version: 66.12
glider: 196
mission: 7
dive: 202
start: 8 24 114 4 32 57
data:
$ID,196
$MISSION,7
$DIVE,202
$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,-5267.4443
$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,53
$R_STBD_OVSHOOT,16
$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
$GPS1,240814,042524,7259.864,-14450.168,36,0.8,56,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.9
$GPS2,240814,043238,7259.866,-14450.124,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.6,56779,-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,-145.9,188,2763,433,563,0.0,0.0,0,80,0.00,0.00,-62.53,0.000,16386,0.000,0.000,186,2762,2074,2085,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,187,2763,2086,2065,3.1,-3.0,6,135,12.23,2.45,-34.35,0.000,18948,0.402,0.091,2662,1369,3857,3919,3795,0,0,0,0,0,0,14.00,14.23,14.45
$GC,360,-0.69,-145.9,2663,1369,3919,3802,76.9,-21.6,62,365,0.00,2.50,0.00,0.000,1030,0.000,0.096,2653,2771,3859,3919,3799,0,0,0,0,0,0,28.83,14.28,28.83
$GC,670,-0.69,-145.9,2654,2771,3920,3800,145.5,-21.1,94,675,0.00,2.38,0.00,0.000,516,0.000,0.068,2654,1368,3859,3919,3799,0,0,0,0,0,0,28.83,14.40,28.83
$GC,840,-0.69,-145.9,2654,1368,3919,3801,176.6,-17.5,128,845,0.00,2.47,0.00,0.000,1030,0.000,0.098,2643,2761,3859,3919,3800,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1150,-0.69,-145.9,2644,2761,3920,3800,233.9,-16.8,160,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2759,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-0.69,-145.9,2644,2761,3920,3800,284.0,-15.5,177,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,-0.69,-145.9,2643,2761,3920,3800,329.3,-14.8,187,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.69,-145.9,2644,2762,3919,3801,373.5,-14.8,197,2065,0.00,1.83,0.00,0.000,260,0.000,0.104,2634,3786,3859,3918,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2105,-0.69,-145.9,2635,3787,3919,3800,380.5,-16.3,206,2110,0.10,1.70,0.00,0.000,3078,0.238,0.059,2661,2761,3859,3919,3799,0,0,0,0,0,0,14.39,14.59,28.83
$GC,2421,-0.69,-145.9,2661,2761,3920,3799,422.5,-13.1,219,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.69,-145.9,2661,2762,3914,3799,461.3,-12.9,229,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.69,-145.9,2661,2762,3920,3799,499.8,-12.8,239,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2762,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.69,-145.9,2662,2762,3920,3799,537.9,-12.6,249,3325,0.00,2.33,0.00,0.000,516,0.000,0.070,2661,1367,3858,3918,3799,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3360,-0.69,-145.9,2661,1366,3919,3799,542.6,-11.6,257,3365,0.00,2.50,0.00,0.000,1030,0.000,0.099,2652,2761,3858,3918,3799,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3681,-0.69,-145.9,2653,2763,3919,3800,584.7,-13.2,271,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-0.69,-145.9,2653,2762,3920,3799,624.6,-13.2,281,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-0.69,-145.9,2653,2761,3920,3799,663.6,-12.9,291,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.69,-145.9,2653,2761,3920,3800,701.8,-12.8,301,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3858,3918,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-0.69,-145.9,2652,2763,3919,3800,738.9,-12.2,311,4885,0.00,1.83,0.00,0.000,260,0.000,0.104,2644,3795,3858,3918,3799,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4925,-0.69,-145.9,2645,3795,3920,3799,744.7,-13.3,320,4930,0.00,1.70,0.00,0.000,1030,0.000,0.057,2644,2759,3858,3918,3799,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,4968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4968,begin apogee
$GC,4972,-0.13,0.0,2645,2760,3919,3800,750.5,-12.8,324,5100,0.77,0.00,125.57,1.994,10244,0.230,0.000,2851,2759,3256,3276,3237,0,0,0,0,0,0,14.44,28.83,13.15
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5103,0.69,145.9,2852,2759,3273,3235,753.7,0.0,328,5232,0.85,0.00,122.55,1.808,11270,0.119,0.000,3113,2758,2659,2665,2653,0,0,0,0,0,0,13.80,28.83,12.75
$GC,5541,0.69,145.9,3113,2759,2665,2645,706.2,13.6,368,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5841,0.69,145.9,3113,2758,2665,2643,666.1,13.3,378,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,0.69,145.9,3114,2759,2664,2644,626.3,13.3,388,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6441,0.69,145.9,3114,2759,2664,2643,586.9,13.1,398,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6741,0.69,145.9,3114,2759,2664,2643,548.3,12.9,408,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,0.69,145.9,3113,2758,2665,2642,509.9,12.7,418,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,0.69,145.9,3113,2758,2673,2642,472.4,12.5,428,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,0.69,145.9,3113,2759,2664,2643,435.5,12.2,438,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,0.69,145.9,3113,2759,2662,2643,399.6,11.9,448,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.69,146.4,3113,2759,2660,2643,364.3,11.6,458,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2759,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,0.69,146.4,3114,2759,2665,2643,329.2,11.8,468,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,0.69,152.1,3114,2758,2665,2643,295.2,11.3,478,8852,0.00,2.42,2.90,1.024,8708,0.000,0.068,3124,1346,2641,2656,2626,0,0,0,0,0,0,28.83,14.63,13.69
$GC,8881,0.71,170.3,3124,1346,2664,2628,291.0,10.7,486,8907,0.00,2.42,19.35,1.329,9222,0.000,0.092,3124,2746,2557,2565,2549,0,0,0,0,0,0,28.83,14.59,13.92
$GC,9231,0.71,170.3,3125,2747,2566,2547,249.1,11.8,506,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2746,2555,2565,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9532,0.72,191.5,3125,2746,2566,2546,217.1,10.5,536,9553,0.00,0.00,17.73,1.258,8454,0.000,0.000,3123,2746,2473,2481,2466,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9853,0.77,253.4,3125,2747,2480,2463,187.4,8.3,569,9905,0.00,0.00,51.22,1.213,8454,0.000,0.000,3124,2746,2226,2228,2225,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10202,0.79,296.0,3125,2747,2225,2211,153.6,9.4,607,10244,0.00,2.42,36.53,1.220,8708,0.000,0.070,3125,1350,2044,2049,2039,0,0,0,0,0,0,28.83,14.19,13.60
$GC,10284,0.82,338.2,3125,1350,2047,2038,145.9,9.4,623,10326,0.12,2.47,35.70,1.222,11270,0.129,0.093,3182,2734,1876,1873,1880,0,0,0,0,0,0,14.26,14.21,13.52
$GC,10623,0.82,338.2,3183,2735,1871,1864,98.1,13.3,661,10628,0.00,1.92,0.00,0.000,260,0.000,0.100,3182,3787,1866,1870,1863,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10633,0.82,338.2,3183,3788,1870,1863,96.9,13.1,663,10638,0.00,1.77,0.00,0.000,1030,0.000,0.054,3190,2735,1866,1870,1863,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10944,0.83,351.4,3191,2735,1871,1862,58.0,10.9,695,10955,0.00,0.00,4.50,0.357,8198,0.000,0.000,3190,2735,1826,1830,1823,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11253,0.92,471.7,3190,2735,1840,1823,34.1,5.2,726,11314,0.00,0.00,54.60,0.307,8198,0.000,0.000,3190,2735,1333,1345,1321,0,0,0,0,0,0,28.83,28.83,14.05
$GC,11613,1.04,651.3,3191,2735,1348,1306,14.1,2.1,762,11696,0.12,0.00,80.05,0.238,10502,0.129,0.000,3247,2735,601,571,631,0,0,0,0,0,0,14.33,28.83,14.09
$FREEZE,8.85,0.074,-1.419,2,1,0
$FREEZE,8.11,0.575,-1.413,2,1,0
$FREEZE,7.45,0.606,-1.413,2,1,0
$FREEZE,6.68,1.632,-1.394,2,1,0
$FREEZE,6.12,1.639,-1.399,2,1,0
$FREEZE,5.38,1.639,-1.403,2,1,0
$FREEZE,4.65,1.639,-1.405,2,1,0
$FREEZE,3.97,1.641,-1.406,2,1,0
$FREEZE,3.19,1.641,-1.407,2,1,0
$FREEZE,2.43,1.642,-1.407,2,1,0
$FREEZE,1.82,1.643,-1.407,2,1,0
$STATE,11802,end climb,SURFACE_DEPTH_REACHED
$STATE,11802,begin surface coast
$FREEZE,1.21,1.645,-1.407,2,1,0
$FREEZE,0.86,1.558,-0.858,2,1,0
$FINISH,0.9,1.012671
$STATE,11823,end surface coast,CONTROL_FINISHED_OK
$STATE,11823,begin surface
$SM_CCo,11839,11.23,0.212,0,0,499,676.54
$SM_GC,2.66,9.30,0.00,11.23,0.076,0.000,0.212,203,2735,499,-8.36,-0.71,676.54,0,0,0,0,0,0,14.33,28.83,14.19
$RAFOS_CLK,573
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7221.25,-14450.83,240814,005736
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.31
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,6.10
$XPDR_PINGS,3
$SC_FREEKB,3848160
$24V_AH,12.75,60.632
$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,23.500,35.125,550.700,11.225,0.000,0.000,0.000,257.350,0.750,0.000,26.101,0.000,9642.028,614.013,1874.992,150.798,0.000,1516.966,0.000,1179.317,0.000,0.539,0.000
$DEVICE_MAMPS,401.625,104.040,1993.590,211.905,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.402,0.000,0.000,0.000
$MEM,246996
$DATA_FILE_SIZE,26698,789
$CAP_FILE_SIZE,126121,0
$CFSIZE,2097872896,2052390912
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12613.47,0x2378b6,7,5
$INTR,1,4969.86,0x2378b6,2,5
$INTR,2,11826.85,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,240814,075154,7301.270,-14451.173,38,0.7,58,22.8