version: 66.12
glider: 196
mission: 7
dive: 227
start: 8 27 114 19 59 10
data:
$ID,196
$MISSION,7
$DIVE,227
$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,-5296.6255
$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,56
$R_STBD_OVSHOOT,24
$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
$GPS1,270814,163516,7337.101,-14509.733,5,0.8,25,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-10.9
$GPS2,270814,163516,7337.101,-14509.733,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7400.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,337.0,42410,-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,-145.9,2985,2736,551,599,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,16386,0.000,0.000,2985,2738,2139,2191,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.69,-145.9,2981,2738,2196,2090,3.2,-2.2,6,129,0.93,2.35,-42.17,0.000,20996,0.067,0.090,2657,1369,3856,3922,3790,0,0,0,0,0,0,14.33,14.29,14.51
$GC,284,-0.69,-145.9,2658,1368,3923,3795,63.9,-25.4,47,290,0.00,2.50,0.00,0.000,1030,0.000,0.097,2646,2761,3855,3921,3790,0,0,0,0,0,0,28.83,14.26,28.83
$GC,589,-0.69,-145.9,2647,2761,3922,3796,134.0,-20.7,78,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.69,-145.9,2647,2762,3922,3796,193.9,-19.0,108,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-0.69,-145.9,2647,2761,3922,3795,245.5,-15.9,138,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1489,-0.69,-145.9,2647,2759,3922,3795,291.1,-14.8,150,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.69,-145.9,2643,2761,3922,3794,333.8,-14.2,160,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,-0.69,-145.9,2647,2761,3923,3795,375.4,-13.8,170,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.69,-145.9,2647,2761,3922,3794,416.5,-13.6,180,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.69,-145.9,2646,2761,3922,3795,457.0,-13.4,190,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.69,-145.9,2647,2761,3922,3794,497.8,-13.7,200,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.69,-145.9,2647,2762,3922,3796,537.6,-13.1,210,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.69,-145.9,2647,2761,3922,3795,577.0,-13.1,220,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-0.69,-145.9,2647,2761,3922,3795,616.1,-12.9,230,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-0.69,-145.9,2647,2760,3922,3795,654.2,-12.7,240,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.69,-145.9,2647,2762,3922,3796,691.7,-12.6,250,4494,0.00,1.80,0.00,0.000,260,0.000,0.103,2638,3780,3858,3922,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4534,-0.69,-145.9,2639,3781,3922,3796,697.8,-13.5,259,4540,0.10,1.67,0.00,0.000,3078,0.221,0.054,2665,2757,3858,3921,3795,0,0,0,0,0,0,14.43,14.66,28.83
$GC,4850,-0.69,-145.9,2666,2756,3922,3795,733.3,-11.1,272,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5002,-0.13,0.0,2666,2756,3922,3795,750.0,-11.1,277,5130,0.68,0.00,125.82,2.004,10244,0.226,0.000,2848,2756,3257,3278,3236,0,0,0,0,0,0,14.45,28.83,13.14
$STATE,5131,end apogee,CONTROL_FINISHED_OK
$STATE,5131,begin climb
$GC,5133,0.69,145.9,2849,2756,3273,3232,753.5,0.0,281,5265,0.85,0.00,123.85,1.829,11270,0.119,0.000,3110,2755,2657,2663,2651,0,0,0,0,0,0,13.79,28.83,12.69
$GC,5570,0.69,145.9,3111,2756,2665,2645,708.2,13.3,321,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2756,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,0.69,145.9,3111,2756,2664,2645,668.5,13.2,331,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2757,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,0.69,145.9,3111,2757,2664,2645,629.0,13.1,341,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2756,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,0.69,145.9,3111,2756,2664,2645,590.3,12.9,351,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2756,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,0.69,145.9,3111,2756,2665,2644,551.9,12.8,361,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2755,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,0.69,145.9,3111,2756,2665,2643,513.9,12.6,371,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2755,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7370,0.69,145.9,3111,2756,2665,2644,476.4,12.5,381,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2756,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,0.69,145.9,3111,2756,2664,2644,439.1,12.3,391,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2755,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,0.69,145.9,3111,2756,2665,2644,402.1,12.2,401,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2755,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8270,0.69,145.9,3110,2754,2665,2643,365.6,12.1,411,8275,0.00,2.35,0.00,0.000,516,0.000,0.066,3120,1347,2653,2664,2643,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8300,0.70,157.1,3121,1348,2665,2644,362.1,11.0,417,8315,0.00,2.42,9.57,1.427,9222,0.000,0.091,3120,2743,2615,2624,2606,0,0,0,0,0,0,28.83,14.57,13.93
$GC,8630,0.70,157.1,3121,2747,2624,2603,321.3,12.1,433,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2613,2623,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8930,0.70,157.1,3121,2747,2624,2603,285.5,12.1,443,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2613,2623,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,0.71,172.2,3121,2746,2625,2603,252.3,10.8,453,9245,0.00,0.00,14.02,1.307,8198,0.000,0.000,3120,2746,2554,2562,2546,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9530,0.75,226.2,3121,2746,2560,2538,222.2,8.8,481,9581,0.00,2.40,44.30,1.246,8708,0.000,0.067,3125,1352,2331,2333,2329,0,0,0,0,0,0,28.83,14.23,13.71
$GC,9602,0.78,267.7,3126,1351,2331,2329,215.5,9.4,495,9643,0.00,2.47,34.85,1.278,9222,0.000,0.092,3125,2743,2164,2164,2165,0,0,0,0,0,0,28.83,14.28,13.57
$GC,9941,0.78,276.4,3125,2743,2164,2153,177.4,11.2,533,9952,0.00,0.00,8.00,1.283,8198,0.000,0.000,3125,2743,2127,2133,2121,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10251,0.81,314.4,3126,2743,2134,2117,146.1,9.6,564,10293,0.00,2.45,32.65,1.183,8708,0.000,0.069,3125,1355,1969,1968,1970,0,0,0,0,0,0,28.83,14.19,13.69
$GC,10328,0.84,360.3,3126,1357,1966,1970,138.9,9.2,579,10374,0.12,2.47,39.75,1.219,11270,0.130,0.093,3181,2742,1784,1781,1788,0,0,0,0,0,0,14.29,14.25,13.54
$GC,10672,0.84,360.3,3182,2743,1782,1772,91.0,14.0,618,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2743,1776,1781,1771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10972,0.86,393.3,3182,2743,1782,1767,56.0,9.9,648,10994,0.00,2.45,13.35,0.357,8708,0.000,0.067,3191,1348,1657,1666,1648,0,0,0,0,0,0,28.83,14.26,14.05
$GC,11049,0.92,481.4,3191,1349,1664,1649,50.3,6.9,663,11095,0.00,2.47,39.85,0.338,9222,0.000,0.093,3191,2738,1293,1306,1281,0,0,0,0,0,0,28.83,14.26,14.01
$GC,11393,0.98,565.1,3192,2740,1309,1268,22.8,7.2,702,11436,0.00,2.47,37.42,0.269,8708,0.000,0.069,3190,1347,953,955,951,0,0,0,0,0,0,28.83,14.24,14.08
$GC,11471,1.06,670.1,3191,1347,957,951,17.8,6.0,717,11527,0.15,2.47,47.95,0.249,11270,0.128,0.091,3248,2736,524,476,573,0,0,0,0,0,0,14.26,14.23,14.03
$FREEZE,8.19,-1.232,-1.430,2,2,0
$FREEZE,7.40,-1.230,-1.429,2,2,0
$FREEZE,6.55,-1.229,-1.429,2,2,0
$FREEZE,5.83,-1.213,-1.427,2,2,0
$FREEZE,5.04,-1.202,-1.426,2,2,0
$FREEZE,4.20,-1.154,-1.424,2,2,0
$FREEZE,3.48,-1.110,-1.422,2,2,0
$FREEZE,2.77,-1.068,-1.420,2,2,0
$FREEZE,2.04,-1.027,-1.419,2,2,0
$FREEZE,1.25,-1.015,-1.418,2,2,0
$STATE,11685,end climb,SURFACE_DEPTH_REACHED
$STATE,11685,begin surface coast
$FREEZE,0.74,-0.967,-1.417,2,2,0
$FREEZE,0.71,-0.961,-0.706,2,2,0
$FINISH,0.7,1.010377
$STATE,11704,end surface coast,FINISH_DEPTH_REACHED
$STATE,11704,begin surface
$SM_CCo,11720,2.38,0.230,0,0,499,676.54
$SM_GC,2.75,9.40,0.00,2.38,0.084,0.000,0.230,203,2736,499,-8.36,-0.71,676.54,0,0,0,0,0,0,14.33,28.83,14.17
$RAFOS_CLK,587
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14515.41,270814,092539
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.84
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,13
$SC_FREEKB,3836960
$24V_AH,12.69,68.688
$10V_AH,12.59,0.000
$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,12.225,32.775,571.400,2.375,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000,9603.766,557.867,1561.348,113.891,0.000,1220.362,0.000,1123.668,1461.000,0.539,0.000
$DEVICE_MAMPS,225.675,102.510,2003.535,230.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11758.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.619,0.000,0.000,0.000
$MEM,232696
$DATA_FILE_SIZE,26708,746
$CAP_FILE_SIZE,117333,0
$CFSIZE,2097872896,2047803392
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12218.35,0x2378b6,7,5
$INTR,1,4998.95,0x2378b6,2,5
$INTR,2,11707.58,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,270814,231554,7340.156,-14507.972,33,0.8,53,22.9