version: 66.12
glider: 196
mission: 7
dive: 319
start: 9 10 114 8 49 54
data:
$ID,196
$MISSION,7
$DIVE,319
$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,1
$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,-7575.812
$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,55
$R_STBD_OVSHOOT,29
$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
$GPS1,100914,013409,7439.456,-14229.791,5,0.8,25,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-15.7
$GPS2,100914,013409,7439.456,-14229.791,5,0.8,25,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,56.0,59251,-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,-145.9,2982,2773,666,684,0.0,0.0,0,30,0.00,0.00,-11.55,0.000,16386,0.000,0.000,2980,2773,1035,1071,999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2981,2773,1074,998,3.4,0.0,1,112,0.90,0.00,-77.35,0.000,21254,0.065,0.000,2659,2774,3855,3922,3788,0,0,0,0,0,0,14.27,28.83,14.55
$GC,408,-0.69,-145.9,2660,2774,3923,3794,99.2,-22.4,43,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2774,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,708,-0.69,-145.9,2661,2774,3923,3795,159.4,-19.3,73,713,0.00,2.38,0.00,0.000,516,0.000,0.063,2660,1369,3858,3922,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,723,-0.69,-145.9,2661,1370,3922,3796,162.2,-19.0,76,729,0.00,2.45,0.00,0.000,1030,0.000,0.094,2650,2747,3858,3922,3794,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1028,-0.69,-145.9,2652,2748,3922,3795,218.0,-16.8,107,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2747,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.69,-145.9,2651,2748,3923,3794,264.7,-14.8,132,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2748,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.69,-145.9,2651,2748,3923,3794,307.1,-14.0,142,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2747,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-0.69,-145.9,2651,2748,3922,3795,347.5,-13.4,152,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2747,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.69,-145.9,2651,2748,3923,3795,386.0,-12.7,162,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2748,3861,3921,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2538,-0.69,-145.9,2651,2747,3923,3794,423.5,-12.4,172,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2747,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.69,-145.9,2651,2748,3922,3795,461.3,-12.6,182,2843,0.00,1.83,0.00,0.000,260,0.000,0.101,2641,3792,3858,3922,3794,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2858,-0.69,-145.9,2642,3792,3923,3794,464.0,-13.5,186,2863,0.00,1.70,0.00,0.000,1030,0.000,0.053,2642,2756,3857,3921,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3168,-0.69,-145.9,2642,2756,3923,3795,504.3,-12.9,198,3169,0.12,0.00,0.00,0.000,2054,0.272,0.000,2667,2755,3857,3921,3794,0,0,0,0,0,0,14.31,28.83,28.83
$GC,3468,-0.69,-145.9,2668,2761,3923,3794,538.2,-11.2,208,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.69,-145.9,2668,2756,3921,3794,571.7,-11.2,218,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4068,-0.69,-145.9,2668,2759,3923,3795,605.2,-11.2,228,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2752,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.69,-145.9,2668,2755,3923,3794,638.1,-11.0,238,4373,0.00,2.30,0.00,0.000,516,0.000,0.063,2667,1371,3857,3921,3794,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4388,-0.69,-145.9,2669,1369,3922,3795,640.2,-10.1,242,4393,0.00,2.45,0.00,0.000,1030,0.000,0.095,2663,2756,3857,3921,3794,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4699,-0.69,-145.9,2664,2758,3922,3795,674.5,-11.0,254,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.69,-145.9,2664,2757,3923,3795,707.4,-10.9,264,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.69,-145.9,2663,2756,3923,3795,739.8,-10.7,274,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2757,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5416,begin apogee
$GC,5421,-0.13,0.0,2664,2757,3922,3796,752.8,-10.7,278,5550,0.68,0.00,127.03,1.999,10244,0.220,0.000,2843,2758,3257,3278,3237,0,0,0,0,0,0,14.26,28.83,13.06
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5551,begin climb
$GC,5553,0.69,145.9,2844,2758,3273,3234,756.3,0.0,282,5683,0.88,0.00,125.53,1.834,11270,0.122,0.000,3109,2757,2663,2669,2657,0,0,0,0,0,0,13.76,28.83,12.62
$GC,5994,0.69,145.9,3110,2758,2665,2645,711.7,12.9,322,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2758,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6292,0.69,145.9,3110,2758,2665,2645,673.1,12.8,332,6297,0.00,2.40,0.00,0.000,516,0.000,0.063,3120,1348,2654,2664,2644,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6327,0.69,146.8,3121,1349,2665,2645,668.9,11.6,339,6332,0.00,2.47,0.00,0.000,1030,0.000,0.089,3120,2744,2654,2664,2644,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6654,0.69,146.8,3121,2745,2665,2645,625.8,13.3,354,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6952,0.69,146.8,3122,2745,2665,2645,586.3,13.2,364,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7252,0.69,146.8,3121,2745,2665,2645,547.5,12.9,374,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2744,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,0.69,146.8,3121,2745,2665,2644,509.2,12.6,384,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7852,0.69,146.8,3120,2745,2666,2643,471.6,12.4,394,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8152,0.69,146.8,3121,2744,2666,2644,435.0,12.2,404,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,0.69,146.8,3121,2745,2665,2644,398.5,12.2,414,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,0.69,146.8,3120,2745,2665,2644,361.8,12.2,424,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2745,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.69,146.8,3121,2745,2664,2644,325.8,11.9,434,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,0.69,152.7,3121,2745,2666,2645,291.7,11.3,444,9357,0.00,0.00,3.70,1.269,8198,0.000,0.000,3120,2745,2635,2646,2625,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9653,0.72,186.9,3120,2745,2665,2626,260.9,9.8,454,9686,0.00,0.00,32.28,1.315,8198,0.000,0.000,3120,2744,2494,2503,2485,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9983,0.75,225.8,3121,2745,2497,2479,227.7,9.6,479,10024,0.00,2.42,32.78,1.342,8708,0.000,0.065,3125,1356,2330,2332,2328,0,0,0,0,0,0,28.83,14.23,13.64
$GC,10068,0.77,264.9,3126,1356,2333,2328,219.4,9.5,496,10109,0.00,2.47,33.78,1.400,9222,0.000,0.090,3126,2746,2171,2172,2170,0,0,0,0,0,0,28.83,14.26,13.50
$GC,10414,0.80,298.0,3126,2746,2173,2160,182.6,9.9,535,10445,0.00,0.00,27.90,1.245,8198,0.000,0.000,3125,2746,2038,2042,2034,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10745,0.82,326.9,3126,2746,2042,2031,148.3,10.1,568,10776,0.00,2.40,24.80,1.206,8708,0.000,0.064,3125,1354,1919,1920,1918,0,0,0,0,0,0,28.83,14.28,13.67
$GC,10817,0.85,374.5,3126,1354,1918,1916,141.3,9.1,582,10867,0.12,2.47,41.55,1.220,11270,0.129,0.091,3181,2741,1725,1728,1722,0,0,0,0,0,0,14.30,14.25,13.51
$GC,11166,0.85,374.5,3182,2742,1728,1707,95.6,12.6,622,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2741,1716,1727,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,0.87,409.5,3182,2741,1728,1703,59.8,9.8,652,11491,0.00,2.40,13.98,0.368,8708,0.000,0.063,3190,1345,1590,1601,1580,0,0,0,0,0,0,28.83,14.18,13.93
$GC,11526,0.91,467.5,3191,1346,1605,1581,54.7,8.5,663,11557,0.00,2.50,27.10,0.353,9222,0.000,0.092,3190,2737,1351,1367,1336,0,0,0,0,0,0,28.83,14.13,13.93
$GC,11862,1.00,592.7,3192,2737,1372,1326,32.3,5.0,700,11927,0.00,2.47,57.65,0.299,8708,0.000,0.066,3190,1350,839,839,840,0,0,0,0,0,0,28.83,14.11,13.93
$GC,11967,1.07,692.5,3192,1352,841,845,26.1,6.3,721,12014,0.15,2.50,39.05,0.278,11270,0.124,0.090,3248,2738,497,444,551,0,0,0,0,0,0,14.14,14.08,13.92
$FREEZE,8.78,-1.229,-1.421,2,3,0
$FREEZE,8.03,-1.252,-1.421,2,3,0
$FREEZE,7.44,-1.251,-1.421,2,3,0
$FREEZE,6.71,-1.250,-1.420,2,3,0
$FREEZE,5.85,-1.249,-1.419,2,3,0
$FREEZE,5.17,-1.249,-1.419,2,3,0
$FREEZE,4.45,-1.258,-1.418,2,3,0
$FREEZE,3.68,-1.265,-1.418,2,3,0
$FREEZE,3.02,-1.261,-1.417,2,3,0
$FREEZE,2.28,-1.268,-1.417,2,3,0
$FREEZE,1.55,-1.271,-1.416,2,3,0
$STATE,12280,end climb,SURFACE_DEPTH_REACHED
$STATE,12280,begin surface coast
$FREEZE,0.91,-1.275,-1.323,2,3,0
$FINISH,0.9,1.019533
$STATE,12291,end surface coast,FINISH_DEPTH_REACHED
$STATE,12291,begin surface
$SM_CCo,12368,0.00,0.000,0,0,493,678.01
$SM_GC,2.14,9.48,0.00,0.00,0.082,0.000,0.000,201,2738,493,-8.37,-0.62,678.01,0,0,0,0,0,0,14.23,28.83,28.83
$RAFOS_CLK,53
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14231.86,090914,214004
$TT8_MAMPS,0.080892,0.080892
$HUMID,43.38
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,8
$SC_FREEKB,3795712
$24V_AH,12.62,98.909
$10V_AH,12.71,0.000
$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,12.325,37.700,587.100,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,10175.515,602.778,1558.462,148.997,0.000,1236.058,0.000,1133.195,1493.000,0.539,0.000
$DEVICE_MAMPS,271.575,196.605,1998.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.154,0.000,0.000,0.000
$MEM,180128
$DATA_FILE_SIZE,26721,758
$CAP_FILE_SIZE,121451,0
$CFSIZE,2097872896,2030534656
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5417.85,0x2378b6,2,5
$INTR,1,5668.32,0x234482,1,24
$INTR,2,12295.01,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,100914,121724,7440.043,-14211.493,34,0.8,54,24.1