version: 66.12
glider: 196
mission: 7
dive: 274
start: 9 3 114 16 22 57
data:
$ID,196
$MISSION,7
$DIVE,274
$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,-5895.1201
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,030914,161531,7400.211,-14402.424,13,0.7,33,23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.8
$GPS2,030914,162241,7400.209,-14402.503,6,0.9,26,23.3
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.0,78902,-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,-145.9,202,2768,439,548,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,16386,0.000,0.000,201,2774,2238,2246,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2768,2248,2232,3.4,-3.3,7,138,12.02,1.88,-29.20,0.000,18692,0.393,0.122,2655,3791,3857,3921,3793,0,0,0,0,0,0,13.91,14.19,14.42
$GC,362,-0.69,-145.9,2655,3791,3921,3796,88.9,-25.8,61,368,0.00,1.75,0.00,0.000,1030,0.000,0.050,2655,2748,3858,3921,3796,0,0,0,0,0,0,28.83,14.30,28.83
$GC,673,-0.69,-145.9,2656,2748,3922,3797,154.8,-19.7,93,678,0.00,1.85,0.00,0.000,260,0.000,0.099,2647,3772,3858,3921,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,842,-0.69,-145.9,2648,3773,3921,3797,190.2,-20.2,127,848,0.00,1.70,0.00,0.000,1030,0.000,0.053,2647,2749,3858,3920,3796,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1153,-0.69,-145.9,2647,2749,3922,3796,246.4,-16.7,159,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2749,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.69,-145.9,2647,2748,3922,3796,293.0,-15.3,171,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,-0.69,-145.9,2647,2748,3921,3795,336.7,-14.3,181,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.69,-145.9,2648,2749,3921,3797,378.4,-13.7,191,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.69,-145.9,2648,2749,3922,3796,419.1,-13.4,201,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-0.69,-145.9,2646,2748,3922,3796,458.8,-13.2,211,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-0.69,-145.9,2648,2749,3921,3797,498.6,-13.2,221,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2749,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.69,-145.9,2647,2748,3922,3796,537.6,-13.0,231,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2749,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3553,-0.69,-145.9,2648,2749,3922,3797,576.4,-12.9,241,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-0.69,-145.9,2648,2749,3922,3796,615.0,-12.8,251,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.69,-145.9,2648,2749,3922,3796,653.5,-12.9,261,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2749,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.69,-145.9,2648,2749,3922,3797,691.4,-12.5,271,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-0.69,-145.9,2648,2750,3922,3797,728.9,-12.5,281,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2748,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4931,begin apogee
$GC,4935,-0.13,0.0,2647,2748,3922,3795,751.3,-12.5,287,5064,0.75,0.00,126.57,2.000,10244,0.229,0.000,2846,2748,3257,3274,3240,0,0,0,0,0,0,14.36,28.83,13.10
$STATE,5065,end apogee,CONTROL_FINISHED_OK
$STATE,5065,begin climb
$GC,5067,0.69,145.9,2847,2749,3272,3236,755.1,0.0,291,5199,0.88,0.00,125.28,1.844,11270,0.122,0.000,3114,2748,2658,2664,2653,0,0,0,0,0,0,13.77,28.83,12.64
$GC,5504,0.69,145.9,3115,2749,2664,2646,709.9,13.2,331,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,0.69,145.9,3114,2748,2664,2645,670.4,13.1,341,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6104,0.69,145.9,3114,2748,2664,2644,631.3,13.0,351,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,0.69,145.9,3115,2749,2663,2645,592.5,12.9,361,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.69,145.9,3115,2749,2663,2645,554.1,12.7,371,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7004,0.69,145.9,3115,2748,2664,2643,516.4,12.5,381,7009,0.00,1.85,0.00,0.000,260,0.000,0.098,3114,3782,2653,2663,2644,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7029,0.69,145.9,3115,3782,2664,2644,513.0,14.5,386,7035,0.00,1.70,0.00,0.000,1030,0.000,0.050,3122,2745,2653,2663,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7334,0.69,145.9,3123,2746,2664,2645,473.9,12.7,397,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2745,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,0.69,145.9,3123,2747,2664,2645,435.8,12.7,407,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2745,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7934,0.69,145.9,3122,2746,2664,2645,397.8,12.6,417,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2745,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,0.69,145.9,3123,2746,2663,2645,360.6,12.3,427,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2745,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,0.69,145.9,3123,2744,2664,2645,324.2,12.0,437,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2745,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,0.69,152.0,3123,2746,2664,2645,289.8,11.3,447,8838,0.00,0.00,2.78,0.967,8198,0.000,0.000,3122,2745,2638,2649,2628,0,0,0,0,0,0,28.83,28.83,13.60
$GC,9134,0.71,176.7,3123,2746,2667,2632,257.8,10.3,457,9165,0.00,0.00,25.00,1.312,8198,0.000,0.000,3122,2745,2531,2539,2523,0,0,0,0,0,0,28.83,28.83,13.86
$GC,9464,0.75,225.5,3123,2746,2540,2521,224.0,9.0,484,9510,0.00,2.38,41.10,1.362,8708,0.000,0.063,3132,1351,2332,2333,2331,0,0,0,0,0,0,28.83,14.26,13.62
$GC,9570,0.78,268.1,3133,1352,2332,2330,214.1,9.4,505,9611,0.00,2.47,35.88,1.403,9222,0.000,0.092,3133,2742,2162,2163,2162,0,0,0,0,0,0,28.83,14.19,13.52
$GC,9916,0.78,268.6,3133,2742,2161,2152,174.5,11.6,544,9921,0.00,1.88,0.00,0.000,260,0.000,0.099,3133,3780,2156,2161,2151,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9950,0.78,268.6,3134,3781,2161,2153,170.2,12.5,551,9957,0.00,1.73,0.00,0.000,1030,0.000,0.050,3140,2747,2156,2161,2151,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10256,0.79,296.1,3141,2744,2162,2149,137.0,10.2,582,10282,0.00,0.00,24.15,1.192,8710,0.000,0.000,3140,2744,2050,2058,2043,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10588,0.82,326.6,3141,2744,2050,2032,103.2,10.0,616,10617,0.00,0.00,23.15,1.158,8710,0.000,0.000,3141,2744,1920,1921,1919,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10917,0.87,398.3,3137,2744,1929,1913,71.6,7.8,650,10953,0.10,2.47,31.10,0.400,10756,0.144,0.067,3196,1344,1634,1637,1631,0,0,0,0,0,0,14.31,14.19,13.96
$GC,10984,0.89,425.8,3197,1342,1641,1631,65.3,10.2,663,11004,0.00,2.47,12.98,0.382,9222,0.000,0.093,3196,2729,1520,1529,1512,0,0,0,0,0,0,28.83,14.19,13.93
$GC,11310,0.95,523.8,3197,2730,1536,1500,36.1,6.4,698,11360,0.00,1.88,43.70,0.297,8452,0.000,0.097,3196,3782,1121,1134,1109,0,0,0,0,0,0,28.83,14.19,14.02
$GC,11391,0.98,566.8,3197,3783,1135,1109,30.0,9.3,714,11415,0.00,1.73,19.83,0.295,9222,0.000,0.051,3203,2732,946,949,943,0,0,0,0,0,0,28.83,14.26,14.00
$FREEZE,8.77,-1.238,-1.435,2,1,0
$FREEZE,8.39,-1.241,-1.434,2,1,0
$FREEZE,7.83,-1.241,-1.433,2,1,0
$FREEZE,7.33,-1.245,-1.433,2,1,0
$FREEZE,6.71,-1.245,-1.432,2,1,0
$GC,11720,1.07,693.3,3204,2732,949,935,10.4,4.9,750,11779,0.12,2.42,50.00,0.223,10756,0.132,0.067,3269,1352,498,447,549,0,0,0,0,0,0,14.30,14.20,14.08
$FREEZE,5.53,-1.252,-1.431,2,1,0
$FREEZE,5.23,-1.256,-1.430,2,1,0
$FREEZE,4.76,-1.256,-1.429,2,1,0
$FREEZE,4.31,-1.273,-1.429,2,1,0
$FREEZE,3.88,-1.273,-1.428,2,1,0
$FREEZE,3.43,-1.283,-1.428,2,1,0
$FREEZE,2.96,-1.283,-1.427,2,1,0
$FREEZE,2.59,-1.295,-1.424,2,1,0
$FREEZE,2.22,-1.295,-1.423,2,1,0
$FREEZE,1.70,-1.261,-1.419,2,1,0
$STATE,11828,end climb,SURFACE_DEPTH_REACHED
$STATE,11828,begin surface coast
$FREEZE,1.22,-1.261,-1.419,2,1,0
$FREEZE,0.92,-1.173,-1.414,2,1,0
$FREEZE,0.66,-1.173,-1.414,2,1,0
$FINISH,0.7,1.020854
$STATE,11845,end surface coast,CONTROL_FINISHED_OK
$STATE,11845,begin surface
$SM_CCo,11924,0.00,0.000,0,0,495,677.76
$SM_GC,1.83,9.40,2.58,0.00,0.078,0.097,0.000,199,2757,495,-8.37,-0.71,677.76,0,0,0,0,0,0,14.34,14.27,28.83
$RAFOS_CLK,573
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14404.11,030914,125011
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.99
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,13.20
$XPDR_PINGS,9
$SC_FREEKB,3815872
$24V_AH,12.64,83.943
$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,23.275,32.725,561.500,0.000,0.000,0.000,0.000,239.825,2.250,0.000,27.222,0.000,9739.449,605.015,1823.303,178.927,0.000,1482.753,0.000,1157.384,0.000,0.540,0.000
$DEVICE_MAMPS,393.210,121.635,1999.710,0.000,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.445,0.000,0.000,0.000
$MEM,205992
$DATA_FILE_SIZE,26702,773
$CAP_FILE_SIZE,123885,0
$CFSIZE,2097872896,2038923264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12509.30,0x2378b6,7,5
$INTR,1,4932.92,0x2378b6,2,5
$SOUNDSPEED,1447.8
$GPS,030914,194251,7401.386,-14359.124,22,0.8,42,23.3