version: 66.12
glider: 196
mission: 7
dive: 270
start: 9 3 114 2 11 32
data:
$ID,196
$MISSION,7
$DIVE,270
$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,-5890.082
$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,53
$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
$GPS1,030914,020354,7355.724,-14414.675,31,0.8,51,23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-79.0
$GPS2,030914,021112,7355.748,-14414.615,5,0.8,25,23.2
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.1,89093,-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,-145.9,202,2738,435,549,0.0,0.0,0,89,0.00,0.00,-71.32,0.000,16386,0.000,0.000,201,2738,2216,2224,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,202,2738,2225,2210,3.3,-2.9,7,140,12.12,2.35,-30.65,0.000,19204,0.397,0.086,2665,1368,3854,3919,3790,0,0,0,0,0,0,13.97,14.22,14.47
$GC,365,-0.69,-145.9,2666,1368,3917,3795,80.3,-21.1,62,372,0.00,2.53,0.00,0.000,1030,0.000,0.096,2656,2752,3857,3920,3795,0,0,0,0,0,0,28.83,14.23,28.83
$GC,670,-0.69,-145.9,2657,2754,3919,3796,145.8,-20.2,93,675,0.00,2.35,0.00,0.000,516,0.000,0.064,2656,1366,3857,3919,3795,0,0,0,0,0,0,28.83,14.32,28.83
$GC,900,-0.69,-145.9,2657,1366,3920,3795,186.0,-17.0,139,905,0.00,2.50,0.00,0.000,1030,0.000,0.096,2645,2769,3857,3919,3795,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1210,-0.69,-145.9,2646,2770,3921,3795,242.4,-16.7,171,1215,0.00,2.38,0.00,0.000,516,0.000,0.063,2645,1362,3857,3920,3794,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1285,-0.69,-145.9,2646,1362,3921,3795,253.9,-14.7,186,1290,0.15,2.50,0.00,0.000,3078,0.269,0.096,2665,2774,3857,3919,3795,0,0,0,0,0,0,14.26,14.41,28.83
$GC,1601,-0.69,-145.9,2667,2771,3920,3796,297.1,-13.4,199,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2774,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.69,-145.9,2666,2774,3921,3794,336.0,-12.8,209,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2774,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.69,-145.9,2666,2774,3921,3794,373.7,-12.1,219,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2780,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.69,-145.9,2666,2774,3920,3796,410.2,-12.1,229,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2774,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.69,-145.9,2666,2774,3921,3795,446.1,-11.9,239,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2774,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.69,-145.9,2667,2776,3920,3794,481.6,-11.9,249,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2773,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.69,-145.9,2666,2774,3920,3796,516.8,-11.6,259,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2774,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-0.69,-145.9,2666,2775,3920,3796,551.8,-11.6,269,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2774,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.69,-145.9,2666,2774,3921,3794,586.3,-11.5,279,4005,0.00,1.80,0.00,0.000,260,0.000,0.102,2660,3781,3857,3920,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4055,-0.69,-145.9,2661,3782,3921,3795,593.3,-12.9,290,4061,0.00,1.67,0.00,0.000,1030,0.000,0.055,2660,2763,3857,3920,3795,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4360,-0.69,-145.9,2661,2763,3921,3795,630.0,-11.9,301,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.69,-145.9,2661,2763,3921,3793,665.4,-11.8,311,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2765,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4960,-0.69,-145.9,2661,2764,3920,3796,700.3,-11.6,321,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,-0.69,-145.9,2661,2763,3921,3795,734.8,-11.5,331,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5408,begin apogee
$GC,5413,-0.13,0.0,2661,2763,3921,3795,752.0,-11.4,336,5542,0.70,0.00,126.50,1.994,10244,0.218,0.000,2848,2762,3256,3276,3237,0,0,0,0,0,0,14.38,28.83,13.11
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5544,0.69,145.9,2848,2763,3273,3233,755.5,0.0,340,5678,0.90,1.92,124.75,1.843,10500,0.137,0.104,3111,3784,2662,2667,2657,0,0,0,0,0,0,13.78,13.80,12.65
$GC,5902,0.69,145.9,3111,3785,2665,2648,714.4,15.3,414,5907,0.00,1.80,0.00,0.000,1030,0.000,0.050,3120,2737,2656,2664,2648,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6224,0.69,145.9,3121,2737,2671,2648,670.9,13.5,428,6228,0.00,2.35,0.00,0.000,516,0.000,0.064,3130,1348,2655,2664,2646,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6462,0.69,145.9,3131,1350,2665,2647,642.0,12.4,474,6467,0.00,2.47,0.00,0.000,1030,0.000,0.090,3130,2747,2655,2665,2646,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6772,0.69,145.9,3131,2748,2665,2647,598.1,13.9,486,6777,0.00,2.38,0.00,0.000,516,0.000,0.063,3141,1344,2654,2664,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6796,0.69,145.9,3142,1345,2666,2646,594.7,13.2,491,6803,0.00,2.45,0.00,0.000,1030,0.000,0.090,3141,2741,2653,2664,2643,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7102,0.69,145.9,3141,2742,2665,2646,551.1,14.3,502,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2741,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7402,0.69,145.9,3141,2742,2666,2645,508.0,14.5,512,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2741,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,0.69,145.9,3141,2741,2666,2645,465.8,14.0,522,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2741,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8004,0.69,145.9,3142,2742,2665,2646,424.0,14.0,532,8008,0.10,1.83,0.00,0.000,4356,0.272,0.093,3123,3788,2654,2664,2645,0,0,0,0,0,0,14.30,14.41,28.83
$GC,8033,0.69,145.9,3123,3789,2666,2645,419.6,14.3,538,8038,0.00,1.73,0.00,0.000,1030,0.000,0.050,3128,2737,2657,2669,2645,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8364,0.69,145.9,3128,2737,2666,2645,376.3,12.9,554,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8663,0.69,145.9,3132,2738,2665,2645,338.8,12.4,564,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2737,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8963,0.69,145.9,3128,2737,2666,2645,303.1,11.7,574,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,0.70,166.3,3129,2738,2666,2646,270.5,10.5,584,9283,0.00,0.00,17.92,1.331,8198,0.000,0.000,3128,2737,2579,2587,2571,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9563,0.73,201.2,3128,2736,2583,2562,238.4,9.8,600,9595,0.00,0.00,29.60,1.310,8198,0.000,0.000,3128,2737,2433,2440,2427,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9894,0.76,242.9,3129,2737,2438,2421,204.6,9.4,633,9934,0.00,0.00,35.38,1.331,8198,0.000,0.000,3128,2736,2260,2266,2255,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10234,0.78,278.7,3129,2737,2272,2248,170.6,9.7,667,10269,0.00,2.38,30.62,1.284,8708,0.000,0.063,3139,1346,2114,2121,2107,0,0,0,0,0,0,28.83,14.23,13.63
$GC,10324,0.81,311.0,3139,1346,2118,2105,161.9,9.9,685,10356,0.00,2.50,27.38,1.287,9222,0.000,0.092,3138,2745,1989,1995,1983,0,0,0,0,0,0,28.83,14.24,13.55
$GC,10654,0.81,323.1,3139,2746,1993,1967,126.0,11.0,721,10666,0.00,0.00,9.85,1.245,8710,0.000,0.000,3138,2745,1939,1946,1933,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10964,0.84,363.4,3140,2746,1945,1927,94.3,9.5,753,10986,0.00,2.45,17.80,0.481,8708,0.000,0.066,3147,1356,1774,1775,1773,0,0,0,0,0,0,28.83,14.28,13.95
$GC,11051,0.87,396.6,3148,1355,1785,1772,86.0,9.9,770,11072,0.00,2.47,15.75,0.448,9222,0.000,0.093,3144,2743,1641,1648,1634,0,0,0,0,0,0,28.83,14.26,13.92
$GC,11378,0.91,453.3,3148,2745,1654,1634,55.3,8.6,805,11409,0.12,2.45,25.52,0.351,10756,0.125,0.066,3212,1357,1410,1424,1397,0,0,0,0,0,0,14.32,14.26,13.98
$GC,11450,0.95,517.5,3213,1357,1425,1395,48.6,8.2,819,11485,0.00,2.45,29.42,0.332,9222,0.000,0.093,3213,2734,1148,1160,1136,0,0,0,0,0,0,28.83,14.23,13.99
$GC,11789,1.02,617.2,3218,2734,1162,1122,19.3,6.3,857,11841,0.00,2.38,45.25,0.256,8708,0.000,0.064,3219,1354,740,730,751,0,0,0,0,0,0,28.83,14.23,14.04
$GC,11876,1.09,724.2,3220,1355,732,752,14.3,5.9,870,11912,0.00,2.45,27.42,0.240,9222,0.000,0.091,3219,2731,498,447,549,0,0,0,0,0,0,28.83,14.16,14.03
$FREEZE,8.40,-1.141,-1.430,2,1,0
$FREEZE,7.77,-1.158,-1.428,2,1,0
$FREEZE,7.24,-1.169,-1.428,2,1,0
$FREEZE,6.63,-1.170,-1.427,2,1,0
$FREEZE,5.90,-1.182,-1.426,2,1,0
$FREEZE,5.31,-1.186,-1.426,2,1,0
$FREEZE,4.79,-1.190,-1.425,2,1,0
$FREEZE,4.17,-1.191,-1.423,2,1,0
$FREEZE,3.55,-1.162,-1.420,2,1,0
$FREEZE,2.97,-1.131,-1.418,2,1,0
$FREEZE,2.49,-1.119,-1.417,2,1,0
$FREEZE,1.82,-1.112,-1.416,2,1,0
$STATE,12079,end climb,SURFACE_DEPTH_REACHED
$STATE,12079,begin surface coast
$FREEZE,1.27,-1.109,-1.415,2,1,0
$FREEZE,0.71,-1.110,-1.415,2,1,0
$FREEZE,0.64,-1.112,-0.788,2,1,0
$FINISH,0.6,1.011605
$STATE,12109,end surface coast,FINISH_DEPTH_REACHED
$STATE,12109,begin surface
$SM_CCo,12186,0.00,0.000,0,0,493,678.25
$SM_GC,1.80,9.23,0.00,0.00,0.078,0.000,0.000,205,2731,493,-8.35,-0.82,678.25,0,0,0,0,0,0,14.34,28.83,28.83
$RAFOS_CLK,284
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14422.33,020914,223320
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.92
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3817664
$24V_AH,12.65,82.634
$10V_AH,12.78,0.000
$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,23.325,54.525,563.175,0.000,0.000,0.000,0.000,244.200,1.250,0.000,26.870,0.000,9736.627,630.350,2057.000,194.855,0.000,1592.615,0.000,1340.570,1498.000,0.539,0.000
$DEVICE_MAMPS,397.035,104.040,1994.355,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,17.991,0.000,0.000,0.000
$MEM,208360
$DATA_FILE_SIZE,30013,897
$CAP_FILE_SIZE,135903,0
$CFSIZE,2097872896,2039676928
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12801.37,0x2378b6,7,5
$INTR,1,5410.58,0x2378b6,2,5
$INTR,2,12113.71,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,030914,053554,7356.731,-14412.652,28,0.9,48,23.2