version: 66.12
glider: 196
mission: 7
dive: 256
start: 9 1 114 0 49 7
data:
$ID,196
$MISSION,7
$DIVE,256
$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,-5690.4976
$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,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
$GPS1,010914,004054,7340.625,-14506.020,34,0.8,54,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.4
$GPS2,010914,004851,7340.655,-14505.987,5,0.8,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.4,126601,-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,-145.9,205,2742,429,552,0.0,0.0,0,79,0.00,0.00,-61.72,0.000,16386,0.000,0.000,205,2741,2016,2026,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,205,2741,2027,2008,3.4,-4.2,6,134,12.07,1.85,-35.47,0.000,18692,0.396,0.119,2658,3786,3856,3919,3794,0,0,0,0,0,0,13.98,14.23,14.47
$GC,359,-0.69,-145.9,2658,3787,3920,3799,89.7,-24.6,62,364,0.00,1.73,0.00,0.000,1030,0.000,0.051,2658,2754,3859,3920,3798,0,0,0,0,0,0,28.83,14.34,28.83
$GC,669,-0.69,-145.9,2659,2755,3920,3799,156.2,-19.9,94,674,0.00,1.85,0.00,0.000,260,0.000,0.100,2650,3785,3859,3920,3798,0,0,0,0,0,0,28.83,14.34,28.83
$GC,899,-0.69,-145.9,2647,3786,3915,3799,202.8,-19.7,140,904,0.00,1.70,0.00,0.000,1030,0.000,0.054,2650,2759,3858,3919,3798,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1209,-0.69,-145.9,2650,2758,3929,3798,255.9,-16.1,170,1214,0.00,1.83,0.00,0.000,260,0.000,0.105,2641,3794,3858,3919,3798,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1354,-0.69,-145.9,2642,3795,3921,3798,280.3,-16.6,199,1360,0.00,1.70,0.00,0.000,1030,0.000,0.054,2642,2764,3859,3920,3798,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1659,-0.69,-145.9,2643,2765,3920,3799,327.1,-15.3,210,1665,0.12,2.33,0.00,0.000,2564,0.269,0.065,2667,1372,3858,3919,3798,0,0,0,0,0,0,14.33,14.50,28.83
$GC,1699,-0.69,-145.9,2669,1373,3920,3798,332.4,-12.5,218,1704,0.00,2.45,0.00,0.000,1030,0.000,0.097,2659,2762,3858,3919,3797,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2020,-0.69,-145.9,2660,2763,3920,3798,374.1,-13.0,232,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2762,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.69,-145.9,2660,2769,3920,3798,412.3,-12.7,242,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2763,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.69,-145.9,2660,2764,3920,3798,450.1,-12.6,252,2624,0.00,2.33,0.00,0.000,516,0.000,0.063,2659,1368,3858,3919,3797,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2654,-0.69,-145.9,2660,1368,3919,3798,454.3,-11.4,259,2659,0.00,2.45,0.00,0.000,1030,0.000,0.096,2648,2763,3862,3927,3797,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2980,-0.69,-145.9,2649,2764,3920,3799,497.0,-13.3,274,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-0.69,-145.9,2649,2764,3920,3799,536.0,-13.0,284,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.69,-145.9,2649,2763,3921,3798,575.0,-12.9,294,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3879,-0.69,-145.9,2650,2764,3920,3799,613.5,-12.8,304,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2764,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.69,-145.9,2649,2764,3920,3799,651.4,-12.6,314,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.69,-145.9,2649,2762,3920,3799,689.2,-12.6,324,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3859,3920,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.69,-145.9,2650,2763,3921,3800,726.8,-12.5,334,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2767,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4987,begin apogee
$GC,4992,-0.13,0.0,2649,2764,3920,3799,753.1,-12.5,341,5120,0.75,0.00,125.60,1.978,10244,0.228,0.000,2848,2764,3258,3276,3240,0,0,0,0,0,0,14.37,28.83,13.12
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5123,0.69,145.9,2850,2765,3273,3237,756.7,0.0,345,5256,0.85,0.00,124.53,1.843,11270,0.122,0.000,3108,2764,2657,2663,2652,0,0,0,0,0,0,13.80,28.83,12.68
$GC,5561,0.69,145.9,3109,2765,2664,2648,711.7,13.1,385,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5860,0.69,145.9,3108,2764,2665,2646,672.7,12.9,395,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,0.69,145.9,3108,2765,2664,2646,633.9,12.8,405,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,0.69,145.9,3109,2764,2665,2645,595.7,12.6,415,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,0.69,145.9,3109,2764,2665,2645,558.0,12.5,425,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,0.69,145.9,3109,2765,2664,2646,520.4,12.6,435,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,0.69,145.9,3109,2765,2664,2646,483.4,12.3,445,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2769,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,0.69,145.9,3109,2770,2664,2646,447.0,12.2,455,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.69,145.9,3109,2765,2664,2642,411.0,12.0,465,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2764,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,0.69,145.9,3109,2764,2664,2646,376.0,11.7,475,8266,0.00,2.38,0.00,0.000,516,0.000,0.065,3124,1346,2654,2664,2645,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8315,0.70,153.8,3120,1346,2664,2646,369.8,11.2,486,8327,0.00,2.42,7.43,1.463,9222,0.000,0.090,3119,2743,2630,2639,2622,0,0,0,0,0,0,28.83,14.54,13.90
$GC,8651,0.70,153.8,3120,2748,2637,2615,328.5,12.3,503,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2624,2634,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,0.70,160.8,3120,2743,2636,2616,293.8,11.3,513,8960,0.00,0.00,7.22,1.392,8198,0.000,0.000,3119,2743,2601,2609,2593,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9251,0.71,177.0,3121,2744,2607,2590,259.9,10.8,523,9267,0.00,0.00,14.57,1.320,8198,0.000,0.000,3120,2743,2535,2543,2528,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9551,0.74,222.3,3120,2744,2540,2521,229.1,9.2,545,9593,0.00,0.00,38.35,1.268,8198,0.000,0.000,3119,2742,2346,2348,2344,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9893,0.77,257.4,3120,2744,2348,2338,193.6,9.8,579,9924,0.00,0.00,29.73,1.252,8198,0.000,0.000,3119,2743,2207,2210,2204,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10223,0.80,300.2,3116,2744,2209,2192,161.3,9.4,612,10263,0.00,0.00,36.03,1.227,8198,0.000,0.000,3119,2743,2030,2035,2025,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10562,0.83,344.5,3120,2743,2036,2015,128.1,9.3,646,10608,0.12,2.45,37.60,1.203,10756,0.126,0.067,3185,1356,1847,1848,1846,0,0,0,0,0,0,14.40,14.18,13.63
$GC,10647,0.83,344.5,3187,1356,1844,1844,117.3,13.0,663,10654,0.00,2.47,0.00,0.000,1030,0.000,0.091,3186,2738,1843,1844,1843,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10952,0.83,344.5,3186,2738,1845,1838,77.6,11.8,694,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2737,1841,1844,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11252,0.90,453.1,3186,2739,1846,1834,50.1,5.9,724,11304,0.00,0.00,47.17,0.337,8710,0.000,0.000,3186,2738,1409,1420,1398,0,0,0,0,0,0,28.83,28.83,14.02
$GC,11605,0.97,544.6,3186,2737,1425,1381,25.3,6.8,760,11651,0.00,2.40,41.20,0.277,8708,0.000,0.066,3190,1352,1035,1042,1029,0,0,0,0,0,0,28.83,14.18,14.00
$GC,11701,1.05,653.5,3191,1353,1045,1028,19.3,5.8,778,11758,0.12,2.50,49.60,0.255,11270,0.132,0.092,3246,2742,591,558,625,0,0,0,0,0,0,14.19,14.16,13.98
$FREEZE,8.79,-1.077,-1.419,2,1,0
$FREEZE,8.00,-1.123,-1.417,2,1,0
$FREEZE,7.33,-1.130,-1.416,2,1,0
$FREEZE,6.62,-1.135,-1.415,2,1,0
$FREEZE,5.95,-1.140,-1.414,2,1,0
$FREEZE,5.23,-1.153,-1.413,2,1,0
$FREEZE,4.62,-1.160,-1.412,2,1,0
$FREEZE,3.85,-1.162,-1.411,2,1,0
$FREEZE,3.25,-1.163,-1.411,2,1,0
$FREEZE,2.52,-1.168,-1.410,2,1,0
$FREEZE,1.75,-1.168,-1.409,2,1,0
$STATE,11934,end climb,SURFACE_DEPTH_REACHED
$STATE,11934,begin surface coast
$FREEZE,1.01,-1.172,-1.409,2,1,0
$FREEZE,0.75,-1.155,-1.389,2,1,0
$FINISH,0.8,1.020493
$STATE,11955,end surface coast,CONTROL_FINISHED_OK
$STATE,11955,begin surface
$SM_CCo,11971,10.20,0.208,0,0,498,676.54
$SM_GC,2.79,9.40,0.00,10.20,0.080,0.000,0.208,200,2743,498,-8.37,-0.51,676.54,0,0,0,0,0,0,14.25,28.83,14.11
$RAFOS_CLK,33
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14504.24,310814,212306
$TT8_MAMPS,0.080143,0.080143
$HUMID,43.58
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.40
$XPDR_PINGS,6
$SC_FREEKB,3823936
$24V_AH,12.68,78.029
$10V_AH,12.81,0.000
$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,23.450,34.825,559.025,10.200,0.000,0.000,0.000,287.775,1.500,0.000,26.671,0.000,9707.963,626.407,1940.043,177.704,0.000,1564.513,0.000,1206.230,1493.000,0.540,0.000
$DEVICE_MAMPS,396.270,119.340,1977.525,208.080,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12004.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.539,0.000,0.000,0.000
$MEM,216628
$DATA_FILE_SIZE,26678,809
$CAP_FILE_SIZE,126576,0
$CFSIZE,2097872896,2042462208
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12299.43,0x2378b6,7,5
$INTR,1,4989.63,0x2378b6,2,5
$INTR,2,11959.32,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,010914,040955,7341.596,-14502.228,16,0.7,36,22.9