version: 66.12
glider: 196
mission: 7
dive: 306
start: 9 8 114 9 48 12
data:
$ID,196
$MISSION,7
$DIVE,306
$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,-6831.978
$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,56
$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
$GPS1,080914,094024,7440.867,-14219.126,27,0.7,47,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.6
$GPS2,080914,094752,7440.892,-14219.133,6,0.7,26,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,350.4,36558,-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,-145.9,202,2734,436,548,0.0,0.0,0,90,0.00,0.00,-71.82,0.000,16386,0.000,0.000,202,2733,2276,2288,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2733,2289,2265,3.7,-3.7,7,141,12.10,2.40,-27.90,0.000,18948,0.393,0.089,2663,1371,3855,3920,3790,0,0,0,0,0,0,13.93,14.23,14.46
$GC,366,-0.69,-145.9,2663,1368,3922,3795,83.2,-20.9,62,373,0.00,2.53,0.00,0.000,1030,0.000,0.094,2654,2756,3857,3920,3794,0,0,0,0,0,0,28.83,14.22,28.83
$GC,671,-0.69,-145.9,2655,2757,3921,3795,149.0,-20.2,93,676,0.00,2.35,0.00,0.000,516,0.000,0.063,2654,1366,3857,3920,3794,0,0,0,0,0,0,28.83,14.36,28.83
$GC,901,-0.69,-145.9,2655,1367,3921,3795,189.1,-16.9,139,906,0.00,2.50,0.00,0.000,1030,0.000,0.095,2643,2768,3857,3920,3794,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1211,-0.69,-145.9,2644,2768,3922,3794,242.8,-16.3,171,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,-0.69,-145.9,2644,2768,3921,3794,291.9,-15.0,185,1537,0.00,1.80,0.00,0.000,260,0.000,0.100,2635,3786,3857,3920,3794,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1562,-0.69,-145.9,2635,3787,3921,3794,297.0,-17.4,191,1567,0.10,1.70,0.00,0.000,3078,0.233,0.052,2661,2763,3857,3920,3794,0,0,0,0,0,0,14.21,14.50,28.83
$GC,1892,-0.69,-145.9,2662,2762,3922,3794,341.1,-12.8,207,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2763,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,-0.69,-145.9,2662,2763,3922,3794,378.2,-12.2,217,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2492,-0.69,-145.9,2663,2764,3921,3795,415.3,-12.4,227,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2792,-0.69,-145.9,2662,2763,3921,3794,452.3,-12.4,237,2797,0.00,2.33,0.00,0.000,516,0.000,0.064,2662,1373,3857,3920,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2827,-0.69,-145.9,2662,1373,3921,3794,456.4,-11.3,244,2832,0.00,2.47,0.00,0.000,1030,0.000,0.096,2654,2770,3857,3920,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3154,-0.69,-145.9,2655,2771,3922,3795,497.9,-12.8,259,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2771,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.69,-145.9,2655,2772,3921,3795,535.5,-12.5,269,3457,0.00,1.83,0.00,0.000,260,0.000,0.100,2646,3817,3857,3920,3794,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3492,-0.69,-145.9,2647,3817,3921,3795,541.0,-13.6,277,3497,0.00,1.73,0.00,0.000,1030,0.000,0.050,2646,2760,3857,3920,3794,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3813,-0.69,-145.9,2646,2760,3922,3794,582.6,-12.9,291,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4112,-0.69,-145.9,2647,2760,3922,3794,621.2,-12.9,301,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4412,-0.69,-145.9,2646,2760,3921,3794,659.6,-12.7,311,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2760,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-0.69,-145.9,2647,2760,3921,3796,697.0,-12.5,321,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2760,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5012,-0.69,-145.9,2645,2759,3921,3796,734.6,-12.4,331,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5160,begin apogee
$GC,5165,-0.13,0.0,2645,2758,3922,3802,753.5,-12.5,336,5294,0.75,0.00,126.38,1.991,10244,0.223,0.000,2845,2758,3257,3278,3236,0,0,0,0,0,0,14.28,28.83,13.08
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5297,0.69,145.9,2846,2759,3274,3233,757.0,0.0,340,5429,0.88,0.00,124.93,1.839,11270,0.119,0.000,3113,2764,2658,2665,2652,0,0,0,0,0,0,13.77,28.83,12.63
$GC,5734,0.69,145.9,3113,2758,2666,2645,712.8,13.0,380,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,0.69,145.9,3114,2759,2665,2645,674.3,12.8,390,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,0.69,145.9,3115,2759,2660,2645,636.2,12.7,400,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6634,0.69,145.9,3114,2759,2665,2645,597.7,12.9,410,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,0.69,145.9,3113,2758,2666,2644,559.2,12.8,420,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,0.69,145.9,3114,2759,2666,2645,521.1,12.7,430,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,0.69,145.9,3113,2758,2666,2644,483.4,12.5,440,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,0.69,145.9,3113,2758,2666,2644,446.3,12.3,450,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,0.69,145.9,3114,2758,2671,2644,410.0,12.0,460,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,0.69,146.8,3114,2759,2661,2643,375.1,11.6,470,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2758,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,0.70,156.3,3113,2758,2666,2643,341.3,11.1,480,8749,0.00,2.38,9.77,1.414,8708,0.000,0.063,3124,1348,2615,2624,2606,0,0,0,0,0,0,28.83,14.44,13.76
$GC,8774,0.71,169.7,3125,1347,2625,2606,336.8,10.9,488,8790,0.00,2.45,11.85,1.398,9222,0.000,0.087,3124,2745,2567,2574,2560,0,0,0,0,0,0,28.83,14.35,13.74
$GC,9090,0.71,169.7,3125,2746,2571,2552,297.1,12.7,501,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2745,2560,2569,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9391,0.71,175.2,3125,2745,2570,2553,261.9,11.3,511,9400,0.00,2.38,3.42,1.206,8708,0.000,0.062,3133,1341,2546,2560,2533,0,0,0,0,0,0,28.83,14.45,13.49
$GC,9429,0.73,200.9,3133,1341,2569,2533,257.6,10.3,519,9460,0.00,2.45,25.05,1.298,9222,0.000,0.088,3133,2735,2435,2442,2429,0,0,0,0,0,0,28.83,14.36,13.69
$GC,9761,0.75,233.7,3134,2736,2441,2424,220.2,9.9,555,9791,0.00,0.00,28.20,1.314,8198,0.000,0.000,3133,2734,2303,2307,2299,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10091,0.78,270.0,3133,2736,2305,2290,185.5,9.7,588,10126,0.00,2.42,30.90,1.318,8708,0.000,0.063,3141,1360,2152,2156,2149,0,0,0,0,0,0,28.83,14.25,13.60
$GC,10162,0.81,318.4,3142,1359,2153,2146,178.9,9.1,602,10212,0.00,2.45,41.53,1.353,9222,0.000,0.090,3141,2736,1952,1951,1954,0,0,0,0,0,0,28.83,14.23,13.48
$GC,10511,0.81,321.7,3142,2736,1951,1945,138.3,11.5,642,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2736,1947,1950,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10811,0.84,358.6,3142,2737,1951,1943,107.1,9.7,672,10847,0.00,2.38,31.25,1.154,8708,0.000,0.063,3150,1354,1788,1790,1787,0,0,0,0,0,0,28.83,14.23,13.67
$GC,10883,0.87,400.6,3151,1353,1786,1784,100.4,9.4,686,10923,0.00,2.47,33.12,1.165,9222,0.000,0.090,3150,2738,1620,1628,1612,0,0,0,0,0,0,28.83,14.19,13.55
$GC,11222,0.93,486.5,3151,2739,1627,1596,69.5,7.1,724,11263,0.12,0.00,37.85,0.396,10758,0.124,0.000,3204,2738,1276,1291,1262,0,0,0,0,0,0,14.22,28.83,13.91
$GC,11562,1.00,585.1,3205,2739,1294,1252,37.4,6.4,760,11613,0.00,0.00,45.38,0.298,8710,0.000,0.000,3204,2738,870,870,871,0,0,0,0,0,0,28.83,28.83,13.99
$GC,11913,1.08,710.2,3205,2739,868,864,13.5,5.0,796,11963,0.12,2.42,41.88,0.234,10756,0.133,0.066,3271,1359,498,446,551,0,0,0,0,0,0,14.26,14.21,14.06
$FREEZE,8.63,-1.213,-1.423,2,1,0
$FREEZE,8.17,-1.213,-1.423,2,1,0
$FREEZE,7.84,-1.214,-1.422,2,1,0
$FREEZE,7.29,-1.214,-1.422,2,1,0
$FREEZE,6.88,-1.214,-1.422,2,1,0
$FREEZE,6.33,-1.214,-1.421,2,1,0
$FREEZE,5.84,-1.215,-1.421,2,1,0
$FREEZE,5.36,-1.215,-1.420,2,1,0
$FREEZE,4.84,-1.217,-1.420,2,1,0
$FREEZE,4.38,-1.217,-1.420,2,1,0
$FREEZE,4.05,-1.219,-1.419,2,1,0
$FREEZE,3.64,-1.219,-1.419,2,1,0
$FREEZE,2.95,-1.219,-1.419,2,1,0
$FREEZE,2.46,-1.219,-1.418,2,1,0
$FREEZE,2.01,-1.224,-1.418,2,1,0
$FREEZE,1.65,-1.224,-1.418,2,1,0
$STATE,12048,end climb,SURFACE_DEPTH_REACHED
$STATE,12048,begin surface coast
$FREEZE,1.69,-1.236,-1.418,2,1,0
$FREEZE,1.62,-1.236,-1.418,2,1,0
$FREEZE,1.66,-1.243,-1.418,2,1,0
$FREEZE,1.58,-1.243,-1.418,2,1,0
$FINISH,1.6,1.020908
$STATE,12066,end surface coast,CONTROL_FINISHED_OK
$STATE,12066,begin surface
$SM_CCo,12146,0.00,0.000,0,0,495,677.76
$SM_GC,2.66,9.30,2.55,0.00,0.066,0.093,0.000,197,2756,495,-8.36,-0.82,677.76,0,0,0,0,0,0,14.36,14.27,28.83
$RAFOS_CLK,211
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7350.26,-14217.47,080914,060524
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.32
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,13.20
$XPDR_PINGS,8
$SC_FREEKB,3801536
$24V_AH,12.63,94.521
$10V_AH,12.72,0.000
$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,23.375,45.975,591.500,0.000,0.000,0.000,0.000,258.750,2.000,0.000,27.229,0.000,9806.224,632.996,1946.319,207.740,0.000,1574.976,0.000,1233.840,1487.000,0.539,0.000
$DEVICE_MAMPS,393.210,100.215,1991.295,0.000,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.333,0.000,0.000,0.000
$MEM,188236
$DATA_FILE_SIZE,26762,827
$CAP_FILE_SIZE,131074,0
$CFSIZE,2097872896,2033057792
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12866.25,0x2378b6,7,5
$INTR,1,5162.42,0x2378b6,2,5
$SOUNDSPEED,1448.4
$GPS,080914,094752,7440.892,-14219.133,181,99.0,181,24.1