version: 66.12
glider: 196
mission: 7
dive: 341
start: 9 13 114 16 1 42
data:
$ID,196
$MISSION,7
$DIVE,341
$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,-7967.9795
$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,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
$GPS1,130914,122912,7441.434,-14036.866,181,99.0,181,24.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-74.4
$GPS2,130914,122912,7441.434,-14036.866,181,99.0,181,24.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,2
$TGT_LATLONG,7230.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.2,247780,-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,-145.9,192,2761,442,543,0.0,0.0,0,86,0.00,0.00,-67.62,0.000,16386,0.000,0.000,191,2761,2234,2237,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.69,-145.9,192,2761,2237,2234,3.9,-2.8,7,139,12.15,2.42,-30.75,0.000,18948,0.394,0.089,2662,1377,3857,3918,3796,0,0,0,0,0,0,13.96,14.21,14.49
$GC,364,-0.69,-145.9,2663,1377,3919,3802,79.8,-21.0,62,371,0.00,2.53,0.00,0.000,1030,0.000,0.094,2654,2774,3859,3918,3800,0,0,0,0,0,0,28.83,14.16,28.83
$GC,669,-0.69,-145.9,2655,2777,3919,3802,142.2,-19.8,93,674,0.00,2.40,0.00,0.000,516,0.000,0.062,2654,1370,3859,3918,3800,0,0,0,0,0,0,28.83,14.26,28.83
$GC,784,-0.69,-145.9,2655,1370,3920,3801,162.2,-16.7,116,790,0.00,2.50,0.00,0.000,1030,0.000,0.095,2643,2761,3859,3918,3801,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1089,-0.69,-145.9,2644,2762,3920,3801,218.5,-17.6,147,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-0.69,-145.9,2644,2762,3920,3801,268.3,-15.2,170,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1699,-0.69,-145.9,2644,2763,3919,3801,312.3,-14.6,180,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.69,-145.9,2644,2762,3919,3801,354.4,-13.6,190,2004,0.00,2.35,0.00,0.000,516,0.000,0.063,2643,1370,3859,3918,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2039,-0.69,-145.9,2644,1370,3920,3802,359.6,-12.1,198,2045,0.15,2.47,0.00,0.000,3078,0.260,0.096,2664,2762,3859,3918,3800,0,0,0,0,0,0,14.18,14.37,28.83
$GC,2361,-0.69,-145.9,2665,2762,3920,3800,397.7,-11.8,212,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.69,-145.9,2665,2762,3919,3801,432.7,-11.6,222,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.69,-145.9,2666,2763,3919,3801,467.3,-11.5,232,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.69,-145.9,2666,2763,3919,3801,501.5,-11.4,242,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3560,-0.69,-145.9,2662,2763,3914,3802,535.3,-11.3,252,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3860,-0.69,-145.9,2666,2763,3919,3802,568.7,-11.0,262,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.69,-145.9,2665,2762,3921,3801,601.6,-11.0,272,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.69,-145.9,2666,2763,3919,3802,634.1,-10.9,282,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4760,-0.69,-145.9,2665,2763,3920,3801,666.5,-10.8,292,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.69,-145.9,2666,2763,3919,3802,698.8,-10.8,302,5064,0.00,2.33,0.00,0.000,516,0.000,0.061,2665,1374,3859,3918,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5094,-0.69,-145.9,2666,1374,3919,3801,702.4,-10.1,309,5099,0.00,2.45,0.00,0.000,1030,0.000,0.094,2662,2762,3859,3918,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5421,-0.69,-145.9,2662,2762,3920,3801,738.5,-11.1,324,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5537,begin apogee
$GC,5542,-0.13,0.0,2663,2762,3920,3801,751.9,-11.2,328,5672,0.70,0.00,127.57,2.018,10244,0.215,0.000,2847,2762,3257,3275,3240,0,0,0,0,0,0,14.16,28.83,13.02
$STATE,5673,end apogee,CONTROL_FINISHED_OK
$STATE,5673,begin climb
$GC,5675,0.69,145.9,2848,2763,3270,3237,755.8,0.0,332,5813,0.85,2.47,125.57,1.870,10756,0.106,0.060,3111,1356,2658,2662,2654,0,0,0,0,0,0,13.74,13.77,12.58
$GC,6038,0.70,165.3,3112,1356,2663,2649,727.3,10.6,407,6063,0.00,2.55,17.85,1.777,9222,0.000,0.090,3110,2742,2580,2588,2573,0,0,0,0,0,0,28.83,13.79,13.09
$GC,6383,0.70,165.3,3112,2743,2588,2569,682.1,13.3,426,6388,0.00,1.85,0.00,0.000,260,0.000,0.096,3111,3786,2577,2587,2568,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6613,0.70,165.3,3112,3787,2588,2569,646.2,15.6,472,6618,0.00,1.73,0.00,0.000,1030,0.000,0.050,3119,2745,2577,2587,2568,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6923,0.70,165.3,3118,2744,2588,2567,603.8,13.5,484,6928,0.00,1.83,0.00,0.000,260,0.000,0.097,3118,3786,2577,2587,2567,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7023,0.70,165.3,3120,3787,2587,2568,587.9,16.6,504,7028,0.00,1.73,0.00,0.000,1030,0.000,0.050,3126,2737,2577,2587,2567,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7344,0.70,165.3,3127,2737,2589,2566,543.1,14.0,518,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2576,2587,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7643,0.70,165.3,3126,2737,2588,2566,501.6,13.6,528,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2576,2587,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7943,0.70,165.3,3127,2737,2589,2566,460.2,13.8,538,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2576,2587,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8243,0.70,165.3,3127,2738,2588,2567,419.0,13.7,548,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2736,2576,2586,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8543,0.70,165.3,3127,2737,2588,2567,378.6,13.4,558,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2577,2587,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8843,0.70,165.3,3127,2737,2588,2567,338.6,13.2,568,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2576,2587,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9143,0.70,165.3,3133,2737,2589,2567,300.5,12.4,578,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2576,2587,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,0.70,167.4,3127,2737,2589,2568,265.5,11.5,588,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2737,2577,2588,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9743,0.74,217.8,3127,2737,2589,2566,233.7,8.9,608,9789,0.00,0.00,43.42,1.329,8710,0.000,0.000,3126,2737,2368,2370,2366,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10094,0.77,255.0,3127,2736,2368,2358,197.8,9.7,647,10127,0.00,0.00,31.90,1.342,8198,0.000,0.000,3126,2736,2217,2218,2216,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10425,0.80,301.0,3127,2737,2215,2204,165.6,9.2,680,10469,0.00,2.38,39.38,1.321,8708,0.000,0.063,3136,1349,2024,2028,2021,0,0,0,0,0,0,28.83,14.21,13.57
$GC,10529,0.83,339.3,3138,1348,2026,2017,155.8,9.6,701,10570,0.00,2.53,33.22,1.294,9222,0.000,0.091,3137,2749,1868,1868,1868,0,0,0,0,0,0,28.83,14.19,13.50
$GC,10875,0.84,355.2,3136,2750,1869,1857,117.7,10.8,740,10887,0.00,0.00,10.98,1.203,8198,0.000,0.000,3137,2749,1808,1811,1805,0,0,0,0,0,0,28.83,28.83,13.69
$GC,11186,0.87,400.7,3138,2750,1807,1794,86.4,9.2,771,11211,0.12,2.40,20.17,0.451,10756,0.125,0.063,3205,1348,1622,1629,1616,0,0,0,0,0,0,14.29,14.25,13.89
$GC,11260,0.87,400.7,3207,1349,1632,1617,76.8,12.8,786,11267,0.12,2.50,0.00,0.000,5126,0.227,0.090,3179,2744,1623,1632,1615,0,0,0,0,0,0,14.09,14.20,28.83
$GC,11567,0.91,456.3,3179,2744,1637,1607,48.4,8.7,817,11598,0.00,2.47,25.23,0.334,8708,0.000,0.066,3179,1349,1397,1414,1380,0,0,0,0,0,0,28.83,14.23,13.97
$GC,11658,0.98,562.0,3179,1350,1415,1379,41.9,6.0,834,11713,0.00,2.47,48.33,0.314,9222,0.000,0.090,3178,2736,965,974,956,0,0,0,0,0,0,28.83,14.13,13.89
$GC,12018,1.09,719.5,3180,2739,973,947,23.3,3.3,876,12077,0.22,2.40,52.75,0.272,10756,0.101,0.064,3265,1347,498,447,549,0,0,0,0,0,0,14.24,14.16,13.96
$GC,12124,1.14,787.1,3265,1347,448,550,16.4,8.0,896,12128,0.00,2.47,0.00,0.000,1030,0.000,0.090,3264,2733,496,447,546,0,0,0,0,0,0,28.83,14.14,28.83
$FREEZE,8.32,-1.302,-1.437,2,2,0
$FREEZE,7.49,-1.302,-1.436,2,2,0
$FREEZE,6.56,-1.302,-1.435,2,2,0
$FREEZE,5.65,-1.303,-1.435,2,2,0
$FREEZE,4.86,-1.303,-1.434,2,2,0
$FREEZE,4.00,-1.304,-1.433,2,2,0
$FREEZE,3.05,-1.303,-1.433,2,2,0
$FREEZE,2.19,-1.303,-1.432,2,2,0
$FREEZE,1.33,-1.302,-1.431,2,2,0
$STATE,12291,end climb,SURFACE_DEPTH_REACHED
$STATE,12291,begin surface coast
$FREEZE,0.90,-1.293,-0.651,2,2,0
$FINISH,0.9,1.009532
$STATE,12301,end surface coast,FINISH_DEPTH_REACHED
$STATE,12302,begin surface
$SM_CCo,12379,0.00,0.000,0,0,493,678.25
$SM_GC,2.09,9.43,0.00,0.00,0.079,0.000,0.000,202,2733,493,-8.36,-0.76,678.25,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,603
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14039.78,130914,122427
$TT8_MAMPS,0.04494,0.04494
$HUMID,45.23
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.60
$XPDR_PINGS,19
$SC_FREEKB,3785856
$24V_AH,12.58,106.358
$10V_AH,12.65,0.000
$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,23.750,51.225,576.375,0.000,0.000,0.000,0.000,122.525,4.750,0.000,182.882,0.000,10008.370,571.354,2163.905,249.700,0.000,1482.400,0.000,1366.149,1308.000,0.540,0.000
$DEVICE_MAMPS,393.975,97.155,2018.070,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12351.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.150,0.000,0.000,0.000
$MEM,162772
$DATA_FILE_SIZE,30079,915
$CAP_FILE_SIZE,137055,0
$CFSIZE,2097872896,2026209280
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12730.15,0x2378b6,7,5
$INTR,1,5539.58,0x2378b6,2,5
$INTR,2,12049.20,0x234484,1,24
$INTR,3,12306.34,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,130914,192924,7438.660,-14038.454,34,0.8,54,24.6