version: 66.12
glider: 196
mission: 7
dive: 239
start: 8 29 114 13 51 45
data:
$ID,196
$MISSION,7
$DIVE,239
$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,-5675.188
$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,55
$R_STBD_OVSHOOT,17
$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
$GPS1,290814,134025,7352.095,-14429.637,37,0.9,57,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.6
$GPS2,290814,135129,7352.078,-14429.582,5,0.8,25,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.4,98919,-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,-145.9,207,2767,435,548,0.0,0.0,0,89,0.00,0.00,-71.78,0.000,16386,0.000,0.000,206,2768,2239,2245,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,207,2768,2246,2234,4.0,-5.6,7,140,12.15,2.40,-29.40,0.000,18948,0.399,0.088,2663,1373,3858,3921,3795,0,0,0,0,0,0,13.96,14.23,14.43
$GC,235,-0.69,-145.9,2664,1372,3923,3795,51.7,-30.5,36,241,0.00,2.50,0.00,0.000,1030,0.000,0.096,2654,2765,3859,3921,3797,0,0,0,0,0,0,28.83,14.21,28.83
$GC,540,-0.69,-145.9,2655,2765,3922,3797,126.2,-21.8,67,545,0.00,2.38,0.00,0.000,516,0.000,0.064,2654,1373,3859,3921,3797,0,0,0,0,0,0,28.83,14.31,28.83
$GC,565,-0.69,-145.9,2655,1374,3922,3798,131.7,-21.4,72,571,0.00,2.47,0.00,0.000,1030,0.000,0.096,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,870,-0.69,-145.9,2644,2766,3922,3798,194.0,-19.3,103,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.69,-145.9,2644,2766,3922,3797,248.4,-16.7,133,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.69,-145.9,2644,2766,3922,3798,296.4,-15.4,144,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.69,-145.9,2643,2766,3922,3798,341.4,-14.8,154,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.69,-145.9,2644,2765,3922,3797,385.5,-14.6,164,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.69,-145.9,2644,2765,3922,3796,427.8,-14.1,174,2381,0.12,0.00,0.00,0.000,2054,0.289,0.000,2668,2765,3859,3921,3797,0,0,0,0,0,0,14.40,28.83,28.83
$GC,2680,-0.69,-145.9,2668,2766,3922,3798,464.0,-11.9,184,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.69,-145.9,2669,2766,3922,3797,499.8,-12.0,194,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.69,-145.9,2670,2766,3922,3798,535.5,-11.9,204,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.69,-145.9,2670,2766,3922,3798,570.6,-11.6,214,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.69,-145.9,2669,2766,3922,3797,604.8,-11.3,224,3885,0.00,2.33,0.00,0.000,516,0.000,0.064,2668,1369,3859,3921,3797,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3930,-0.69,-145.9,2670,1370,3922,3798,610.3,-10.5,234,3935,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2765,3859,3921,3797,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4240,-0.69,-145.9,2663,2766,3922,3797,646.8,-11.9,246,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.69,-145.9,2663,2765,3922,3798,682.1,-11.7,256,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2766,3859,3921,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.69,-145.9,2663,2766,3922,3798,716.9,-11.6,266,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3859,3921,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5142,-0.13,0.0,2663,2765,3922,3798,752.1,-11.7,276,5271,0.68,0.00,125.90,1.989,10244,0.220,0.000,2844,2765,3259,3279,3240,0,0,0,0,0,0,14.44,28.83,13.13
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5274,0.69,145.9,2845,2765,3275,3235,755.8,0.0,280,5407,0.88,0.00,124.45,1.828,11270,0.120,0.000,3112,2765,2659,2666,2653,0,0,0,0,0,0,13.79,28.83,12.69
$GC,5711,0.69,145.9,3113,2765,2667,2646,710.1,13.3,320,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2765,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,0.69,145.9,3113,2765,2667,2644,669.9,13.5,330,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2765,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,0.69,145.9,3113,2766,2666,2646,629.7,13.4,340,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2765,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6611,0.69,145.9,3113,2766,2667,2646,589.5,13.4,350,6616,0.00,1.77,0.00,0.000,260,0.000,0.098,3112,3787,2655,2665,2645,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6646,0.69,145.9,3113,3789,2666,2646,584.2,15.4,357,6651,0.00,1.73,0.00,0.000,1030,0.000,0.050,3120,2734,2655,2666,2645,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6972,0.69,145.9,3121,2734,2666,2645,540.4,13.2,372,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2734,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,0.69,145.9,3121,2734,2667,2644,501.2,13.0,382,7276,0.00,1.88,0.00,0.000,260,0.000,0.099,3120,3787,2655,2666,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7296,0.69,145.9,3121,3788,2666,2645,497.6,14.2,387,7303,0.00,1.70,0.00,0.000,1030,0.000,0.050,3128,2742,2655,2666,2645,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7601,0.69,145.9,3129,2743,2667,2645,456.8,13.3,398,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,0.69,145.9,3129,2743,2667,2644,417.1,13.3,408,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2742,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8201,0.69,145.9,3128,2743,2667,2645,377.9,13.1,418,8206,0.00,1.88,0.00,0.000,260,0.000,0.099,3128,3786,2655,2666,2645,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8261,0.69,145.9,3129,3787,2666,2646,368.9,15.2,430,8266,0.00,1.73,0.00,0.000,1030,0.000,0.048,3136,2734,2655,2666,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8592,0.69,145.9,3137,2734,2667,2645,324.1,13.3,446,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2734,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8891,0.69,145.9,3137,2735,2666,2645,286.6,12.1,456,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2734,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,0.71,171.8,3137,2734,2667,2645,253.0,10.3,466,9216,0.00,0.00,21.92,1.289,8198,0.000,0.000,3136,2734,2558,2565,2551,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9491,0.74,211.4,3137,2740,2562,2543,221.5,9.5,492,9526,0.00,0.00,33.67,1.245,8454,0.000,0.000,3136,2733,2394,2398,2391,0,0,0,0,0,0,28.83,28.83,13.70
$GC,9822,0.77,265.2,3136,2734,2393,2381,190.3,8.8,526,9872,0.00,0.00,45.47,1.222,8198,0.000,0.000,3137,2734,2169,2172,2167,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10172,0.79,289.4,3136,2734,2173,2159,153.3,10.3,561,10194,0.00,0.00,20.27,1.209,8198,0.000,0.000,3136,2733,2078,2083,2073,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10492,0.81,317.0,3137,2734,2079,2056,119.9,10.2,593,10523,0.00,2.42,21.42,1.171,8708,0.000,0.067,3146,1353,1957,1959,1956,0,0,0,0,0,0,28.83,14.27,13.73
$GC,10573,0.84,355.6,3147,1357,1956,1955,111.9,9.6,609,10608,0.00,2.47,30.67,1.151,9222,0.000,0.093,3146,2746,1807,1805,1809,0,0,0,0,0,0,28.83,14.25,13.62
$GC,10913,0.87,407.7,3147,2746,1803,1789,77.1,8.9,647,10937,0.00,0.00,22.55,0.419,8198,0.000,0.000,3147,2746,1595,1601,1589,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11234,0.94,506.8,3147,2746,1607,1582,48.3,6.4,679,11285,0.12,2.40,44.70,0.330,10756,0.124,0.063,3219,1349,1190,1201,1180,0,0,0,0,0,0,14.32,14.23,14.01
$GC,11325,0.99,579.3,3220,1350,1203,1181,41.1,7.8,697,11366,0.00,2.47,32.97,0.310,9222,0.000,0.092,3219,2738,895,893,898,0,0,0,0,0,0,28.83,14.21,13.99
$GC,11665,1.06,679.6,3219,2739,891,892,12.4,6.3,735,11716,0.00,2.40,44.17,0.233,8708,0.000,0.069,3220,1354,498,447,549,0,0,0,0,0,0,28.83,14.23,14.09
$FREEZE,8.81,-1.266,-1.442,2,1,0
$FREEZE,8.60,-1.268,-1.442,2,1,0
$FREEZE,8.27,-1.268,-1.441,2,1,0
$FREEZE,7.92,-1.271,-1.441,2,1,0
$FREEZE,7.58,-1.271,-1.441,2,1,0
$FREEZE,7.25,-1.271,-1.440,2,1,0
$FREEZE,6.98,-1.271,-1.440,2,1,0
$FREEZE,6.57,-1.272,-1.440,2,1,0
$FREEZE,6.34,-1.272,-1.440,2,1,0
$FREEZE,5.96,-1.272,-1.439,2,1,0
$GC,11766,1.13,776.6,3222,1354,450,549,6.0,6.5,755,11771,0.12,2.47,0.00,0.000,3078,0.130,0.090,3271,2737,498,448,549,0,0,0,0,0,0,14.21,14.17,28.83
$FREEZE,5.24,-1.278,-1.439,2,1,0
$FREEZE,4.44,-1.279,-1.438,2,1,0
$FREEZE,3.36,-1.282,-1.437,2,1,0
$FREEZE,2.46,-1.288,-1.436,2,1,0
$FREEZE,1.31,-1.294,-1.435,2,1,0
$STATE,11814,end climb,SURFACE_DEPTH_REACHED
$STATE,11814,begin surface coast
$FREEZE,0.75,-1.296,-1.435,2,1,0
$FREEZE,0.67,-1.433,-1.429,2,1,0
$FINISH,0.7,1.021078
$STATE,11835,end surface coast,FINISH_DEPTH_REACHED
$STATE,11835,begin surface
$SM_CCo,11911,0.00,0.000,0,0,496,677.76
$SM_GC,1.74,9.40,0.00,0.00,0.078,0.000,0.000,201,2737,496,-8.36,-0.65,677.76,0,0,0,0,0,0,14.34,28.83,28.83
$RAFOS_CLK,211
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14431.34,290814,064433
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.95
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3831584
$24V_AH,12.69,72.561
$10V_AH,12.83,0.000
$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,23.475,39.850,568.200,0.000,0.000,0.000,0.000,450.175,1.500,0.000,26.967,0.000,9707.362,630.749,2019.770,209.078,0.000,1712.838,0.000,1149.765,1476.000,0.540,0.000
$DEVICE_MAMPS,399.330,98.685,1989.000,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11885.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.821,0.000,0.000,0.000
$MEM,225992
$DATA_FILE_SIZE,26688,763
$CAP_FILE_SIZE,127840,0
$CFSIZE,2097872896,2045509632
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12821.03,0x2378b6,7,5
$INTR,1,5140.58,0x2378b6,2,5
$INTR,2,11839.19,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,290814,171142,7353.134,-14426.682,38,0.8,58,23.1