version: 66.12
glider: 196
mission: 7
dive: 247
start: 8 30 114 17 44 22
data:
$ID,196
$MISSION,7
$DIVE,247
$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,-5678.9678
$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,58
$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
$GPS1,300814,142424,7351.934,-14430.335,5,0.8,25,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-75.8
$GPS2,300814,142424,7351.934,-14430.335,5,0.8,25,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,200.0,30254,-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,-145.9,201,2742,442,549,0.0,0.0,0,32,0.00,0.00,-14.98,0.000,16386,0.000,0.000,200,2742,938,938,939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.69,-145.9,201,2743,939,940,3.1,0.0,1,142,11.98,2.40,-88.05,0.000,18948,0.396,0.090,2663,1376,3853,3919,3788,0,0,0,0,0,0,14.06,14.31,14.53
$GC,341,-0.69,-145.9,2665,1374,3919,3794,74.2,-21.5,63,346,0.00,2.47,0.00,0.000,1030,0.000,0.096,2655,2760,3856,3919,3794,0,0,0,0,0,0,28.83,14.31,28.83
$GC,651,-0.69,-145.9,2655,2760,3922,3794,143.3,-21.0,95,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,951,-0.69,-145.9,2656,2760,3920,3795,202.2,-19.2,125,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1261,-0.69,-145.9,2655,2759,3920,3794,254.8,-15.6,154,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.69,-145.9,2656,2760,3920,3794,300.2,-14.6,164,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,-0.69,-145.9,2655,2760,3920,3794,342.2,-13.7,174,1866,0.00,2.33,0.00,0.000,516,0.000,0.065,2655,1373,3856,3919,3793,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1906,-0.69,-145.9,2656,1375,3919,3795,348.1,-12.0,183,1911,0.00,2.45,0.00,0.000,1030,0.000,0.097,2644,2763,3856,3919,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2221,-0.69,-145.9,2645,2763,3920,3794,392.2,-14.0,196,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,-0.69,-145.9,2645,2763,3920,3793,434.0,-13.8,206,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.69,-145.9,2644,2763,3920,3794,475.3,-13.8,216,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3855,3918,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.69,-145.9,2645,2764,3920,3795,516.5,-13.6,226,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.69,-145.9,2645,2763,3920,3794,556.7,-13.3,236,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.69,-145.9,2645,2764,3920,3794,596.8,-13.3,246,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2763,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-0.69,-145.9,2645,2764,3920,3795,636.5,-13.2,256,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3855,3919,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-0.69,-145.9,2645,2764,3920,3795,676.1,-13.1,266,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.69,-145.9,2644,2764,3920,3794,715.1,-13.0,276,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3856,3919,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4924,-0.13,0.0,2645,2768,3920,3795,753.4,-12.7,286,5052,0.75,0.00,125.80,1.997,10246,0.226,0.000,2845,2763,3258,3279,3237,0,0,0,0,0,0,14.42,28.83,13.12
$STATE,5053,end apogee,CONTROL_FINISHED_OK
$STATE,5053,begin climb
$GC,5055,0.69,145.9,2846,2764,3275,3234,757.2,0.0,290,5184,0.90,0.00,125.68,1.830,10758,0.118,0.000,3115,2764,2662,2667,2657,0,0,0,0,0,0,13.80,28.83,12.69
$GC,5461,0.69,145.9,3116,2764,2664,2646,714.5,13.6,309,5466,0.00,2.47,0.00,0.000,516,0.000,0.064,3125,1353,2654,2663,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5481,0.69,145.9,3126,1352,2664,2646,712.0,12.8,313,5486,0.00,2.53,0.00,0.000,1030,0.000,0.089,3125,2743,2654,2664,2645,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5791,0.69,145.9,3126,2743,2665,2645,668.8,14.0,325,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,0.69,145.9,3126,2744,2665,2645,627.5,13.7,335,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,0.69,145.9,3126,2743,2665,2645,586.5,13.8,345,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6691,0.69,145.9,3126,2744,2664,2645,545.3,13.6,355,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6991,0.69,145.9,3126,2743,2665,2644,504.7,13.5,365,6996,0.00,1.85,0.00,0.000,260,0.000,0.097,3125,3779,2654,2664,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7046,0.69,145.9,3126,3779,2665,2644,496.3,15.6,376,7052,0.00,1.67,0.00,0.000,1030,0.000,0.050,3131,2745,2654,2664,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7351,0.69,145.9,3132,2744,2666,2644,454.0,13.8,387,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2745,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.69,145.9,3132,2744,2665,2644,413.0,13.7,397,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2744,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,0.69,145.9,3131,2744,2665,2644,372.9,13.3,407,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2744,2651,2664,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8252,0.69,145.9,3132,2744,2665,2645,334.1,12.8,417,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2744,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,0.69,145.9,3132,2744,2665,2644,297.4,12.1,427,8556,0.00,2.35,0.00,0.000,516,0.000,0.065,3142,1345,2654,2664,2644,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8581,0.70,163.1,3143,1346,2666,2645,294.0,10.7,433,8602,0.00,2.45,14.43,1.353,9222,0.000,0.090,3143,2740,2591,2596,2587,0,0,0,0,0,0,28.83,14.42,13.84
$GC,8911,0.70,163.1,3143,2741,2597,2580,252.3,12.4,449,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2740,2587,2595,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,0.74,214.4,3142,2740,2597,2580,220.2,8.9,477,9256,0.00,0.00,43.55,1.264,8198,0.000,0.000,3142,2740,2381,2383,2380,0,0,0,0,0,0,28.83,28.83,13.64
$GC,9552,0.76,241.9,3143,2741,2379,2370,185.8,10.2,511,9577,0.00,0.00,23.20,1.251,8710,0.000,0.000,3142,2740,2272,2274,2270,0,0,0,0,0,0,28.83,28.83,13.64
$GC,9883,0.78,275.9,3143,2740,2268,2257,151.9,9.8,547,9918,0.00,2.40,29.30,1.210,8708,0.000,0.067,3151,1352,2127,2130,2125,0,0,0,0,0,0,28.83,14.23,13.65
$GC,9947,0.81,316.0,3152,1354,2127,2123,145.5,9.5,558,9988,0.00,2.47,34.40,1.210,9222,0.000,0.091,3151,2736,1967,1967,1968,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10293,0.82,327.6,3151,2736,1960,1954,106.1,11.0,597,10304,0.00,2.42,4.05,1.187,8708,0.000,0.067,3157,1355,1925,1926,1924,0,0,0,0,0,0,28.83,14.26,13.65
$GC,10349,0.84,361.7,3158,1357,1935,1925,100.5,9.8,608,10370,0.00,2.47,16.90,0.496,9222,0.000,0.091,3157,2739,1782,1781,1784,0,0,0,0,0,0,28.83,14.23,13.90
$GC,10675,0.87,409.3,3157,2739,1790,1779,66.2,9.1,643,10698,0.00,0.00,21.83,0.383,8710,0.000,0.000,3155,2739,1587,1593,1582,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10996,0.96,537.3,3157,2739,1601,1573,43.4,4.8,677,11061,0.12,2.42,57.25,0.314,10756,0.121,0.067,3221,1363,1065,1072,1059,0,0,0,0,0,0,14.32,14.19,14.02
$GC,11081,0.99,579.7,3222,1363,1074,1060,36.7,9.4,694,11108,0.00,2.45,19.33,0.298,9222,0.000,0.090,3221,2732,891,888,895,0,0,0,0,0,0,28.83,14.19,14.00
$FREEZE,8.88,-1.320,-1.439,2,2,0
$FREEZE,8.44,-1.320,-1.439,2,2,0
$FREEZE,8.00,-1.321,-1.438,2,2,0
$GC,11407,1.07,688.3,3222,2733,887,888,10.9,5.9,729,11458,0.00,2.42,43.85,0.229,8708,0.000,0.068,3221,1359,497,447,548,0,0,0,0,0,0,28.83,14.21,14.09
$FREEZE,7.04,-1.320,-1.437,2,2,0
$FREEZE,6.75,-1.320,-1.437,2,2,0
$FREEZE,6.44,-1.319,-1.437,2,2,0
$FREEZE,6.00,-1.319,-1.437,2,2,0
$FREEZE,5.72,-1.322,-1.436,2,2,0
$FREEZE,5.40,-1.322,-1.436,2,2,0
$FREEZE,5.05,-1.327,-1.435,2,2,0
$FREEZE,4.62,-1.327,-1.435,2,2,0
$FREEZE,4.31,-1.324,-1.434,2,2,0
$GC,11502,1.13,771.3,3222,1360,448,550,4.3,7.2,747,11508,0.12,2.45,0.00,0.000,3078,0.136,0.092,3268,2725,498,448,548,0,0,0,0,0,0,14.24,14.21,28.83
$FREEZE,3.53,-1.324,-1.434,2,2,0
$FREEZE,2.74,-1.323,-1.433,2,2,0
$FREEZE,1.86,-1.320,-1.432,2,2,0
$STATE,11531,end climb,SURFACE_DEPTH_REACHED
$STATE,11531,begin surface coast
$FREEZE,0.81,-1.314,-1.430,2,2,0
$FREEZE,0.80,-1.302,-1.430,2,2,0
$FINISH,0.8,1.021093
$STATE,11552,end surface coast,CONTROL_FINISHED_OK
$STATE,11552,begin surface
$SM_CCo,11629,0.00,0.000,0,0,495,677.76
$SM_GC,1.86,9.52,0.05,0.00,0.089,0.233,0.000,195,2775,495,-8.36,-0.74,677.76,0,0,0,0,0,0,14.35,14.31,28.83
$RAFOS_CLK,172
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14422.33,300814,033451
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.32
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3828000
$24V_AH,12.69,75.112
$10V_AH,13.03,0.000
$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,23.400,42.550,559.550,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9449.593,626.316,1540.428,121.648,0.000,1239.865,0.000,1130.728,1479.000,0.539,0.000
$DEVICE_MAMPS,396.270,232.560,1996.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11589.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.882,0.000,0.000,0.000
$MEM,221736
$DATA_FILE_SIZE,26733,753
$CAP_FILE_SIZE,118599,0
$CFSIZE,2097872896,2044133376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11978.51,0x2378b6,7,5
$INTR,1,4921.67,0x2378b6,2,5
$SOUNDSPEED,1447.6
$GPS,300814,205924,7349.386,-14437.749,26,1.0,46,23.1