PINGS,13
$SC_FREEKB,3839648
$24V_AH,12.66,66.763
$10V_AH,13.00,0.000
$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,23.400,32.425,550.125,12.350,0.000,0.000,0.000,239.900,3.250,0.000,26.701,0.000,9939.737,663.837,1838.499,166.817,0.000,1515.114,0.000,1151.959,1415.000,0.540,0.000
$DEVICE_MAMPS,397.035,124.695,2016.540,208.080,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12198.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.112,0.000,0.000,0.000
$MEM,235980
$DATA_FILE_SIZE,26729,769
$CAP_FILE_SIZE,127326,0
$CFSIZE,2097872896,2048851968
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12369.38,0x2378b6,7,5
$INTR,1,5270.48,0x2378b6,2,5
$INTR,2,12166.15,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,270814,023112,7330.722,-14508.961,36,0.8,56,22.8