version: 66.12
glider: 196
mission: 7
dive: 261
start: 9 1 114 18 34 54
data:
$ID,196
$MISSION,7
$DIVE,261
$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,-5878.6387
$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,57
$R_STBD_OVSHOOT,21
$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
$GPS1,010914,182054,7346.137,-14446.003,69,0.8,89,23.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-54.8
$GPS2,010914,182054,7346.137,-14446.003,181,99.0,181,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.5,112573,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.69,-145.9,186,2746,434,550,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,16386,0.000,0.000,185,2744,2459,2468,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-145.9,186,2745,2469,2452,3.5,-2.7,8,141,12.12,1.90,-24.23,0.000,18692,0.399,0.124,2657,3786,3854,3919,3790,0,0,0,0,0,0,14.02,14.29,14.54
$GC,366,-0.69,-145.9,2658,3787,3920,3796,90.0,-24.1,61,372,0.00,1.70,0.00,0.000,1030,0.000,0.053,2657,2766,3857,3919,3796,0,0,0,0,0,0,28.83,14.33,28.83
$GC,671,-0.69,-145.9,2658,2767,3920,3796,155.6,-21.4,92,676,0.00,1.85,0.00,0.000,260,0.000,0.102,2649,3788,3856,3919,3794,0,0,0,0,0,0,28.83,14.30,28.83
$GC,901,-0.69,-145.9,2650,3789,3920,3796,203.8,-20.3,138,906,0.00,1.70,0.00,0.000,1030,0.000,0.054,2649,2765,3857,3919,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1231,-0.69,-145.9,2650,2765,3920,3797,259.8,-16.2,168,1236,0.00,1.85,0.00,0.000,260,0.000,0.103,2641,3787,3857,3919,3795,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1342,-0.69,-145.9,2641,3788,3920,3795,278.2,-16.3,190,1347,0.10,1.70,0.00,0.000,3078,0.236,0.056,2678,2764,3857,3919,3795,0,0,0,0,0,0,14.24,14.51,28.83
$GC,1653,-0.69,-145.9,2679,2765,3920,3796,317.5,-12.4,202,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.69,-145.9,2679,2764,3917,3795,353.8,-11.9,212,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.69,-145.9,2679,2764,3920,3795,389.1,-11.6,222,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.69,-145.9,2679,2765,3919,3796,423.3,-11.3,232,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.69,-145.9,2679,2765,3920,3796,456.9,-11.2,242,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2765,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.69,-145.9,2679,2764,3920,3795,490.3,-11.1,252,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.69,-145.9,2679,2764,3920,3796,523.4,-11.0,262,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3752,-0.69,-145.9,2678,2765,3920,3796,556.4,-11.1,272,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2764,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4052,-0.69,-145.9,2679,2765,3919,3796,589.4,-11.0,282,4057,0.00,2.33,0.00,0.000,516,0.000,0.065,2678,1366,3857,3919,3795,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4072,-0.69,-145.9,2679,1367,3920,3796,591.6,-10.9,286,4077,0.00,2.45,0.00,0.000,1030,0.000,0.096,2670,2766,3857,3919,3795,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4383,-0.69,-145.9,2671,2767,3920,3796,627.1,-11.5,298,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2766,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4682,-0.69,-145.9,2670,2765,3919,3802,661.5,-11.5,308,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2766,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-0.69,-145.9,2671,2767,3920,3796,695.2,-11.2,318,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2766,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,-0.69,-145.9,2670,2766,3921,3796,728.6,-11.2,328,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2767,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5490,begin apogee
$GC,5494,-0.13,0.0,2671,2767,3918,3797,752.1,-11.2,335,5624,0.65,0.00,126.75,1.993,10244,0.216,0.000,2843,2766,3255,3274,3237,0,0,0,0,0,0,14.28,28.83,13.01
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5626,0.69,145.9,2844,2767,3272,3234,755.8,0.0,339,5759,0.88,0.00,125.10,1.856,11270,0.121,0.000,3108,2766,2662,2666,2659,0,0,0,0,0,0,13.72,28.83,12.61
$GC,6063,0.69,145.9,3109,2767,2666,2652,711.6,12.9,379,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2766,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,0.69,145.9,3109,2767,2666,2645,673.3,12.8,389,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2766,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6663,0.69,145.9,3109,2766,2666,2645,635.0,12.8,399,6668,0.00,2.42,0.00,0.000,516,0.000,0.065,3120,1341,2654,2665,2644,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6683,0.69,145.9,3120,1341,2666,2644,632.7,11.7,403,6688,0.00,2.47,0.00,0.000,1030,0.000,0.090,3120,2746,2654,2665,2644,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6993,0.69,145.9,3121,2747,2666,2651,592.2,13.1,415,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,0.69,145.9,3121,2747,2666,2644,552.8,13.1,425,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2746,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,0.69,145.9,3121,2746,2666,2644,513.6,13.1,435,7598,0.00,1.85,0.00,0.000,260,0.000,0.098,3120,3783,2654,2665,2644,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7623,0.69,145.9,3121,3783,2667,2644,509.2,14.9,441,7628,0.00,1.73,0.00,0.000,1030,0.000,0.051,3128,2732,2654,2665,2644,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7954,0.69,145.9,3128,2731,2666,2644,465.5,13.1,457,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2735,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8253,0.69,145.9,3129,2731,2666,2644,426.0,13.1,467,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2730,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8553,0.69,145.9,3128,2731,2666,2644,386.6,13.1,477,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2731,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,0.69,145.9,3129,2732,2666,2645,348.4,12.5,487,8858,0.00,1.88,0.00,0.000,260,0.000,0.099,3128,3786,2653,2662,2644,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8893,0.69,145.9,3129,3787,2666,2645,342.8,14.3,495,8898,0.00,1.73,0.00,0.000,1030,0.000,0.050,3135,2733,2654,2665,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9214,0.69,145.9,3136,2732,2666,2645,303.1,12.3,509,9219,0.00,1.83,0.00,0.000,260,0.000,0.098,3136,3785,2654,2665,2644,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9248,0.69,145.9,3136,3785,2666,2644,298.4,13.4,516,9254,0.00,1.70,0.00,0.000,1030,0.000,0.051,3143,2742,2655,2666,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9575,0.69,149.8,3144,2743,2666,2645,260.3,11.4,531,9579,0.00,2.30,0.00,0.000,516,0.000,0.065,3155,1347,2655,2666,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9594,0.70,167.4,3155,1348,2666,2645,258.1,10.7,535,9620,0.12,2.42,18.48,1.318,13318,0.268,0.091,3129,2742,2570,2577,2563,0,0,0,0,0,0,14.35,14.54,13.89
$GC,9926,0.73,209.2,3130,2743,2578,2560,225.3,9.4,568,9966,0.00,0.00,34.92,1.294,8198,0.000,0.000,3128,2742,2399,2404,2395,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10266,0.76,250.1,3130,2742,2405,2390,191.2,9.5,602,10306,0.00,0.00,34.53,1.291,8198,0.000,0.000,3128,2742,2233,2236,2230,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10606,0.80,308.9,3129,2743,2238,2224,159.5,8.5,636,10661,0.00,2.35,50.10,1.274,8708,0.000,0.065,3137,1351,1991,1995,1987,0,0,0,0,0,0,28.83,14.14,13.55
$GC,10725,0.84,354.3,3139,1352,1993,1984,148.2,9.2,660,10771,0.00,2.47,38.80,1.257,9222,0.000,0.090,3137,2734,1811,1814,1808,0,0,0,0,0,0,28.83,14.19,13.50
$GC,11076,0.84,359.7,3139,2736,1807,1794,108.4,11.3,700,11078,0.00,0.00,1.02,0.297,8198,0.000,0.000,3138,2734,1791,1799,1783,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11376,0.87,406.6,3138,2734,1813,1784,77.8,9.1,730,11400,0.10,0.00,22.30,0.421,10246,0.145,0.000,3185,2734,1600,1607,1593,0,0,0,0,0,0,14.31,28.83,13.97
$GC,11697,0.92,475.2,3186,2734,1616,1586,46.1,8.0,762,11732,0.00,2.45,31.05,0.324,8708,0.000,0.067,3191,1352,1319,1333,1306,0,0,0,0,0,0,28.83,14.20,14.03
$GC,11807,0.98,557.1,3190,1351,1335,1304,37.4,7.3,784,11849,0.00,2.47,37.20,0.296,9222,0.000,0.093,3191,2726,985,989,982,0,0,0,0,0,0,28.83,14.23,14.01
$GC,12147,1.06,680.1,3192,2728,989,972,15.1,5.1,822,12209,0.15,2.38,54.28,0.238,11012,0.124,0.068,3259,1351,499,448,551,0,0,0,0,0,0,14.29,14.22,14.07
$GC,12229,1.13,770.3,3260,1352,449,552,9.1,6.8,835,12234,0.00,2.47,0.00,0.000,1030,0.000,0.090,3260,2740,499,448,550,0,0,0,0,0,0,28.83,14.20,28.83
$FREEZE,8.32,-1.097,-1.418,2,2,0
$FREEZE,7.45,-1.094,-1.416,2,2,0
$FREEZE,6.65,-1.092,-1.415,2,2,0
$FREEZE,5.89,-1.091,-1.415,2,2,0
$FREEZE,5.01,-1.090,-1.414,2,2,0
$FREEZE,4.38,-1.078,-1.413,2,2,0
$FREEZE,3.82,-1.078,-1.412,2,2,0
$FREEZE,3.04,-1.080,-1.412,2,2,0
$FREEZE,2.21,-1.079,-1.411,2,2,0
$FREEZE,1.40,-1.078,-1.411,2,2,0
$STATE,12327,end climb,SURFACE_DEPTH_REACHED
$STATE,12327,begin surface coast
$FREEZE,0.66,-1.083,-1.410,2,2,0
$FREEZE,0.70,-1.072,-1.410,2,2,0
$FINISH,0.7,1.020797
$STATE,12347,end surface coast,CONTROL_FINISHED_OK
$STATE,12347,begin surface
$SM_CCo,12423,0.00,0.000,0,0,495,677.76
$SM_GC,1.73,9.15,0.00,0.00,0.058,0.000,0.000,198,2741,495,-8.36,-0.54,677.76,0,0,0,0,0,0,14.34,28.83,28.83
$RAFOS_CLK,360
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14444.73,010914,182403
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.03
$INTERNAL_PRESSURE,8.5335
$TCM_TEMP,12.60
$XPDR_PINGS,6
$SC_FREEKB,3821696
$24V_AH,12.61,79.662
$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,23.275,50.400,574.525,0.000,0.000,0.000,0.000,346.550,1.500,0.000,182.465,0.000,10159.595,642.148,2232.729,203.243,0.000,1683.604,0.000,1270.875,1477.000,0.539,0.000
$DEVICE_MAMPS,399.330,123.930,1992.825,0.000,0.000,0.000,0.000,126.990,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12405.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.748,0.000,0.000,0.000
$MEM,213716
$DATA_FILE_SIZE,30036,848
$CAP_FILE_SIZE,139095,0
$CFSIZE,2097872896,2041282560
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13309.26,0x2378b6,7,5
$INTR,1,5492.29,0x2378b6,2,5
$INTR,2,12352.00,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,010914,220324,7347.454,-14441.761,39,0.9,59,23.0