version: 66.12
glider: 196
mission: 7
dive: 253
start: 8 31 114 14 28 48
data:
$ID,196
$MISSION,7
$DIVE,253
$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,-5686.5283
$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
$GPS1,310814,142118,7343.514,-14455.339,38,0.8,58,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.2
$GPS2,310814,142828,7343.534,-14455.282,5,0.9,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.6,10080,-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,-145.9,207,2734,440,550,0.0,0.0,0,90,0.00,0.00,-72.32,0.000,16386,0.000,0.000,206,2734,2272,2282,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,207,2734,2284,2263,3.6,-3.6,7,141,12.07,2.38,-28.17,0.000,18948,0.397,0.089,2664,1379,3858,3922,3794,0,0,0,0,0,0,13.99,14.23,14.47
$GC,271,-0.69,-145.9,2665,1380,3922,3797,60.7,-26.3,43,276,0.00,2.47,0.00,0.000,1030,0.000,0.095,2655,2758,3858,3921,3796,0,0,0,0,0,0,28.83,14.26,28.83
$GC,581,-0.69,-145.9,2656,2760,3923,3797,132.9,-21.9,75,586,0.00,1.85,0.00,0.000,260,0.000,0.100,2647,3786,3858,3922,3795,0,0,0,0,0,0,28.83,14.28,28.83
$GC,611,-0.69,-145.9,2648,3787,3923,3797,139.6,-23.3,81,616,0.00,1.70,0.00,0.000,1030,0.000,0.052,2647,2758,3859,3922,3796,0,0,0,0,0,0,28.83,14.39,28.83
$GC,921,-0.69,-145.9,2648,2757,3924,3796,201.3,-19.0,113,926,0.00,2.33,0.00,0.000,516,0.000,0.065,2647,1375,3859,3922,3796,0,0,0,0,0,0,28.83,14.43,28.83
$GC,961,-0.69,-145.9,2648,1374,3921,3797,208.5,-16.9,121,966,0.15,2.47,0.00,0.000,3078,0.265,0.097,2667,2766,3859,3922,3796,0,0,0,0,0,0,14.26,14.40,28.83
$GC,1291,-0.69,-145.9,2668,2767,3923,3796,259.6,-14.5,151,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.69,-145.9,2668,2767,3922,3796,300.6,-13.5,161,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-0.69,-145.9,2668,2773,3923,3798,339.7,-12.9,171,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2766,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.69,-145.9,2668,2768,3922,3797,377.1,-12.4,181,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2773,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,-0.69,-145.9,2668,2768,3922,3797,413.5,-12.0,191,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-0.69,-145.9,2668,2767,3922,3796,449.9,-12.1,201,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-0.69,-145.9,2668,2768,3922,3798,485.8,-12.1,211,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.69,-145.9,2668,2767,3923,3796,521.0,-11.6,221,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.69,-145.9,2668,2768,3922,3797,555.8,-11.6,231,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.69,-145.9,2668,2768,3923,3796,590.8,-11.6,241,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.69,-145.9,2668,2767,3923,3796,625.3,-11.5,251,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.69,-145.9,2668,2767,3922,3798,659.5,-11.4,261,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.69,-145.9,2668,2772,3923,3795,693.7,-11.5,271,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3856,3917,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.69,-145.9,2668,2767,3923,3797,727.4,-11.2,281,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2767,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5399,begin apogee
$GC,5403,-0.13,0.0,2668,2767,3922,3796,750.7,-11.1,288,5533,0.65,0.00,126.62,2.003,10244,0.215,0.000,2846,2767,3257,3277,3238,0,0,0,0,0,0,14.42,28.83,13.07
$STATE,5534,end apogee,CONTROL_FINISHED_OK
$STATE,5534,begin climb
$GC,5535,0.69,145.9,2846,2767,3274,3234,754.1,0.0,292,5668,0.90,1.92,124.57,1.843,10500,0.135,0.102,3108,3788,2660,2665,2656,0,0,0,0,0,0,13.74,13.77,12.66
$GC,5893,0.69,145.9,3109,3788,2663,2646,713.2,15.2,366,5898,0.00,1.80,0.00,0.000,1030,0.000,0.049,3116,2745,2654,2662,2646,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6214,0.69,145.9,3117,2745,2664,2645,670.2,13.4,380,6219,0.00,2.40,0.00,0.000,516,0.000,0.065,3126,1347,2653,2663,2643,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6443,0.69,145.9,3127,1347,2664,2644,641.7,12.2,426,6448,0.00,2.47,0.00,0.000,1030,0.000,0.090,3127,2742,2653,2663,2643,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6753,0.69,145.9,3133,2742,2664,2645,599.4,13.8,438,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,0.69,145.9,3127,2742,2666,2643,558.0,13.7,448,7058,0.00,2.38,0.00,0.000,516,0.000,0.063,3137,1337,2653,2663,2643,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7068,0.69,145.9,3138,1337,2664,2643,555.9,13.8,451,7073,0.00,2.47,0.00,0.000,1030,0.000,0.090,3138,2749,2653,2663,2643,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7383,0.69,145.9,3138,2750,2664,2644,511.1,14.3,464,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2749,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7683,0.69,145.9,3138,2750,2664,2644,469.0,14.0,474,7688,0.00,1.85,0.00,0.000,260,0.000,0.097,3137,3786,2653,2663,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7698,0.69,145.9,3139,3787,2664,2644,466.7,14.3,477,7703,0.00,1.73,0.00,0.000,1030,0.000,0.049,3145,2731,2653,2663,2643,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8014,0.69,145.9,3146,2732,2664,2644,421.0,14.3,490,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2731,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,0.69,145.9,3145,2731,2664,2643,378.3,14.1,500,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2731,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,0.69,145.9,3146,2731,2664,2643,337.4,13.5,510,8618,0.00,1.88,0.00,0.000,260,0.000,0.097,3145,3785,2653,2663,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8658,0.69,145.9,3146,3785,2664,2644,330.6,15.5,519,8664,0.10,1.70,0.00,0.000,5126,0.261,0.050,3127,2743,2653,2663,2643,0,0,0,0,0,0,14.26,14.64,28.83
$GC,8974,0.69,145.9,3128,2743,2664,2644,292.0,11.8,532,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,0.70,163.0,3128,2742,2664,2643,259.1,10.7,542,9294,0.00,2.33,14.75,1.322,8708,0.000,0.065,3137,1348,2586,2594,2578,0,0,0,0,0,0,28.83,14.50,13.97
$GC,9343,0.72,187.2,3137,1351,2594,2578,252.0,10.3,556,9369,0.00,2.42,20.52,1.294,9222,0.000,0.090,3137,2738,2488,2493,2484,0,0,0,0,0,0,28.83,14.48,13.83
$GC,9674,0.74,212.6,3137,2738,2493,2480,214.6,10.3,592,9697,0.00,0.00,21.42,1.261,8454,0.000,0.000,3137,2737,2390,2394,2386,0,0,0,0,0,0,28.83,28.83,13.77
$GC,9995,0.77,259.1,3137,2738,2392,2376,182.4,9.2,625,10036,0.00,0.00,39.35,1.236,8198,0.000,0.000,3137,2737,2201,2204,2199,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10335,0.79,284.9,3137,2738,2201,2185,146.8,10.3,659,10360,0.00,0.00,21.92,1.216,8710,0.000,0.000,3137,2738,2093,2099,2087,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10666,0.81,318.4,3137,2738,2099,2077,114.0,9.8,694,10696,0.00,0.00,26.15,1.174,8198,0.000,0.000,3137,2737,1953,1956,1951,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10995,0.84,364.2,3138,2738,1955,1944,81.7,9.2,727,11016,0.00,0.00,19.67,0.435,8198,0.000,0.000,3135,2737,1772,1775,1770,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11315,0.91,462.8,3138,2737,1784,1765,55.7,6.4,759,11366,0.15,0.00,44.60,0.353,10246,0.106,0.000,3202,2737,1370,1385,1356,0,0,0,0,0,0,14.35,28.83,13.97
$GC,11664,0.96,532.0,3203,2737,1389,1341,25.8,7.9,794,11701,0.00,2.38,31.33,0.279,8708,0.000,0.065,3208,1355,1086,1098,1075,0,0,0,0,0,0,28.83,14.25,14.06
$GC,11731,1.03,628.7,3208,1355,1101,1074,20.9,6.5,807,11781,0.00,2.45,43.88,0.261,9222,0.000,0.090,3208,2729,693,675,712,0,0,0,0,0,0,28.83,14.22,14.04
$FREEZE,8.79,-0.940,-1.422,2,1,0
$FREEZE,8.26,-0.991,-1.420,2,1,0
$FREEZE,7.80,-1.043,-1.419,2,1,0
$FREEZE,7.34,-1.064,-1.418,2,1,0
$FREEZE,6.83,-1.081,-1.417,2,1,0
$FREEZE,6.32,-1.075,-1.417,2,1,0
$FREEZE,5.74,-1.086,-1.416,2,1,0
$FREEZE,5.24,-1.085,-1.415,2,1,0
$FREEZE,4.76,-1.087,-1.415,2,1,0
$FREEZE,4.29,-1.087,-1.415,2,1,0
$FREEZE,3.83,-1.092,-1.414,2,1,0
$FREEZE,3.26,-1.097,-1.413,2,1,0
$FREEZE,2.73,-1.093,-1.413,2,1,0
$FREEZE,2.23,-1.097,-1.412,2,1,0
$FREEZE,1.82,-1.098,-1.412,2,1,0
$STATE,12084,end climb,SURFACE_DEPTH_REACHED
$STATE,12084,begin surface coast
$FREEZE,1.24,-1.114,-1.411,2,1,0
$FREEZE,0.74,-1.169,-1.410,2,1,0
$FREEZE,0.73,-1.194,-0.705,2,1,0
$FINISH,0.7,1.010342
$STATE,12114,end surface coast,FINISH_DEPTH_REACHED
$STATE,12114,begin surface
$SM_CCo,12131,21.60,0.202,0,0,499,676.54
$SM_GC,1.57,9.20,0.03,21.60,0.079,0.341,0.202,207,2764,499,-8.35,-0.85,676.54,0,0,0,0,0,0,14.35,14.35,14.19
$RAFOS_CLK,328
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14440.28,310814,105520
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.84
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,9
$SC_FREEKB,3825312
$24V_AH,12.66,77.038
$10V_AH,12.76,0.000
$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,23.225,43.400,534.800,21.600,0.000,0.000,0.000,247.425,2.250,0.000,26.952,0.000,9801.187,531.748,2071.242,178.232,0.000,1552.226,0.000,1267.552,1479.000,0.539,0.000
$DEVICE_MAMPS,397.035,341.190,2002.770,201.960,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12161.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.800,0.000,0.000,0.000
$MEM,218396
$DATA_FILE_SIZE,30000,851
$CAP_FILE_SIZE,133357,0
$CFSIZE,2097872896,2043019264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12548.40,0x2378b6,7,5
$INTR,1,5401.38,0x2378b6,2,5
$SOUNDSPEED,1449.7
$GPS,310814,175248,7342.534,-14459.410,36,0.8,56,22.9