version: 66.12
glider: 196
mission: 7
dive: 240
start: 8 29 114 17 19 18
data:
$ID,196
$MISSION,7
$DIVE,240
$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,-5676.4487
$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,60
$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
$GPS1,290814,171142,7353.134,-14426.682,38,0.8,58,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.5
$GPS2,290814,171902,7353.119,-14426.769,5,0.8,26,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.4,96546,-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,16,-0.69,-145.9,204,2738,435,547,0.0,0.0,0,99,0.00,0.00,-81.68,0.000,16386,0.000,0.000,202,2738,2486,2493,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-145.9,204,2739,2494,2483,4.4,-5.2,8,139,12.05,0.00,-23.12,0.000,18950,0.397,0.000,2661,2738,3856,3920,3793,0,0,0,0,0,0,13.98,28.83,14.47
$GC,438,-0.69,-145.9,2661,2738,3920,3798,103.5,-22.2,43,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2738,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.69,-145.9,2662,2739,3920,3799,165.5,-19.9,73,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2738,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1037,-0.69,-145.9,2662,2739,3920,3799,220.9,-17.6,103,1042,0.00,2.30,0.00,0.000,516,0.000,0.065,2661,1370,3858,3919,3798,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1087,-0.69,-145.9,2662,1371,3920,3799,228.9,-14.7,113,1092,0.00,2.50,0.00,0.000,1030,0.000,0.097,2652,2756,3858,3919,3798,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1407,-0.69,-145.9,2653,2757,3920,3799,279.0,-15.2,134,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1707,-0.69,-145.9,2653,2758,3920,3799,321.8,-14.3,144,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-0.69,-145.9,2653,2757,3921,3798,363.2,-13.5,154,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2757,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,-0.69,-145.9,2653,2758,3920,3799,403.7,-13.4,164,2312,0.00,1.83,0.00,0.000,260,0.000,0.103,2644,3785,3858,3919,3797,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2341,-0.69,-145.9,2645,3786,3920,3799,408.8,-14.7,171,2347,0.00,1.67,0.00,0.000,1030,0.000,0.054,2644,2764,3858,3919,3797,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2668,-0.69,-145.9,2645,2763,3920,3796,453.5,-13.6,186,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-0.69,-145.9,2645,2763,3921,3798,494.3,-13.7,196,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.69,-145.9,2645,2763,3920,3798,534.4,-13.2,206,3272,0.00,2.30,0.00,0.000,516,0.000,0.065,2644,1371,3858,3919,3798,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3306,-0.69,-145.9,2645,1372,3920,3797,539.6,-12.6,214,3312,0.15,2.45,0.00,0.000,3078,0.262,0.096,2666,2770,3859,3920,3798,0,0,0,0,0,0,14.40,14.54,28.83
$GC,3628,-0.69,-145.9,2666,2770,3921,3798,577.3,-11.8,228,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2770,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3927,-0.69,-145.9,2666,2770,3921,3798,612.9,-11.9,238,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.69,-145.9,2666,2771,3920,3799,648.5,-11.9,248,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2766,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.69,-145.9,2667,2771,3920,3799,683.7,-11.6,258,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4827,-0.69,-145.9,2662,2770,3921,3798,718.0,-11.3,268,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5125,begin apogee
$GC,5130,-0.13,0.0,2666,2770,3921,3797,751.6,-11.3,278,5259,0.65,0.00,126.55,1.995,10246,0.218,0.000,2844,2770,3257,3276,3239,0,0,0,0,0,0,14.44,28.83,13.13
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5261,0.69,145.9,2845,2771,3272,3235,755.4,0.0,282,5390,0.90,0.00,124.82,1.823,10502,0.119,0.000,3112,2770,2661,2667,2655,0,0,0,0,0,0,13.80,28.83,12.70
$GC,5667,0.69,145.9,3113,2770,2665,2644,713.9,13.2,306,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2770,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5967,0.69,145.9,3113,2770,2665,2643,674.6,13.1,316,5972,0.00,1.85,0.00,0.000,260,0.000,0.097,3112,3787,2653,2663,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5997,0.69,145.9,3113,3788,2664,2645,670.2,14.6,322,6002,0.00,1.75,0.00,0.000,1030,0.000,0.050,3117,2740,2652,2663,2641,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6328,0.69,145.9,3121,2741,2665,2649,626.2,13.2,338,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2739,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6627,0.69,145.9,3121,2740,2665,2643,586.9,13.1,348,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6927,0.69,145.9,3121,2739,2665,2643,547.3,13.3,358,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,0.69,145.9,3121,2740,2665,2644,508.0,13.1,368,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2740,2652,2664,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,0.69,145.9,3121,2740,2664,2644,468.6,13.1,378,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7827,0.69,145.9,3121,2740,2665,2643,429.6,12.9,388,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,0.69,145.9,3121,2740,2665,2643,391.7,12.5,398,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2739,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8427,0.69,145.9,3121,2740,2665,2643,354.6,12.2,408,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,0.69,146.1,3121,2740,2668,2644,319.3,11.6,418,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,0.70,156.5,3121,2740,2666,2643,285.4,11.1,428,9037,0.00,0.00,9.43,1.359,8198,0.000,0.000,3120,2739,2619,2629,2609,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9327,0.72,185.9,3121,2740,2625,2605,253.0,10.1,438,9358,0.00,0.00,25.00,1.278,8198,0.000,0.000,3120,2737,2494,2501,2488,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9661,0.75,235.4,3121,2740,2502,2485,219.1,9.0,467,9705,0.00,0.00,41.42,1.235,8710,0.000,0.000,3119,2740,2297,2301,2294,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10000,0.78,267.9,3121,2739,2298,2283,185.6,9.9,505,10033,0.00,2.45,27.75,1.215,8708,0.000,0.067,3129,1353,2158,2163,2154,0,0,0,0,0,0,28.83,14.19,13.62
$GC,10127,0.80,307.3,3129,1353,2159,2152,173.0,9.5,530,10165,0.00,2.47,33.22,1.212,9222,0.000,0.092,3128,2734,2004,2008,2001,0,0,0,0,0,0,28.83,14.19,13.54
$GC,10462,0.81,319.1,3133,2735,2003,1984,135.9,11.0,567,10474,0.00,0.00,9.77,1.234,8198,0.000,0.000,3128,2735,1956,1961,1951,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10774,0.84,363.2,3128,2735,1956,1945,104.5,9.3,598,10814,0.12,0.00,35.92,1.134,10246,0.123,0.000,3184,2735,1771,1774,1768,0,0,0,0,0,0,14.28,28.83,13.58
$GC,11112,0.85,372.6,3185,2736,1775,1759,62.6,11.1,632,11117,0.00,0.00,3.08,0.356,8198,0.000,0.000,3184,2735,1738,1744,1733,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11414,0.94,503.1,3184,2736,1757,1734,41.1,4.7,662,11474,0.00,0.00,58.85,0.311,8454,0.000,0.000,3184,2735,1207,1220,1195,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11772,1.04,643.6,3184,2736,1222,1181,18.6,4.2,699,11844,0.15,2.45,63.35,0.252,10756,0.117,0.070,3259,1352,633,603,663,0,0,0,0,0,0,14.31,14.19,14.07
$FREEZE,9.00,-1.269,-1.442,2,1,0
$FREEZE,8.67,-1.269,-1.442,2,1,0
$FREEZE,8.10,-1.271,-1.442,2,1,0
$FREEZE,7.76,-1.271,-1.441,2,1,0
$FREEZE,7.11,-1.271,-1.441,2,1,0
$FREEZE,6.44,-1.271,-1.440,2,1,0
$GC,11905,1.07,687.8,3260,1353,610,663,8.1,9.3,725,11930,0.00,2.47,14.93,0.222,9222,0.000,0.091,3259,2732,498,446,550,0,0,0,0,0,0,28.83,14.16,14.07
$FREEZE,5.54,-1.287,-1.439,2,1,0
$FREEZE,4.54,-1.296,-1.438,2,1,0
$FREEZE,3.71,-1.305,-1.437,2,1,0
$FREEZE,2.68,-1.313,-1.436,2,1,0
$FREEZE,2.02,-1.315,-1.435,2,1,0
$FREEZE,1.95,-1.299,-1.435,2,1,0
$STATE,11983,end climb,SURFACE_DEPTH_REACHED
$STATE,11983,begin surface coast
$FREEZE,2.01,-1.309,-1.436,2,1,0
$FREEZE,2.05,-1.303,-1.436,2,1,0
$FINISH,2.1,1.021163
$STATE,12004,end surface coast,CONTROL_FINISHED_OK
$STATE,12004,begin surface
$RAFOS_CLK,122
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14431.34,290814,134349
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.76
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,9
$SC_FREEKB,3831136
$24V_AH,12.70,72.892
$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,14.025,26.500,574.100,0.000,0.000,0.000,0.000,259.775,2.250,0.000,27.447,0.000,9963.557,638.315,1810.974,165.972,0.000,1500.303,0.000,1106.693,1497.000,0.539,0.000
$DEVICE_MAMPS,397.035,102.510,1995.120,0.000,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.287,0.000,0.000,0.000
$MEM,225420
$DATA_FILE_SIZE,26748,737
$CAP_FILE_SIZE,123060,0
$CFSIZE,2097872896,2045313024
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12452.42,0x2378b6,7,5
$INTR,1,5127.72,0x2378b6,2,5
$SOUNDSPEED,1448.4
$GPS,290814,171902,7353.119,-14426.769,5,0.8,26,23.1