version: 66.12
glider: 196
mission: 7
dive: 236
start: 8 29 114 3 18 0
data:
$ID,196
$MISSION,7
$DIVE,236
$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,-5306.7085
$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,57
$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
$GPS1,290814,031012,7348.988,-14439.759,38,0.8,58,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.3
$GPS2,290814,031741,7348.953,-14439.834,5,0.9,26,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.8,106576,-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,-145.9,208,2737,417,575,0.0,0.0,0,89,0.00,0.00,-71.85,0.000,16386,0.000,0.000,206,2736,2238,2250,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,207,2737,2251,2228,3.5,-3.4,7,140,12.27,2.35,-29.40,0.000,18948,0.406,0.090,2662,1371,3855,3918,3793,0,0,0,0,0,0,13.97,14.25,14.46
$GC,334,-0.69,-145.9,2664,1371,3919,3797,75.3,-21.8,56,341,0.00,2.53,0.00,0.000,1030,0.000,0.099,2653,2774,3857,3918,3796,0,0,0,0,0,0,28.83,14.25,28.83
$GC,640,-0.69,-145.9,2654,2774,3920,3796,143.3,-21.0,87,645,0.00,2.38,0.00,0.000,516,0.000,0.063,2654,1371,3856,3918,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,655,-0.69,-145.9,2654,1371,3920,3795,146.4,-21.0,90,661,0.00,2.47,0.00,0.000,1030,0.000,0.095,2643,2765,3856,3918,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,960,-0.69,-145.9,2644,2765,3920,3795,208.9,-19.6,121,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.69,-145.9,2644,2766,3919,3797,260.8,-16.4,147,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3857,3918,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1560,-0.69,-145.9,2644,2766,3919,3796,307.1,-15.0,157,1565,0.00,1.83,0.00,0.000,260,0.000,0.103,2634,3785,3856,3918,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1609,-0.69,-145.9,2634,3785,3920,3795,315.3,-16.5,167,1615,0.10,1.67,0.00,0.000,3078,0.236,0.055,2661,2767,3860,3918,3802,0,0,0,0,0,0,14.32,14.56,28.83
$GC,1921,-0.69,-145.9,2661,2768,3920,3795,356.8,-13.1,179,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2767,3856,3917,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.69,-145.9,2661,2767,3919,3795,396.0,-13.0,189,2225,0.00,2.33,0.00,0.000,516,0.000,0.067,2661,1369,3857,3919,3795,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2244,-0.69,-145.9,2661,1369,3914,3795,399.2,-12.6,194,2251,0.00,2.45,0.00,0.000,1030,0.000,0.098,2652,2761,3856,3918,3795,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2550,-0.69,-145.9,2653,2761,3920,3795,440.4,-13.5,205,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2761,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2850,-0.69,-145.9,2653,2761,3920,3796,480.0,-13.1,215,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,-0.69,-145.9,2653,2762,3919,3796,519.3,-13.2,225,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.69,-145.9,2653,2762,3919,3796,558.6,-13.1,235,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.69,-145.9,2653,2762,3919,3797,597.2,-12.7,245,3755,0.00,1.85,0.00,0.000,260,0.000,0.102,2644,3790,3856,3918,3795,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3785,-0.69,-145.9,2644,3790,3920,3795,602.1,-14.3,252,3790,0.00,1.70,0.00,0.000,1030,0.000,0.054,2644,2759,3856,3918,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4111,-0.69,-145.9,2645,2760,3919,3797,645.0,-13.2,267,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2759,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.69,-145.9,2645,2760,3919,3797,684.7,-13.1,277,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.69,-145.9,2645,2758,3920,3796,723.4,-12.8,287,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2759,3857,3918,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4918,begin apogee
$GC,4922,-0.13,0.0,2645,2755,3920,3796,750.6,-13.0,294,5051,0.75,0.00,125.88,2.007,10246,0.230,0.000,2843,2758,3257,3277,3237,0,0,0,0,0,0,14.37,28.83,13.10
$STATE,5052,end apogee,CONTROL_FINISHED_OK
$STATE,5052,begin climb
$GC,5053,0.69,145.9,2843,2759,3274,3234,754.5,0.0,298,5187,0.90,2.00,124.47,1.825,10500,0.129,0.095,3112,3792,2657,2664,2651,0,0,0,0,0,0,13.76,13.30,12.67
$GC,5216,0.69,145.9,3113,3797,2663,2649,743.8,14.5,333,5223,0.00,1.88,0.00,0.000,1030,0.000,0.047,3121,2738,2655,2663,2648,0,0,0,0,0,0,28.83,13.50,28.83
$GC,5521,0.69,145.9,3122,2739,2664,2647,702.3,13.6,344,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2737,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5821,0.69,145.9,3122,2739,2664,2646,661.9,13.4,354,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6122,0.69,145.9,3122,2739,2664,2646,622.3,13.1,364,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,0.69,145.9,3122,2745,2664,2646,582.7,13.2,374,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6721,0.69,145.9,3121,2738,2664,2645,543.6,13.1,384,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7021,0.69,145.9,3121,2738,2664,2645,504.6,12.9,394,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7321,0.69,145.9,3122,2738,2664,2645,465.9,12.8,404,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,0.69,145.9,3121,2738,2664,2644,427.5,12.8,414,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7921,0.69,145.9,3122,2738,2664,2645,390.1,12.4,424,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,0.69,145.9,3122,2739,2664,2646,353.0,12.1,434,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,0.69,147.2,3122,2739,2664,2646,318.2,11.6,444,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2738,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8822,0.70,164.3,3122,2739,2664,2646,284.9,10.7,454,8842,0.00,0.00,15.68,1.341,8710,0.000,0.000,3121,2738,2583,2591,2575,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9153,0.71,177.9,3122,2735,2592,2573,248.4,10.9,470,9166,0.00,0.00,12.23,1.317,8198,0.000,0.000,3121,2738,2531,2540,2522,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9462,0.74,224.1,3121,2738,2537,2516,218.2,9.2,501,9503,0.00,0.00,38.60,1.239,8198,0.000,0.000,3121,2738,2340,2344,2337,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9803,0.77,264.3,3122,2739,2343,2331,185.8,9.5,535,9843,0.00,2.40,34.22,1.237,8708,0.000,0.066,3125,1350,2173,2176,2170,0,0,0,0,0,0,28.83,14.24,13.66
$GC,9908,0.80,305.9,3126,1350,2174,2167,175.9,9.4,556,9949,0.00,2.50,34.92,1.231,9222,0.000,0.092,3125,2749,2006,2010,2003,0,0,0,0,0,0,28.83,14.26,13.58
$GC,10253,0.82,332.2,3126,2750,2010,1990,140.1,10.2,595,10278,0.10,0.00,22.50,1.188,10246,0.149,0.000,3172,2749,1903,1904,1903,0,0,0,0,0,0,14.36,28.83,13.69
$GC,10574,0.82,332.2,3173,2749,1900,1890,98.0,13.4,627,10579,0.00,2.40,0.00,0.000,516,0.000,0.067,3178,1350,1894,1898,1890,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10604,0.82,332.2,3179,1350,1899,1890,94.3,12.1,633,10609,0.00,2.53,0.00,0.000,1030,0.000,0.093,3178,2739,1893,1898,1889,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10914,0.86,383.2,3180,2740,1898,1889,60.1,8.9,665,10937,0.00,0.00,21.88,0.370,8198,0.000,0.000,3178,2739,1693,1697,1690,0,0,0,0,0,0,28.83,28.83,14.04
$GC,11235,0.94,506.6,3179,2740,1703,1686,40.2,5.1,697,11296,0.00,1.88,54.78,0.310,8452,0.000,0.098,3178,3790,1191,1202,1181,0,0,0,0,0,0,28.83,14.21,14.03
$GC,11325,0.99,569.3,3179,3788,1202,1182,34.0,8.3,715,11357,0.00,1.77,28.50,0.310,9222,0.000,0.051,3184,2736,935,935,936,0,0,0,0,0,0,28.83,14.26,14.01
$GC,11655,1.09,711.4,3186,2737,935,927,14.4,4.1,751,11711,0.17,2.45,48.75,0.243,10756,0.113,0.070,3259,1347,498,445,552,0,0,0,0,0,0,14.31,14.21,14.08
$FREEZE,8.82,-1.222,-1.437,2,1,0
$FREEZE,8.48,-1.222,-1.437,2,1,0
$FREEZE,8.08,-1.222,-1.436,2,1,0
$FREEZE,7.53,-1.222,-1.436,2,1,0
$FREEZE,7.06,-1.222,-1.435,2,1,0
$FREEZE,6.72,-1.222,-1.435,2,1,0
$FREEZE,6.25,-1.221,-1.433,2,1,0
$FREEZE,5.93,-1.221,-1.433,2,1,0
$FREEZE,5.39,-1.222,-1.432,2,1,0
$FREEZE,5.04,-1.222,-1.432,2,1,0
$FREEZE,4.62,-1.221,-1.431,2,1,0
$FREEZE,4.26,-1.221,-1.431,2,1,0
$FREEZE,3.83,-1.221,-1.431,2,1,0
$FREEZE,3.41,-1.221,-1.430,2,1,0
$FREEZE,2.95,-1.224,-1.430,2,1,0
$FREEZE,2.53,-1.224,-1.430,2,1,0
$FREEZE,2.09,-1.225,-1.429,2,1,0
$FREEZE,1.65,-1.225,-1.429,2,1,0
$STATE,11809,end climb,SURFACE_DEPTH_REACHED
$STATE,11809,begin surface coast
$FREEZE,1.28,-1.227,-1.429,2,1,0
$FREEZE,0.86,-1.227,-1.428,2,1,0
$FINISH,0.9,1.021067
$STATE,11819,end surface coast,CONTROL_FINISHED_OK
$STATE,11819,begin surface
$SM_CCo,11898,0.00,0.000,0,0,493,677.76
$SM_GC,1.87,9.40,2.55,0.00,0.080,0.086,0.000,202,2760,493,-8.37,-0.76,677.76,0,0,0,0,0,0,14.31,14.28,28.83
$RAFOS_CLK,467
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14442.12,280814,234421
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.88
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3832928
$24V_AH,12.67,71.571
$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
$DEVICE_SECS,23.700,43.900,562.400,0.000,0.000,0.000,0.000,259.925,1.750,0.000,27.442,0.000,9669.114,618.802,1879.138,174.582,0.000,1527.939,0.000,1173.516,1472.000,0.539,0.000
$DEVICE_MAMPS,406.215,103.275,2006.595,0.000,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.568,0.000,0.000,0.000
$MEM,227632
$DATA_FILE_SIZE,26671,784
$CAP_FILE_SIZE,128209,0
$CFSIZE,2097872896,2046099456
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12547.42,0x2378b6,7,5
$INTR,1,4920.41,0x2378b6,2,5
$INTR,2,4976.13,0x234484,2,24
$SOUNDSPEED,1448.1
$GPS,290814,063743,7350.086,-14436.343,38,0.9,58,23.1