version: 66.12
glider: 196
mission: 7
dive: 263
start: 9 2 114 1 42 52
data:
$ID,196
$MISSION,7
$DIVE,263
$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,-5881.2549
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,020914,013442,7348.441,-14437.446,39,0.8,59,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.8
$GPS2,020914,014232,7348.465,-14437.432,5,0.8,26,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.0,106600,-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,14,begin dive
$GC,16,-0.69,-145.9,160,2740,432,548,0.0,0.0,0,89,0.00,0.00,-71.45,0.000,16386,0.000,0.000,157,2739,2227,2233,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,157,2740,2234,2221,3.7,-4.1,7,140,12.32,1.92,-29.15,0.000,18692,0.398,0.125,2656,3790,3857,3920,3795,0,0,0,0,0,0,13.97,14.21,14.46
$GC,365,-0.69,-145.9,2657,3792,3923,3798,90.8,-25.7,62,371,0.00,1.73,0.00,0.000,1030,0.000,0.052,2655,2759,3859,3922,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,670,-0.69,-145.9,2658,2757,3930,3798,156.9,-20.4,93,675,0.00,1.85,0.00,0.000,260,0.000,0.100,2648,3785,3859,3922,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,870,-0.69,-145.9,2649,3786,3922,3799,198.1,-19.9,133,875,0.00,1.70,0.00,0.000,1030,0.000,0.054,2648,2761,3860,3922,3798,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1180,-0.69,-145.9,2649,2762,3922,3798,251.3,-15.2,165,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.69,-145.9,2649,2762,3922,3799,296.5,-15.0,175,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3860,3922,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.69,-145.9,2649,2761,3923,3797,339.1,-14.0,185,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.69,-145.9,2649,2761,3922,3797,380.4,-13.6,195,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.69,-145.9,2648,2761,3923,3797,420.8,-13.3,205,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.69,-145.9,2648,2761,3923,3797,460.6,-13.2,215,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2760,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.69,-145.9,2649,2758,3922,3798,500.5,-13.2,225,2985,0.00,2.33,0.00,0.000,516,0.000,0.066,2648,1362,3859,3922,3797,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3005,-0.69,-145.9,2649,1362,3923,3796,504.0,-14.1,230,3012,0.15,2.45,0.00,0.000,3078,0.257,0.096,2670,2757,3859,3921,3797,0,0,0,0,0,0,14.37,14.51,28.83
$GC,3311,-0.69,-145.9,2670,2758,3923,3798,539.3,-11.6,241,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.69,-145.9,2671,2758,3922,3799,574.2,-11.6,251,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2757,3859,3921,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.69,-145.9,2670,2758,3923,3798,608.8,-11.5,261,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2758,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.69,-145.9,2670,2758,3923,3798,642.8,-11.3,271,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2758,3859,3922,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.69,-145.9,2669,2758,3923,3798,676.3,-11.1,281,4515,0.00,1.83,0.00,0.000,260,0.000,0.102,2664,3785,3860,3922,3798,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4550,-0.69,-145.9,2665,3785,3923,3799,681.2,-12.6,289,4555,0.00,1.67,0.00,0.000,1030,0.000,0.054,2664,2755,3860,3922,3798,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4871,-0.69,-145.9,2665,2756,3922,3799,718.0,-11.4,303,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2755,3860,3922,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5168,begin apogee
$GC,5172,-0.13,0.0,2665,2755,3923,3799,752.3,-11.5,313,5301,0.68,0.00,126.55,1.996,10244,0.216,0.000,2846,2754,3257,3277,3238,0,0,0,0,0,0,14.40,28.83,13.11
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5304,0.69,145.9,2847,2754,3274,3234,755.7,0.0,317,5437,0.93,1.95,124.80,1.839,10500,0.138,0.103,3113,3790,2662,2666,2658,0,0,0,0,0,0,13.78,13.80,12.67
$GC,5662,0.69,145.9,3113,3790,2664,2648,714.3,15.3,391,5667,0.00,1.80,0.00,0.000,1030,0.000,0.050,3121,2741,2655,2663,2648,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5983,0.69,145.9,3122,2740,2664,2647,670.1,13.8,405,5988,0.00,2.38,0.00,0.000,516,0.000,0.066,3131,1347,2655,2663,2647,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6212,0.69,145.9,3132,1348,2664,2647,641.2,12.2,451,6217,0.00,2.47,0.00,0.000,1030,0.000,0.090,3131,2749,2654,2663,2646,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6522,0.69,145.9,3132,2749,2665,2646,597.8,14.0,463,6528,0.00,2.38,0.00,0.000,516,0.000,0.064,3142,1341,2654,2663,2646,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6567,0.69,145.9,3143,1341,2665,2646,591.9,12.4,472,6573,0.00,2.45,0.00,0.000,1030,0.000,0.090,3142,2740,2654,2663,2646,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6882,0.69,145.9,3143,2742,2664,2647,546.5,14.5,485,6887,0.00,1.88,0.00,0.000,260,0.000,0.097,3142,3790,2655,2664,2646,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6902,0.69,145.9,3143,3790,2665,2646,543.2,15.9,489,6908,0.10,1.73,0.00,0.000,5126,0.261,0.050,3125,2737,2654,2663,2645,0,0,0,0,0,0,14.27,14.53,28.83
$GC,7214,0.69,145.9,3126,2737,2664,2646,501.5,13.3,501,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7512,0.69,145.9,3126,2736,2665,2645,462.0,13.3,511,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,0.69,145.9,3126,2735,2665,2645,422.6,13.1,521,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,0.69,145.9,3126,2736,2665,2645,383.6,12.9,531,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,0.69,145.9,3126,2736,2665,2644,345.4,12.6,541,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,0.69,146.2,3126,2736,2665,2645,309.9,11.6,551,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2736,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,0.70,159.5,3126,2736,2665,2646,276.3,10.9,561,9026,0.00,0.00,12.27,1.350,8198,0.000,0.000,3125,2736,2607,2615,2599,0,0,0,0,0,0,28.83,28.83,13.82
$GC,9314,0.71,180.9,3126,2737,2612,2592,243.0,10.5,575,9334,0.00,0.00,18.25,1.295,8198,0.000,0.000,3125,2736,2518,2526,2511,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9633,0.76,241.3,3126,2733,2521,2506,212.5,8.4,607,9686,0.00,0.00,51.25,1.287,8198,0.000,0.000,3125,2736,2269,2271,2267,0,0,0,0,0,0,28.83,28.83,13.54
$GC,9982,0.79,284.8,3126,2737,2272,2255,179.6,9.3,642,10024,0.00,0.00,36.90,1.282,8198,0.000,0.000,3125,2734,2090,2098,2083,0,0,0,0,0,0,28.83,28.83,13.55
$GC,10324,0.81,315.1,3126,2736,2098,2074,144.7,10.0,676,10355,0.00,2.45,25.77,1.223,8708,0.000,0.067,3134,1348,1965,1971,1960,0,0,0,0,0,0,28.83,14.24,13.64
$GC,10390,0.83,350.8,3134,1348,1966,1959,138.1,9.7,689,10426,0.00,2.47,30.77,1.228,9222,0.000,0.091,3134,2739,1825,1827,1823,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10724,0.85,377.8,3134,2739,1826,1808,103.1,10.2,726,10746,0.10,0.00,20.45,1.170,10758,0.143,0.000,3180,2739,1716,1723,1710,0,0,0,0,0,0,14.28,28.83,13.66
$GC,11044,0.87,402.6,3181,2739,1718,1693,64.2,10.3,760,11060,0.00,2.38,10.07,0.378,8708,0.000,0.068,3190,1354,1615,1626,1605,0,0,0,0,0,0,28.83,14.26,13.99
$GC,11121,0.93,491.7,3191,1354,1632,1605,58.0,6.9,775,11167,0.00,2.47,40.60,0.360,9222,0.000,0.093,3190,2743,1253,1268,1239,0,0,0,0,0,0,28.83,14.23,13.97
$GC,11465,0.99,568.8,3191,2743,1271,1228,31.6,7.5,814,11507,0.00,2.40,35.10,0.298,8708,0.000,0.070,3191,1357,938,941,935,0,0,0,0,0,0,28.83,14.23,14.04
$GC,11543,1.03,635.5,3192,1357,943,936,25.6,8.1,829,11579,0.12,2.47,30.83,0.277,11270,0.135,0.092,3245,2742,666,643,690,0,0,0,0,0,0,14.25,14.21,14.02
$FREEZE,8.64,-0.972,-1.415,2,1,0
$FREEZE,7.93,-0.969,-1.414,2,1,0
$FREEZE,7.11,-0.965,-1.413,2,1,0
$FREEZE,6.49,-0.964,-1.412,2,1,0
$FREEZE,5.83,-0.962,-1.412,2,1,0
$FREEZE,5.25,-0.963,-1.411,2,1,0
$FREEZE,4.56,-0.965,-1.411,2,1,0
$FREEZE,3.85,-0.969,-1.410,2,1,0
$FREEZE,3.21,-0.968,-1.409,2,1,0
$FREEZE,2.55,-0.968,-1.409,2,1,0
$FREEZE,1.84,-0.971,-1.408,2,1,0
$STATE,11825,end climb,SURFACE_DEPTH_REACHED
$STATE,11825,begin surface coast
$FREEZE,1.22,-0.983,-1.407,2,1,0
$FREEZE,0.71,-0.996,-1.406,2,1,0
$FINISH,0.7,1.020747
$STATE,11845,end surface coast,CONTROL_FINISHED_OK
$STATE,11845,begin surface
$SM_CCo,11862,18.60,0.201,0,0,498,676.54
$SM_GC,1.46,9.38,0.00,18.60,0.083,0.000,0.201,204,2743,498,-8.36,-0.51,676.54,0,0,0,0,0,0,14.32,28.83,14.19
$RAFOS_CLK,178
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14440.28,010914,220645
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.62
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3820800
$24V_AH,12.67,80.345
$10V_AH,12.80,0.000
$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,23.775,47.150,563.625,18.600,0.000,0.000,0.000,276.975,1.250,0.000,27.565,0.000,9483.688,643.702,2030.887,190.753,0.000,1614.970,0.000,1286.495,1498.000,0.540,0.000
$DEVICE_MAMPS,397.800,125.460,1995.885,201.195,0.000,0.000,0.000,156.060,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11897.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.607,0.000,0.000,0.000
$MEM,212520
$DATA_FILE_SIZE,30039,863
$CAP_FILE_SIZE,132161,0
$CFSIZE,2097872896,2041053184
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12531.30,0x2378b6,7,5
$INTR,1,5170.51,0x2378b6,2,5
$INTR,2,11849.75,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,020914,050224,7349.415,-14433.386,41,0.8,61,23.1