version: 66.12
glider: 196
mission: 7
dive: 206
start: 8 24 114 18 50 11
data:
$ID,196
$MISSION,7
$DIVE,206
$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,-5272.582
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,240814,184218,7305.597,-14456.141,35,0.8,55,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.9
$GPS2,240814,184952,7305.546,-14456.296,4,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.2,45859,-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,-145.9,187,2775,433,546,0.0,0.0,0,90,0.00,0.00,-72.30,0.000,16386,0.000,0.000,183,2775,2353,2361,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,187,2773,2362,2347,4.5,-5.9,7,136,12.25,2.42,-25.35,0.000,18948,0.403,0.088,2664,1357,3857,3919,3796,0,0,0,0,0,0,14.01,14.23,14.47
$GC,230,-0.69,-145.9,2665,1357,3920,3800,49.9,-26.1,35,236,0.00,2.50,0.00,0.000,1030,0.000,0.096,2655,2753,3859,3919,3800,0,0,0,0,0,0,28.83,14.24,28.83
$GC,540,-0.69,-145.9,2657,2755,3919,3802,122.5,-21.9,67,546,0.00,1.85,0.00,0.000,260,0.000,0.100,2647,3786,3859,3918,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,695,-0.69,-145.9,2648,3786,3920,3801,157.1,-22.2,98,702,0.00,1.73,0.00,0.000,1030,0.000,0.053,2646,2745,3860,3919,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1000,-0.69,-145.9,2653,2746,3920,3801,216.1,-17.8,129,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.69,-145.9,2648,2746,3920,3802,269.4,-16.0,153,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.69,-145.9,2648,2746,3920,3801,315.0,-14.9,163,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2745,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1920,-0.69,-145.9,2648,2746,3920,3801,358.6,-14.3,173,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.69,-145.9,2648,2746,3919,3802,401.0,-14.0,183,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2745,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.69,-145.9,2648,2746,3920,3801,442.4,-13.8,193,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-0.69,-145.9,2648,2746,3919,3800,483.5,-13.6,203,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.69,-145.9,2648,2746,3919,3802,523.8,-13.4,213,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2745,3859,3918,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-0.69,-145.9,2648,2746,3919,3802,563.7,-13.2,223,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2745,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3720,-0.69,-145.9,2649,2746,3919,3802,603.4,-13.1,233,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2746,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.69,-145.9,2648,2745,3920,3801,642.8,-13.1,243,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2745,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-0.69,-145.9,2648,2746,3920,3801,681.4,-12.9,253,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2745,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.69,-145.9,2648,2746,3920,3802,719.7,-12.7,263,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2745,3858,3917,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4859,begin apogee
$GC,4863,-0.13,0.0,2648,2745,3920,3800,750.2,-12.6,271,4992,0.73,0.00,126.15,1.989,10244,0.236,0.000,2839,2745,3253,3274,3232,0,0,0,0,0,0,14.35,28.83,13.07
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4995,0.69,145.9,2844,2746,3272,3235,753.8,0.0,275,5127,0.88,0.00,123.40,1.826,11270,0.131,0.000,3105,2746,2659,2667,2652,0,0,0,0,0,0,13.73,28.83,12.66
$GC,5432,0.69,145.9,3107,2745,2668,2646,707.9,12.9,315,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2745,2656,2667,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,0.69,145.9,3106,2747,2668,2646,669.9,12.7,325,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2745,2656,2667,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6032,0.69,145.9,3106,2745,2669,2645,632.0,12.6,335,6037,0.00,1.88,0.00,0.000,260,0.000,0.098,3106,3792,2656,2667,2645,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6061,0.69,145.9,3106,3792,2668,2644,627.8,14.3,341,6067,0.00,1.75,0.00,0.000,1030,0.000,0.053,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6392,0.69,145.9,3113,2742,2668,2645,585.0,12.9,357,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,0.69,145.9,3112,2742,2668,2644,546.6,12.8,367,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6992,0.69,145.9,3112,2742,2667,2644,508.6,12.6,377,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7292,0.69,145.9,3113,2743,2668,2645,471.1,12.5,387,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7592,0.69,145.9,3113,2742,2668,2644,433.8,12.5,397,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7892,0.69,145.9,3113,2743,2668,2645,396.6,12.3,407,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,0.69,145.9,3112,2742,2669,2642,360.6,11.9,417,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8492,0.69,145.9,3113,2743,2668,2645,325.0,11.8,427,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2742,2655,2667,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,0.70,153.3,3112,2742,2668,2644,291.0,11.2,437,8797,0.00,0.00,4.43,1.341,8198,0.000,0.000,3112,2742,2635,2647,2624,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9092,0.71,176.5,3112,2742,2662,2625,258.7,10.4,447,9116,0.00,0.00,23.17,1.284,8198,0.000,0.000,3112,2742,2537,2547,2527,0,0,0,0,0,0,28.83,28.83,13.92
$GC,9392,0.73,202.8,3113,2743,2544,2519,227.1,10.2,471,9418,0.00,2.38,22.15,1.256,8708,0.000,0.063,3123,1343,2426,2434,2419,0,0,0,0,0,0,28.83,14.40,13.82
$GC,9453,0.76,248.2,3123,1343,2433,2414,221.1,9.2,483,9495,0.00,2.47,37.90,1.254,9222,0.000,0.092,3123,2745,2245,2246,2245,0,0,0,0,0,0,28.83,14.35,13.64
$GC,9792,0.78,276.8,3123,2745,2244,2230,184.1,10.1,521,9818,0.00,0.00,24.33,1.252,8198,0.000,0.000,3123,2745,2129,2133,2125,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10114,0.80,302.5,3123,2746,2131,2113,150.5,10.3,553,10137,0.00,0.00,22.25,1.225,8198,0.000,0.000,3123,2745,2023,2029,2018,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10434,0.83,346.0,3124,2745,2026,2004,118.4,9.3,585,10474,0.12,0.00,34.83,1.214,10246,0.129,0.000,3177,2745,1839,1839,1839,0,0,0,0,0,0,14.40,28.83,13.64
$GC,10772,0.83,346.0,3178,2745,1840,1831,74.7,11.8,619,10778,0.00,2.40,0.00,0.000,516,0.000,0.070,3178,1346,1834,1839,1829,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10837,0.86,385.5,3179,1349,1838,1829,68.1,9.5,632,10859,0.00,2.47,16.48,0.391,9222,0.000,0.093,3177,2739,1686,1689,1683,0,0,0,0,0,0,28.83,14.24,14.03
$GC,11163,0.92,477.1,3179,2744,1697,1679,39.8,6.8,667,11209,0.00,1.85,41.33,0.321,8452,0.000,0.097,3178,3781,1312,1323,1301,0,0,0,0,0,0,28.83,14.23,14.04
$GC,11239,0.95,520.0,3178,3782,1325,1301,33.8,9.3,682,11265,0.00,1.70,19.67,0.305,9222,0.000,0.052,3181,2743,1137,1145,1129,0,0,0,0,0,0,28.83,14.29,14.05
$GC,11564,1.06,671.9,3183,2744,1147,1117,14.7,3.5,717,11636,0.17,0.00,68.68,0.238,10758,0.112,0.000,3254,2744,516,467,565,0,0,0,0,0,0,14.33,28.83,14.09
$FREEZE,8.81,2.030,-1.415,2,1,0
$FREEZE,7.76,2.138,-1.413,2,1,0
$FREEZE,6.76,2.202,-1.412,2,1,0
$FREEZE,5.69,2.374,-1.406,2,1,0
$FREEZE,4.77,2.426,-1.403,2,1,0
$FREEZE,3.93,2.419,-1.403,2,1,0
$FREEZE,2.98,2.426,-1.403,2,1,0
$FREEZE,1.89,2.420,-1.402,2,1,0
$STATE,11722,end climb,SURFACE_DEPTH_REACHED
$STATE,11722,begin surface coast
$FREEZE,1.04,2.435,-1.401,2,1,0
$FREEZE,0.89,2.212,-1.411,2,1,0
$FINISH,0.9,1.020699
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11744,begin surface
$SM_CCo,11759,1.45,0.249,0,0,498,676.54
$SM_GC,2.26,9.15,0.00,1.45,0.060,0.000,0.249,196,2743,498,-8.36,-0.48,676.54,0,0,0,0,0,0,14.34,28.83,14.19
$RAFOS_CLK,376
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7228.39,-14446.59,240814,150841
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.14
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.60
$XPDR_PINGS,3
$SC_FREEKB,3846368
$24V_AH,12.66,61.934
$10V_AH,12.78,0.000
$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,23.300,25.400,564.750,1.450,0.000,0.000,0.000,272.775,0.750,0.000,26.712,0.000,9637.321,606.132,1817.939,151.623,0.000,1484.299,0.000,1109.468,1491.000,0.539,0.000
$DEVICE_MAMPS,403.155,100.215,1989.000,249.390,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.621,0.000,0.000,0.000
$MEM,244624
$DATA_FILE_SIZE,26760,740
$CAP_FILE_SIZE,122364,0
$CFSIZE,2097872896,2051670016
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13008.36,0x2378b6,7,5
$INTR,1,4860.50,0x2378b6,2,5
$INTR,2,11747.13,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,240814,220724,7306.935,-14457.601,23,0.8,43,22.8