version: 66.12
glider: 196
mission: 7
dive: 222
start: 8 27 114 2 38 38
data:
$ID,196
$MISSION,7
$DIVE,222
$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,-5292.8403
$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,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
$GPS1,270814,023112,7330.722,-14508.961,36,0.8,56,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.6
$GPS2,270814,023819,7330.753,-14509.048,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.7,54168,-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,-145.9,203,2738,416,582,0.0,0.0,0,90,0.00,0.00,-71.93,0.000,16386,0.000,0.000,202,2739,2270,2281,2259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,203,2740,2282,2261,3.5,-3.4,7,141,12.02,2.40,-28.65,0.000,18948,0.396,0.091,2665,1376,3855,3922,3789,0,0,0,0,0,0,14.01,14.26,14.46
$GC,365,-0.69,-145.9,2666,1377,3924,3794,79.8,-21.3,62,372,0.00,2.53,0.00,0.000,1030,0.000,0.099,2656,2759,3858,3922,3794,0,0,0,0,0,0,28.83,14.25,28.83
$GC,671,-0.69,-145.9,2657,2760,3923,3795,145.2,-20.3,93,676,0.00,2.35,0.00,0.000,516,0.000,0.065,2656,1375,3858,3922,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,851,-0.69,-145.9,2657,1370,3923,3795,177.6,-17.0,129,856,0.00,2.47,0.00,0.000,1030,0.000,0.096,2644,2760,3858,3922,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1161,-0.69,-145.9,2645,2760,3923,3794,234.7,-17.2,161,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.69,-145.9,2646,2761,3922,3795,284.8,-15.8,178,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1771,-0.69,-145.9,2646,2761,3923,3794,329.8,-14.7,188,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.69,-145.9,2646,2760,3923,3795,373.0,-14.2,198,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2371,-0.69,-145.9,2646,2761,3923,3795,414.9,-13.9,208,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-0.69,-145.9,2645,2761,3923,3794,456.2,-13.7,218,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-0.69,-145.9,2646,2761,3923,3795,497.5,-13.8,228,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.69,-145.9,2646,2761,3923,3795,538.2,-13.4,238,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,-0.69,-145.9,2645,2761,3923,3795,578.2,-13.2,248,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.69,-145.9,2646,2761,3923,3795,617.5,-13.1,258,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-0.69,-145.9,2645,2758,3923,3794,656.8,-13.1,268,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.69,-145.9,2645,2761,3923,3794,696.0,-13.0,278,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2760,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4771,-0.69,-145.9,2646,2761,3923,3795,734.9,-12.9,288,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4889,begin apogee
$GC,4893,-0.13,0.0,2646,2761,3923,3794,750.4,-12.9,292,5022,0.75,0.00,125.70,2.017,10246,0.229,0.000,2845,2764,3258,3279,3238,0,0,0,0,0,0,14.42,28.83,13.12
$STATE,5023,end apogee,CONTROL_FINISHED_OK
$STATE,5023,begin climb
$GC,5024,0.69,145.9,2846,2761,3277,3234,754.2,0.0,296,5154,0.90,0.00,125.55,1.843,10502,0.122,0.000,3112,2760,2662,2668,2656,0,0,0,0,0,0,13.77,28.83,12.67
$GC,5431,0.69,145.9,3113,2762,2667,2647,713.2,13.1,320,5436,0.00,1.90,0.00,0.000,260,0.000,0.096,3112,3786,2655,2665,2646,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5455,0.69,145.9,3113,3786,2667,2646,709.6,14.3,325,5462,0.00,1.77,0.00,0.000,1030,0.000,0.050,3118,2749,2655,2665,2646,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5761,0.69,145.9,3118,2748,2667,2645,668.3,13.4,336,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6061,0.69,145.9,3118,2749,2662,2645,628.2,13.4,346,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,0.69,145.9,3119,2748,2667,2645,588.5,13.1,356,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6661,0.69,145.9,3125,2749,2666,2645,549.3,12.9,366,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,0.69,145.9,3119,2748,2667,2645,510.6,12.9,376,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7261,0.69,145.9,3119,2749,2666,2645,472.2,12.7,386,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7561,0.69,145.9,3118,2748,2667,2645,434.1,12.7,396,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7861,0.69,145.9,3119,2748,2666,2644,396.7,12.4,406,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2752,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8161,0.69,145.9,3115,2749,2667,2645,359.8,12.4,416,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,0.69,145.9,3119,2748,2666,2644,323.8,11.8,426,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2748,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8761,0.70,157.5,3119,2748,2667,2644,289.8,11.0,436,8772,0.00,0.00,10.50,1.363,8198,0.000,0.000,3118,2748,2616,2626,2606,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9061,0.71,172.9,3119,2748,2623,2600,256.4,10.8,446,9081,0.00,2.40,13.90,1.307,8708,0.000,0.067,3128,1348,2547,2556,2538,0,0,0,0,0,0,28.83,14.50,13.92
$GC,9152,0.72,194.9,3130,1349,2554,2539,246.9,10.5,464,9177,0.00,2.45,18.85,1.273,9222,0.000,0.091,3129,2743,2459,2465,2453,0,0,0,0,0,0,28.83,14.47,13.84
$GC,9481,0.75,233.0,3130,2744,2465,2449,211.0,9.6,500,9515,0.00,0.00,32.60,1.228,8198,0.000,0.000,3129,2743,2306,2309,2303,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9812,0.78,278.2,3129,2744,2306,2293,177.5,9.2,533,9853,0.00,0.00,37.95,1.244,8198,0.000,0.000,3129,2743,2120,2124,2116,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10152,0.81,316.3,3129,2743,2124,2105,143.4,9.6,567,10186,0.00,0.00,32.45,1.259,8198,0.000,0.000,3129,2743,1967,1969,1966,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10482,0.83,346.0,3129,2743,1963,1952,109.0,10.0,600,10506,0.00,0.00,22.73,1.199,8454,0.000,0.000,3129,2743,1847,1849,1845,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10802,0.87,406.3,3129,2742,1845,1832,78.5,8.4,633,10833,0.15,0.00,26.45,0.426,10246,0.113,0.000,3191,2743,1601,1607,1596,0,0,0,0,0,0,14.29,28.83,13.98
$GC,11132,0.93,495.6,3192,2743,1612,1587,44.3,6.9,666,11177,0.00,1.85,40.22,0.321,8452,0.000,0.096,3191,3783,1236,1247,1225,0,0,0,0,0,0,28.83,14.21,14.03
$GC,11192,0.98,553.4,3192,3783,1248,1225,39.7,8.6,676,11224,0.00,1.77,26.08,0.309,9222,0.000,0.052,3198,2733,1000,1002,999,0,0,0,0,0,0,28.83,14.26,14.03
$GC,11522,1.07,682.0,3200,2733,1004,987,14.0,4.8,712,11584,0.12,2.38,55.80,0.237,10756,0.128,0.068,3260,1352,497,442,552,0,0,0,0,0,0,14.28,14.22,14.08
$FREEZE,8.71,-0.930,-1.427,2,1,0
$FREEZE,8.37,-0.930,-1.427,2,1,0
$FREEZE,7.87,-0.923,-1.426,2,1,0
$FREEZE,7.56,-0.923,-1.426,2,1,0
$FREEZE,7.01,-0.931,-1.425,2,1,0
$FREEZE,6.72,-0.931,-1.425,2,1,0
$FREEZE,6.29,-0.965,-1.424,2,1,0
$FREEZE,5.88,-0.965,-1.424,2,1,0
$FREEZE,5.44,-0.982,-1.423,2,1,0
$FREEZE,5.09,-0.982,-1.422,2,1,0
$FREEZE,4.70,-0.981,-1.422,2,1,0
$FREEZE,4.25,-0.981,-1.421,2,1,0
$FREEZE,3.89,-0.979,-1.421,2,1,0
$FREEZE,3.46,-0.979,-1.420,2,1,0
$FREEZE,2.99,-0.978,-1.420,2,1,0
$FREEZE,2.64,-0.978,-1.420,2,1,0
$GC,11670,1.11,746.1,3260,1351,443,552,2.6,8.2,741,11676,0.00,2.42,0.00,0.000,1030,0.000,0.093,3259,2710,497,442,552,0,0,0,0,0,0,28.83,14.22,28.83
$FREEZE,1.32,-0.978,-1.419,2,1,0
$STATE,11682,end climb,SURFACE_DEPTH_REACHED
$STATE,11682,begin surface coast
$FREEZE,0.85,-0.978,-1.418,2,1,0
$FREEZE,0.86,-0.987,-0.724,2,1,0
$FINISH,0.9,1.010638
$STATE,11703,end surface coast,FINISH_DEPTH_REACHED
$STATE,11703,begin surface
$SM_CCo,11780,0.00,0.000,0,0,493,678.25
$SM_GC,1.93,9.38,0.10,0.00,0.080,0.178,0.000,202,2772,493,-8.36,-0.54,678.25,0,0,0,0,0,0,14.34,14.28,28.83
$RAFOS_CLK,343
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7250.09,-14511.61,260814,230538
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.80
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.40
$XPDR_PINGS,6
$SC_FREEKB,3839200
$24V_AH,12.67,67.091
$10V_AH,12.99,0.000
$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,23.325,26.800,568.775,0.000,0.000,0.000,0.000,245.150,1.500,0.000,26.910,0.000,9608.956,637.674,1799.925,157.691,0.000,1476.261,0.000,1120.438,1493.000,0.539,0.000
$DEVICE_MAMPS,396.270,178.245,2017.305,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11739.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.248,0.000,0.000,0.000
$MEM,235432
$DATA_FILE_SIZE,26706,745
$CAP_FILE_SIZE,122768,0
$CFSIZE,2097872896,2048655360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12721.24,0x2378b6,7,5
$INTR,1,4890.54,0x2378b6,2,5
$SOUNDSPEED,1447.7
$GPS,270814,055624,7332.342,-14509.569,38,0.8,58,22.8