version: 66.12
glider: 196
mission: 7
dive: 200
start: 8 23 114 21 27 35
data:
$ID,196
$MISSION,7
$DIVE,200
$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,-5264.9238
$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,50
$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
$GPS1,230814,211954,7256.970,-14447.732,29,0.9,49,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-76.1
$GPS2,230814,212716,7256.983,-14447.729,4,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.4,62260,-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,-145.9,188,2734,431,548,0.0,0.0,0,90,0.00,0.00,-72.45,0.000,16386,0.000,0.000,186,2733,2352,2361,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,187,2733,2363,2347,4.4,-5.5,7,136,12.20,2.40,-25.12,0.000,18948,0.402,0.095,2666,1376,3857,3920,3794,0,0,0,0,0,0,14.02,14.21,14.47
$GC,360,-0.69,-145.9,2666,1375,3921,3799,78.4,-20.9,61,366,0.00,2.47,0.00,0.000,1030,0.000,0.098,2657,2754,3859,3920,3799,0,0,0,0,0,0,28.83,14.24,28.83
$GC,670,-0.69,-145.9,2658,2755,3921,3799,144.5,-20.0,93,676,0.00,2.35,0.00,0.000,516,0.000,0.069,2657,1372,3859,3920,3799,0,0,0,0,0,0,28.83,14.35,28.83
$GC,900,-0.69,-145.9,2658,1370,3921,3800,184.9,-16.9,139,906,0.00,2.47,0.00,0.000,1030,0.000,0.098,2646,2766,3859,3920,3799,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1210,-0.69,-145.9,2647,2767,3922,3800,239.4,-16.2,171,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.69,-145.9,2646,2766,3922,3799,287.8,-15.2,186,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,-0.69,-145.9,2647,2767,3922,3799,331.5,-14.3,196,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.69,-145.9,2647,2767,3920,3800,373.9,-14.0,206,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.69,-145.9,2647,2766,3921,3799,415.7,-13.9,216,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2767,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.69,-145.9,2647,2767,3921,3799,456.8,-13.6,226,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3859,3920,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.69,-145.9,2647,2766,3921,3799,497.6,-13.4,236,3026,0.00,2.35,0.00,0.000,516,0.000,0.070,2646,1364,3857,3920,3795,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3070,-0.69,-145.9,2647,1363,3921,3799,504.1,-12.9,246,3076,0.15,2.47,0.00,0.000,3078,0.267,0.099,2667,2768,3859,3920,3799,0,0,0,0,0,0,14.45,14.54,28.83
$GC,3381,-0.69,-145.9,2668,2769,3921,3800,540.5,-11.8,258,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.69,-145.9,2668,2769,3921,3800,575.6,-11.7,268,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.69,-145.9,2668,2768,3921,3798,610.5,-11.6,278,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-0.69,-145.9,2668,2768,3922,3799,645.8,-11.9,288,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2767,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-0.69,-145.9,2668,2768,3920,3798,680.3,-11.5,298,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2767,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.69,-145.9,2668,2768,3920,3799,714.1,-11.1,308,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5181,-0.69,-145.9,2669,2769,3922,3800,748.1,-11.3,318,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2768,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5209,begin apogee
$GC,5213,-0.13,0.0,2668,2768,3922,3799,751.4,-11.3,319,5341,0.65,0.00,125.55,1.981,10244,0.223,0.000,2844,2768,3256,3275,3238,0,0,0,0,0,0,14.49,28.83,13.15
$STATE,5342,end apogee,CONTROL_FINISHED_OK
$STATE,5342,begin climb
$GC,5343,0.69,145.9,2844,2768,3273,3234,755.1,0.0,323,5472,0.88,0.00,122.22,1.810,11270,0.129,0.000,3109,2768,2661,2670,2653,0,0,0,0,0,0,13.81,28.83,12.76
$GC,5781,0.69,145.9,3110,2769,2666,2646,709.7,13.1,363,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6081,0.69,145.9,3110,2769,2666,2645,670.1,13.1,373,6087,0.00,1.85,0.00,0.000,260,0.000,0.099,3109,3783,2654,2665,2644,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6096,0.69,145.9,3110,3784,2666,2646,667.9,13.7,376,6102,0.00,1.75,0.00,0.000,1030,0.000,0.054,3115,2744,2654,2665,2644,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6413,0.69,145.9,3116,2745,2666,2645,626.2,13.1,389,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2744,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,0.69,145.9,3116,2744,2667,2644,586.9,13.1,399,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2744,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,0.69,145.9,3116,2745,2666,2645,547.7,13.0,409,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2749,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,0.69,145.9,3116,2743,2667,2644,509.2,12.7,419,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2745,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,0.69,145.9,3116,2746,2666,2646,471.6,12.5,429,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2744,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7912,0.69,145.9,3116,2745,2666,2645,434.4,12.3,439,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2744,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8212,0.69,145.9,3116,2745,2666,2645,397.4,12.3,449,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2744,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,0.69,145.9,3116,2744,2665,2643,360.4,12.3,459,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2744,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,0.69,145.9,3116,2745,2666,2645,324.3,11.9,469,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2743,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,0.69,151.4,3116,2744,2667,2644,289.7,11.3,479,9116,0.00,0.00,2.60,0.881,8198,0.000,0.000,3115,2744,2640,2652,2628,0,0,0,0,0,0,28.83,28.83,13.67
$GC,9411,0.71,171.9,3122,2745,2671,2632,257.2,10.5,489,9434,0.00,0.00,20.98,1.293,8198,0.000,0.000,3112,2744,2557,2567,2548,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9712,0.73,207.2,3116,2744,2565,2539,225.2,9.8,513,9743,0.00,0.00,29.77,1.260,8198,0.000,0.000,3114,2744,2412,2419,2405,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10043,0.77,262.9,3117,2745,2413,2398,193.6,8.7,546,10094,0.00,1.95,46.67,1.281,8452,0.000,0.100,3116,3786,2181,2185,2178,0,0,0,0,0,0,28.83,14.07,13.52
$GC,10104,0.79,295.2,3116,3785,2183,2178,187.5,9.9,558,10135,0.00,1.75,27.83,1.313,9222,0.000,0.056,3123,2735,2055,2060,2050,0,0,0,0,0,0,28.83,14.14,13.46
$GC,10433,0.81,316.3,3124,2735,2056,2032,151.3,10.5,594,10455,0.00,0.00,17.98,1.206,8198,0.000,0.000,3123,2735,1962,1967,1958,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10754,0.83,342.3,3124,2735,1966,1951,118.0,10.2,626,10780,0.12,2.40,19.85,1.151,10756,0.130,0.070,3185,1349,1856,1858,1854,0,0,0,0,0,0,14.34,14.21,13.69
$GC,10799,0.83,342.3,3190,1349,1855,1853,112.3,13.4,635,10806,0.00,2.53,0.00,0.000,1030,0.000,0.093,3189,2753,1853,1855,1852,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11104,0.83,342.3,3190,2754,1857,1848,71.3,12.5,666,11110,0.00,2.45,0.00,0.000,516,0.000,0.072,3199,1345,1850,1855,1846,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11154,0.84,364.5,3199,1344,1855,1845,65.9,10.4,676,11171,0.12,2.47,8.65,0.378,13318,0.243,0.094,3173,2730,1773,1776,1771,0,0,0,0,0,0,14.18,14.27,14.04
$GC,11475,0.91,462.6,3173,2730,1787,1769,38.5,6.4,710,11526,0.00,0.00,44.67,0.317,8710,0.000,0.000,3173,2730,1371,1383,1359,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11825,1.02,620.5,3174,2731,1387,1345,16.3,3.2,747,11902,0.15,2.42,70.38,0.245,10756,0.119,0.070,3234,1342,726,710,742,0,0,0,0,0,0,14.33,14.22,14.07
$FREEZE,8.79,0.208,-1.425,2,1,0
$FREEZE,8.55,0.208,-1.425,2,1,0
$FREEZE,8.30,0.676,-1.417,2,1,0
$FREEZE,7.92,0.676,-1.417,2,1,0
$FREEZE,7.78,0.840,-1.414,2,1,0
$FREEZE,7.28,0.840,-1.413,2,1,0
$FREEZE,6.98,1.323,-1.403,2,1,0
$FREEZE,6.41,1.323,-1.403,2,1,0
$GC,11982,1.10,738.3,3236,1342,712,741,7.9,5.4,778,12015,0.00,2.53,25.45,0.220,9222,0.000,0.094,3234,2742,498,451,545,0,0,0,0,0,0,28.83,14.22,14.09
$FREEZE,5.49,1.325,-1.408,2,1,0
$FREEZE,4.67,1.372,-1.409,2,1,0
$FREEZE,3.90,1.377,-1.409,2,1,0
$FREEZE,3.27,1.409,-1.409,2,1,0
$FREEZE,2.49,1.445,-1.409,2,1,0
$FREEZE,1.79,1.435,-1.409,2,1,0
$STATE,12068,end climb,SURFACE_DEPTH_REACHED
$STATE,12068,begin surface coast
$FREEZE,1.45,1.469,-1.409,2,1,0
$FREEZE,1.03,1.450,-1.410,2,1,0
$FINISH,1.0,1.020730
$STATE,12088,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12164,0.00,0.000,0,0,495,677.76
$SM_GC,2.08,9.15,0.00,0.00,0.065,0.000,0.000,206,2743,495,-8.35,-0.48,677.76,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,145
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7221.25,-14447.30,230814,174837
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.35
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,4
$SC_FREEKB,3849056
$24V_AH,12.76,60.004
$10V_AH,12.84,0.000
$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,23.425,36.625,562.600,0.000,0.000,0.000,0.000,264.125,1.000,0.000,26.684,0.000,9937.099,612.844,1900.727,151.219,0.000,1521.914,0.000,1180.804,1415.000,0.539,0.000
$DEVICE_MAMPS,401.625,100.215,1981.350,0.000,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12137.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.140,0.000,0.000,0.000
$MEM,248096
$DATA_FILE_SIZE,26734,791
$CAP_FILE_SIZE,128964,0
$CFSIZE,2097872896,2052784128
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12861.37,0x2378b6,7,5
$INTR,1,5210.36,0x2378b6,2,5
$INTR,2,12092.03,0x2378b6,7,5
$SOUNDSPEED,1449.1
$GPS,240814,005142,7258.369,-14449.097,37,0.8,57,22.8