version: 66.12
glider: 196
mission: 7
dive: 278
start: 9 4 114 6 35 16
data:
$ID,196
$MISSION,7
$DIVE,278
$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,-5900.1636
$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,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
$GPS1,040914,062724,7404.846,-14349.136,39,0.8,59,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.6
$GPS2,040914,063500,7404.864,-14349.252,5,0.9,25,23.4
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,11.6,68098,-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,-145.9,204,2734,439,544,0.0,0.0,0,90,0.00,0.00,-71.82,0.000,16386,0.000,0.000,203,2735,2228,2238,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,204,2735,2239,2220,3.2,-2.6,7,140,12.15,1.95,-30.42,0.000,18692,0.398,0.128,2659,3789,3854,3919,3789,0,0,0,0,0,0,13.95,14.18,14.47
$GC,274,-0.69,-145.9,2660,3790,3920,3794,66.6,-25.0,43,281,0.00,1.73,0.00,0.000,1030,0.000,0.050,2662,2755,3856,3919,3794,0,0,0,0,0,0,28.83,14.31,28.83
$GC,580,-0.69,-145.9,2660,2754,3920,3794,134.9,-19.7,74,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2753,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.69,-145.9,2660,2754,3920,3794,192.0,-17.9,104,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1180,-0.69,-145.9,2660,2754,3919,3794,241.7,-15.7,134,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2755,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-0.69,-145.9,2660,2755,3919,3795,285.7,-14.3,148,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.69,-145.9,2660,2755,3919,3795,326.8,-13.5,158,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.69,-145.9,2661,2755,3919,3795,366.4,-13.1,168,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.69,-145.9,2660,2755,3919,3795,404.4,-12.5,178,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.69,-145.9,2661,2755,3920,3795,441.5,-12.4,188,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.69,-145.9,2660,2754,3920,3795,478.6,-12.4,198,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.69,-145.9,2661,2755,3919,3796,515.6,-12.3,208,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.69,-145.9,2660,2755,3919,3795,552.2,-12.1,218,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.69,-145.9,2661,2755,3919,3795,588.4,-12.0,228,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.69,-145.9,2660,2754,3920,3794,624.6,-12.1,238,4185,0.00,2.30,0.00,0.000,516,0.000,0.064,2660,1372,3856,3919,3794,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4215,-0.69,-145.9,2661,1373,3920,3795,628.8,-11.5,245,4220,0.00,2.42,0.00,0.000,1030,0.000,0.096,2649,2755,3856,3918,3794,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4541,-0.69,-145.9,2650,2756,3920,3795,669.6,-12.7,260,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2755,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.69,-145.9,2650,2756,3919,3796,706.3,-12.2,270,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2755,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.69,-145.9,2650,2754,3919,3793,742.8,-12.1,280,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2755,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5198,begin apogee
$GC,5202,-0.13,0.0,2650,2756,3919,3795,750.0,-12.0,282,5331,0.75,0.00,126.60,2.013,10244,0.221,0.000,2848,2755,3256,3276,3237,0,0,0,0,0,0,14.25,28.83,13.04
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5334,0.69,145.9,2849,2756,3273,3235,753.4,0.0,286,5467,0.85,0.00,125.35,1.869,11270,0.117,0.000,3108,2754,2659,2665,2653,0,0,0,0,0,0,13.73,28.83,12.60
$GC,5771,0.69,145.9,3110,2758,2664,2645,708.1,13.3,326,5776,0.00,2.47,0.00,0.000,516,0.000,0.064,3120,1344,2653,2663,2644,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5801,0.69,145.9,3121,1344,2665,2644,704.3,12.2,332,5806,0.00,2.55,0.00,0.000,1030,0.000,0.090,3120,2741,2656,2663,2650,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6132,0.69,145.9,3120,2741,2665,2643,659.7,13.5,348,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,0.69,145.9,3121,2741,2665,2643,619.5,13.2,358,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6731,0.69,145.9,3120,2742,2664,2644,580.3,13.0,368,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,0.69,145.9,3121,2740,2665,2643,541.5,12.9,378,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7331,0.69,145.9,3121,2742,2664,2644,503.0,12.7,388,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,0.69,145.9,3120,2742,2665,2643,464.8,12.8,398,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,0.69,145.9,3121,2741,2665,2643,426.7,12.6,408,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,0.69,145.9,3121,2742,2664,2644,389.4,12.3,418,8236,0.00,1.85,0.00,0.000,260,0.000,0.096,3120,3783,2653,2664,2643,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8261,0.69,145.9,3121,3785,2665,2644,385.2,14.3,424,8266,0.00,1.70,0.00,0.000,1030,0.000,0.050,3127,2737,2653,2664,2643,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8592,0.69,145.9,3128,2736,2665,2643,343.6,12.5,440,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2736,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8891,0.69,145.9,3128,2737,2665,2644,307.5,11.9,450,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2736,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9191,0.70,153.6,3128,2737,2665,2644,273.3,11.2,460,9197,0.00,0.00,4.57,1.336,8198,0.000,0.000,3127,2736,2633,2643,2623,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9493,0.72,192.4,3128,2737,2657,2624,241.6,9.6,474,9533,0.00,2.40,35.45,1.274,8708,0.000,0.065,3138,1355,2466,2472,2461,0,0,0,0,0,0,28.83,14.40,13.81
$GC,9583,0.73,210.4,3139,1355,2469,2462,232.6,10.7,492,9605,0.00,2.45,14.98,1.300,9222,0.000,0.091,3138,2749,2397,2400,2394,0,0,0,0,0,0,28.83,14.35,13.72
$GC,9904,0.76,248.6,3139,2743,2401,2389,199.1,9.6,526,9944,0.00,1.90,32.47,1.263,8452,0.000,0.098,3138,3780,2240,2241,2239,0,0,0,0,0,0,28.83,14.18,13.66
$GC,9969,0.76,248.6,3139,3780,2241,2234,192.0,12.4,537,9975,0.00,1.75,0.00,0.000,1030,0.000,0.050,3145,2738,2238,2240,2237,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10275,0.78,273.3,3146,2737,2242,2233,159.2,10.3,568,10305,0.00,2.40,22.00,1.275,8708,0.000,0.066,3156,1359,2137,2139,2135,0,0,0,0,0,0,28.83,14.26,13.69
$GC,10351,0.80,306.7,3157,1360,2138,2133,151.5,9.9,583,10387,0.00,2.45,28.48,1.294,9222,0.000,0.093,3156,2739,2002,2006,1999,0,0,0,0,0,0,28.83,14.26,13.57
$GC,10685,0.81,322.1,3157,2740,2006,1990,114.0,10.8,620,10697,0.00,0.00,10.77,1.241,8198,0.000,0.000,3156,2739,1943,1945,1941,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10997,0.84,361.4,3157,2740,1940,1931,81.8,9.5,651,11017,0.00,2.45,16.92,0.435,8708,0.000,0.066,3163,1351,1784,1785,1784,0,0,0,0,0,0,28.83,14.26,13.95
$GC,11047,0.88,415.7,3165,1351,1790,1783,77.1,8.7,661,11079,0.00,2.47,25.17,0.420,9222,0.000,0.093,3164,2737,1563,1571,1556,0,0,0,0,0,0,28.83,14.20,13.94
$GC,11377,0.95,521.8,3165,2738,1575,1543,47.2,6.0,697,11429,0.12,0.00,47.60,0.327,10246,0.125,0.000,3217,2737,1131,1144,1118,0,0,0,0,0,0,14.31,28.83,13.99
$GC,11727,1.03,637.7,3218,2738,1144,1107,18.9,5.5,732,11788,0.00,2.42,52.70,0.253,8708,0.000,0.067,3221,1358,657,634,680,0,0,0,0,0,0,28.83,14.20,14.04
$GC,11843,1.11,748.2,3221,1358,635,680,12.4,5.8,754,11869,0.00,2.45,17.85,0.236,9222,0.000,0.090,3220,2734,498,448,549,0,0,0,0,0,0,28.83,14.20,14.02
$FREEZE,8.95,-1.295,-1.435,2,1,0
$FREEZE,8.25,-1.301,-1.434,2,1,0
$FREEZE,7.56,-1.304,-1.434,2,1,0
$FREEZE,6.99,-1.291,-1.433,2,1,0
$FREEZE,6.30,-1.283,-1.432,2,1,0
$FREEZE,5.62,-1.274,-1.431,2,1,0
$FREEZE,4.95,-1.269,-1.430,2,1,0
$FREEZE,4.26,-1.262,-1.430,2,1,0
$FREEZE,3.64,-1.258,-1.429,2,1,0
$FREEZE,2.94,-1.257,-1.428,2,1,0
$FREEZE,2.02,-1.256,-1.428,2,1,0
$FREEZE,1.19,-1.270,-1.427,2,1,0
$STATE,12006,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FREEZE,0.74,-1.280,-1.426,2,1,0
$FREEZE,0.71,-1.275,-0.223,2,1,0
$FINISH,0.7,1.003068
$STATE,12028,end surface coast,FINISH_DEPTH_REACHED
$STATE,12028,begin surface
$SM_CCo,12105,0.00,0.000,0,0,496,677.52
$SM_GC,1.80,9.27,0.00,0.00,0.081,0.000,0.000,201,2734,496,-8.36,-0.74,677.52,0,0,0,0,0,0,14.36,28.83,28.83
$RAFOS_CLK,349
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14354.90,040914,025322
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.03
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3814080
$24V_AH,12.60,85.260
$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,23.150,40.125,560.925,0.000,0.000,0.000,0.000,269.300,1.000,0.000,27.054,0.000,9875.550,616.877,1871.004,193.268,0.000,1530.431,0.000,1163.575,1477.000,0.539,0.000
$DEVICE_MAMPS,397.800,127.755,2012.715,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12077.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.107,0.000,0.000,0.000
$MEM,203644
$DATA_FILE_SIZE,26725,775
$CAP_FILE_SIZE,127471,0
$CFSIZE,2097872896,2038169600
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13022.43,0x2378b6,7,5
$INTR,1,5199.77,0x2378b6,2,5
$INTR,2,12032.46,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,040914,095824,7406.181,-14345.792,35,0.7,55,23.4