version: 66.12
glider: 196
mission: 7
dive: 223
start: 8 27 114 6 3 59
data:
$ID,196
$MISSION,7
$DIVE,223
$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,-5294.1025
$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,51
$R_STBD_OVSHOOT,28
$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
$GPS1,270814,055624,7332.342,-14509.569,38,0.8,58,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.7
$GPS2,270814,060340,7332.382,-14509.570,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,337.0,51149,-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,-145.9,203,2773,429,549,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,16386,0.000,0.000,202,2773,2264,2276,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,203,2774,2277,2255,3.5,-3.5,7,141,12.10,1.83,-29.00,0.000,18692,0.401,0.126,2657,3777,3856,3920,3792,0,0,0,0,0,0,14.01,14.23,14.47
$GC,365,-0.69,-145.9,2658,3778,3922,3796,89.4,-23.3,62,372,0.00,1.70,0.00,0.000,1030,0.000,0.053,2656,2754,3857,3920,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,671,-0.69,-145.9,2658,2755,3921,3796,154.3,-20.3,93,676,0.00,1.85,0.00,0.000,260,0.000,0.103,2649,3775,3857,3920,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,901,-0.69,-145.9,2649,3776,3922,3795,202.1,-19.7,139,906,0.00,1.67,0.00,0.000,1030,0.000,0.054,2649,2763,3857,3920,3795,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1231,-0.69,-145.9,2649,2764,3922,3797,259.3,-15.7,169,1236,0.00,1.83,0.00,0.000,260,0.000,0.103,2640,3780,3857,3920,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1431,-0.69,-145.9,2641,3781,3922,3795,293.3,-16.9,209,1436,0.08,1.67,0.00,0.000,3078,0.233,0.055,2660,2767,3857,3920,3795,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1742,-0.69,-145.9,2661,2767,3921,3796,336.0,-13.3,221,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2766,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.69,-145.9,2660,2766,3921,3795,375.3,-13.0,231,2046,0.00,2.35,0.00,0.000,516,0.000,0.067,2660,1360,3857,3920,3795,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2090,-0.69,-145.9,2661,1360,3922,3795,381.5,-12.7,241,2096,0.00,2.50,0.00,0.000,1030,0.000,0.097,2651,2755,3857,3920,3795,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2401,-0.69,-145.9,2652,2756,3921,3796,423.2,-13.5,253,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-0.69,-145.9,2652,2755,3922,3795,463.3,-13.3,263,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.69,-145.9,2652,2755,3922,3795,503.4,-13.3,273,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2754,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.69,-145.9,2652,2756,3921,3795,543.1,-13.1,283,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2754,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.69,-145.9,2652,2755,3921,3795,582.4,-12.9,293,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-0.69,-145.9,2652,2755,3921,3796,620.7,-12.8,303,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.69,-145.9,2652,2756,3921,3796,658.7,-12.7,313,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-0.69,-145.9,2652,2755,3922,3795,696.6,-12.6,323,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2755,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.69,-145.9,2652,2755,3922,3795,734.0,-12.4,333,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2755,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4949,begin apogee
$GC,4953,-0.13,0.0,2652,2756,3921,3796,752.7,-12.4,338,5081,0.73,0.00,125.90,2.015,10246,0.226,0.000,2847,2755,3257,3277,3237,0,0,0,0,0,0,14.47,28.83,13.14
$STATE,5082,end apogee,CONTROL_FINISHED_OK
$STATE,5082,begin climb
$GC,5084,0.69,145.9,2848,2755,3274,3234,756.5,0.0,342,5213,0.90,0.00,125.75,1.834,10246,0.121,0.000,3116,2755,2661,2666,2656,0,0,0,0,0,0,13.80,28.83,12.70
$GC,5491,0.69,145.9,3118,2756,2664,2645,714.4,13.5,356,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2755,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,0.69,145.9,3117,2755,2665,2644,674.6,13.2,366,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2755,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,0.69,145.9,3118,2756,2664,2645,634.5,13.3,376,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2755,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,0.69,145.9,3118,2756,2664,2645,594.8,13.3,386,6396,0.00,1.85,0.00,0.000,260,0.000,0.099,3117,3786,2653,2663,2643,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6425,0.69,145.9,3118,3787,2664,2644,589.5,15.5,393,6431,0.00,1.73,0.00,0.000,1030,0.000,0.050,3124,2738,2653,2663,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6752,0.69,145.9,3125,2737,2664,2643,545.1,13.6,408,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,0.69,145.9,3125,2737,2664,2643,504.6,13.5,418,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.69,145.9,3125,2736,2664,2643,464.9,13.3,428,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2736,2656,2670,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.69,145.9,3125,2737,2665,2642,425.9,13.0,438,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,0.69,145.9,3125,2737,2664,2643,387.7,12.5,448,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8251,0.69,145.9,3125,2737,2668,2643,350.2,12.5,458,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2735,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,0.69,145.9,3125,2737,2665,2643,313.6,12.2,468,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8851,0.69,151.1,3125,2737,2664,2644,278.7,11.4,478,8854,0.00,0.00,1.62,0.364,8198,0.000,0.000,3125,2737,2642,2654,2631,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9152,0.71,178.9,3126,2738,2673,2635,246.8,10.2,490,9182,0.00,0.00,27.23,1.284,8198,0.000,0.000,3125,2737,2524,2533,2515,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9482,0.75,231.8,3125,2737,2533,2510,213.4,8.8,523,9533,0.00,2.38,44.45,1.268,8708,0.000,0.065,3135,1353,2306,2309,2303,0,0,0,0,0,0,28.83,14.23,13.64
$GC,9568,0.78,273.6,3136,1354,2306,2303,205.6,9.4,537,9608,0.00,2.47,35.22,1.299,9222,0.000,0.092,3135,2742,2139,2140,2138,0,0,0,0,0,0,28.83,14.23,13.53
$GC,9913,0.79,283.4,3136,2744,2139,2125,165.6,11.1,576,9924,0.00,0.00,7.97,1.287,8198,0.000,0.000,3135,2742,2099,2107,2092,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10223,0.81,323.5,3136,2742,2107,2088,133.3,9.5,607,10264,0.00,0.00,34.75,1.189,8198,0.000,0.000,3135,2742,1934,1935,1934,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10564,0.84,358.8,3136,2741,1934,1926,98.4,9.8,641,10584,0.00,0.00,15.38,0.493,8198,0.000,0.000,3134,2742,1797,1798,1796,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10884,0.88,413.7,3136,2742,1806,1792,68.4,8.7,673,10915,0.12,2.40,25.33,0.392,10756,0.125,0.066,3201,1348,1570,1575,1566,0,0,0,0,0,0,14.34,14.23,14.01
$GC,10951,0.88,413.7,3202,1348,1577,1565,60.6,11.7,686,10957,0.00,2.47,0.00,0.000,1030,0.000,0.093,3201,2735,1570,1577,1563,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11255,0.94,499.5,3202,2735,1582,1555,34.5,7.1,717,11297,0.00,0.00,38.83,0.307,8198,0.000,0.000,3201,2734,1220,1231,1209,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11596,1.03,637.9,3201,2735,1234,1198,12.6,4.3,751,11666,0.00,2.42,61.95,0.231,8708,0.000,0.067,3201,1358,657,633,681,0,0,0,0,0,0,28.83,14.22,14.11
$FREEZE,8.79,-1.114,-1.429,2,1,0
$FREEZE,8.50,-1.098,-1.427,2,1,0
$FREEZE,8.22,-1.098,-1.427,2,1,0
$FREEZE,8.01,-1.080,-1.426,2,1,0
$FREEZE,7.65,-1.080,-1.425,2,1,0
$FREEZE,7.25,-1.012,-1.422,2,1,0
$FREEZE,6.76,-1.012,-1.422,2,1,0
$GC,11686,1.12,756.2,3202,1359,635,681,8.0,5.3,765,11711,0.17,2.45,17.83,0.220,11270,0.136,0.090,3257,2736,497,446,549,0,0,0,0,0,0,14.22,14.22,14.08
$FREEZE,5.92,-1.021,-1.420,2,1,0
$FREEZE,5.18,-1.024,-1.419,2,1,0
$FREEZE,4.37,-1.040,-1.418,2,1,0
$FREEZE,3.61,-1.053,-1.417,2,1,0
$FREEZE,2.84,-1.066,-1.416,2,1,0
$FREEZE,2.15,-1.094,-1.415,2,1,0
$FREEZE,1.38,-1.104,-1.414,2,1,0
$STATE,11774,end climb,SURFACE_DEPTH_REACHED
$STATE,11774,begin surface coast
$FREEZE,0.81,-1.205,-0.564,2,1,0
$FINISH,0.8,1.008221
$STATE,11785,end surface coast,FINISH_DEPTH_REACHED
$STATE,11785,begin surface
$SM_CCo,11861,0.00,0.000,0,0,494,678.01
$SM_GC,1.96,9.38,0.00,0.00,0.079,0.000,0.000,199,2736,494,-8.37,-0.68,678.01,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,249
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7250.09,-14501.10,270814,023406
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.03
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,8
$SC_FREEKB,3838752
$24V_AH,12.70,67.416
$10V_AH,13.04,0.000
$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,23.475,33.575,562.200,0.000,0.000,0.000,0.000,260.075,2.000,0.000,26.666,0.000,9596.272,668.952,1868.712,160.054,0.000,1537.640,0.000,1158.884,1472.000,0.539,0.000
$DEVICE_MAMPS,400.860,126.225,2015.010,0.000,0.000,0.000,0.000,149.940,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11816.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.459,0.000,0.000,0.000
$MEM,234828
$DATA_FILE_SIZE,26745,777
$CAP_FILE_SIZE,124723,0
$CFSIZE,2097872896,2048491520
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12320.36,0x2378b6,7,5
$INTR,1,4950.53,0x2378b6,2,5
$INTR,2,11788.45,0x2378b6,7,5
$SOUNDSPEED,1448.0
$GPS,270814,092254,7333.744,-14509.102,27,0.8,47,22.8