version: 66.12
glider: 196
mission: 7
dive: 291
start: 9 6 114 4 17 15
data:
$ID,196
$MISSION,7
$DIVE,291
$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,-6274.3643
$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,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
$GPS1,050914,211346,7418.154,-14310.700,181,99.0,181,23.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.17
$_SM_ANGLEo,-19.7
$GPS2,050914,211346,7418.154,-14310.700,181,99.0,181,23.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.0,37080,-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,-145.9,2950,2767,1893,1787,0.0,0.0,0,30,0.00,0.00,-11.90,0.000,16386,0.000,0.000,2949,2766,2482,2529,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2951,2767,2530,2439,13.7,0.0,1,61,0.82,1.80,-22.48,0.000,20740,0.067,0.116,2651,3789,3855,3923,3787,0,0,0,0,0,0,14.19,14.16,14.44
$GC,215,-0.69,-145.9,2652,3789,3918,3791,72.4,-25.7,38,222,0.00,1.73,0.00,0.000,1030,0.000,0.050,2651,2759,3856,3922,3791,0,0,0,0,0,0,28.83,14.26,28.83
$GC,521,-0.69,-145.9,2651,2759,3923,3790,139.8,-19.7,69,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2759,3856,3921,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-0.69,-145.9,2652,2760,3922,3792,197.4,-18.0,99,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2759,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1121,-0.69,-145.9,2652,2759,3923,3792,246.5,-15.6,129,1126,0.00,2.35,0.00,0.000,516,0.000,0.067,2651,1366,3856,3922,3791,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1190,-0.69,-145.9,2651,1366,3923,3791,256.5,-13.9,143,1196,0.12,2.47,0.00,0.000,3078,0.269,0.096,2665,2756,3856,3922,3791,0,0,0,0,0,0,14.21,14.37,28.83
$GC,1512,-0.69,-145.9,2670,2757,3923,3792,298.6,-12.9,157,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.69,-145.9,2665,2757,3923,3791,336.2,-12.4,167,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.69,-145.9,2666,2757,3922,3792,372.3,-11.9,177,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,-0.69,-145.9,2666,2757,3923,3791,407.6,-11.8,187,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,-0.69,-145.9,2666,2757,3923,3791,442.2,-11.6,197,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3856,3921,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.69,-145.9,2666,2759,3922,3795,476.2,-11.3,207,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3921,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.69,-145.9,2666,2758,3922,3792,509.8,-11.2,217,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.69,-145.9,2665,2757,3923,3791,542.7,-10.9,227,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3854,3922,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.69,-145.9,2666,2758,3922,3792,575.4,-10.8,237,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.69,-145.9,2665,2757,3924,3791,607.7,-10.7,247,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.69,-145.9,2666,2757,3923,3791,640.1,-10.7,257,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.69,-145.9,2665,2756,3923,3786,672.7,-10.9,267,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,-0.69,-145.9,2666,2758,3922,3792,704.9,-10.7,277,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,-0.69,-145.9,2665,2757,3923,3791,736.8,-10.6,287,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3856,3922,3791,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5559,begin apogee
$GC,5563,-0.13,0.0,2666,2757,3922,3792,752.5,-10.5,292,5692,0.68,0.00,126.30,2.023,10244,0.215,0.000,2849,2757,3257,3276,3238,0,0,0,0,0,0,14.35,28.83,13.08
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5693,begin climb
$GC,5695,0.69,145.9,2849,2757,3273,3234,756.0,0.0,296,5828,0.85,0.00,125.03,1.858,11270,0.119,0.000,3110,2757,2657,2664,2651,0,0,0,0,0,0,13.77,28.83,12.62
$GC,6132,0.69,145.9,3110,2757,2665,2644,711.2,13.1,336,6137,0.00,1.90,0.00,0.000,260,0.000,0.096,3110,3781,2653,2663,2644,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6177,0.69,145.9,3111,3782,2664,2644,704.5,15.8,345,6182,0.00,1.77,0.00,0.000,1030,0.000,0.049,3117,2734,2653,2663,2644,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6494,0.69,145.9,3118,2735,2664,2644,662.0,13.4,358,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2734,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,0.69,145.9,3117,2734,2665,2643,622.0,13.3,368,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,0.69,145.9,3118,2735,2664,2643,582.5,13.1,378,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2734,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,0.69,145.9,3118,2735,2664,2643,543.7,12.9,388,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2734,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,0.69,145.9,3118,2734,2664,2644,505.1,12.8,398,7697,0.00,1.88,0.00,0.000,260,0.000,0.097,3117,3786,2652,2663,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7727,0.69,145.9,3118,3787,2664,2643,500.0,14.8,405,7732,0.00,1.73,0.00,0.000,1030,0.000,0.050,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8053,0.69,145.9,3126,2734,2664,2643,457.5,12.9,420,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,0.69,145.9,3125,2734,2665,2642,419.2,12.6,430,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,0.69,145.9,3125,2734,2664,2642,381.0,12.7,440,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,0.69,145.9,3126,2735,2664,2643,343.3,12.4,450,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,0.69,148.6,3126,2734,2664,2643,307.8,11.5,460,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,0.71,168.2,3125,2734,2665,2642,275.9,10.6,470,9573,0.00,0.00,19.08,1.338,8198,0.000,0.000,3124,2733,2571,2578,2565,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9854,0.73,199.9,3125,2734,2573,2556,244.4,9.9,482,9884,0.00,1.92,26.77,1.317,8452,0.000,0.098,3125,3786,2438,2442,2434,0,0,0,0,0,0,28.83,14.37,13.75
$GC,9899,0.73,208.8,3125,3786,2440,2434,239.2,11.2,488,9915,0.00,1.75,8.32,1.345,9222,0.000,0.049,3131,2734,2402,2405,2399,0,0,0,0,0,0,28.83,14.37,13.72
$GC,10216,0.77,256.8,3132,2733,2406,2395,206.0,9.1,521,10260,0.00,2.42,40.42,1.318,8708,0.000,0.066,3142,1354,2206,2208,2205,0,0,0,0,0,0,28.83,14.18,13.59
$GC,10296,0.79,284.4,3143,1354,2205,2203,197.9,10.2,537,10327,0.00,2.45,24.20,1.382,9222,0.000,0.090,3142,2733,2093,2094,2092,0,0,0,0,0,0,28.83,14.21,13.52
$GC,10625,0.79,291.3,3143,2733,2094,2081,159.8,11.3,573,10629,0.00,0.00,2.95,1.012,8198,0.000,0.000,3142,2733,2071,2077,2066,0,0,0,0,0,0,28.83,28.83,13.43
$GC,10925,0.81,318.4,3142,2736,2096,2074,127.4,10.2,603,10956,0.00,0.00,26.73,1.196,8198,0.000,0.000,3148,2733,1956,1959,1953,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11256,0.84,353.5,3143,2734,1957,1947,93.5,9.8,636,11276,0.00,0.00,15.52,0.473,8198,0.000,0.000,3142,2732,1816,1817,1816,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11575,0.88,415.1,3142,2733,1827,1813,64.5,8.4,668,11612,0.10,2.45,28.27,0.380,10756,0.147,0.069,3193,1352,1565,1573,1557,0,0,0,0,0,0,14.31,14.25,13.96
$GC,11666,0.91,455.4,3195,1352,1575,1556,55.7,9.5,686,11692,0.00,2.47,18.45,0.355,9222,0.000,0.091,3194,2738,1400,1416,1385,0,0,0,0,0,0,28.83,14.21,13.95
$GC,11997,0.99,574.5,3195,2739,1421,1375,32.5,5.3,722,12058,0.00,2.40,54.33,0.298,8708,0.000,0.067,3201,1354,913,919,907,0,0,0,0,0,0,28.83,14.18,14.00
$GC,12079,1.05,664.4,3202,1350,921,912,27.5,6.8,735,12129,0.00,2.45,41.55,0.284,9222,0.000,0.091,3201,2743,546,506,587,0,0,0,0,0,0,28.83,14.18,13.96
$FREEZE,8.61,-1.402,-1.449,2,3,0
$STATE,12396,end climb,FINISH_DEPTH_REACHED
$STATE,12397,begin subsurface finish
$FINISH1,8.6,1.021277,348
$GC,12401,0.24,347.6,3202,2743,503,588,8.6,4.6,772,12434,0.77,0.00,-30.02,0.000,20998,0.148,0.000,2974,2744,1844,1899,1789,0,0,0,0,0,0,14.16,28.83,14.47
$FINISH2,8.7
$STATE,12434,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12434,begin surface
$RAFOS_CLK,621
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7334.88,-14309.39,050914,210726
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.55
$INTERNAL_PRESSURE,8.68976
$TCM_TEMP,13.10
$XPDR_PINGS,8
$SC_FREEKB,3808256
$24V_AH,12.62,89.500
$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,3.350,36.550,557.925,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,10263.285,568.414,1578.656,138.255,0.000,1198.448,0.000,1165.972,0.000,0.540,0.000
$DEVICE_MAMPS,269.280,115.515,2023.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12485.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.622,0.000,0.000,0.000
$MEM,196588
$DATA_FILE_SIZE,26724,776
$CAP_FILE_SIZE,120203,0
$CFSIZE,2097872896,2035810304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5560.71,0x2378b6,2,5
$INTR,1,12398.41,0x2378b6,5,5
$SOUNDSPEED,1449.0
$GPS,050914,211346,7418.154,-14310.700,181,99.0,181,23.7