version: 66.12
glider: 196
mission: 7
dive: 248
start: 8 30 114 21 10 57
data:
$ID,196
$MISSION,7
$DIVE,248
$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,-5680.2246
$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,34
$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
$GPS1,300814,205924,7349.386,-14437.749,26,1.0,46,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.8
$GPS2,300814,211042,7349.436,-14437.771,5,1.0,26,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,200.7,24232,-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,-145.9,195,2777,432,549,0.0,0.0,0,99,0.00,0.00,-81.57,0.000,16386,0.000,0.000,194,2776,2467,2476,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-145.9,195,2778,2476,2462,4.6,-6.0,8,141,12.10,2.47,-22.92,0.000,18948,0.395,0.087,2665,1376,3858,3922,3794,0,0,0,0,0,0,13.95,14.22,14.44
$GC,246,-0.69,-145.9,2666,1376,3923,3797,55.4,-27.7,37,252,0.00,2.45,0.00,0.000,1030,0.000,0.094,2658,2746,3859,3922,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,551,-0.69,-145.9,2657,2746,3923,3797,127.6,-21.6,68,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2746,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.69,-145.9,2658,2747,3923,3797,187.3,-19.3,98,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2746,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-0.69,-145.9,2657,2746,3923,3797,239.9,-15.9,128,1156,0.00,2.33,0.00,0.000,516,0.000,0.065,2657,1369,3859,3922,3796,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1181,-0.69,-145.9,2658,1368,3922,3797,244.4,-15.1,134,1186,0.00,2.47,0.00,0.000,1030,0.000,0.096,2646,2762,3859,3923,3796,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1492,-0.69,-145.9,2646,2763,3923,3796,292.5,-15.3,148,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1791,-0.69,-145.9,2646,2763,3923,3797,336.8,-14.5,158,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2763,3857,3918,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.69,-145.9,2647,2760,3923,3802,379.2,-14.0,168,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.69,-145.9,2647,2764,3923,3796,421.2,-13.9,178,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.69,-145.9,2647,2763,3923,3797,463.0,-14.0,188,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.69,-145.9,2646,2763,3923,3796,503.7,-13.6,198,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-0.69,-145.9,2647,2764,3921,3797,544.1,-13.3,208,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2763,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.69,-145.9,2648,2764,3925,3796,584.1,-13.3,218,3596,0.00,1.80,0.00,0.000,260,0.000,0.102,2638,3799,3859,3922,3796,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3636,-0.69,-145.9,2638,3799,3923,3797,590.6,-14.8,227,3642,0.10,1.70,0.00,0.000,3078,0.226,0.054,2664,2765,3859,3922,3796,0,0,0,0,0,0,14.38,14.62,28.83
$GC,3952,-0.69,-145.9,2665,2765,3923,3798,628.8,-11.9,240,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2764,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.69,-145.9,2665,2765,3923,3797,664.2,-11.8,250,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2764,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-0.69,-145.9,2664,2764,3923,3797,699.0,-11.6,260,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2764,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.69,-145.9,2665,2765,3923,3798,733.6,-11.5,270,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2764,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5000,begin apogee
$GC,5004,-0.13,0.0,2664,2765,3923,3797,750.5,-11.3,275,5133,0.65,0.00,126.68,1.977,10244,0.219,0.000,2842,2764,3257,3277,3237,0,0,0,0,0,0,14.42,28.83,13.11
$STATE,5134,end apogee,CONTROL_FINISHED_OK
$STATE,5134,begin climb
$GC,5136,0.69,145.9,2844,2765,3273,3234,754.1,0.0,279,5269,0.90,1.92,124.05,1.833,10500,0.138,0.105,3105,3782,2658,2664,2653,0,0,0,0,0,0,13.78,13.81,12.69
$GC,5493,0.69,145.9,3106,3787,2664,2648,713.2,15.2,353,5498,0.00,1.80,0.00,0.000,1030,0.000,0.050,3113,2738,2654,2663,2646,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5815,0.69,145.9,3114,2738,2664,2646,670.2,13.3,367,5819,0.00,2.38,0.00,0.000,516,0.000,0.065,3125,1345,2651,2663,2640,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6044,0.69,145.9,3132,1344,2671,2645,641.6,12.3,413,6049,0.00,2.47,0.00,0.000,1030,0.000,0.091,3125,2745,2654,2664,2645,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6354,0.69,145.9,3125,2745,2665,2644,598.6,13.9,425,6359,0.00,2.35,0.00,0.000,516,0.000,0.065,3132,1345,2654,2664,2644,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6379,0.69,145.9,3133,1345,2665,2645,595.5,12.9,430,6385,0.00,2.50,0.00,0.000,1030,0.000,0.090,3132,2742,2654,2664,2644,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6684,0.69,145.9,3133,2742,2665,2644,552.4,14.1,441,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2742,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,0.69,145.9,3133,2741,2665,2644,510.7,13.9,451,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,0.69,145.9,3133,2742,2665,2644,469.5,13.7,461,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2742,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,0.69,145.9,3133,2743,2665,2645,428.6,13.6,471,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,0.69,145.9,3133,2743,2664,2645,388.2,13.4,481,7889,0.00,1.85,0.00,0.000,260,0.000,0.098,3132,3784,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7939,0.69,145.9,3133,3785,2665,2644,379.7,15.8,492,7945,0.00,1.73,0.00,0.000,1030,0.000,0.050,3140,2728,2655,2666,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8244,0.69,145.9,3141,2729,2665,2645,337.9,13.6,503,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2728,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8544,0.69,145.9,3141,2728,2664,2645,298.6,12.8,513,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2728,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.69,148.0,3141,2729,2665,2645,263.1,11.5,523,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2728,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,0.73,201.8,3141,2728,2666,2644,231.9,8.8,545,9196,0.00,1.88,46.15,1.278,8452,0.000,0.095,3140,3789,2428,2432,2424,0,0,0,0,0,0,28.83,14.32,13.74
$GC,9246,0.73,201.8,3141,3789,2430,2423,220.9,12.7,565,9251,0.00,1.73,0.00,0.000,1030,0.000,0.050,3148,2747,2425,2429,2422,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9556,0.75,233.3,3149,2747,2430,2420,188.4,10.0,597,9588,0.00,2.38,26.40,1.254,8708,0.000,0.063,3159,1349,2300,2302,2298,0,0,0,0,0,0,28.83,14.29,13.72
$GC,9662,0.78,275.6,3160,1351,2300,2293,178.1,9.4,618,9703,0.00,2.53,35.58,1.244,9222,0.000,0.092,3159,2744,2131,2132,2130,0,0,0,0,0,0,28.83,14.28,13.57
$GC,10008,0.78,275.6,3160,2745,2131,2119,137.2,11.8,657,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2744,2124,2130,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10314,0.80,297.4,3160,2744,2131,2113,103.9,10.5,687,10334,0.00,2.45,15.73,1.180,8708,0.000,0.067,3165,1352,2038,2043,2034,0,0,0,0,0,0,28.83,14.26,13.73
$GC,10364,0.83,347.9,3168,1353,2037,2031,98.9,8.9,697,10395,0.00,2.50,22.20,0.496,9222,0.000,0.091,3166,2749,1839,1838,1841,0,0,0,0,0,0,28.83,14.21,13.90
$GC,10694,0.86,392.1,3167,2750,1844,1836,63.1,9.3,733,10716,0.00,0.00,20.40,0.376,8198,0.000,0.000,3166,2749,1659,1663,1656,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11015,0.95,522.3,3167,2750,1668,1649,41.5,4.7,765,11080,0.00,2.42,58.22,0.311,8708,0.000,0.067,3168,1357,1127,1140,1115,0,0,0,0,0,0,28.83,14.13,13.95
$GC,11109,1.02,612.0,3171,1358,1141,1117,36.0,6.9,784,11156,0.15,2.50,40.15,0.292,11270,0.110,0.091,3238,2741,765,753,777,0,0,0,0,0,0,14.18,14.13,13.93
$FREEZE,8.38,-1.286,-1.433,2,1,0
$FREEZE,7.64,-1.295,-1.431,2,1,0
$FREEZE,6.98,-1.282,-1.429,2,1,0
$FREEZE,6.21,-1.270,-1.427,2,1,0
$FREEZE,5.59,-1.254,-1.425,2,1,0
$FREEZE,5.40,-1.254,-1.425,2,1,0
$FREEZE,4.91,-1.244,-1.422,2,1,0
$FREEZE,4.46,-1.244,-1.422,2,1,0
$FREEZE,4.04,-1.239,-1.421,2,1,0
$FREEZE,3.52,-1.239,-1.420,2,1,0
$GC,11455,1.08,699.0,3239,2742,753,769,5.6,7.0,823,11492,0.00,2.45,29.90,0.207,8708,0.000,0.068,3244,1357,496,448,545,0,0,0,0,0,0,28.83,14.18,14.04
$FREEZE,2.64,-1.220,-1.418,2,1,0
$FREEZE,2.44,-1.226,-1.418,2,1,0
$FREEZE,2.01,-1.226,-1.418,2,1,0
$FREEZE,1.68,-1.202,-1.417,2,1,0
$STATE,11512,end climb,SURFACE_DEPTH_REACHED
$STATE,11512,begin surface coast
$FREEZE,1.25,-1.202,-1.417,2,1,0
$FREEZE,0.95,-1.204,-1.417,2,1,0
$FREEZE,0.80,-1.204,-1.417,2,1,0
$FREEZE,0.80,-1.169,-0.254,2,1,0
$FINISH,0.8,1.003533
$STATE,11531,end surface coast,FINISH_DEPTH_REACHED
$STATE,11531,begin surface
$SM_CCo,11610,0.00,0.000,0,0,494,677.76
$SM_GC,1.92,9.38,2.58,0.00,0.075,0.094,0.000,202,2757,494,-8.37,-0.76,677.76,0,0,0,0,0,0,14.23,14.19,28.83
$RAFOS_CLK,74
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14437.64,300814,141342
$TT8_MAMPS,0.044191,0.044191
$HUMID,42.16
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,4
$SC_FREEKB,3827552
$24V_AH,12.69,75.440
$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,23.275,53.625,545.450,0.000,0.000,0.000,0.000,462.750,1.000,0.000,27.269,0.000,9303.372,607.238,2143.687,225.851,0.000,1758.778,0.000,1248.271,1437.000,0.539,0.000
$DEVICE_MAMPS,394.740,104.805,1976.760,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.476,0.000,0.000,0.000
$MEM,221272
$DATA_FILE_SIZE,30062,837
$CAP_FILE_SIZE,133332,0
$CFSIZE,2097872896,2043936768
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12394.03,0x2378b6,7,5
$INTR,1,5002.07,0x2378b6,2,5
$INTR,2,5243.21,0x234482,1,24
$SOUNDSPEED,1449.6
$GPS,310814,002554,7348.294,-14440.926,40,0.8,60,23.0