version: 66.12
glider: 196
mission: 7
dive: 276
start: 9 3 114 23 29 23
data:
$ID,196
$MISSION,7
$DIVE,276
$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,-5897.6416
$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,51
$R_STBD_OVSHOOT,18
$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
$GPS1,030914,232154,7402.634,-14356.270,25,0.9,45,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.6
$GPS2,030914,232907,7402.618,-14356.181,5,0.9,25,23.4
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,11.9,73464,-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,-145.9,205,2758,428,548,0.0,0.0,0,90,0.00,0.00,-72.20,0.000,16386,0.000,0.000,204,2759,2229,2238,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,205,2760,2238,2219,3.1,-2.4,7,141,12.07,2.38,-30.67,0.000,18948,0.395,0.086,2666,1371,3854,3919,3789,0,0,0,0,0,0,13.96,14.24,14.47
$GC,321,-0.69,-145.9,2666,1370,3919,3795,68.6,-22.4,53,326,0.00,2.50,0.00,0.000,1030,0.000,0.096,2657,2766,3856,3919,3794,0,0,0,0,0,0,28.83,14.26,28.83
$GC,631,-0.69,-145.9,2657,2767,3920,3794,137.6,-20.7,85,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-0.69,-145.9,2658,2767,3919,3795,195.7,-18.3,115,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1231,-0.69,-145.9,2658,2767,3917,3795,247.2,-16.0,145,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2765,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-0.69,-145.9,2658,2766,3920,3794,293.6,-14.1,157,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.69,-145.9,2658,2767,3919,3795,334.3,-13.4,167,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2766,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-0.69,-145.9,2658,2767,3920,3795,373.4,-12.9,177,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2767,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.69,-145.9,2657,2767,3919,3795,411.9,-12.9,187,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2767,3853,3918,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.69,-145.9,2654,2766,3920,3794,449.8,-12.6,197,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2766,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.69,-145.9,2658,2767,3921,3794,487.5,-12.5,207,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,-0.69,-145.9,2657,2767,3919,3795,524.7,-12.4,217,3356,0.00,2.35,0.00,0.000,516,0.000,0.066,2657,1369,3856,3919,3794,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3371,-0.69,-145.9,2657,1369,3920,3794,527.3,-12.8,221,3376,0.00,2.47,0.00,0.000,1030,0.000,0.096,2646,2766,3856,3919,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3681,-0.69,-145.9,2647,2766,3919,3795,567.3,-13.0,233,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2765,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.69,-145.9,2647,2766,3919,3795,605.9,-12.8,243,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2765,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.69,-145.9,2647,2766,3920,3794,643.9,-12.6,253,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2765,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-0.69,-145.9,2647,2766,3920,3795,681.0,-12.4,263,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2765,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.69,-145.9,2652,2766,3920,3795,718.1,-12.3,273,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2766,3854,3914,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5154,-0.13,0.0,2647,2767,3919,3796,751.6,-12.5,282,5283,0.75,0.00,126.05,2.002,10246,0.225,0.000,2845,2766,3256,3276,3237,0,0,0,0,0,0,14.33,28.83,13.09
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,0.69,145.9,2847,2766,3275,3235,755.2,0.0,286,5416,0.90,0.00,127.38,1.846,10246,0.120,0.000,3114,2766,2661,2667,2656,0,0,0,0,0,0,13.78,28.83,12.64
$GC,5691,0.69,145.9,3115,2766,2666,2644,713.6,13.3,300,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5991,0.69,145.9,3115,2766,2665,2644,673.9,13.2,310,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6291,0.69,145.9,3115,2767,2664,2645,634.6,13.1,320,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2766,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,0.69,145.9,3116,2767,2664,2644,595.5,13.0,330,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2766,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,0.69,145.9,3115,2767,2664,2644,556.9,12.9,340,6896,0.00,2.38,0.00,0.000,516,0.000,0.064,3125,1347,2653,2663,2643,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6926,0.69,145.9,3126,1348,2664,2644,552.6,12.2,347,6931,0.00,2.42,0.00,0.000,1030,0.000,0.090,3126,2739,2653,2663,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7252,0.69,145.9,3126,2745,2665,2648,509.7,13.2,362,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,0.69,145.9,3126,2739,2665,2644,470.0,13.2,372,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,0.69,145.9,3126,2740,2665,2643,430.7,13.1,382,7856,0.00,1.83,0.00,0.000,260,0.000,0.096,3125,3785,2653,2664,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7871,0.69,145.9,3126,3784,2664,2644,427.8,14.6,386,7876,0.00,1.73,0.00,0.000,1030,0.000,0.050,3133,2732,2653,2664,2643,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8181,0.69,145.9,3134,2732,2665,2644,386.3,13.3,398,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2731,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,0.69,145.9,3133,2731,2665,2643,347.4,12.8,408,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2731,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,0.69,145.9,3133,2731,2666,2643,310.0,12.3,418,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2731,2651,2664,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9081,0.69,151.7,3134,2732,2665,2644,274.8,11.3,428,9085,0.00,0.00,2.60,0.884,8198,0.000,0.000,3133,2731,2639,2651,2628,0,0,0,0,0,0,28.83,28.83,13.58
$GC,9382,0.72,195.4,3134,2732,2671,2630,243.5,9.3,442,9427,0.00,2.33,40.30,1.278,8708,0.000,0.063,3143,1350,2454,2460,2449,0,0,0,0,0,0,28.83,14.39,13.77
$GC,9447,0.74,223.8,3144,1351,2457,2450,237.1,10.1,451,9478,0.00,2.45,23.70,1.301,9222,0.000,0.091,3143,2743,2341,2341,2341,0,0,0,0,0,0,28.83,14.35,13.66
$GC,9782,0.76,250.8,3144,2743,2342,2334,199.0,10.2,488,9808,0.00,0.00,22.88,1.270,8710,0.000,0.000,3143,2743,2232,2235,2230,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10114,0.78,270.3,3144,2747,2236,2223,163.6,10.6,524,10139,0.00,2.42,17.50,1.257,8708,0.000,0.065,3151,1353,2149,2154,2145,0,0,0,0,0,0,28.83,14.29,13.71
$GC,10195,0.80,296.2,3152,1354,2153,2146,155.2,10.3,540,10222,0.00,2.45,22.40,1.240,9222,0.000,0.091,3151,2740,2048,2052,2044,0,0,0,0,0,0,28.83,14.27,13.65
$GC,10528,0.81,310.6,3152,2741,2050,2034,118.0,10.9,576,10540,0.00,0.00,10.00,1.243,8198,0.000,0.000,3151,2741,1990,1997,1983,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10838,0.84,355.1,3152,2741,1995,1971,86.4,9.3,607,10863,0.00,1.85,19.12,0.451,8452,0.000,0.099,3151,3783,1811,1812,1811,0,0,0,0,0,0,28.83,14.25,13.96
$GC,10909,0.84,355.1,3152,3783,1820,1811,78.7,11.7,621,10913,0.00,1.67,0.00,0.000,1030,0.000,0.051,3157,2752,1815,1819,1811,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11219,0.93,489.0,3158,2752,1819,1807,54.5,4.5,653,11284,0.12,2.47,60.15,0.348,10756,0.124,0.066,3221,1353,1262,1278,1247,0,0,0,0,0,0,14.32,14.22,13.97
$GC,11339,0.96,539.0,3222,1353,1281,1245,45.6,9.0,677,11371,0.00,2.53,22.95,0.325,9222,0.000,0.091,3221,2762,1058,1068,1048,0,0,0,0,0,0,28.83,14.16,13.95
$GC,11669,1.04,647.5,3222,2762,1067,1040,16.1,5.9,713,11725,0.00,1.88,49.10,0.244,8452,0.000,0.099,3221,3779,617,590,644,0,0,0,0,0,0,28.83,14.16,14.05
$FREEZE,8.86,-1.289,-1.432,2,1,0
$FREEZE,8.52,-1.287,-1.431,2,1,0
$FREEZE,8.13,-1.287,-1.431,2,1,0
$FREEZE,7.69,-1.289,-1.431,2,1,0
$FREEZE,7.48,-1.289,-1.430,2,1,0
$FREEZE,7.07,-1.289,-1.430,2,1,0
$GC,11790,1.09,719.9,3222,3781,590,645,7.7,7.8,737,11808,0.00,1.70,13.23,0.220,9222,0.000,0.052,3221,2772,498,447,550,0,0,0,0,0,0,28.83,14.20,14.07
$FREEZE,6.31,-1.293,-1.429,2,1,0
$FREEZE,5.59,-1.299,-1.427,2,1,0
$FREEZE,5.03,-1.308,-1.427,2,1,0
$FREEZE,4.46,-1.311,-1.426,2,1,0
$FREEZE,3.76,-1.314,-1.425,2,1,0
$FREEZE,3.24,-1.309,-1.424,2,1,0
$FREEZE,2.64,-1.292,-1.423,2,1,0
$FREEZE,1.96,-1.272,-1.422,2,1,0
$STATE,11881,end climb,SURFACE_DEPTH_REACHED
$STATE,11881,begin surface coast
$FREEZE,1.34,-1.291,-1.422,2,1,0
$FREEZE,0.85,-1.286,-1.421,2,1,0
$FREEZE,0.86,-1.296,-1.420,2,1,0
$FINISH,0.9,1.020953
$STATE,11912,end surface coast,CONTROL_FINISHED_OK
$STATE,11912,begin surface
$SM_CCo,11988,0.00,0.000,0,0,496,677.52
$SM_GC,1.96,9.12,0.00,0.00,0.067,0.000,0.000,199,2771,496,-8.37,0.28,677.52,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,509
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14353.18,030914,194808
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.92
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,3
$SC_FREEKB,3814976
$24V_AH,12.64,84.596
$10V_AH,12.97,0.000
$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,22.975,39.800,557.350,0.000,0.000,0.000,0.000,239.525,0.750,0.000,26.713,0.000,9782.887,632.630,1804.916,191.355,0.000,1481.233,0.000,1132.883,1428.000,0.539,0.000
$DEVICE_MAMPS,394.740,99.450,2002.005,0.000,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11952.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.206,0.000,0.000,0.000
$MEM,204776
$DATA_FILE_SIZE,26704,751
$CAP_FILE_SIZE,125893,0
$CFSIZE,2097872896,2038562816
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12971.46,0x2378b6,7,5
$INTR,1,5151.40,0x2378b6,2,5
$INTR,2,10209.14,0x234482,1,24
$INTR,3,11916.11,0x2378b6,7,5
$SOUNDSPEED,1447.6
$GPS,040914,025024,7403.776,-14352.554,26,0.9,46,23.4