version: 66.12
glider: 196
mission: 7
dive: 334
start: 9 12 114 14 49 0
data:
$ID,196
$MISSION,7
$DIVE,334
$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,-7593.6514
$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,49
$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
$GPS1,120914,144054,7442.315,-14055.300,28,0.8,48,24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-74.7
$GPS2,120914,144839,7442.286,-14055.249,6,0.8,26,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.3,13287,-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,-145.9,204,2763,430,563,0.0,0.0,0,93,0.00,0.00,-74.22,0.000,16386,0.000,0.000,203,2763,2363,2369,2358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.69,-145.9,204,2764,2369,2361,3.5,-3.1,7,139,12.25,1.88,-25.38,0.000,18692,0.398,0.121,2656,3792,3855,3914,3796,0,0,0,0,0,0,13.89,14.17,14.45
$GC,364,-0.69,-145.9,2657,3792,3915,3800,89.3,-23.7,61,369,0.00,1.73,0.00,0.000,1030,0.000,0.051,2656,2752,3856,3913,3799,0,0,0,0,0,0,28.83,14.29,28.83
$GC,674,-0.69,-145.9,2657,2753,3915,3801,153.6,-19.6,93,679,0.00,1.88,0.00,0.000,260,0.000,0.099,2648,3786,3856,3913,3800,0,0,0,0,0,0,28.83,14.26,28.83
$GC,904,-0.69,-145.9,2649,3786,3915,3800,200.1,-19.3,139,909,0.00,1.70,0.00,0.000,1030,0.000,0.052,2648,2761,3857,3914,3800,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1214,-0.69,-145.9,2649,2762,3915,3801,251.0,-14.4,171,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.69,-145.9,2649,2762,3914,3801,293.4,-14.1,181,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2761,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,-0.69,-145.9,2649,2762,3914,3801,334.6,-13.5,191,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.69,-145.9,2649,2762,3915,3801,373.6,-13.0,201,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-0.69,-145.9,2648,2762,3914,3801,412.1,-12.9,211,2419,0.00,2.33,0.00,0.000,516,0.000,0.063,2648,1369,3857,3914,3800,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2459,-0.69,-145.9,2649,1368,3915,3800,417.7,-11.8,220,2465,0.15,2.45,0.00,0.000,3078,0.256,0.095,2668,2756,3856,3913,3800,0,0,0,0,0,0,14.22,14.40,28.83
$GC,2776,-0.69,-145.9,2670,2756,3915,3799,453.1,-11.4,233,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-0.69,-145.9,2670,2757,3914,3801,486.8,-11.2,243,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.69,-145.9,2670,2757,3915,3801,520.4,-11.2,253,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.69,-145.9,2670,2757,3914,3801,554.0,-11.1,263,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.69,-145.9,2670,2757,3914,3801,587.3,-11.0,273,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-0.69,-145.9,2670,2757,3914,3800,620.2,-10.8,283,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-0.69,-145.9,2670,2757,3914,3803,653.1,-10.9,293,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.69,-145.9,2670,2757,3914,3801,685.6,-10.8,303,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5175,-0.69,-145.9,2670,2757,3914,3802,717.9,-10.6,313,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2756,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5475,-0.69,-145.9,2670,2756,3915,3801,749.7,-10.6,323,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5502,begin apogee
$GC,5507,-0.13,0.0,2669,2756,3915,3801,752.8,-10.5,324,5637,0.65,0.00,127.40,2.004,10244,0.210,0.000,2843,2756,3257,3274,3240,0,0,0,0,0,0,14.08,28.83,12.95
$STATE,5638,end apogee,CONTROL_FINISHED_OK
$STATE,5638,begin climb
$GC,5640,0.69,145.9,2844,2756,3272,3236,756.5,0.0,328,5772,0.88,0.00,126.60,1.842,11270,0.119,0.000,3108,2756,2659,2665,2654,0,0,0,0,0,0,13.65,28.83,12.57
$GC,6078,0.69,145.9,3109,2757,2664,2645,713.7,12.6,368,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2756,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6377,0.69,145.9,3109,2757,2664,2645,676.2,12.3,378,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2756,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,0.69,145.9,3109,2756,2665,2644,638.8,12.4,388,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2756,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,0.69,145.9,3108,2756,2665,2644,601.8,12.3,398,6981,0.00,2.38,0.00,0.000,516,0.000,0.063,3119,1348,2657,2671,2644,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7016,0.69,148.5,3120,1349,2664,2644,597.2,11.5,406,7022,0.00,2.45,0.00,0.000,1030,0.000,0.090,3119,2747,2654,2664,2644,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7338,0.69,148.5,3120,2748,2664,2645,556.8,12.6,420,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2748,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,0.69,148.5,3120,2747,2665,2644,519.3,12.4,430,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,0.69,148.5,3120,2748,2665,2644,481.6,12.5,440,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8237,0.69,148.5,3120,2748,2664,2645,444.3,12.4,450,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2747,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8537,0.69,148.5,3120,2748,2664,2645,407.1,12.3,460,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,0.69,148.5,3120,2747,2665,2644,370.8,12.1,470,8842,0.00,2.33,0.00,0.000,516,0.000,0.062,3129,1350,2654,2664,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8862,0.70,160.7,3135,1351,2665,2644,368.0,11.0,475,8882,0.00,2.42,12.77,1.443,9222,0.000,0.090,3128,2737,2598,2606,2591,0,0,0,0,0,0,28.83,14.45,13.83
$GC,9197,0.70,160.7,3130,2738,2606,2590,325.9,12.6,492,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2597,2605,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9497,0.70,160.7,3129,2739,2606,2590,288.8,12.3,502,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2737,2597,2605,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9797,0.71,172.6,3129,2738,2607,2589,253.7,11.0,512,9812,0.00,2.40,11.25,1.344,8708,0.000,0.063,3138,1345,2548,2556,2541,0,0,0,0,0,0,28.83,14.54,13.85
$GC,9842,0.73,201.5,3138,1346,2555,2541,249.2,10.1,521,9873,0.00,2.45,24.80,1.307,9222,0.000,0.090,3137,2743,2431,2434,2428,0,0,0,0,0,0,28.83,14.30,13.74
$GC,10178,0.74,221.3,3138,2743,2435,2422,210.2,10.6,558,10199,0.00,0.00,17.20,1.299,8198,0.000,0.000,3137,2743,2350,2353,2347,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10500,0.77,267.3,3138,2745,2353,2346,179.0,9.2,590,10544,0.00,2.38,39.22,1.296,8708,0.000,0.061,3146,1351,2161,2162,2161,0,0,0,0,0,0,28.83,14.25,13.59
$GC,10589,0.80,307.6,3147,1351,2160,2159,170.4,9.5,608,10630,0.00,2.47,34.22,1.347,9222,0.000,0.090,3146,2740,1999,2001,1997,0,0,0,0,0,0,28.83,14.22,13.50
$GC,10929,0.82,329.7,3147,2740,2002,1985,132.4,10.5,646,10955,0.00,2.42,19.10,1.203,8708,0.000,0.064,3155,1351,1907,1910,1905,0,0,0,0,0,0,28.83,14.26,13.66
$GC,10980,0.83,351.5,3155,1352,1908,1905,127.0,10.5,656,11005,0.00,2.47,19.33,1.178,9222,0.000,0.091,3155,2743,1819,1820,1818,0,0,0,0,0,0,28.83,14.24,13.62
$GC,11310,0.84,358.7,3156,2744,1820,1807,88.9,11.2,692,11313,0.00,0.00,2.12,0.400,8198,0.000,0.000,3155,2743,1794,1801,1788,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11610,0.88,424.5,3156,2744,1813,1788,60.4,8.1,722,11646,0.00,2.40,30.45,0.373,8708,0.000,0.064,3164,1349,1527,1539,1516,0,0,0,0,0,0,28.83,14.25,13.97
$GC,11731,0.93,485.6,3164,1349,1541,1514,49.9,8.4,746,11766,0.00,2.50,28.05,0.342,9222,0.000,0.091,3163,2742,1276,1294,1258,0,0,0,0,0,0,28.83,14.20,13.94
$GC,12071,1.03,633.2,3164,2743,1297,1248,32.8,3.8,784,12147,0.20,2.45,67.47,0.303,10756,0.099,0.066,3246,1353,676,657,695,0,0,0,0,0,0,14.28,14.16,13.96
$GC,12224,1.10,737.2,3247,1353,657,696,22.0,6.1,814,12249,0.00,2.50,20.25,0.273,9222,0.000,0.090,3246,2735,499,448,550,0,0,0,0,0,0,28.83,14.16,13.96
$FREEZE,8.59,-1.312,-1.437,2,1,0
$FREEZE,7.85,-1.312,-1.436,2,1,0
$FREEZE,7.42,-1.312,-1.436,2,1,0
$FREEZE,6.71,-1.311,-1.436,2,1,0
$FREEZE,5.83,-1.311,-1.435,2,1,0
$FREEZE,5.05,-1.311,-1.434,2,1,0
$FREEZE,4.43,-1.311,-1.434,2,1,0
$FREEZE,3.70,-1.310,-1.433,2,1,0
$FREEZE,3.16,-1.310,-1.433,2,1,0
$FREEZE,2.65,-1.310,-1.432,2,1,0
$FREEZE,1.84,-1.310,-1.432,2,1,0
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12503,begin surface coast
$FREEZE,1.25,-1.307,-1.431,2,1,0
$FREEZE,1.14,-1.287,-1.430,2,1,0
$FREEZE,1.03,-1.299,-0.869,2,1,0
$FINISH,1.0,1.012809
$STATE,12533,end surface coast,FINISH_DEPTH_REACHED
$STATE,12533,begin surface
$SM_CCo,12610,0.00,0.000,0,0,496,677.76
$SM_GC,1.96,9.32,0.00,0.00,0.074,0.000,0.000,196,2736,496,-8.37,-0.74,677.76,0,0,0,0,0,0,14.35,28.83,28.83
$RAFOS_CLK,413
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14110.21,120914,111332
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.47
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.70
$XPDR_PINGS,5
$SC_FREEKB,3788992
$24V_AH,12.57,103.977
$10V_AH,12.59,0.000
$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,23.450,45.975,580.250,0.000,0.000,0.000,0.000,265.900,1.250,0.000,27.630,0.000,10238.083,609.961,1999.472,223.853,0.000,1581.637,0.000,1267.988,1488.000,0.539,0.000
$DEVICE_MAMPS,397.800,120.870,2003.535,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.764,0.000,0.000,0.000
$MEM,166484
$DATA_FILE_SIZE,29992,848
$CAP_FILE_SIZE,135946,0
$CFSIZE,2097872896,2027585536
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12609.33,0x2378b6,7,5
$INTR,1,83.43,0x234482,0,24
$INTR,2,5504.39,0x2378b6,2,5
$INTR,3,12537.71,0x2378b6,7,5
$SOUNDSPEED,1448.3
$GPS,120914,182024,7442.545,-14049.242,25,0.7,45,24.5