version: 66.12
glider: 196
mission: 7
dive: 229
start: 8 28 114 2 50 32
data:
$ID,196
$MISSION,7
$DIVE,229
$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,-5299.1455
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,280814,024255,7341.285,-14504.320,37,0.8,57,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-79.1
$GPS2,280814,025012,7341.303,-14504.288,5,0.9,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.5,125139,-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,-145.9,204,2783,428,551,0.0,0.0,0,99,0.00,0.00,-81.88,0.000,16386,0.000,0.000,203,2782,2518,2527,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-145.9,204,2784,2528,2512,4.7,-5.7,8,141,12.10,1.75,-21.75,0.000,19204,0.399,0.124,2659,3771,3852,3917,3788,0,0,0,0,0,0,14.00,14.22,14.47
$GC,365,-0.69,-145.9,2661,3772,3918,3795,90.7,-24.3,61,372,0.00,1.67,0.00,0.000,1030,0.000,0.053,2659,2770,3855,3917,3794,0,0,0,0,0,0,28.83,14.32,28.83
$GC,671,-0.69,-145.9,2660,2769,3919,3794,155.6,-20.5,92,676,0.00,1.80,0.00,0.000,260,0.000,0.101,2651,3766,3855,3917,3794,0,0,0,0,0,0,28.83,14.31,28.83
$GC,900,-0.69,-145.9,2652,3767,3918,3795,202.3,-19.7,138,906,0.00,1.67,0.00,0.000,1030,0.000,0.054,2651,2754,3855,3917,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1210,-0.69,-145.9,2652,2754,3918,3794,255.1,-15.8,168,1216,0.00,1.83,0.00,0.000,260,0.000,0.103,2643,3767,3856,3918,3794,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1430,-0.69,-145.9,2644,3767,3919,3794,291.9,-17.4,212,1436,0.00,1.67,0.00,0.000,1030,0.000,0.055,2643,2761,3855,3917,3794,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1752,-0.69,-145.9,2644,2755,3918,3794,340.4,-15.0,226,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2756,3853,3917,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.69,-145.9,2644,2756,3918,3794,384.2,-14.5,236,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.69,-145.9,2645,2757,3918,3795,427.0,-14.1,246,2356,0.00,2.33,0.00,0.000,516,0.000,0.067,2643,1360,3855,3917,3794,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2390,-0.69,-145.9,2644,1360,3918,3794,432.4,-12.9,254,2396,0.15,2.45,0.00,0.000,3078,0.261,0.098,2665,2752,3855,3917,3793,0,0,0,0,0,0,14.39,14.52,28.83
$GC,2712,-0.69,-145.9,2666,2754,3917,3794,472.3,-12.4,268,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3855,3917,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.69,-145.9,2662,2753,3925,3794,509.2,-12.3,278,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.69,-145.9,2666,2753,3918,3794,545.8,-12.2,288,3316,0.00,1.85,0.00,0.000,260,0.000,0.103,2659,3788,3853,3917,3790,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3350,-0.69,-145.9,2660,3788,3919,3794,551.0,-13.8,296,3356,0.00,1.70,0.00,0.000,1030,0.000,0.054,2659,2748,3855,3917,3794,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3672,-0.69,-145.9,2660,2749,3919,3794,590.6,-12.2,310,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2748,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.69,-145.9,2660,2749,3919,3794,627.1,-12.2,320,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2748,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4272,-0.69,-145.9,2659,2748,3918,3794,664.0,-12.3,330,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2748,3855,3918,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.69,-145.9,2660,2749,3918,3795,700.5,-12.1,340,4576,0.00,2.30,0.00,0.000,516,0.000,0.065,2659,1373,3855,3917,3794,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4595,-0.69,-145.9,2659,1372,3918,3794,703.5,-12.4,345,4602,0.00,2.45,0.00,0.000,1030,0.000,0.096,2648,2764,3855,3917,3794,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4900,-0.69,-145.9,2649,2764,3918,3795,741.7,-12.5,356,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3855,3917,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4989,begin apogee
$GC,4993,-0.13,0.0,2649,2763,3919,3794,753.0,-12.5,359,5121,0.75,0.00,125.80,1.997,10244,0.229,0.000,2846,2764,3254,3276,3233,0,0,0,0,0,0,14.29,28.83,13.05
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5123,begin climb
$GC,5124,0.69,145.9,2847,2764,3272,3230,756.6,0.0,363,5257,0.88,0.00,124.40,1.841,11270,0.125,0.000,3112,2764,2659,2665,2653,0,0,0,0,0,0,13.71,28.83,12.62
$GC,5562,0.69,145.9,3112,2765,2666,2648,710.5,13.3,403,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2770,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,0.69,145.9,3112,2764,2666,2648,671.1,13.1,413,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2764,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,0.69,145.9,3112,2764,2666,2647,631.9,13.0,423,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2764,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,0.69,145.9,3112,2765,2666,2647,593.4,12.7,433,6467,0.00,2.38,0.00,0.000,516,0.000,0.066,3123,1353,2656,2666,2646,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6492,0.69,145.9,3123,1352,2667,2646,589.7,11.8,439,6497,0.00,2.42,0.00,0.000,1030,0.000,0.090,3122,2742,2656,2666,2646,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6823,0.69,145.9,3123,2742,2667,2646,545.9,13.4,455,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,0.69,145.9,3123,2742,2668,2646,506.3,13.1,465,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,0.69,145.9,3123,2742,2667,2646,467.3,13.0,475,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7722,0.69,145.9,3124,2741,2667,2646,428.5,12.9,485,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8022,0.69,145.9,3124,2743,2667,2647,389.8,12.8,495,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8322,0.69,145.9,3124,2743,2667,2647,351.6,12.9,505,8327,0.00,1.83,0.00,0.000,260,0.000,0.099,3122,3780,2655,2666,2645,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8352,0.69,145.9,3124,3781,2667,2644,347.5,14.5,511,8357,0.00,1.70,0.00,0.000,1030,0.000,0.051,3125,2738,2656,2666,2646,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8683,0.69,145.9,3125,2737,2668,2645,307.1,11.8,527,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2737,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8982,0.70,156.8,3126,2737,2668,2646,272.8,11.0,537,8993,0.00,0.00,10.25,1.348,8198,0.000,0.000,3125,2734,2616,2626,2607,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9283,0.72,184.7,3126,2737,2625,2602,241.8,10.1,551,9314,0.00,2.38,23.67,1.268,8708,0.000,0.067,3136,1348,2498,2504,2492,0,0,0,0,0,0,28.83,14.41,13.88
$GC,9343,0.74,211.8,3135,1349,2511,2493,235.5,10.2,562,9375,0.00,2.45,23.00,1.257,9222,0.000,0.092,3136,2741,2388,2391,2385,0,0,0,0,0,0,28.83,14.41,13.75
$GC,9673,0.76,239.4,3137,2741,2392,2381,198.7,10.2,598,9705,0.00,2.42,23.25,1.227,8708,0.000,0.066,3146,1354,2275,2278,2273,0,0,0,0,0,0,28.83,14.25,13.74
$GC,9765,0.77,258.5,3146,1354,2277,2274,189.1,10.6,616,9787,0.00,2.45,16.73,1.229,9222,0.000,0.091,3146,2738,2201,2202,2200,0,0,0,0,0,0,28.83,14.30,13.69
$GC,10086,0.78,271.5,3147,2738,2202,2192,152.6,10.9,650,10099,0.00,0.00,11.48,1.223,8198,0.000,0.000,3146,2738,2151,2156,2146,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10396,0.80,297.3,3145,2738,2153,2137,119.9,10.3,681,10417,0.00,0.00,19.77,1.147,8198,0.000,0.000,3146,2738,2046,2051,2041,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10716,0.83,344.8,3146,2737,2047,2028,88.3,9.1,713,10737,0.00,0.00,20.50,0.456,8198,0.000,0.000,3146,2737,1852,1851,1854,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11036,0.88,413.1,3147,2738,1859,1851,60.2,8.0,745,11071,0.00,2.38,30.98,0.368,8708,0.000,0.066,3156,1351,1573,1579,1567,0,0,0,0,0,0,28.83,14.26,14.02
$GC,11107,0.94,496.2,3154,1351,1583,1565,54.9,7.2,759,11152,0.12,2.45,37.30,0.350,11270,0.126,0.093,3207,2728,1235,1249,1222,0,0,0,0,0,0,14.26,14.21,13.98
$GC,11456,0.98,553.3,3208,2728,1250,1204,21.9,8.6,799,11488,0.00,0.00,25.67,0.269,8198,0.000,0.000,3206,2729,1001,1007,995,0,0,0,0,0,0,28.83,28.83,14.07
$FREEZE,8.75,-1.181,-1.433,2,1,0
$FREEZE,8.23,-1.189,-1.432,2,1,0
$FREEZE,7.74,-1.205,-1.432,2,1,0
$FREEZE,7.36,-1.219,-1.431,2,1,0
$FREEZE,6.82,-1.229,-1.430,2,1,0
$FREEZE,6.34,-1.236,-1.430,2,1,0
$FREEZE,5.85,-1.245,-1.428,2,1,0
$FREEZE,5.30,-1.220,-1.425,2,1,0
$FREEZE,4.91,-1.195,-1.424,2,1,0
$FREEZE,4.28,-1.190,-1.424,2,1,0
$FREEZE,3.82,-1.144,-1.422,2,1,0
$FREEZE,3.64,-1.144,-1.422,2,1,0
$FREEZE,3.39,-1.122,-1.421,2,1,0
$FREEZE,3.04,-1.122,-1.420,2,1,0
$FREEZE,2.83,-1.115,-1.420,2,1,0
$FREEZE,2.40,-1.115,-1.420,2,1,0
$FREEZE,2.04,-1.113,-1.419,2,1,0
$FREEZE,1.73,-1.113,-1.419,2,1,0
$GC,11787,1.06,676.5,3208,2729,1007,989,3.8,5.1,832,11833,0.00,0.00,44.28,0.200,8706,0.000,0.000,3207,2730,598,567,629,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11833,end climb,SURFACE_DEPTH_REACHED
$STATE,11833,begin surface coast
$FREEZE,1.21,-1.114,-1.419,2,1,0
$FREEZE,0.70,-1.125,-0.163,2,1,0
$FINISH,0.7,1.002172
$STATE,11847,end surface coast,FINISH_DEPTH_REACHED
$STATE,11847,begin surface
$SM_CCo,11864,11.25,0.207,0,0,498,676.54
$SM_GC,2.50,9.25,0.05,11.25,0.083,0.247,0.207,203,2760,498,-8.36,-0.68,676.54,0,0,0,0,0,0,14.33,14.30,14.19
$RAFOS_CLK,384
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14508.62,270814,232129
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.52
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.70
$XPDR_PINGS,8
$SC_FREEKB,3836064
$24V_AH,12.62,69.336
$10V_AH,12.73,0.000
$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,23.250,46.375,537.075,11.250,0.000,0.000,0.000,257.100,2.000,0.000,26.609,0.000,9532.061,631.822,1965.967,184.113,0.000,1568.996,0.000,1255.034,1490.000,0.539,0.000
$DEVICE_MAMPS,399.330,247.095,1996.650,207.315,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11898.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.407,0.000,0.000,0.000
$MEM,231672
$DATA_FILE_SIZE,30004,841
$CAP_FILE_SIZE,132385,0
$CFSIZE,2097872896,2047410176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12073.38,0x2378b6,7,5
$INTR,1,4991.13,0x2378b6,2,5
$SOUNDSPEED,1448.8
$GPS,280814,060954,7342.373,-14500.673,38,0.9,58,22.9