version: 66.12
glider: 196
mission: 7
dive: 294
start: 9 6 114 14 36 7
data:
$ID,196
$MISSION,7
$DIVE,294
$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,59
$R_STBD_OVSHOOT,20
$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,18.76
$_SM_ANGLEo,-18.1
$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,15,begin dive
$GC,17,-0.69,-145.9,2976,2762,1888,1780,0.0,0.0,0,30,0.00,0.00,-11.82,0.000,16386,0.000,0.000,2975,2762,2660,2717,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2976,2762,2718,2606,21.9,0.0,1,56,0.90,2.42,-15.93,0.000,21252,0.067,0.086,2660,1371,3856,3924,3788,0,0,0,0,0,0,14.25,14.27,14.52
$GC,281,-0.69,-145.9,2660,1370,3925,3794,85.6,-20.1,51,286,0.00,2.50,0.00,0.000,1030,0.000,0.099,2648,2763,3858,3924,3793,0,0,0,0,0,0,28.83,14.22,28.83
$GC,591,-0.69,-145.9,2649,2764,3927,3794,151.5,-20.4,83,596,0.00,2.35,0.00,0.000,516,0.000,0.064,2649,1375,3858,3924,3793,0,0,0,0,0,0,28.83,14.31,28.83
$GC,821,-0.69,-145.9,2650,1374,3925,3794,191.2,-15.9,129,826,0.15,2.45,0.00,0.000,3078,0.272,0.096,2669,2761,3858,3924,3793,0,0,0,0,0,0,14.16,14.31,28.83
$GC,1132,-0.69,-145.9,2670,2761,3924,3793,239.7,-14.4,161,1137,0.00,2.33,0.00,0.000,516,0.000,0.063,2669,1376,3858,3924,3793,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1262,-0.69,-145.9,2670,1375,3925,3793,256.6,-12.3,187,1267,0.00,2.47,0.00,0.000,1030,0.000,0.096,2662,2765,3858,3924,3793,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1583,-0.69,-145.9,2663,2765,3925,3793,300.6,-13.6,201,1588,0.00,1.77,0.00,0.000,260,0.000,0.102,2654,3786,3858,3924,3793,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1652,-0.69,-145.9,2655,3787,3925,3794,310.6,-13.9,215,1657,0.00,1.70,0.00,0.000,1030,0.000,0.053,2654,2755,3857,3924,3791,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1974,-0.69,-145.9,2655,2757,3925,3794,352.7,-12.9,229,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2756,3858,3923,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-0.69,-145.9,2655,2756,3925,3793,390.5,-12.5,239,2277,0.00,2.33,0.00,0.000,516,0.000,0.065,2654,1367,3858,3924,3793,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2312,-0.69,-145.9,2654,1368,3925,3794,395.4,-12.0,247,2317,0.00,2.45,0.00,0.000,1030,0.000,0.097,2649,2757,3858,3924,3793,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2634,-0.69,-145.9,2650,2757,3925,3793,435.9,-12.6,261,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-0.69,-145.9,2650,2757,3926,3793,473.3,-12.3,271,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.69,-145.9,2650,2757,3925,3794,509.9,-12.1,281,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3862,3925,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.69,-145.9,2650,2757,3926,3793,546.1,-12.1,291,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.69,-145.9,2650,2757,3925,3794,582.7,-12.2,301,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2756,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,-0.69,-145.9,2650,2757,3926,3793,619.0,-12.0,311,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3859,3925,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4432,-0.69,-145.9,2650,2758,3925,3795,654.6,-11.8,321,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.69,-145.9,2650,2757,3925,3793,690.0,-11.9,331,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2754,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.69,-145.9,2650,2757,3926,3793,725.1,-11.7,341,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2757,3858,3924,3793,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5271,begin apogee
$GC,5275,-0.13,0.0,2650,2756,3926,3793,753.1,-11.6,349,5405,0.75,0.00,126.78,2.023,10244,0.225,0.000,2847,2758,3257,3277,3237,0,0,0,0,0,0,14.23,28.83,13.02
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5408,0.69,145.9,2848,2758,3276,3234,756.6,0.0,353,5540,0.88,0.00,126.03,1.854,11270,0.122,0.000,3113,2758,2664,2669,2659,0,0,0,0,0,0,13.71,28.83,12.59
$GC,5844,0.69,145.9,3113,2757,2665,2648,712.2,13.1,393,5849,0.00,2.45,0.00,0.000,516,0.000,0.064,3123,1355,2655,2664,2646,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5934,0.69,145.9,3124,1355,2665,2649,701.3,11.9,411,5939,0.00,2.53,0.00,0.000,1030,0.000,0.089,3123,2749,2656,2664,2648,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6266,0.69,145.9,3124,2749,2665,2647,656.7,13.6,427,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6564,0.69,145.9,3124,2749,2666,2646,616.3,13.4,437,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,0.69,145.9,3124,2749,2666,2647,576.1,13.3,447,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2749,2655,2664,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,0.69,145.9,3124,2749,2665,2647,536.1,13.3,457,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2748,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,0.69,145.9,3123,2749,2665,2646,496.2,13.2,467,7469,0.00,1.85,0.00,0.000,260,0.000,0.096,3123,3788,2655,2664,2646,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7499,0.69,145.9,3124,3789,2666,2647,491.0,14.8,474,7504,0.00,1.73,0.00,0.000,1030,0.000,0.049,3130,2732,2655,2664,2647,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7826,0.69,145.9,3130,2732,2665,2646,447.6,13.3,489,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2732,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,0.69,145.9,3131,2733,2664,2647,408.0,13.2,499,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2732,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,0.69,145.9,3131,2733,2665,2647,369.4,12.8,509,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2732,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,0.69,145.9,3131,2733,2665,2647,332.1,12.2,519,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2732,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,0.69,148.3,3130,2732,2666,2646,297.1,11.5,529,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2732,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9324,0.70,160.1,3131,2736,2665,2647,263.2,11.0,539,9338,0.00,0.00,12.98,1.338,8198,0.000,0.000,3130,2732,2605,2611,2599,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9624,0.73,203.6,3131,2734,2605,2592,233.5,9.3,559,9666,0.00,2.40,36.88,1.310,8708,0.000,0.065,3140,1358,2420,2421,2420,0,0,0,0,0,0,28.83,14.32,13.71
$GC,9707,0.75,238.9,3141,1355,2420,2419,225.7,9.8,572,9742,0.00,2.45,29.58,1.357,9222,0.000,0.090,3141,2742,2281,2279,2284,0,0,0,0,0,0,28.83,14.31,13.58
$GC,10047,0.77,254.0,3142,2743,2277,2272,188.0,10.8,610,10061,0.00,0.00,13.18,1.278,8198,0.000,0.000,3140,2742,2222,2224,2221,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10357,0.79,284.2,3141,2742,2219,2210,155.9,10.0,641,10388,0.00,0.00,26.33,1.226,8198,0.000,0.000,3141,2742,2094,2095,2093,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10688,0.81,311.4,3141,2743,2096,2084,122.6,10.2,674,10711,0.00,0.00,21.92,1.218,8198,0.000,0.000,3141,2742,1989,1994,1984,0,0,0,0,0,0,28.83,28.83,13.70
$GC,11008,0.84,354.5,3142,2743,1982,1976,90.9,9.3,706,11028,0.00,0.00,18.77,0.464,8198,0.000,0.000,3140,2742,1812,1811,1814,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11327,0.89,436.7,3142,2739,1821,1812,62.8,7.3,738,11368,0.12,0.00,37.42,0.373,10758,0.129,0.000,3191,2742,1476,1485,1467,0,0,0,0,0,0,14.31,28.83,13.96
$GC,11667,0.96,534.5,3192,2742,1491,1454,37.6,6.4,776,11718,0.00,2.45,43.90,0.300,8708,0.000,0.069,3192,1357,1078,1088,1068,0,0,0,0,0,0,28.83,14.19,14.00
$GC,11768,1.03,638.2,3193,1357,1090,1067,30.9,6.1,796,11820,0.12,2.47,47.50,0.293,11270,0.132,0.091,3246,2741,658,634,683,0,0,0,0,0,0,14.23,14.19,13.97
$FREEZE,8.68,-1.404,-1.438,2,6,0
$STATE,12026,end climb,FINISH_DEPTH_REACHED
$STATE,12028,begin subsurface finish
$FINISH1,8.7,1.021125,356
$GC,12032,0.25,355.5,3246,2742,629,682,8.7,7.4,827,12065,0.93,1.92,-26.88,0.000,20740,0.179,0.129,2977,3783,1811,1869,1753,0,0,0,0,0,0,14.06,14.15,14.45
$FINISH2,8.8
$STATE,12066,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12066,begin surface
$RAFOS_CLK,346
$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,45.51
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.20
$XPDR_PINGS,6
$SC_FREEKB,3806912
$24V_AH,12.59,90.427
$10V_AH,12.68,0.000
$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,3.850,45.600,541.250,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9814.205,545.005,1676.435,142.697,0.000,1206.216,0.000,1245.373,1473.000,0.539,0.000
$DEVICE_MAMPS,272.340,128.520,2023.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.693,0.000,0.000,0.000
$MEM,195016
$DATA_FILE_SIZE,26700,833
$CAP_FILE_SIZE,122496,0
$CFSIZE,2097872896,2035318784
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1136.01,0x213684,0,24
$INTR,1,5272.15,0x2378b6,2,5
$INTR,2,12029.39,0x2378b6,5,5
$SOUNDSPEED,1449.0
$GPS,050914,211346,7418.154,-14310.700,181,99.0,181,23.7