version: 66.12
glider: 196
mission: 7
dive: 287
start: 9 5 114 14 9 4
data:
$ID,196
$MISSION,7
$DIVE,287
$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,-5906.5635
$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,54
$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
$GPS1,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,18.86
$_SM_ANGLEo,-19.9
$GPS2,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.2,48272,-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,17,-0.69,-145.9,2977,2767,1887,1779,0.0,0.0,0,30,0.00,0.00,-12.18,0.000,16386,0.000,0.000,2975,2767,2645,2699,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2975,2768,2700,2593,20.1,0.0,1,56,0.90,1.85,-17.08,0.000,20740,0.070,0.124,2652,3791,3857,3923,3792,0,0,0,0,0,0,14.27,14.27,14.55
$GC,107,-0.69,-145.9,2653,3791,3924,3796,43.8,-37.1,16,112,0.00,1.67,0.00,0.000,1030,0.000,0.052,2652,2758,3859,3923,3795,0,0,0,0,0,0,28.83,14.36,28.83
$GC,411,-0.69,-145.9,2653,2758,3923,3796,119.8,-20.8,47,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,711,-0.69,-145.9,2653,2757,3925,3795,180.0,-19.2,77,716,0.00,2.35,0.00,0.000,516,0.000,0.067,2652,1363,3859,3923,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,735,-0.69,-145.9,2653,1364,3924,3796,184.6,-17.6,82,742,0.12,2.47,0.00,0.000,3078,0.278,0.096,2666,2757,3859,3924,3795,0,0,0,0,0,0,14.20,14.36,28.83
$GC,1041,-0.69,-145.9,2666,2757,3925,3795,233.2,-15.3,113,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.69,-145.9,2667,2758,3924,3796,275.4,-13.6,131,1346,0.00,2.33,0.00,0.000,516,0.000,0.064,2666,1372,3859,3923,3795,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1376,-0.69,-145.9,2666,1372,3925,3796,279.8,-12.5,138,1381,0.00,2.45,0.00,0.000,1030,0.000,0.096,2663,2753,3859,3924,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1702,-0.69,-145.9,2664,2754,3924,3797,321.8,-12.9,153,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.69,-145.9,2663,2753,3924,3795,358.8,-12.2,163,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.69,-145.9,2663,2753,3925,3795,395.1,-12.1,173,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.69,-145.9,2664,2754,3925,3795,431.9,-12.3,183,2606,0.00,2.33,0.00,0.000,516,0.000,0.063,2663,1367,3859,3923,3795,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2641,-0.69,-145.9,2664,1367,3924,3796,436.5,-12.0,191,2646,0.00,2.47,0.00,0.000,1030,0.000,0.096,2652,2749,3856,3918,3795,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2962,-0.69,-145.9,2659,2750,3924,3796,477.0,-12.7,205,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.69,-145.9,2652,2749,3925,3795,514.8,-12.5,215,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.69,-145.9,2653,2750,3924,3795,551.9,-12.4,225,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2750,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.69,-145.9,2653,2749,3925,3795,588.5,-12.1,235,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.69,-145.9,2653,2751,3924,3796,624.9,-12.2,245,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.69,-145.9,2653,2746,3925,3795,661.0,-11.9,255,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.69,-145.9,2653,2749,3924,3796,697.0,-11.9,265,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.69,-145.9,2653,2750,3924,3796,733.0,-12.0,275,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2749,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5209,begin apogee
$GC,5214,-0.13,0.0,2653,2750,3924,3796,751.0,-12.0,280,5342,0.73,0.00,126.30,2.018,10244,0.223,0.000,2845,2749,3259,3279,3240,0,0,0,0,0,0,14.33,28.83,13.07
$STATE,5343,end apogee,CONTROL_FINISHED_OK
$STATE,5344,begin climb
$GC,5345,0.69,145.9,2846,2750,3274,3237,754.9,0.0,284,5478,0.88,0.00,125.32,1.864,11270,0.121,0.000,3112,2749,2661,2666,2656,0,0,0,0,0,0,13.77,28.83,12.62
$GC,5782,0.69,145.9,3113,2750,2665,2649,711.7,12.8,324,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2749,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,0.69,145.9,3113,2750,2665,2649,673.0,12.9,334,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2749,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6382,0.69,145.9,3113,2749,2666,2648,634.5,12.9,344,6387,0.00,1.85,0.00,0.000,260,0.000,0.097,3112,3783,2656,2664,2648,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6417,0.69,145.9,3113,3784,2665,2649,629.5,14.9,351,6422,0.00,1.73,0.00,0.000,1030,0.000,0.050,3120,2737,2656,2665,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6742,0.69,145.9,3121,2737,2666,2647,586.5,13.0,366,6747,0.00,1.88,0.00,0.000,260,0.000,0.096,3120,3784,2656,2665,2648,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6767,0.69,145.9,3121,3785,2665,2649,582.9,14.3,371,6773,0.00,1.73,0.00,0.000,1030,0.000,0.050,3127,2738,2656,2665,2648,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7072,0.69,145.9,3129,2739,2666,2649,541.7,13.5,382,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2738,2656,2665,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7372,0.69,145.9,3128,2738,2666,2648,501.7,13.4,392,7377,0.00,1.85,0.00,0.000,260,0.000,0.098,3128,3790,2655,2664,2647,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7412,0.69,145.9,3128,3790,2665,2647,495.8,15.1,400,7417,0.00,1.73,0.00,0.000,1030,0.000,0.049,3135,2742,2656,2664,2648,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7732,0.69,145.9,3136,2741,2666,2647,451.9,13.6,414,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8032,0.69,145.9,3135,2743,2665,2649,411.6,13.4,424,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2742,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,0.69,145.9,3136,2743,2666,2649,371.5,13.3,434,8337,0.00,1.88,0.00,0.000,260,0.000,0.097,3135,3792,2656,2665,2647,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8357,0.69,145.9,3136,3792,2665,2647,367.7,14.8,439,8363,0.00,1.73,0.00,0.000,1030,0.000,0.050,3143,2740,2655,2664,2647,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8662,0.69,145.9,3144,2740,2666,2649,327.6,12.7,450,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2739,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8963,0.69,145.9,3144,2740,2665,2648,290.6,12.3,460,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2740,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,0.70,163.8,3144,2740,2666,2649,256.9,10.7,470,9282,0.00,0.00,16.23,1.323,8454,0.000,0.000,3143,2740,2583,2589,2578,0,0,0,0,0,0,28.83,28.83,13.86
$GC,9582,0.74,210.6,3144,2739,2590,2575,224.5,9.1,501,9628,0.00,1.92,38.83,1.315,8452,0.000,0.098,3143,3787,2392,2391,2393,0,0,0,0,0,0,28.83,14.28,13.66
$GC,9649,0.74,213.4,3144,3787,2391,2393,217.9,11.5,514,9655,0.00,1.70,0.00,0.000,1030,0.000,0.050,3151,2742,2391,2390,2392,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9953,0.76,252.2,3152,2743,2391,2390,186.2,9.6,545,9994,0.00,0.00,34.67,1.324,8198,0.000,0.000,3151,2742,2226,2226,2226,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10294,0.78,279.6,3152,2743,2227,2217,150.5,10.2,579,10325,0.00,0.00,24.17,1.255,8198,0.000,0.000,3151,2742,2111,2114,2108,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10624,0.80,305.2,3152,2743,2115,2102,116.0,10.3,612,10645,0.00,0.00,18.95,1.209,8198,0.000,0.000,3151,2742,2013,2018,2008,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10945,0.83,349.5,3152,2743,2015,1997,83.8,9.3,644,10969,0.00,2.40,18.92,0.440,8708,0.000,0.067,3160,1348,1834,1836,1833,0,0,0,0,0,0,28.83,14.26,13.95
$GC,11020,0.87,400.7,3162,1349,1843,1834,76.9,8.9,659,11049,0.00,2.50,23.67,0.418,9222,0.000,0.092,3161,2747,1626,1633,1620,0,0,0,0,0,0,28.83,14.23,13.93
$GC,11354,0.95,524.7,3162,2752,1641,1609,48.4,5.0,696,11416,0.15,2.40,55.97,0.330,10756,0.113,0.064,3221,1352,1118,1130,1106,0,0,0,0,0,0,14.31,14.20,13.96
$GC,11506,1.00,583.9,3222,1352,1132,1102,36.3,8.5,726,11538,0.00,2.45,27.12,0.296,9222,0.000,0.090,3221,2723,876,876,876,0,0,0,0,0,0,28.83,14.18,13.98
$FREEZE,8.56,-1.393,-1.447,2,3,0
$FREEZE,8.03,-1.393,-1.446,2,3,0
$FREEZE,7.55,-1.396,-1.446,2,3,0
$GC,11836,1.08,701.9,3222,2723,877,870,10.8,5.4,762,11883,0.00,1.98,42.42,0.225,8454,0.000,0.100,3221,3785,497,450,545,0,0,0,0,0,0,28.83,14.19,14.07
$STATE,11884,end climb,FINISH_DEPTH_REACHED
$STATE,11884,begin subsurface finish
$FINISH1,7.6,1.021250,349
$GC,11890,0.24,349.0,3222,2737,452,546,7.6,8.0,770,11929,0.82,1.95,-34.15,0.000,20740,0.163,0.129,2975,3786,1838,1893,1783,0,0,0,0,0,0,14.08,14.18,14.43
$FINISH2,7.1
$STATE,11930,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$RAFOS_CLK,262
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14323.58,050914,001152
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.60
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.20
$XPDR_PINGS,7
$SC_FREEKB,3810048
$24V_AH,12.62,88.209
$10V_AH,12.75,0.000
$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,3.600,53.925,552.600,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,9742.763,576.235,1584.917,138.044,0.000,1220.514,0.000,1160.811,1476.000,0.540,0.000
$DEVICE_MAMPS,278.460,128.520,2018.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.624,0.000,0.000,0.000
$MEM,198652
$DATA_FILE_SIZE,26730,778
$CAP_FILE_SIZE,121935,0
$CFSIZE,2097872896,2036531200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5211.14,0x2378b6,2,5
$SOUNDSPEED,1449.1
$GPS,050914,071858,7413.344,-14324.560,5,0.8,26,23.6