version: 66.12
glider: 196
mission: 7
dive: 228
start: 8 27 114 23 29 18
data:
$ID,196
$MISSION,7
$DIVE,228
$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,-5297.8838
$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,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
$GPS1,270814,231554,7340.156,-14507.972,33,0.8,53,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.6
$GPS2,270814,232859,7340.201,-14507.943,5,0.8,26,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.6,127853,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,204,2736,428,568,0.0,0.0,0,89,0.00,0.00,-71.90,0.000,16386,0.000,0.000,203,2736,2222,2234,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,204,2736,2235,2211,3.1,-2.5,7,140,12.23,1.88,-30.85,0.000,18692,0.402,0.119,2657,3797,3854,3919,3790,0,0,0,0,0,0,13.97,14.18,14.44
$GC,365,-0.69,-145.9,2658,3798,3921,3795,88.7,-25.4,62,371,0.00,1.75,0.00,0.000,1030,0.000,0.053,2657,2754,3857,3919,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,670,-0.69,-145.9,2658,2754,3920,3796,154.7,-20.3,93,675,0.00,1.85,0.00,0.000,260,0.000,0.100,2649,3779,3857,3920,3795,0,0,0,0,0,0,28.83,14.31,28.83
$GC,875,-0.69,-145.9,2650,3780,3920,3796,197.0,-19.7,134,881,0.00,1.70,0.00,0.000,1030,0.000,0.054,2649,2756,3857,3919,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1180,-0.69,-145.9,2650,2757,3920,3796,250.1,-16.4,165,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.69,-145.9,2650,2757,3920,3795,296.4,-15.1,175,1485,0.00,1.83,0.00,0.000,260,0.000,0.103,2641,3776,3857,3919,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1525,-0.69,-145.9,2642,3777,3920,3796,303.6,-16.4,184,1530,0.08,1.67,0.00,0.000,3078,0.240,0.055,2660,2763,3857,3920,3795,0,0,0,0,0,0,14.33,14.55,28.83
$GC,1841,-0.69,-145.9,2661,2763,3921,3794,346.6,-13.3,197,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,-0.69,-145.9,2661,2763,3920,3795,385.7,-12.9,207,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.69,-145.9,2661,2764,3921,3795,423.9,-12.7,217,2445,0.00,2.35,0.00,0.000,516,0.000,0.066,2660,1361,3856,3919,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2495,-0.69,-145.9,2661,1361,3921,3795,430.6,-11.9,228,2501,0.00,2.47,0.00,0.000,1030,0.000,0.098,2652,2761,3856,3919,3794,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2800,-0.69,-145.9,2652,2759,3921,3795,470.5,-13.1,239,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2761,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.69,-145.9,2652,2761,3920,3795,509.6,-13.0,249,3105,0.00,1.85,0.00,0.000,260,0.000,0.102,2644,3790,3856,3919,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3165,-0.69,-145.9,2645,3791,3920,3795,518.8,-14.2,262,3170,0.00,1.70,0.00,0.000,1030,0.000,0.054,2644,2760,3857,3919,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3491,-0.69,-145.9,2645,2761,3920,3796,562.5,-13.4,277,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,-0.69,-145.9,2644,2760,3920,3794,602.4,-13.2,287,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.69,-145.9,2645,2761,3920,3796,642.3,-13.2,297,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.69,-145.9,2645,2761,3920,3796,681.9,-13.1,307,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.69,-145.9,2644,2760,3921,3795,721.0,-13.0,317,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2760,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4932,-0.13,0.0,2645,2760,3921,3794,752.0,-12.9,325,5061,0.77,0.00,125.90,2.008,10246,0.236,0.000,2848,2759,3256,3276,3237,0,0,0,0,0,0,14.41,28.83,13.12
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5064,0.69,145.9,2849,2760,3273,3235,755.5,0.0,329,5196,0.90,2.60,124.97,1.825,10756,0.123,0.065,3125,1353,2657,2663,2652,0,0,0,0,0,0,13.78,13.34,12.69
$GC,5220,0.70,153.3,3126,1354,2662,2653,746.9,11.2,348,5232,0.00,2.62,7.62,1.688,9222,0.000,0.088,3126,2740,2631,2637,2626,0,0,0,0,0,0,28.83,13.46,12.80
$GC,5531,0.70,153.3,3126,2744,2636,2621,702.8,14.3,360,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2740,2628,2635,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,0.70,153.3,3126,2741,2636,2622,660.1,14.3,370,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2741,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,0.70,153.3,3126,2741,2636,2616,617.4,14.2,380,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,0.70,153.3,3126,2742,2636,2621,575.0,14.1,390,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2740,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6730,0.70,153.3,3126,2741,2636,2621,533.8,13.7,400,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7030,0.70,153.3,3126,2741,2636,2621,493.4,13.4,410,7035,0.00,1.85,0.00,0.000,260,0.000,0.098,3125,3780,2627,2635,2620,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7060,0.70,153.3,3126,3780,2634,2620,488.8,16.3,416,7066,0.00,1.73,0.00,0.000,1030,0.000,0.050,3133,2731,2627,2635,2620,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7392,0.70,153.3,3133,2731,2636,2620,443.0,13.8,432,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2731,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7690,0.70,153.3,3134,2732,2635,2621,401.9,13.7,442,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2730,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,0.70,153.3,3133,2731,2636,2620,361.0,13.5,452,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2731,2627,2635,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8290,0.70,153.3,3133,2731,2636,2621,321.3,13.1,462,8296,0.00,2.30,0.00,0.000,516,0.000,0.066,3143,1351,2627,2635,2620,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8315,0.70,153.3,3144,1351,2637,2620,318.2,12.0,467,8322,0.00,2.45,0.00,0.000,1030,0.000,0.091,3143,2760,2627,2635,2620,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8620,0.70,153.3,3144,2760,2637,2620,279.0,12.4,478,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2760,2627,2636,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,0.70,164.7,3144,2761,2636,2621,244.2,11.0,490,8936,0.00,1.80,10.73,1.315,8452,0.000,0.100,3143,3792,2582,2589,2575,0,0,0,0,0,0,28.83,14.54,13.95
$GC,8951,0.71,179.4,3144,3793,2589,2576,240.8,10.8,496,8967,0.00,1.73,12.73,1.283,9222,0.000,0.050,3151,2737,2526,2532,2521,0,0,0,0,0,0,28.83,14.56,13.92
$GC,9273,0.73,208.9,3152,2738,2529,2515,205.9,10.1,530,9304,0.00,2.35,25.58,1.215,8708,0.000,0.063,3162,1353,2399,2402,2397,0,0,0,0,0,0,28.83,14.31,13.81
$GC,9339,0.76,246.1,3163,1353,2401,2397,199.6,9.6,543,9375,0.00,2.45,31.20,1.196,9222,0.000,0.092,3162,2737,2251,2250,2252,0,0,0,0,0,0,28.83,14.31,13.69
$GC,9673,0.76,246.1,3162,2737,2249,2243,159.1,11.7,580,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2737,2243,2247,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,0.78,272.2,3162,2737,2248,2241,126.9,10.2,610,10000,0.00,2.35,22.05,1.162,8708,0.000,0.063,3168,1354,2142,2144,2141,0,0,0,0,0,0,28.83,14.34,13.79
$GC,10069,0.80,298.5,3172,1353,2142,2140,117.2,10.2,629,10096,0.00,2.50,19.62,1.147,9222,0.000,0.093,3171,2730,2035,2036,2035,0,0,0,0,0,0,28.83,14.25,13.73
$GC,10394,0.81,315.8,3172,2731,2036,2026,80.5,10.7,664,10405,0.00,0.00,6.70,0.424,8198,0.000,0.000,3171,2730,1971,1972,1970,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10704,0.87,408.4,3172,2731,1981,1971,53.4,6.7,695,10750,0.00,2.35,41.60,0.345,8708,0.000,0.065,3178,1355,1592,1598,1586,0,0,0,0,0,0,28.83,14.25,14.02
$GC,10835,0.95,522.2,3179,1355,1598,1581,45.3,5.6,721,10891,0.00,2.45,50.53,0.322,9222,0.000,0.093,3178,2727,1128,1141,1115,0,0,0,0,0,0,28.83,14.23,14.00
$GC,11196,1.03,634.7,3179,2728,1140,1102,18.7,5.6,763,11252,0.15,2.35,50.58,0.252,10756,0.120,0.067,3246,1357,669,646,692,0,0,0,0,0,0,14.29,14.22,14.07
$GC,11291,1.09,717.2,3247,1357,648,692,11.7,7.2,782,11318,0.00,2.42,19.33,0.233,9222,0.000,0.090,3246,2712,497,444,550,0,0,0,0,0,0,28.83,14.20,14.06
$FREEZE,8.22,-1.186,-1.430,2,1,0
$FREEZE,7.39,-1.179,-1.429,2,1,0
$FREEZE,6.73,-1.178,-1.428,2,1,0
$FREEZE,5.79,-1.180,-1.428,2,1,0
$FREEZE,5.00,-1.172,-1.427,2,1,0
$FREEZE,4.33,-1.164,-1.426,2,1,0
$FREEZE,3.49,-1.146,-1.424,2,1,0
$FREEZE,2.74,-1.135,-1.423,2,1,0
$FREEZE,2.04,-1.127,-1.420,2,1,0
$FREEZE,1.86,-1.108,-1.420,2,1,0
$STATE,11425,end climb,SURFACE_DEPTH_REACHED
$STATE,11425,begin surface coast
$FREEZE,1.85,-1.097,-1.419,2,1,0
$FREEZE,1.86,-1.068,-1.417,2,1,0
$FREEZE,1.39,-1.068,-1.417,2,1,0
$FINISH,1.4,1.020900
$STATE,11455,end surface coast,CONTROL_FINISHED_OK
$STATE,11455,begin surface
$SM_CCo,11533,0.00,0.000,0,0,494,678.01
$SM_GC,1.83,9.45,0.10,0.00,0.092,0.170,0.000,203,2782,494,-8.36,-0.48,678.01,0,0,0,0,0,0,14.34,14.29,28.83
$RAFOS_CLK,473
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14504.24,270814,231923
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.64
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,7
$SC_FREEKB,3836512
$24V_AH,12.69,69.018
$10V_AH,12.96,0.000
$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,23.575,55.450,549.125,0.000,0.000,0.000,0.000,514.275,1.750,0.000,27.286,0.000,9322.021,633.051,2142.690,217.294,0.000,1802.072,0.000,1196.865,1414.000,0.539,0.000
$DEVICE_MAMPS,402.390,169.830,2008.125,0.000,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11493.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.541,0.000,0.000,0.000
$MEM,232188
$DATA_FILE_SIZE,26750,801
$CAP_FILE_SIZE,132183,0
$CFSIZE,2097872896,2047606784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12606.36,0x2378b6,7,5
$INTR,1,4930.61,0x2378b6,2,5
$SOUNDSPEED,1448.1
$GPS,280814,024255,7341.285,-14504.320,37,0.8,57,22.9