version: 66.12
glider: 196
mission: 7
dive: 218
start: 8 26 114 12 44 26
data:
$ID,196
$MISSION,7
$DIVE,218
$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,-5287.7949
$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,58
$R_STBD_OVSHOOT,19
$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
$GPS1,260814,123713,7324.196,-14505.202,38,0.8,58,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-79.1
$GPS2,260814,124411,7324.215,-14505.197,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,323.9,11008,-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,-145.9,205,2760,417,572,0.0,0.0,0,90,0.00,0.00,-72.28,0.000,16386,0.000,0.000,204,2759,2286,2296,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,205,2760,2296,2279,3.6,-3.6,7,141,12.10,1.88,-28.60,0.000,18692,0.401,0.127,2657,3786,3857,3922,3792,0,0,0,0,0,0,14.01,14.23,14.46
$GC,365,-0.69,-145.9,2657,3787,3922,3796,89.7,-25.2,62,372,0.00,1.70,0.00,0.000,1030,0.000,0.053,2657,2770,3857,3920,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,670,-0.69,-145.9,2657,2770,3923,3795,155.1,-20.7,93,676,0.00,1.83,0.00,0.000,260,0.000,0.100,2650,3782,3858,3921,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,855,-0.69,-145.9,2650,3782,3923,3795,193.3,-20.0,130,862,0.00,1.70,0.00,0.000,1030,0.000,0.055,2649,2761,3858,3921,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1161,-0.69,-145.9,2655,2761,3926,3795,246.7,-16.8,161,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1461,-0.69,-145.9,2650,2760,3923,3795,293.0,-15.0,173,1466,0.00,2.33,0.00,0.000,516,0.000,0.068,2649,1370,3858,3921,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1485,-0.69,-145.9,2649,1371,3923,3795,296.7,-14.9,178,1492,0.15,2.50,0.00,0.000,3078,0.265,0.099,2670,2759,3857,3921,3794,0,0,0,0,0,0,14.35,14.46,28.83
$GC,1791,-0.69,-145.9,2671,2761,3922,3796,336.3,-12.8,189,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-0.69,-145.9,2671,2760,3922,3795,373.1,-12.2,199,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-0.69,-145.9,2671,2759,3923,3795,409.7,-12.2,209,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.69,-145.9,2671,2761,3922,3796,445.8,-12.0,219,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2990,-0.69,-145.9,2671,2760,3922,3796,481.4,-11.9,229,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,-0.69,-145.9,2671,2761,3922,3796,516.7,-11.9,239,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.69,-145.9,2670,2760,3922,3795,551.4,-11.5,249,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3891,-0.69,-145.9,2671,2761,3922,3796,585.7,-11.3,259,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2759,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,-0.69,-145.9,2671,2760,3919,3796,619.9,-11.4,269,4196,0.00,2.30,0.00,0.000,516,0.000,0.066,2670,1369,3858,3921,3795,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4231,-0.69,-145.9,2670,1369,3922,3795,624.3,-10.8,277,4236,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2768,3858,3921,3795,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4552,-0.69,-145.9,2663,2768,3923,3795,661.9,-11.9,291,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2768,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.69,-145.9,2663,2768,3922,3795,697.4,-11.7,301,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2768,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,-0.69,-145.9,2663,2768,3922,3795,732.1,-11.6,311,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5329,begin apogee
$GC,5333,-0.13,0.0,2663,2769,3923,3796,752.9,-11.5,317,5462,0.68,0.00,126.47,2.011,10244,0.223,0.000,2843,2768,3255,3276,3234,0,0,0,0,0,0,14.47,28.83,13.14
$STATE,5463,end apogee,CONTROL_FINISHED_OK
$STATE,5463,begin climb
$GC,5464,0.69,145.9,2844,2769,3273,3235,756.5,0.0,321,5597,0.88,0.00,125.05,1.849,11270,0.126,0.000,3109,2768,2656,2663,2650,0,0,0,0,0,0,13.78,28.83,12.69
$GC,5902,0.69,145.9,3110,2769,2664,2645,710.6,13.3,361,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,0.69,145.9,3110,2768,2664,2643,670.9,13.2,371,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6502,0.69,145.9,3110,2769,2664,2644,631.9,12.9,381,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6802,0.69,145.9,3108,2768,2664,2643,593.5,12.8,391,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,0.69,145.9,3110,2769,2664,2644,555.2,12.7,401,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7402,0.69,145.9,3110,2769,2664,2643,517.3,12.5,411,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2768,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,0.69,145.9,3109,2769,2664,2643,480.4,12.2,421,7707,0.00,2.38,0.00,0.000,516,0.000,0.067,3120,1348,2652,2663,2642,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7732,0.69,151.5,3121,1349,2664,2643,477.0,11.3,427,7738,0.00,2.42,1.92,0.406,9222,0.000,0.091,3120,2743,2643,2654,2632,0,0,0,0,0,0,28.83,14.56,14.11
$GC,8062,0.69,151.5,3121,2744,2671,2634,435.3,12.7,443,8065,0.00,0.00,1.38,0.385,8198,0.000,0.000,3120,2743,2642,2658,2627,0,0,0,0,0,0,28.83,28.83,14.12
$GC,8362,0.69,151.5,3121,2744,2674,2632,397.8,12.3,453,8365,0.00,0.00,1.12,0.340,8198,0.000,0.000,3120,2743,2642,2659,2626,0,0,0,0,0,0,28.83,28.83,14.14
$GC,8662,0.69,151.5,3121,2743,2674,2631,360.8,12.3,463,8665,0.00,0.00,1.55,0.416,8198,0.000,0.000,3120,2743,2642,2659,2626,0,0,0,0,0,0,28.83,28.83,14.12
$GC,8962,0.69,151.5,3121,2743,2674,2631,324.8,11.7,473,8965,0.00,0.00,1.08,0.334,8198,0.000,0.000,3120,2743,2643,2660,2626,0,0,0,0,0,0,28.83,28.83,14.15
$GC,9262,0.70,157.8,3121,2744,2670,2630,290.7,11.3,483,9274,0.00,0.00,10.23,1.371,8198,0.000,0.000,3120,2744,2614,2627,2601,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9562,0.71,175.5,3121,2744,2624,2597,257.6,10.7,493,9579,0.00,0.00,15.75,1.308,8198,0.000,0.000,3120,2743,2541,2552,2531,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9862,0.74,221.3,3121,2743,2548,2523,226.1,9.2,517,9905,0.00,2.47,38.20,1.262,8708,0.000,0.068,3125,1344,2351,2357,2346,0,0,0,0,0,0,28.83,14.30,13.73
$GC,9924,0.76,247.0,3125,1343,2353,2346,220.0,10.3,526,9951,0.00,2.50,21.98,1.294,9222,0.000,0.091,3125,2749,2252,2255,2249,0,0,0,0,0,0,28.83,14.29,13.61
$GC,10255,0.78,274.3,3126,2749,2251,2237,183.6,10.2,562,10280,0.00,0.00,24.05,1.261,8198,0.000,0.000,3122,2749,2138,2142,2134,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10576,0.79,295.4,3126,2750,2139,2122,150.1,10.5,594,10601,0.00,2.45,18.08,1.241,8708,0.000,0.068,3125,1353,2047,2054,2041,0,0,0,0,0,0,28.83,14.28,13.72
$GC,10636,0.83,339.9,3126,1354,2053,2042,144.3,9.3,605,10682,0.12,2.45,38.40,1.233,11270,0.130,0.091,3181,2741,1866,1864,1868,0,0,0,0,0,0,14.33,14.27,13.56
$GC,10986,0.83,339.9,3182,2741,1864,1856,95.4,13.3,645,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2741,1859,1862,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11286,0.85,380.1,3182,2741,1863,1854,60.8,9.5,675,11308,0.00,1.85,16.67,0.370,8452,0.000,0.097,3182,3786,1708,1710,1706,0,0,0,0,0,0,28.83,14.26,14.04
$GC,11323,0.87,407.2,3182,3786,1714,1707,57.2,10.2,682,11340,0.00,1.77,12.57,0.361,9222,0.000,0.052,3189,2733,1596,1601,1591,0,0,0,0,0,0,28.83,14.29,14.04
$GC,11639,0.94,500.5,3190,2734,1607,1585,32.6,6.7,715,11689,0.00,2.42,41.92,0.302,8708,0.000,0.068,3198,1352,1218,1228,1208,0,0,0,0,0,0,28.83,14.19,14.04
$GC,11728,0.98,564.9,3199,1350,1228,1204,25.9,8.2,731,11764,0.00,2.47,29.27,0.280,9222,0.000,0.092,3204,2734,951,951,952,0,0,0,0,0,0,28.83,14.20,14.01
$FREEZE,8.89,-0.627,-1.434,2,1,0
$FREEZE,8.34,-0.599,-1.434,2,1,0
$FREEZE,8.01,-0.573,-1.433,2,1,0
$FREEZE,7.48,-0.556,-1.433,2,1,0
$FREEZE,6.92,-0.500,-1.432,2,1,0
$FREEZE,6.12,-0.485,-1.431,2,1,0
$FREEZE,5.33,-0.379,-1.430,2,1,0
$FREEZE,4.49,-0.303,-1.429,2,1,0
$FREEZE,3.62,-0.288,-1.429,2,1,0
$GC,12069,1.08,699.7,3199,2734,952,941,7.5,4.5,769,12123,0.15,0.00,50.55,0.211,10246,0.124,0.000,3261,2734,497,445,550,0,0,0,0,0,0,14.25,28.83,14.03
$FREEZE,2.65,-0.258,-1.428,2,1,0
$FREEZE,1.72,-0.252,-1.428,2,1,0
$STATE,12138,end climb,SURFACE_DEPTH_REACHED
$STATE,12138,begin surface coast
$FREEZE,0.89,-0.256,-1.427,2,1,0
$FREEZE,0.83,-0.313,-0.135,2,1,0
$FINISH,0.8,1.001808
$STATE,12158,end surface coast,FINISH_DEPTH_REACHED
$STATE,12158,begin surface
$SM_CCo,12234,0.00,0.000,0,0,495,677.76
$SM_GC,1.99,9.48,0.00,0.00,0.083,0.000,0.000,205,2736,495,-8.36,-0.68,677.76,0,0,0,0,0,0,14.24,28.83,28.83
$RAFOS_CLK,32
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7242.81,-14514.02,260814,090810
$TT8_MAMPS,0.08239,0.08239
$HUMID,43.42
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.40
$XPDR_PINGS,5
$SC_FREEKB,3840992
$24V_AH,12.69,65.821
$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,23.550,39.875,576.250,0.000,0.000,0.000,0.000,239.250,1.250,0.000,27.149,0.000,10007.390,629.472,1848.593,157.696,0.000,1515.817,0.000,1167.125,1497.000,0.539,0.000
$DEVICE_MAMPS,400.860,126.990,2011.185,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12204.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.713,0.000,0.000,0.000
$MEM,237740
$DATA_FILE_SIZE,26733,778
$CAP_FILE_SIZE,129914,0
$CFSIZE,2097872896,2049409024
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12714.09,0x2378b6,7,5
$INTR,1,5330.45,0x2378b6,2,5
$INTR,2,12161.20,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,260814,160948,7325.924,-14505.580,40,0.8,60,22.8