version: 66.12
glider: 196
mission: 7
dive: 246
start: 8 30 114 14 24 43
data:
$ID,196
$MISSION,7
$DIVE,246
$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,-5678.9678
$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,20
$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
$GPS1,300814,140954,7351.894,-14430.475,34,0.8,54,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.4
$GPS2,300814,142424,7351.934,-14430.335,5,0.8,25,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,200.0,30254,-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,-145.9,196,2734,430,549,0.0,0.0,0,79,0.00,0.00,-61.95,0.000,16386,0.000,0.000,196,2734,1963,1978,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,197,2734,1979,1949,3.0,-3.2,6,138,12.20,0.00,-40.95,0.000,18694,0.398,0.000,2663,2740,3856,3921,3792,0,0,0,0,0,0,13.95,28.83,14.42
$GC,437,-0.69,-145.9,2663,2734,3922,3796,102.9,-23.3,47,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2734,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.69,-145.9,2664,2735,3921,3797,163.7,-18.7,77,742,0.00,1.90,0.00,0.000,260,0.000,0.100,2656,3785,3858,3921,3796,0,0,0,0,0,0,28.83,14.35,28.83
$GC,771,-0.69,-145.9,2657,3785,3922,3796,170.6,-20.1,84,778,0.00,1.70,0.00,0.000,1030,0.000,0.053,2657,2756,3858,3921,3796,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1077,-0.69,-145.9,2657,2756,3922,3796,226.8,-17.0,115,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.69,-145.9,2657,2756,3922,3796,273.7,-15.0,135,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1677,-0.69,-145.9,2657,2756,3921,3797,317.1,-14.2,145,1682,0.00,2.30,0.00,0.000,516,0.000,0.065,2657,1375,3858,3921,3795,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1711,-0.69,-145.9,2657,1375,3922,3796,321.8,-13.2,152,1717,0.00,2.45,0.00,0.000,1030,0.000,0.097,2646,2763,3856,3917,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2038,-0.69,-145.9,2647,2764,3922,3795,367.6,-14.1,167,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,-0.69,-145.9,2647,2764,3921,3796,409.6,-14.1,177,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-0.69,-145.9,2647,2764,3922,3795,451.2,-13.7,187,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-0.69,-145.9,2647,2765,3922,3796,491.7,-13.4,197,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-0.69,-145.9,2646,2764,3922,3796,531.9,-13.5,207,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.69,-145.9,2647,2764,3921,3797,572.1,-13.3,217,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.69,-145.9,2647,2762,3922,3796,612.0,-13.2,227,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4137,-0.69,-145.9,2647,2764,3921,3797,651.4,-13.2,237,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-0.69,-145.9,2647,2764,3921,3797,690.4,-13.0,247,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4737,-0.69,-145.9,2647,2763,3922,3793,728.8,-12.8,257,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2763,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4915,begin apogee
$GC,4919,-0.13,0.0,2647,2764,3922,3796,751.6,-12.6,263,5048,0.75,0.00,125.95,1.988,10246,0.228,0.000,2847,2764,3259,3279,3239,0,0,0,0,0,0,14.42,28.83,13.14
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5050,0.69,145.9,2848,2763,3277,3235,755.2,0.0,267,5180,0.90,0.00,126.40,1.821,10246,0.118,0.000,3117,2764,2661,2667,2656,0,0,0,0,0,0,13.81,28.83,12.69
$GC,5457,0.69,145.9,3117,2765,2664,2652,712.7,13.6,281,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,0.69,145.9,3118,2764,2664,2646,672.3,13.4,291,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6057,0.69,145.9,3117,2765,2664,2645,631.5,13.6,301,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,0.69,145.9,3118,2764,2664,2645,591.2,13.4,311,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2763,2651,2663,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6657,0.69,145.9,3117,2764,2663,2644,551.4,13.2,321,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,0.69,145.9,3117,2765,2664,2645,512.1,13.1,331,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7257,0.69,145.9,3118,2765,2664,2645,473.8,12.7,341,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,0.69,145.9,3118,2764,2664,2645,436.1,12.6,351,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7857,0.69,145.9,3117,2764,2665,2644,398.3,12.7,361,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,0.69,145.9,3117,2764,2665,2644,360.3,12.6,371,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2763,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8457,0.69,145.9,3118,2765,2664,2645,324.3,11.9,381,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2764,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8757,0.70,159.4,3117,2764,2665,2645,290.3,10.9,391,8773,0.00,2.42,11.80,1.367,8708,0.000,0.064,3128,1356,2603,2611,2596,0,0,0,0,0,0,28.83,14.55,13.93
$GC,8802,0.71,175.2,3128,1354,2610,2596,285.5,10.8,400,8823,0.00,2.42,14.12,1.340,9222,0.000,0.090,3127,2746,2538,2545,2532,0,0,0,0,0,0,28.83,14.50,13.86
$GC,9128,0.71,175.2,3128,2747,2545,2529,246.1,11.6,419,9133,0.00,2.35,0.00,0.000,516,0.000,0.063,3138,1349,2536,2544,2528,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9168,0.73,196.4,3138,1349,2546,2528,241.9,10.5,427,9190,0.00,2.45,18.10,1.287,9222,0.000,0.090,3138,2743,2457,2463,2452,0,0,0,0,0,0,28.83,14.45,13.80
$GC,9489,0.75,228.8,3139,2744,2459,2444,207.4,9.9,461,9519,0.00,0.00,27.60,1.236,8198,0.000,0.000,3138,2743,2322,2324,2320,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9819,0.76,252.3,3138,2746,2323,2312,173.3,10.4,494,9844,0.00,2.38,19.88,1.223,8708,0.000,0.063,3147,1351,2225,2228,2223,0,0,0,0,0,0,28.83,14.32,13.74
$GC,9858,0.79,284.1,3148,1352,2227,2223,169.1,9.9,502,9890,0.00,2.47,27.98,1.202,9222,0.000,0.090,3147,2741,2099,2100,2098,0,0,0,0,0,0,28.83,14.30,13.62
$GC,10188,0.80,300.0,3148,2741,2096,2083,131.4,10.8,538,10203,0.00,0.00,13.48,1.210,8198,0.000,0.000,3147,2741,2034,2040,2029,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10500,0.82,331.2,3148,2742,2036,2019,98.3,10.0,569,10520,0.00,2.38,13.50,0.491,8708,0.000,0.066,3155,1357,1907,1909,1906,0,0,0,0,0,0,28.83,14.28,13.97
$GC,10576,0.84,365.7,3156,1358,1915,1907,90.8,9.8,584,10596,0.00,2.45,16.38,0.464,9222,0.000,0.092,3155,2733,1766,1767,1766,0,0,0,0,0,0,28.83,14.22,13.95
$GC,10901,0.89,428.2,3156,2735,1775,1764,59.1,8.3,619,10932,0.00,0.00,28.48,0.363,8198,0.000,0.000,3155,2734,1511,1520,1503,0,0,0,0,0,0,28.83,28.83,14.01
$GC,11232,0.98,561.0,3155,2734,1525,1489,38.9,4.6,652,11293,0.17,0.00,59.38,0.299,10758,0.103,0.000,3225,2734,970,972,969,0,0,0,0,0,0,14.34,28.83,14.03
$FREEZE,8.81,-1.329,-1.439,2,1,0
$FREEZE,8.38,-1.329,-1.439,2,1,0
$FREEZE,8.03,-1.332,-1.438,2,1,0
$FREEZE,7.53,-1.332,-1.438,2,1,0
$FREEZE,7.03,-1.329,-1.437,2,1,0
$FREEZE,6.55,-1.329,-1.437,2,1,0
$GC,11591,1.06,672.8,3226,2734,971,957,10.1,5.7,690,11651,0.00,2.45,50.50,0.221,8708,0.000,0.068,3231,1352,512,464,561,0,0,0,0,0,0,28.83,14.22,14.09
$FREEZE,5.74,-1.332,-1.436,2,1,0
$FREEZE,5.49,-1.340,-1.436,2,1,0
$FREEZE,5.11,-1.340,-1.436,2,1,0
$FREEZE,4.81,-1.343,-1.435,2,1,0
$FREEZE,4.40,-1.343,-1.435,2,1,0
$FREEZE,4.06,-1.345,-1.435,2,1,0
$GC,11681,1.12,757.7,3232,1353,465,562,4.1,7.1,706,11686,0.00,2.47,1.40,0.257,9222,0.000,0.091,3231,2739,498,448,549,0,0,0,0,0,0,28.83,14.21,14.10
$FREEZE,3.38,-1.346,-1.434,2,1,0
$FREEZE,2.68,-1.349,-1.433,2,1,0
$FREEZE,2.03,-1.356,-1.433,2,1,0
$FREEZE,1.72,-1.288,-1.429,2,1,0
$STATE,11719,end climb,SURFACE_DEPTH_REACHED
$STATE,11719,begin surface coast
$FREEZE,1.71,-1.324,-1.431,2,1,0
$FREEZE,1.81,-1.358,-1.433,2,1,0
$FREEZE,1.71,-1.360,-1.433,2,1,0
$FINISH,1.7,1.021128
$STATE,11750,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11832,0.00,0.000,0,0,498,677.27
$SM_GC,3.30,9.52,0.00,0.00,0.100,0.000,0.000,200,2741,498,-8.35,-0.54,677.27,0,0,0,0,0,0,14.35,28.83,28.83
$RAFOS_CLK,304
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14422.33,300814,033451
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.36
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.40
$XPDR_PINGS,7
$SC_FREEKB,3828448
$24V_AH,12.69,74.804
$10V_AH,13.03,0.000
$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,23.550,32.600,554.925,0.000,0.000,0.000,0.000,626.875,1.750,0.000,26.652,0.000,9697.870,635.229,2101.207,266.409,0.000,1834.639,0.000,1080.531,1492.000,0.540,0.000
$DEVICE_MAMPS,397.800,100.215,1988.235,0.000,0.000,0.000,0.000,181.305,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11785.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.681,0.000,0.000,0.000
$MEM,222208
$DATA_FILE_SIZE,23384,714
$CAP_FILE_SIZE,128299,0
$CFSIZE,2097872896,2044297216
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13095.45,0x2378b6,7,5
$INTR,1,4917.30,0x2378b6,2,5
$INTR,2,11760.08,0x2378b6,7,5
$SOUNDSPEED,1447.8
$GPS,300814,142424,7351.934,-14430.335,5,0.8,25,23.1