version: 66.12
glider: 196
mission: 7
dive: 325
start: 9 11 114 6 42 14
data:
$ID,196
$MISSION,7
$DIVE,325
$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,-7583.3735
$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,54
$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
$GPS1,110914,063224,7440.283,-14142.645,35,0.8,55,24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-78.6
$GPS2,110914,064154,7440.265,-14142.560,6,0.8,26,24.2
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,51.9,36417,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,204,2762,433,550,0.0,0.0,0,91,0.00,0.00,-72.05,0.000,16386,0.000,0.000,203,2762,2290,2293,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,204,2762,2294,2289,3.6,-3.2,7,138,12.38,1.90,-27.88,0.000,18692,0.402,0.123,2657,3792,3855,3915,3795,0,0,0,0,0,0,13.90,14.19,14.44
$GC,362,-0.69,-145.9,2658,3793,3916,3801,88.8,-24.0,61,367,0.00,1.73,0.00,0.000,1030,0.000,0.050,2657,2759,3857,3915,3800,0,0,0,0,0,0,28.83,14.24,28.83
$GC,672,-0.69,-145.9,2657,2759,3916,3801,153.2,-18.9,93,677,0.00,1.85,0.00,0.000,260,0.000,0.099,2648,3779,3857,3915,3800,0,0,0,0,0,0,28.83,14.26,28.83
$GC,902,-0.69,-145.9,2649,3779,3916,3800,198.2,-18.9,139,907,0.00,1.70,0.00,0.000,1030,0.000,0.053,2649,2758,3857,3915,3800,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1212,-0.69,-145.9,2650,2759,3916,3801,251.2,-16.0,171,1217,0.00,1.85,0.00,0.000,260,0.000,0.100,2640,3806,3857,3915,3800,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1442,-0.69,-145.9,2641,3807,3916,3800,288.9,-16.0,217,1448,0.10,1.75,0.00,0.000,3078,0.245,0.054,2665,2757,3857,3915,3800,0,0,0,0,0,0,14.12,14.45,28.83
$GC,1754,-0.69,-145.9,2666,2757,3917,3800,329.1,-12.8,229,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,-0.69,-145.9,2666,2758,3916,3801,366.8,-12.4,239,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.69,-145.9,2666,2758,3916,3801,403.4,-12.1,249,2357,0.00,2.35,0.00,0.000,516,0.000,0.064,2665,1359,3857,3915,3800,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2377,-0.69,-145.9,2666,1360,3915,3801,406.4,-12.5,254,2384,0.00,2.47,0.00,0.000,1030,0.000,0.096,2663,2756,3857,3915,3800,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2683,-0.69,-145.9,2664,2757,3916,3801,443.3,-12.0,265,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-0.69,-145.9,2663,2756,3916,3800,479.0,-11.8,275,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,-0.69,-145.9,2664,2757,3916,3801,514.4,-11.8,285,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.69,-145.9,2664,2757,3916,3801,549.9,-11.8,295,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-0.69,-145.9,2664,2757,3916,3800,584.7,-11.5,305,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.69,-145.9,2664,2757,3915,3801,618.8,-11.3,315,4187,0.00,2.33,0.00,0.000,516,0.000,0.063,2662,1368,3857,3915,3800,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4202,-0.69,-145.9,2663,1368,3916,3800,621.1,-11.7,319,4207,0.00,2.45,0.00,0.000,1030,0.000,0.095,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4514,-0.69,-145.9,2662,2757,3916,3801,655.9,-11.3,331,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.69,-145.9,2663,2754,3917,3808,690.0,-11.3,341,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-0.69,-145.9,2663,2757,3916,3801,723.4,-11.1,351,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5385,-0.13,0.0,2663,2756,3917,3801,753.2,-11.0,360,5516,0.70,0.00,127.70,2.007,10244,0.222,0.000,2844,2757,3256,3273,3239,0,0,0,0,0,0,14.11,28.83,12.96
$STATE,5517,end apogee,CONTROL_FINISHED_OK
$STATE,5517,begin climb
$GC,5519,0.69,145.9,2846,2758,3271,3238,756.7,0.0,364,5656,0.93,1.95,126.47,1.842,10500,0.142,0.101,3106,3786,2658,2663,2654,0,0,0,0,0,0,13.65,13.68,12.57
$GC,5881,0.69,145.9,3107,3787,2662,2649,716.8,14.6,439,5886,0.00,1.80,0.00,0.000,1030,0.000,0.049,3114,2741,2655,2663,2648,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6197,0.69,145.9,3115,2740,2664,2646,675.4,13.1,452,6202,0.00,2.38,0.00,0.000,516,0.000,0.063,3125,1348,2654,2663,2646,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6427,0.69,145.9,3126,1349,2664,2646,647.5,12.2,498,6432,0.00,2.47,0.00,0.000,1030,0.000,0.089,3125,2749,2654,2663,2645,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6737,0.69,145.9,3126,2749,2664,2645,605.2,13.7,510,6742,0.00,2.38,0.00,0.000,516,0.000,0.062,3134,1339,2653,2662,2645,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6848,0.69,145.9,3136,1339,2664,2645,591.4,12.4,532,6852,0.00,2.47,0.00,0.000,1030,0.000,0.090,3134,2749,2654,2663,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7157,0.69,145.9,3136,2749,2663,2646,548.0,13.9,544,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2749,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,0.69,145.9,3136,2750,2663,2646,506.2,13.9,554,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2749,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7757,0.69,145.9,3135,2749,2664,2645,464.4,13.8,564,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2749,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8058,0.69,145.9,3135,2748,2664,2645,423.3,13.7,574,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2749,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,0.69,145.9,3136,2749,2663,2646,383.3,13.2,584,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2749,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8657,0.69,145.9,3135,2749,2664,2644,344.5,12.6,594,8662,0.00,2.35,0.00,0.000,516,0.000,0.063,3145,1344,2654,2663,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8702,0.69,149.7,3146,1344,2664,2645,339.2,11.4,603,8707,0.00,2.45,0.00,0.000,1030,0.000,0.089,3145,2740,2654,2663,2645,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9017,0.69,149.7,3146,2741,2663,2646,299.6,12.5,616,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2740,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9317,0.70,155.3,3145,2741,2664,2645,264.8,11.3,626,9327,0.00,0.00,8.32,1.358,8198,0.000,0.000,3145,2741,2625,2635,2616,0,0,0,0,0,0,28.83,28.83,13.86
$GC,9617,0.73,209.6,3146,2741,2631,2611,234.7,8.7,646,9669,0.00,2.38,45.78,1.305,8708,0.000,0.060,3155,1342,2396,2397,2395,0,0,0,0,0,0,28.83,14.31,13.65
$GC,9729,0.75,232.0,3157,1343,2394,2395,223.8,10.4,668,9754,0.00,2.47,19.35,1.330,9222,0.000,0.089,3156,2736,2307,2306,2308,0,0,0,0,0,0,28.83,14.26,13.59
$GC,10059,0.76,250.0,3156,2736,2307,2300,186.8,10.7,704,10080,0.00,0.00,15.48,1.267,8198,0.000,0.000,3156,2736,2234,2237,2231,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10381,0.78,276.8,3157,2740,2237,2228,152.6,10.2,736,10411,0.00,2.38,23.77,1.217,8708,0.000,0.062,3164,1347,2121,2124,2119,0,0,0,0,0,0,28.83,14.32,13.69
$GC,10471,0.81,319.9,3165,1347,2124,2117,143.7,9.3,754,10513,0.00,2.45,36.65,1.243,9222,0.000,0.090,3164,2731,1950,1949,1952,0,0,0,0,0,0,28.83,14.19,13.54
$GC,10811,0.81,324.3,3165,2731,1946,1938,103.7,11.4,792,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2731,1941,1945,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11111,0.84,360.3,3165,2732,1946,1936,72.7,9.7,822,11133,0.00,1.95,16.90,0.405,8452,0.000,0.098,3169,3787,1790,1791,1790,0,0,0,0,0,0,28.83,14.23,13.94
$GC,11148,0.86,390.6,3165,3788,1796,1790,69.1,10.0,827,11168,0.00,1.75,14.50,0.395,9222,0.000,0.049,3171,2735,1663,1669,1658,0,0,0,0,0,0,28.83,14.28,13.93
$GC,11473,0.95,524.3,3172,2735,1675,1651,43.4,4.5,862,11535,0.00,0.00,60.00,0.317,8454,0.000,0.000,3171,2735,1119,1134,1105,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11833,1.04,648.7,3172,2735,1134,1092,25.3,5.0,901,11895,0.17,2.45,56.88,0.275,10756,0.109,0.067,3246,1352,610,584,637,0,0,0,0,0,0,14.21,14.13,13.99
$GC,12005,1.11,739.4,3247,1352,584,638,13.2,6.8,935,12026,0.00,2.45,12.77,0.241,9222,0.000,0.089,3246,2722,499,450,548,0,0,0,0,0,0,28.83,14.16,14.00
$FREEZE,9.00,-1.242,-1.428,2,1,0
$FREEZE,8.30,-1.242,-1.427,2,1,0
$FREEZE,7.65,-1.238,-1.426,2,1,0
$FREEZE,6.90,-1.234,-1.426,2,1,0
$FREEZE,6.15,-1.231,-1.425,2,1,0
$FREEZE,5.42,-1.247,-1.425,2,1,0
$FREEZE,4.70,-1.257,-1.424,2,1,0
$FREEZE,3.99,-1.269,-1.423,2,1,0
$FREEZE,3.28,-1.265,-1.423,2,1,0
$FREEZE,2.47,-1.256,-1.422,2,1,0
$FREEZE,1.76,-1.268,-1.422,2,1,0
$STATE,12163,end climb,SURFACE_DEPTH_REACHED
$STATE,12163,begin surface coast
$FREEZE,1.05,-1.270,-1.421,2,1,0
$FREEZE,0.95,-1.381,-0.611,2,1,0
$FINISH,0.9,1.008922
$STATE,12185,end surface coast,FINISH_DEPTH_REACHED
$STATE,12185,begin surface
$SM_CCo,12263,0.00,0.000,0,0,497,677.27
$SM_GC,2.11,9.40,0.08,0.00,0.083,0.195,0.000,205,2774,497,-8.36,-0.59,677.27,0,0,0,0,0,0,14.33,14.29,28.83
$RAFOS_CLK,375
$RAFOS_FIX,7443.150879,-14155.582031,100914,202043,2,255,10.71
$IRIDIUM_FIX,7350.26,-14309.43,110914,025905
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.02
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,7
$SC_FREEKB,3793024
$24V_AH,12.57,100.968
$10V_AH,12.61,0.000
$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,23.675,56.975,564.575,0.000,0.000,0.000,0.000,369.025,1.750,0.000,27.367,0.000,9700.833,626.106,2251.750,247.742,0.000,1756.774,0.000,1417.643,1476.000,0.539,0.000
$DEVICE_MAMPS,402.390,195.075,2007.360,0.000,0.000,0.000,0.000,148.410,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12234.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.375,0.000,0.000,0.000
$MEM,173328
$DATA_FILE_SIZE,33317,955
$CAP_FILE_SIZE,140415,0
$CFSIZE,2097872896,2029322240
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13011.42,0x2378b6,7,5
$INTR,1,5382.29,0x2378b6,2,5
$SOUNDSPEED,1449.5
$GPS,110914,100754,7440.112,-14137.782,28,0.9,48,24.3