version: 66.12
glider: 196
mission: 7
dive: 309
start: 9 8 114 20 42 52
data:
$ID,196
$MISSION,7
$DIVE,309
$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,-7201.249
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,080914,203423,7445.008,-14213.855,38,0.8,58,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.4
$GPS2,080914,204232,7444.994,-14213.915,5,0.9,25,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.4,28580,-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,-145.9,208,2780,433,549,0.0,0.0,0,90,0.00,0.00,-71.60,0.000,16386,0.000,0.000,207,2781,2286,2299,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,208,2782,2300,2276,4.0,-4.5,7,141,12.20,2.47,-27.58,0.000,18948,0.399,0.084,2666,1371,3854,3920,3789,0,0,0,0,0,0,13.93,14.24,14.46
$GC,366,-0.69,-145.9,2667,1370,3921,3794,83.9,-22.1,62,373,0.00,2.50,0.00,0.000,1030,0.000,0.091,2657,2746,3856,3920,3793,0,0,0,0,0,0,28.83,14.22,28.83
$GC,671,-0.69,-145.9,2658,2746,3921,3793,147.4,-19.7,93,676,0.00,2.33,0.00,0.000,516,0.000,0.060,2657,1365,3856,3920,3793,0,0,0,0,0,0,28.83,14.37,28.83
$GC,706,-0.69,-145.9,2658,1365,3920,3793,153.9,-17.9,100,712,0.00,2.47,0.00,0.000,1030,0.000,0.091,2646,2764,3856,3920,3793,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1011,-0.69,-145.9,2647,2764,3921,3794,211.1,-18.1,131,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2763,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.69,-145.9,2647,2764,3921,3793,265.1,-15.7,157,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.69,-145.9,2647,2764,3921,3793,311.3,-15.2,167,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2763,3856,3919,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.69,-145.9,2647,2764,3921,3793,354.1,-14.0,177,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2764,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.69,-145.9,2647,2764,3921,3793,395.6,-13.6,187,2236,0.00,1.80,0.00,0.000,260,0.000,0.098,2638,3793,3856,3919,3793,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2271,-0.69,-145.9,2639,3794,3921,3793,401.5,-15.4,195,2276,0.10,1.70,0.00,0.000,3078,0.222,0.051,2665,2754,3856,3920,3793,0,0,0,0,0,0,14.22,14.51,28.83
$GC,2592,-0.69,-145.9,2666,2755,3921,3794,441.3,-12.3,209,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.69,-145.9,2666,2754,3921,3793,477.5,-11.9,219,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3856,3920,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.69,-145.9,2666,2755,3921,3794,512.8,-11.7,229,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.69,-145.9,2665,2754,3920,3792,547.2,-11.4,239,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2753,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3791,-0.69,-145.9,2666,2755,3921,3794,581.1,-11.3,249,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3856,3919,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.69,-145.9,2666,2755,3921,3794,615.0,-11.3,259,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4391,-0.69,-145.9,2666,2755,3921,3795,648.8,-11.3,269,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-0.69,-145.9,2666,2755,3916,3795,682.1,-11.1,279,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2754,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.69,-145.9,2666,2755,3921,3795,715.8,-11.1,289,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.69,-145.9,2666,2755,3921,3795,748.4,-10.7,299,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5324,-0.13,0.0,2665,2754,3921,3794,751.6,-10.8,300,5453,0.68,0.00,126.47,1.992,10244,0.217,0.000,2847,2754,3257,3279,3236,0,0,0,0,0,0,14.30,28.83,13.07
$STATE,5454,end apogee,CONTROL_FINISHED_OK
$STATE,5454,begin climb
$GC,5456,0.69,145.9,2848,2754,3275,3233,754.8,0.0,304,5588,0.85,0.00,125.15,1.828,11270,0.117,0.000,3110,2754,2658,2665,2652,0,0,0,0,0,0,13.76,28.83,12.63
$GC,5893,0.69,145.9,3110,2754,2666,2644,709.3,13.3,344,5898,0.00,2.42,0.00,0.000,516,0.000,0.061,3121,1351,2654,2665,2644,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5923,0.69,145.9,3122,1352,2666,2645,705.6,12.8,350,5928,0.00,2.53,0.00,0.000,1030,0.000,0.086,3122,2745,2654,2665,2644,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6254,0.69,145.9,3122,2746,2665,2645,660.7,13.6,366,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6553,0.69,145.9,3122,2745,2666,2645,620.0,13.4,376,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,0.69,145.9,3121,2746,2666,2643,579.9,13.4,386,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7153,0.69,145.9,3122,2746,2665,2644,540.0,13.3,396,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,0.69,145.9,3122,2746,2666,2645,500.6,13.1,406,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,0.69,145.9,3122,2746,2664,2644,461.3,13.1,416,7758,0.00,2.33,0.00,0.000,516,0.000,0.063,3129,1354,2654,2665,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7778,0.69,145.9,3129,1354,2666,2644,458.1,12.5,421,7784,0.00,2.42,0.00,0.000,1030,0.000,0.089,3129,2743,2654,2665,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8083,0.69,145.9,3129,2743,2666,2643,417.1,13.6,432,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8383,0.69,145.9,3127,2744,2668,2644,377.0,13.3,442,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8683,0.69,145.9,3130,2744,2666,2644,338.0,12.7,452,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8983,0.69,145.9,3130,2743,2666,2643,300.9,12.4,462,8988,0.00,1.85,0.00,0.000,260,0.000,0.097,3129,3777,2654,2666,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9018,0.69,145.9,3130,3779,2666,2644,295.9,14.2,469,9023,0.00,1.70,0.00,0.000,1030,0.000,0.048,3137,2732,2653,2665,2642,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9344,0.70,162.6,3137,2732,2667,2643,258.5,10.7,484,9363,0.00,2.30,14.80,1.330,8708,0.000,0.062,3147,1353,2588,2596,2580,0,0,0,0,0,0,28.83,14.52,13.88
$GC,9393,0.72,186.3,3148,1351,2595,2580,253.1,10.4,494,9419,0.00,2.42,19.80,1.311,9222,0.000,0.090,3147,2738,2495,2500,2490,0,0,0,0,0,0,28.83,14.46,13.78
$GC,9725,0.75,227.6,3148,2739,2499,2485,215.9,9.4,531,9765,0.00,2.42,35.22,1.307,8708,0.000,0.063,3158,1356,2323,2325,2322,0,0,0,0,0,0,28.83,14.28,13.62
$GC,9785,0.77,264.8,3159,1357,2323,2322,210.0,9.6,539,9821,0.00,2.42,31.85,1.383,9222,0.000,0.089,3158,2730,2177,2176,2178,0,0,0,0,0,0,28.83,14.26,13.49
$GC,10126,0.77,264.8,3159,2730,2173,2170,169.6,11.9,577,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2730,2168,2172,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10426,0.78,281.2,3158,2730,2173,2161,136.3,10.8,607,10441,0.00,0.00,14.12,1.234,8198,0.000,0.000,3158,2730,2110,2115,2105,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10738,0.81,311.8,3158,2730,2113,2095,103.5,10.0,638,10767,0.00,0.00,23.62,1.172,8198,0.000,0.000,3158,2730,1979,1980,1978,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11068,0.84,363.1,3159,2731,1980,1974,72.7,8.9,671,11091,0.00,0.00,22.05,0.406,8710,0.000,0.000,3158,2729,1776,1776,1777,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11388,0.95,515.2,3159,2730,1784,1772,49.0,3.5,705,11462,0.12,1.95,68.28,0.334,10500,0.125,0.099,3215,3803,1155,1170,1141,0,0,0,0,0,0,14.29,14.16,13.95
$GC,11494,0.97,550.7,3216,3804,1170,1142,42.0,9.7,725,11514,0.00,1.77,15.93,0.314,9222,0.000,0.049,3221,2745,1014,1023,1005,0,0,0,0,0,0,28.83,14.20,13.95
$GC,11819,1.08,707.9,3221,2745,1024,996,20.9,3.3,760,11884,0.00,2.45,58.97,0.264,8708,0.000,0.066,3228,1356,498,447,550,0,0,0,0,0,0,28.83,14.14,13.96
$GC,11929,1.15,808.3,3218,1355,444,551,15.2,6.3,781,11936,0.15,2.50,0.00,0.000,3078,0.125,0.088,3275,2747,498,446,550,0,0,0,0,0,0,14.15,14.12,28.83
$FREEZE,8.35,-1.163,-1.423,2,1,0
$FREEZE,7.31,-1.163,-1.422,2,1,0
$FREEZE,6.19,-1.163,-1.421,2,1,0
$FREEZE,5.35,-1.163,-1.420,2,1,0
$FREEZE,4.52,-1.163,-1.420,2,1,0
$FREEZE,3.53,-1.164,-1.419,2,1,0
$FREEZE,2.79,-1.161,-1.418,2,1,0
$FREEZE,1.76,-1.161,-1.417,2,1,0
$STATE,12072,end climb,SURFACE_DEPTH_REACHED
$STATE,12072,begin surface coast
$FREEZE,0.85,-1.158,-1.417,2,1,0
$FREEZE,0.78,-1.145,-0.774,2,1,0
$FINISH,0.8,1.011387
$STATE,12093,end surface coast,FINISH_DEPTH_REACHED
$STATE,12093,begin surface
$SM_CCo,12170,0.00,0.000,0,0,493,678.25
$SM_GC,1.99,9.45,0.00,0.00,0.076,0.000,0.000,204,2748,493,-8.36,-0.34,678.25,0,0,0,0,0,0,14.24,28.83,28.83
$RAFOS_CLK,22
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14220.40,080914,165709
$TT8_MAMPS,0.08239,0.08239
$HUMID,44.92
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,9
$SC_FREEKB,3800192
$24V_AH,12.63,95.537
$10V_AH,12.73,0.000
$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,23.550,44.775,556.275,0.000,0.000,0.000,0.000,290.250,2.250,0.000,27.165,0.000,9910.846,571.849,1963.942,207.867,0.000,1558.275,0.000,1195.060,1440.000,0.540,0.000
$DEVICE_MAMPS,399.330,99.450,1992.060,0.000,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.401,0.000,0.000,0.000
$MEM,186472
$DATA_FILE_SIZE,26684,798
$CAP_FILE_SIZE,131351,0
$CFSIZE,2097872896,2032467968
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13033.33,0x2378b6,7,5
$INTR,1,5321.29,0x2378b6,2,5
$INTR,2,12097.61,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,090914,000654,7446.449,-14212.355,23,0.8,43,24.1