version: 66.12
glider: 196
mission: 7
dive: 230
start: 8 28 114 6 17 30
data:
$ID,196
$MISSION,7
$DIVE,230
$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,-5300.4048
$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,20
$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
$GPS1,280814,060954,7342.373,-14500.673,38,0.9,58,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.9
$GPS2,280814,061711,7342.395,-14500.635,5,0.9,26,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.4,122441,-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,-145.9,204,2763,408,579,0.0,0.0,0,90,0.00,0.00,-72.00,0.000,16386,0.000,0.000,203,2762,2234,2246,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,204,2763,2246,2225,3.2,-2.6,7,141,12.12,2.38,-30.33,0.000,19204,0.399,0.086,2665,1372,3855,3921,3789,0,0,0,0,0,0,14.00,14.23,14.47
$GC,365,-0.69,-145.9,2666,1372,3921,3795,80.9,-21.0,62,372,0.00,2.53,0.00,0.000,1030,0.000,0.096,2656,2762,3857,3921,3794,0,0,0,0,0,0,28.83,14.25,28.83
$GC,671,-0.69,-145.9,2657,2763,3922,3794,147.1,-20.0,93,676,0.00,2.38,0.00,0.000,516,0.000,0.066,2656,1364,3857,3920,3794,0,0,0,0,0,0,28.83,14.36,28.83
$GC,901,-0.69,-145.9,2656,1363,3922,3794,187.8,-16.7,139,906,0.00,2.50,0.00,0.000,1030,0.000,0.098,2644,2768,3857,3921,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1211,-0.69,-145.9,2646,2769,3922,3795,243.9,-17.0,171,1216,0.00,2.35,0.00,0.000,516,0.000,0.066,2645,1371,3857,3921,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1311,-0.69,-145.9,2645,1372,3922,3793,259.3,-15.1,191,1317,0.15,2.47,0.00,0.000,3078,0.272,0.098,2665,2759,3857,3921,3794,0,0,0,0,0,0,14.31,14.45,28.83
$GC,1632,-0.69,-145.9,2666,2759,3922,3794,303.7,-13.7,205,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.69,-145.9,2666,2760,3921,3794,344.0,-13.3,215,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.69,-145.9,2666,2759,3922,3794,382.7,-12.8,225,2236,0.00,2.33,0.00,0.000,516,0.000,0.065,2666,1370,3857,3920,3794,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2246,-0.69,-145.9,2666,1369,3922,3794,384.6,-12.7,228,2251,0.00,2.45,0.00,0.000,1030,0.000,0.096,2657,2761,3857,3920,3794,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2561,-0.69,-145.9,2657,2761,3918,3793,426.2,-13.2,241,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2861,-0.69,-145.9,2658,2762,3921,3795,465.0,-12.8,251,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.69,-145.9,2658,2762,3922,3795,503.7,-12.9,261,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3462,-0.69,-145.9,2658,2762,3921,3795,542.0,-12.8,271,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-0.69,-145.9,2658,2762,3922,3795,579.7,-12.5,281,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.69,-145.9,2657,2761,3922,3794,616.6,-12.3,291,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-0.69,-145.9,2658,2762,3922,3795,653.5,-12.3,301,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,-0.69,-145.9,2658,2762,3921,3795,690.8,-12.4,311,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.69,-145.9,2658,2762,3922,3795,727.6,-12.3,321,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5170,begin apogee
$GC,5174,-0.13,0.0,2657,2761,3922,3794,753.0,-12.2,328,5301,0.70,0.00,125.28,1.994,10244,0.225,0.000,2845,2761,3258,3279,3237,0,0,0,0,0,0,14.45,28.83,13.13
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5304,0.69,145.9,2845,2761,3276,3234,756.9,0.0,332,5438,0.93,1.92,123.82,1.834,10500,0.142,0.103,3109,3786,2657,2663,2652,0,0,0,0,0,0,13.79,13.81,12.70
$GC,5663,0.69,145.9,3111,3786,2664,2647,715.9,15.4,406,5668,0.00,1.80,0.00,0.000,1030,0.000,0.050,3118,2738,2654,2663,2646,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5984,0.69,145.9,3125,2739,2669,2646,672.9,13.3,420,5989,0.00,2.38,0.00,0.000,516,0.000,0.066,3129,1348,2654,2663,2645,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6223,0.69,145.9,3130,1348,2665,2645,642.9,11.9,466,6228,0.00,2.47,0.00,0.000,1030,0.000,0.090,3129,2742,2654,2664,2645,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6533,0.69,145.9,3129,2742,2666,2644,600.0,14.0,478,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6833,0.69,145.9,3130,2742,2665,2645,558.4,13.9,488,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2742,2657,2671,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7133,0.69,145.9,3130,2742,2665,2644,517.1,13.7,498,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7433,0.69,145.9,3130,2743,2666,2639,476.2,13.7,508,7438,0.00,1.88,0.00,0.000,260,0.000,0.098,3129,3786,2654,2664,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7478,0.69,145.9,3130,3785,2665,2644,469.3,15.6,517,7483,0.00,1.73,0.00,0.000,1030,0.000,0.050,3137,2739,2654,2664,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7794,0.69,145.9,3138,2739,2665,2645,425.5,13.7,530,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8093,0.69,145.9,3138,2739,2665,2645,384.4,13.7,540,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8393,0.69,145.9,3137,2738,2665,2644,343.8,13.4,550,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,0.69,145.9,3137,2738,2665,2644,305.1,12.7,560,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8993,0.69,145.9,3137,2738,2666,2644,269.4,11.7,570,8998,0.00,2.33,0.00,0.000,516,0.000,0.067,3148,1347,2652,2660,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9033,0.69,145.9,3148,1347,2666,2644,264.7,11.7,578,9039,0.00,2.42,0.00,0.000,1030,0.000,0.092,3148,2742,2654,2665,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9343,0.72,185.0,3148,2742,2666,2644,231.9,9.5,603,9380,0.00,2.35,32.12,1.267,8708,0.000,0.063,3158,1351,2499,2505,2494,0,0,0,0,0,0,28.83,14.42,13.83
$GC,9409,0.74,223.4,3158,1351,2502,2493,225.3,9.6,613,9446,0.00,2.47,32.10,1.280,9222,0.000,0.091,3158,2749,2344,2344,2345,0,0,0,0,0,0,28.83,14.39,13.66
$GC,9744,0.76,239.4,3159,2749,2344,2334,185.0,10.8,650,9760,0.00,0.00,14.18,1.272,8198,0.000,0.000,3158,2749,2281,2284,2278,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10054,0.76,252.3,3159,2749,2278,2268,149.6,10.9,681,10067,0.00,0.00,11.52,1.240,8198,0.000,0.000,3157,2748,2228,2234,2223,0,0,0,0,0,0,28.83,28.83,13.79
$GC,10366,0.80,298.2,3158,2748,2230,2214,118.0,9.2,712,10406,0.00,0.00,36.12,1.164,8198,0.000,0.000,3158,2749,2037,2042,2033,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10706,0.82,336.7,3158,2749,2042,2021,82.6,9.6,746,10726,0.00,0.00,16.33,0.434,8198,0.000,0.000,3158,2748,1886,1888,1884,0,0,0,0,0,0,28.83,28.83,13.98
$GC,11025,0.89,431.8,3159,2750,1895,1883,54.6,6.6,778,11076,0.00,2.45,42.45,0.352,8708,0.000,0.067,3161,1356,1497,1509,1485,0,0,0,0,0,0,28.83,14.23,14.02
$GC,11120,0.97,542.2,3165,1356,1510,1484,49.0,5.8,797,11177,0.12,2.47,49.53,0.332,11270,0.131,0.092,3215,2741,1047,1055,1039,0,0,0,0,0,0,14.26,14.22,13.98
$GC,11475,1.04,642.9,3216,2742,1054,1030,15.8,6.3,838,11527,0.00,2.40,45.58,0.244,8708,0.000,0.066,3221,1352,638,613,663,0,0,0,0,0,0,28.83,14.21,14.07
$GC,11568,1.11,745.2,3221,1351,615,658,10.4,6.2,853,11589,0.00,2.47,15.73,0.230,9222,0.000,0.090,3221,2741,498,448,549,0,0,0,0,0,0,28.83,14.21,14.08
$FREEZE,8.55,-1.241,-1.432,2,1,0
$FREEZE,7.89,-1.247,-1.431,2,1,0
$FREEZE,7.35,-1.250,-1.429,2,1,0
$FREEZE,6.69,-1.246,-1.428,2,1,0
$FREEZE,6.12,-1.252,-1.427,2,1,0
$FREEZE,5.56,-1.252,-1.426,2,1,0
$FREEZE,4.98,-1.260,-1.426,2,1,0
$FREEZE,4.36,-1.261,-1.425,2,1,0
$FREEZE,3.66,-1.259,-1.425,2,1,0
$FREEZE,3.15,-1.260,-1.424,2,1,0
$FREEZE,2.44,-1.267,-1.424,2,1,0
$FREEZE,1.77,-1.270,-1.423,2,1,0
$STATE,11705,end climb,SURFACE_DEPTH_REACHED
$STATE,11705,begin surface coast
$FREEZE,1.10,-1.272,-1.422,2,1,0
$FREEZE,0.75,-1.268,-1.422,2,1,0
$FREEZE,0.74,-1.234,-0.428,2,1,0
$FINISH,0.7,1.006172
$STATE,11737,end surface coast,FINISH_DEPTH_REACHED
$STATE,11737,begin surface
$SM_CCo,11813,0.00,0.000,0,0,496,677.52
$SM_GC,1.98,9.32,0.00,0.00,0.085,0.000,0.000,200,2741,496,-8.37,-0.57,677.52,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,276
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14453.57,280814,024543
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.07
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3835616
$24V_AH,12.70,69.653
$10V_AH,12.82,0.000
$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,23.350,50.925,544.750,0.000,0.000,0.000,0.000,252.975,1.500,0.000,27.396,0.000,9438.550,619.929,2016.830,168.861,0.000,1568.132,0.000,1294.941,1499.000,0.539,0.000
$DEVICE_MAMPS,399.330,102.510,1993.590,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11785.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.516,0.000,0.000,0.000
$MEM,231044
$DATA_FILE_SIZE,30087,872
$CAP_FILE_SIZE,130562,0
$CFSIZE,2097872896,2047246336
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12418.14,0x2378b6,7,5
$INTR,1,5171.09,0x2378b6,2,5
$INTR,2,11740.60,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,280814,093548,7343.490,-14457.763,38,0.7,58,22.9