version: 66.12
glider: 196
mission: 7
dive: 339
start: 9 13 114 8 58 37
data:
$ID,196
$MISSION,7
$DIVE,339
$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,1
$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,-7599.9546
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,130914,084955,7442.879,-14035.771,39,0.8,59,24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.0
$GPS2,130914,085818,7442.853,-14035.756,6,0.8,26,24.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.2,250476,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,201,2779,440,546,0.0,0.0,0,91,0.00,0.00,-71.85,0.000,16386,0.000,0.000,200,2779,2263,2266,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-145.9,200,2779,2267,2262,3.4,-2.9,7,142,12.15,1.83,-29.38,0.000,18692,0.392,0.125,2657,3774,3854,3914,3795,0,0,0,0,0,0,13.90,14.17,14.46
$GC,367,-0.69,-145.9,2658,3775,3916,3799,88.1,-24.3,62,374,0.00,1.70,0.00,0.000,1030,0.000,0.052,2657,2755,3856,3914,3799,0,0,0,0,0,0,28.83,14.27,28.83
$GC,672,-0.69,-145.9,2658,2755,3916,3799,150.3,-18.7,93,677,0.00,1.80,0.00,0.000,260,0.000,0.099,2649,3775,3856,3914,3798,0,0,0,0,0,0,28.83,14.30,28.83
$GC,902,-0.69,-145.9,2650,3775,3915,3799,195.4,-18.4,139,907,0.00,1.70,0.00,0.000,1030,0.000,0.054,2649,2754,3856,3914,3798,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1212,-0.69,-145.9,2650,2755,3916,3798,248.2,-16.0,171,1217,0.00,1.80,0.00,0.000,260,0.000,0.100,2641,3774,3856,3914,3798,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1342,-0.69,-145.9,2642,3775,3915,3799,270.2,-16.5,197,1347,0.08,1.70,0.00,0.000,3078,0.230,0.054,2660,2756,3856,3914,3798,0,0,0,0,0,0,14.16,14.44,28.83
$GC,1664,-0.69,-145.9,2660,2756,3915,3799,312.6,-13.0,211,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2756,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.69,-145.9,2661,2756,3916,3798,350.9,-12.4,221,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2262,-0.69,-145.9,2661,2757,3915,3799,387.2,-11.9,231,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.69,-145.9,2661,2757,3915,3798,422.8,-11.8,241,2567,0.00,2.33,0.00,0.000,516,0.000,0.064,2660,1369,3856,3914,3798,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2602,-0.69,-145.9,2661,1370,3915,3799,427.3,-11.3,249,2607,0.00,2.45,0.00,0.000,1030,0.000,0.095,2652,2751,3855,3914,3797,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2924,-0.69,-145.9,2652,2751,3916,3798,466.7,-12.3,263,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2756,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.69,-145.9,2653,2751,3916,3798,503.4,-12.2,273,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.69,-145.9,2653,2751,3915,3798,539.8,-12.1,283,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3822,-0.69,-145.9,2653,2752,3915,3799,576.0,-12.0,293,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4122,-0.69,-145.9,2653,2752,3915,3799,612.0,-12.1,303,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-0.69,-145.9,2653,2752,3915,3799,647.6,-11.8,313,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4722,-0.69,-145.9,2652,2751,3915,3799,683.2,-11.8,323,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5022,-0.69,-145.9,2653,2751,3915,3799,718.4,-11.7,333,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2751,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5325,-0.13,0.0,2653,2751,3915,3801,753.6,-11.7,343,5455,0.73,0.00,127.35,2.026,10244,0.218,0.000,2845,2751,3258,3275,3242,0,0,0,0,0,0,14.22,28.83,13.02
$STATE,5456,end apogee,CONTROL_FINISHED_OK
$STATE,5456,begin climb
$GC,5458,0.69,145.9,2846,2752,3271,3239,757.5,0.0,347,5596,0.85,2.47,126.30,1.867,10756,0.106,0.060,3109,1347,2658,2660,2657,0,0,0,0,0,0,13.74,13.78,12.59
$GC,5821,0.70,167.4,3110,1348,2661,2654,729.4,10.5,422,5846,0.00,2.58,19.67,1.782,9222,0.000,0.090,3109,2745,2572,2578,2566,0,0,0,0,0,0,28.83,13.78,13.08
$GC,6166,0.70,167.4,3110,2746,2573,2562,684.4,13.2,441,6171,0.00,1.88,0.00,0.000,260,0.000,0.096,3109,3778,2568,2576,2561,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6396,0.70,167.4,3109,3779,2578,2561,648.7,15.5,487,6401,0.00,1.73,0.00,0.000,1030,0.000,0.050,3116,2735,2569,2577,2561,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6706,0.70,167.4,3117,2736,2577,2561,606.1,13.6,499,6711,0.00,1.85,0.00,0.000,260,0.000,0.096,3116,3789,2568,2577,2560,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6796,0.70,167.4,3117,3790,2578,2560,592.0,16.1,517,6801,0.00,1.73,0.00,0.000,1030,0.000,0.050,3124,2740,2571,2582,2560,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7127,0.70,167.4,3125,2741,2577,2561,545.7,13.9,533,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2740,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,0.70,167.4,3125,2741,2578,2561,504.2,13.8,543,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2740,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,0.70,167.4,3125,2741,2578,2561,462.9,13.8,553,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2740,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,0.70,167.4,3125,2740,2578,2560,421.6,13.8,563,8031,0.00,2.33,0.00,0.000,516,0.000,0.063,3134,1348,2568,2577,2560,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8046,0.70,167.4,3135,1347,2578,2560,418.9,13.9,567,8051,0.00,2.45,0.00,0.000,1030,0.000,0.089,3134,2746,2568,2577,2559,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8356,0.70,167.4,3135,2746,2578,2560,375.0,14.1,579,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2746,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,0.70,167.4,3135,2747,2578,2561,333.6,13.6,589,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2746,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8956,0.70,167.4,3136,2747,2572,2561,293.1,13.4,599,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2746,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,0.71,175.3,3136,2747,2578,2561,257.2,11.2,609,9265,0.00,0.00,7.53,1.369,8198,0.000,0.000,3135,2746,2542,2551,2533,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9556,0.73,205.9,3135,2746,2548,2529,225.7,10.0,633,9587,0.00,0.00,26.70,1.288,8198,0.000,0.000,3135,2746,2413,2418,2409,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9887,0.76,251.2,3136,2747,2418,2405,194.0,9.2,666,9927,0.00,0.00,38.33,1.325,8710,0.000,0.000,3135,2746,2232,2233,2232,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10227,0.79,290.2,3135,2747,2229,2221,160.3,9.6,702,10266,0.00,0.00,33.05,1.292,8710,0.000,0.000,3135,2746,2070,2073,2067,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10567,0.82,325.7,3135,2746,2075,2060,127.4,9.7,737,10602,0.00,2.38,30.60,1.258,8708,0.000,0.063,3138,1357,1923,1923,1923,0,0,0,0,0,0,28.83,14.24,13.62
$GC,10639,0.85,369.5,3138,1357,1921,1918,120.6,9.3,751,10679,0.00,2.47,35.92,1.274,9222,0.000,0.090,3137,2743,1750,1753,1748,0,0,0,0,0,0,28.83,14.22,13.50
$GC,10982,0.87,405.0,3138,2745,1748,1727,86.4,9.7,789,11003,0.12,0.00,15.10,0.450,10758,0.122,0.000,3191,2745,1606,1616,1597,0,0,0,0,0,0,14.19,28.83,13.82
$GC,11303,0.90,444.2,3192,2746,1620,1595,50.4,9.5,822,11327,0.00,2.45,17.90,0.339,8708,0.000,0.066,3200,1332,1447,1462,1432,0,0,0,0,0,0,28.83,14.16,13.92
$GC,11384,0.95,523.3,3201,1332,1464,1433,43.3,7.4,838,11427,0.00,2.53,36.85,0.318,9222,0.000,0.090,3200,2738,1122,1135,1109,0,0,0,0,0,0,28.83,14.12,13.86
$GC,11732,1.06,677.8,3197,2740,1135,1098,20.9,3.4,878,11808,0.12,2.40,70.45,0.262,10756,0.134,0.065,3259,1355,498,443,553,0,0,0,0,0,0,14.13,14.10,13.92
$GC,11865,1.12,759.7,3259,1355,445,553,12.2,7.3,904,11870,0.00,2.50,0.00,0.000,1030,0.000,0.090,3259,2739,497,442,552,0,0,0,0,0,0,28.83,14.05,28.83
$FREEZE,8.28,-1.310,-1.438,2,1,0
$FREEZE,7.42,-1.310,-1.438,2,1,0
$FREEZE,6.55,-1.310,-1.437,2,1,0
$FREEZE,5.85,-1.311,-1.436,2,1,0
$FREEZE,4.88,-1.310,-1.436,2,1,0
$FREEZE,4.02,-1.310,-1.435,2,1,0
$FREEZE,3.28,-1.310,-1.434,2,1,0
$FREEZE,2.44,-1.310,-1.434,2,1,0
$FREEZE,1.61,-1.310,-1.433,2,1,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FREEZE,0.89,-1.306,-1.432,2,1,0
$FREEZE,0.90,-1.290,-0.711,2,1,0
$FINISH,0.9,1.010439
$STATE,12013,end surface coast,FINISH_DEPTH_REACHED
$STATE,12013,begin surface
$SM_CCo,12091,0.00,0.000,0,0,492,678.50
$SM_GC,2.15,9.40,0.00,0.00,0.074,0.000,0.000,205,2740,492,-8.36,-0.57,678.50,0,0,0,0,0,0,14.26,28.83,28.83
$RAFOS_CLK,64
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14035.74,130914,051806
$TT8_MAMPS,0.080892,0.080892
$HUMID,42.99
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.70
$XPDR_PINGS,14
$SC_FREEKB,3786752
$24V_AH,12.59,105.691
$10V_AH,12.67,0.000
$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,23.450,47.025,585.750,0.000,0.000,0.000,0.000,297.925,3.500,0.000,27.341,0.000,9582.410,632.675,2136.202,233.325,0.000,1673.522,0.000,1374.132,1498.000,0.539,0.000
$DEVICE_MAMPS,392.445,125.460,2026.485,0.000,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.854,0.000,0.000,0.000
$MEM,163768
$DATA_FILE_SIZE,29989,920
$CAP_FILE_SIZE,135323,0
$CFSIZE,2097872896,2026602496
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12885.31,0x2378b6,7,5
$INTR,1,5322.29,0x2378b6,2,5
$INTR,2,12017.85,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,130914,122113,7441.459,-14036.848,16,0.8,36,24.6