version: 66.12
glider: 196
mission: 7
dive: 238
start: 8 29 114 10 18 3
data:
$ID,196
$MISSION,7
$DIVE,238
$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,-5673.9282
$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,22
$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
$GPS1,290814,064513,7350.056,-14436.410,181,99.0,181,23.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-64.6
$GPS2,290814,064513,7350.056,-14436.410,181,99.0,181,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.7,103931,-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,16,-0.69,-145.9,200,2741,442,556,0.0,0.0,0,89,0.00,0.00,-71.88,0.000,16386,0.000,0.000,199,2741,2306,2312,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,200,2741,2314,2302,3.6,-2.9,7,140,12.07,2.38,-28.02,0.000,18948,0.404,0.089,2662,1378,3856,3916,3796,0,0,0,0,0,0,14.09,14.35,14.58
$GC,365,-0.69,-145.9,2663,1378,3917,3801,82.1,-20.9,62,372,0.00,2.50,0.00,0.000,1030,0.000,0.096,2654,2755,3858,3916,3800,0,0,0,0,0,0,28.83,14.30,28.83
$GC,670,-0.69,-145.9,2654,2755,3917,3799,149.8,-20.9,93,675,0.00,2.33,0.00,0.000,516,0.000,0.063,2654,1373,3857,3916,3799,0,0,0,0,0,0,28.83,14.36,28.83
$GC,771,-0.69,-145.9,2655,1373,3916,3800,168.3,-17.5,113,775,0.00,2.47,0.00,0.000,1030,0.000,0.096,2643,2768,3857,3915,3799,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1080,-0.69,-145.9,2644,2770,3917,3799,228.6,-18.3,145,1085,0.00,1.83,0.00,0.000,260,0.000,0.100,2634,3788,3857,3916,3799,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1145,-0.69,-145.9,2635,3788,3917,3799,241.0,-19.0,158,1152,0.10,1.67,0.00,0.000,3078,0.245,0.053,2660,2770,3857,3916,3799,0,0,0,0,0,0,14.23,14.47,28.83
$GC,1470,-0.69,-145.9,2661,2770,3919,3800,290.5,-14.4,173,1475,0.00,2.35,0.00,0.000,516,0.000,0.065,2660,1365,3857,3916,3799,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1500,-0.69,-145.9,2661,1363,3917,3799,294.7,-14.7,179,1505,0.00,2.47,0.00,0.000,1030,0.000,0.097,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1831,-0.69,-145.9,2653,2765,3917,3800,342.3,-14.0,195,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,-0.69,-145.9,2653,2765,3916,3800,384.2,-14.0,205,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-0.69,-145.9,2653,2764,3917,3799,424.7,-13.4,215,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.69,-145.9,2653,2765,3916,3800,464.2,-13.1,225,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.69,-145.9,2653,2765,3916,3800,503.5,-13.2,235,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2770,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.69,-145.9,2653,2765,3916,3800,542.4,-12.9,245,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.69,-145.9,2653,2765,3916,3800,580.9,-12.7,255,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.69,-145.9,2653,2764,3912,3800,619.0,-12.6,265,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.69,-145.9,2653,2765,3917,3801,656.9,-12.6,275,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4530,-0.69,-145.9,2653,2765,3916,3801,694.1,-12.4,285,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.69,-145.9,2653,2765,3917,3801,731.2,-12.4,295,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5008,begin apogee
$GC,5012,-0.13,0.0,2653,2764,3917,3800,752.9,-12.1,301,5141,0.73,0.00,125.95,1.997,10244,0.224,0.000,2847,2765,3260,3279,3241,0,0,0,0,0,0,14.44,28.83,13.12
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,0.69,145.9,2848,2766,3275,3236,756.6,0.0,305,5277,0.85,0.00,124.90,1.841,11270,0.117,0.000,3109,2764,2657,2664,2650,0,0,0,0,0,0,13.80,28.83,12.69
$GC,5581,0.69,145.9,3110,2765,2664,2645,711.1,13.2,345,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2765,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5881,0.69,145.9,3110,2765,2665,2643,671.8,13.1,355,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2764,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6182,0.69,145.9,3110,2765,2665,2639,632.6,13.1,365,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2764,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6481,0.69,145.9,3106,2765,2665,2643,593.9,12.7,375,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2765,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,0.69,145.9,3110,2765,2665,2643,556.0,12.5,385,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2765,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,0.69,145.9,3110,2765,2665,2643,518.4,12.5,395,7086,0.00,1.83,0.00,0.000,260,0.000,0.098,3109,3785,2653,2664,2643,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7111,0.69,145.9,3108,3785,2666,2644,514.3,13.0,401,7117,0.00,1.73,0.00,0.000,1030,0.000,0.050,3115,2737,2651,2664,2638,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7442,0.69,145.9,3116,2737,2665,2642,471.8,12.8,417,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7741,0.69,145.9,3116,2737,2666,2642,433.7,12.7,427,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,0.69,145.9,3116,2737,2665,2643,396.1,12.6,437,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2736,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,0.69,145.9,3116,2737,2665,2644,359.0,12.4,447,8346,0.00,1.88,0.00,0.000,260,0.000,0.099,3115,3786,2654,2665,2643,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8361,0.69,145.9,3116,3786,2665,2644,356.5,12.5,451,8366,0.00,1.70,0.00,0.000,1030,0.000,0.050,3123,2742,2654,2665,2643,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8671,0.69,145.9,3124,2742,2665,2642,318.2,12.1,463,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2743,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8971,0.70,160.4,3124,2743,2665,2643,284.0,10.9,473,8991,0.00,2.40,12.43,1.355,8708,0.000,0.065,3134,1346,2599,2607,2591,0,0,0,0,0,0,28.83,14.54,13.93
$GC,9026,0.71,169.9,3134,1346,2607,2592,278.0,11.1,484,9045,0.00,2.45,9.15,1.351,9222,0.000,0.091,3134,2747,2559,2566,2552,0,0,0,0,0,0,28.83,14.47,13.88
$GC,9344,0.72,189.1,3135,2748,2567,2550,240.3,10.6,505,9366,0.00,0.00,16.23,1.279,8198,0.000,0.000,3134,2748,2484,2491,2477,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9664,0.76,241.8,3135,2749,2491,2474,208.0,8.8,537,9715,0.00,0.00,44.80,1.227,8198,0.000,0.000,3134,2750,2265,2268,2263,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10015,0.78,279.4,3135,2748,2269,2255,172.4,9.6,572,10050,0.00,0.00,31.80,1.216,8454,0.000,0.000,3134,2748,2114,2118,2110,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10355,0.80,300.7,3135,2748,2118,2100,137.6,10.5,609,10377,0.00,1.92,17.83,1.193,8452,0.000,0.101,3134,3793,2027,2035,2020,0,0,0,0,0,0,28.83,14.28,13.74
$GC,10396,0.80,300.7,3134,3793,2034,2020,133.0,11.8,616,10402,0.00,1.73,0.00,0.000,1030,0.000,0.049,3141,2752,2026,2033,2019,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10708,0.83,341.3,3142,2753,2034,2016,100.8,9.5,648,10748,0.00,2.45,32.28,1.129,8708,0.000,0.067,3151,1356,1858,1861,1856,0,0,0,0,0,0,28.83,14.17,13.66
$GC,10817,0.85,373.0,3152,1356,1858,1853,89.8,9.9,670,10839,0.00,2.47,13.35,0.459,9222,0.000,0.092,3152,2736,1739,1742,1737,0,0,0,0,0,0,28.83,14.19,13.89
$GC,11139,0.90,451.2,3152,2734,1751,1733,58.5,7.5,704,11179,0.10,0.00,35.85,0.360,10246,0.141,0.000,3198,2736,1417,1428,1407,0,0,0,0,0,0,14.26,28.83,14.00
$GC,11479,0.96,537.6,3198,2736,1433,1393,31.1,7.0,738,11523,0.00,2.40,38.97,0.295,8708,0.000,0.067,3206,1351,1065,1073,1058,0,0,0,0,0,0,28.83,14.23,14.02
$GC,11593,1.03,626.2,3207,1351,1075,1057,22.8,6.9,761,11640,0.00,2.53,40.35,0.267,9222,0.000,0.093,3206,2736,703,686,721,0,0,0,0,0,0,28.83,14.21,14.04
$FREEZE,8.65,-1.285,-1.441,2,2,0
$FREEZE,8.05,-1.286,-1.440,2,2,0
$FREEZE,7.62,-1.285,-1.440,2,2,0
$FREEZE,7.06,-1.286,-1.440,2,2,0
$FREEZE,6.50,-1.287,-1.439,2,2,0
$FREEZE,5.94,-1.288,-1.421,2,2,0
$FREEZE,5.41,-1.288,-1.438,2,2,0
$FREEZE,4.99,-1.290,-1.438,2,2,0
$FREEZE,4.37,-1.291,-1.437,2,2,0
$FREEZE,3.88,-1.293,-1.437,2,2,0
$FREEZE,3.29,-1.296,-1.437,2,2,0
$FREEZE,3.11,-1.296,-1.437,2,2,0
$FREEZE,2.75,-1.301,-1.436,2,2,0
$FREEZE,2.12,-1.301,-1.436,2,2,0
$FREEZE,1.63,-1.302,-1.435,2,2,0
$GC,11938,1.11,744.0,3207,2736,685,715,3.3,5.4,800,11966,0.15,2.45,22.67,0.203,10758,0.119,0.067,3281,1352,498,448,548,0,0,0,0,0,0,14.25,14.26,14.14
$STATE,11966,end climb,SURFACE_DEPTH_REACHED
$STATE,11966,begin surface coast
$FREEZE,0.74,-1.305,-1.435,2,2,0
$FREEZE,0.83,-1.313,-0.713,2,2,0
$FINISH,0.8,1.010469
$STATE,11981,end surface coast,FINISH_DEPTH_REACHED
$STATE,11981,begin surface
$SM_CCo,12059,0.00,0.000,0,0,497,677.27
$SM_GC,1.80,9.45,2.60,0.00,0.080,0.099,0.000,206,2766,497,-8.36,-0.42,677.27,0,0,0,0,0,0,14.33,14.28,28.83
$RAFOS_CLK,294
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14431.34,290814,064433
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.76
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3832032
$24V_AH,12.69,72.222
$10V_AH,12.81,0.000
$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,23.450,48.525,566.550,0.000,0.000,0.000,0.000,122.275,1.000,0.000,182.481,0.000,9882.567,643.459,1937.558,185.123,0.000,1432.330,0.000,1204.139,1498.000,0.539,0.000
$DEVICE_MAMPS,403.920,100.980,1996.650,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.694,0.000,0.000,0.000
$MEM,226656
$DATA_FILE_SIZE,26646,806
$CAP_FILE_SIZE,128627,0
$CFSIZE,2097872896,2045706240
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12749.59,0x2378b6,7,5
$INTR,1,5010.36,0x2378b6,2,5
$INTR,2,9037.41,0x234484,1,24
$SOUNDSPEED,1448.1
$GPS,290814,134025,7352.095,-14429.637,37,0.9,57,23.1