version: 66.12
glider: 196
mission: 7
dive: 245
start: 8 30 114 10 46 26
data:
$ID,196
$MISSION,7
$DIVE,245
$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,-5677.709
$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,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
$GPS1,300814,034454,7356.121,-14417.903,6,0.8,26,23.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,2.6
$GPS2,300814,034454,7356.121,-14417.903,6,0.8,26,23.2
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.1,40344,-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,-145.9,2979,2740,564,606,0.0,0.0,0,70,0.00,0.00,-52.33,0.000,16386,0.000,0.000,2978,2741,2066,2119,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.69,-145.9,2978,2740,2121,2014,3.3,-0.9,5,124,0.90,2.35,-44.53,0.000,20996,0.063,0.092,2656,1374,3855,3921,3789,0,0,0,0,0,0,14.33,14.33,14.55
$GC,163,-0.69,-145.9,2657,1373,3921,3794,31.2,-35.4,23,170,0.00,2.53,0.00,0.000,1030,0.000,0.096,2646,2761,3856,3920,3793,0,0,0,0,0,0,28.83,14.29,28.83
$GC,469,-0.69,-145.9,2647,2761,3921,3794,114.7,-23.1,54,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,769,-0.69,-145.9,2647,2762,3921,3795,178.7,-20.0,84,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-0.69,-145.9,2647,2762,3921,3795,234.6,-16.7,114,1074,0.00,2.35,0.00,0.000,516,0.000,0.067,2645,1368,3857,3920,3794,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1109,-0.69,-145.9,2646,1368,3921,3794,241.0,-15.2,122,1114,0.15,2.45,0.00,0.000,3078,0.275,0.097,2666,2756,3857,3920,3794,0,0,0,0,0,0,14.29,14.44,28.83
$GC,1419,-0.69,-145.9,2667,2757,3921,3794,285.0,-13.6,138,1424,0.00,1.85,0.00,0.000,260,0.000,0.103,2660,3786,3857,3920,3794,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1428,-0.69,-145.9,2662,3786,3921,3794,286.2,-13.2,140,1434,0.00,1.70,0.00,0.000,1030,0.000,0.055,2661,2761,3857,3920,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1750,-0.69,-145.9,2662,2760,3921,3795,329.2,-13.1,154,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.69,-145.9,2662,2760,3922,3794,368.5,-13.1,164,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-0.69,-145.9,2662,2761,3921,3795,406.8,-12.8,174,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2649,-0.69,-145.9,2662,2761,3921,3795,444.4,-12.5,184,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.69,-145.9,2661,2760,3921,3794,481.5,-12.2,194,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.69,-145.9,2661,2761,3921,3795,517.9,-12.1,204,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-0.69,-145.9,2662,2761,3921,3795,554.2,-12.1,214,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.69,-145.9,2661,2760,3921,3794,590.4,-12.1,224,3854,0.00,2.30,0.00,0.000,516,0.000,0.064,2661,1368,3857,3920,3794,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3869,-0.69,-145.9,2662,1368,3921,3795,592.7,-11.7,228,3874,0.00,2.45,0.00,0.000,1030,0.000,0.096,2650,2765,3857,3920,3794,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4179,-0.69,-145.9,2652,2766,3920,3795,631.3,-12.4,240,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2765,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.69,-145.9,2652,2766,3921,3796,668.7,-12.5,250,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2765,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.69,-145.9,2651,2765,3921,3795,706.3,-12.5,260,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5079,-0.69,-145.9,2651,2770,3921,3794,742.9,-12.1,270,5084,0.00,1.83,0.00,0.000,260,0.000,0.102,2642,3805,3857,3920,3794,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5119,-0.69,-145.9,2643,3807,3922,3794,748.1,-13.8,278,5124,0.08,1.75,0.00,0.000,3078,0.212,0.053,2662,2751,3857,3920,3794,0,0,0,0,0,0,14.28,14.49,28.83
$STATE,5132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5132,begin apogee
$GC,5136,-0.13,0.0,2664,2752,3921,3795,750.2,-13.5,281,5266,0.70,0.00,126.97,1.996,10244,0.215,0.000,2853,2750,3256,3276,3236,0,0,0,0,0,0,14.28,28.83,13.05
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5269,0.69,145.9,2854,2751,3273,3234,753.7,0.0,285,5401,0.82,0.00,124.72,1.815,11270,0.109,0.000,3109,2750,2658,2664,2653,0,0,0,0,0,0,13.72,28.83,12.62
$GC,5705,0.69,145.9,3109,2750,2666,2646,709.4,13.0,325,5710,0.00,1.92,0.00,0.000,260,0.000,0.097,3110,3783,2654,2664,2645,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5730,0.69,145.9,3111,3784,2665,2646,705.7,14.6,330,5737,0.00,1.77,0.00,0.000,1030,0.000,0.048,3117,2737,2654,2664,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6036,0.69,145.9,3117,2737,2665,2645,664.3,13.5,341,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6335,0.69,145.9,3117,2737,2665,2645,623.8,13.5,351,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,0.69,145.9,3117,2737,2665,2645,583.6,13.4,361,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6935,0.69,145.9,3117,2737,2665,2645,544.3,13.0,371,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,0.69,145.9,3117,2737,2665,2644,505.7,12.8,381,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,0.69,145.9,3118,2738,2665,2645,468.1,12.5,391,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2736,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,0.69,145.9,3117,2737,2666,2644,430.4,12.5,401,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,0.69,145.9,3117,2737,2666,2644,392.8,12.6,411,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8435,0.69,145.9,3117,2733,2665,2644,356.1,12.3,421,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,0.69,146.8,3117,2737,2666,2644,320.5,11.6,431,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9036,0.70,165.9,3117,2737,2666,2644,287.9,10.6,441,9054,0.00,0.00,17.38,1.349,8198,0.000,0.000,3122,2736,2581,2589,2574,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9335,0.71,175.9,3117,2737,2585,2564,254.4,11.1,451,9346,0.00,0.00,9.25,1.349,8198,0.000,0.000,3117,2737,2539,2548,2531,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9636,0.74,212.8,3118,2738,2545,2524,224.2,9.7,477,9671,0.00,2.35,31.00,1.265,8708,0.000,0.064,3127,1351,2385,2390,2381,0,0,0,0,0,0,28.83,14.35,13.79
$GC,9731,0.77,253.7,3128,1351,2386,2382,215.2,9.5,496,9772,0.00,2.45,34.67,1.291,9222,0.000,0.091,3127,2735,2217,2218,2217,0,0,0,0,0,0,28.83,14.26,13.59
$GC,10076,0.78,268.0,3128,2737,2219,2210,177.2,10.9,535,10092,0.00,0.00,12.52,1.270,8710,0.000,0.000,3133,2736,2160,2165,2155,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10398,0.80,300.2,3128,2737,2164,2152,144.8,9.9,569,10433,0.00,2.42,27.77,1.213,8708,0.000,0.066,3137,1355,2026,2030,2023,0,0,0,0,0,0,28.83,14.26,13.71
$GC,10473,0.82,335.7,3137,1355,2031,2020,137.3,9.7,584,10509,0.00,2.47,30.92,1.246,9222,0.000,0.092,3137,2743,1886,1884,1888,0,0,0,0,0,0,28.83,14.27,13.58
$GC,10807,0.83,347.4,3138,2743,1882,1873,100.9,11.0,621,10813,0.00,0.00,4.38,1.183,8198,0.000,0.000,3137,2742,1843,1845,1841,0,0,0,0,0,0,28.83,28.83,13.68
$GC,11107,0.87,400.3,3138,2741,1854,1841,72.1,8.8,651,11139,0.12,2.42,24.67,0.404,10756,0.125,0.067,3201,1347,1625,1629,1622,0,0,0,0,0,0,14.32,14.26,14.00
$GC,11175,0.87,400.3,3202,1348,1631,1621,64.5,12.2,664,11181,0.00,2.47,0.00,0.000,1030,0.000,0.093,3201,2734,1625,1632,1619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11479,0.94,504.2,3201,2734,1636,1611,38.3,6.1,695,11530,0.00,0.00,46.65,0.301,8198,0.000,0.000,3201,2734,1200,1211,1189,0,0,0,0,0,0,28.83,28.83,14.04
$GC,11830,1.04,645.1,3202,2735,1213,1176,14.9,4.1,730,11901,0.00,2.40,63.10,0.241,8708,0.000,0.068,3204,1347,626,599,653,0,0,0,0,0,0,28.83,14.22,14.07
$FREEZE,8.84,-1.330,-1.440,2,3,0
$GC,11935,1.12,756.5,3205,1347,600,654,9.8,5.7,751,11958,0.15,2.47,14.40,0.230,11270,0.132,0.090,3257,2733,497,446,549,0,0,0,0,0,0,14.20,14.21,14.08
$FREEZE,7.82,-1.332,-1.439,2,3,0
$FREEZE,6.99,-1.333,-1.439,2,3,0
$FREEZE,6.02,-1.334,-1.438,2,3,0
$FREEZE,5.18,-1.336,-1.437,2,3,0
$FREEZE,4.30,-1.339,-1.437,2,3,0
$FREEZE,3.37,-1.338,-1.436,2,3,0
$FREEZE,2.45,-1.341,-1.435,2,3,0
$FREEZE,1.46,-1.342,-1.434,2,3,0
$STATE,12031,end climb,SURFACE_DEPTH_REACHED
$STATE,12031,begin surface coast
$FREEZE,0.79,-1.335,-1.433,2,3,0
$FREEZE,0.85,-1.236,-1.429,2,3,0
$FINISH,0.8,1.021077
$STATE,12051,end surface coast,CONTROL_FINISHED_OK
$STATE,12051,begin surface
$SM_CCo,12127,0.00,0.000,0,0,495,677.76
$SM_GC,1.85,9.48,0.00,0.00,0.089,0.000,0.000,196,2733,495,-8.35,-0.76,677.76,0,0,0,0,0,0,14.35,28.83,28.83
$RAFOS_CLK,382
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14413.25,300814,033241
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.56
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,14
$SC_FREEKB,3828896
$24V_AH,12.62,74.460
$10V_AH,12.72,0.000
$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,12.400,44.725,568.425,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,0.000,9920.529,616.283,1571.003,128.904,0.000,1254.000,0.000,1150.795,1497.000,0.539,0.000
$DEVICE_MAMPS,274.635,103.275,1995.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.283,0.000,0.000,0.000
$MEM,222852
$DATA_FILE_SIZE,26689,765
$CAP_FILE_SIZE,123809,0
$CFSIZE,2097872896,2044461056
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12408.29,0x2378b6,7,5
$INTR,1,5133.36,0x2378b6,2,5
$INTR,2,12054.83,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,300814,140954,7351.894,-14430.475,34,0.8,54,23.1