version: 66.12
glider: 196
mission: 7
dive: 279
start: 9 4 114 10 5 46
data:
$ID,196
$MISSION,7
$DIVE,279
$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,-5901.4258
$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,22
$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
$GPS1,040914,095824,7406.181,-14345.792,35,0.7,55,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.2
$GPS2,040914,100526,7406.171,-14345.742,5,0.8,25,23.4
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,11.5,65124,-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,-145.9,202,2735,435,549,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,16386,0.000,0.000,201,2735,2230,2240,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,202,2736,2241,2224,3.1,-2.6,7,140,12.20,2.42,-30.45,0.000,18948,0.396,0.094,2663,1374,3856,3921,3791,0,0,0,0,0,0,13.95,14.22,14.47
$GC,184,-0.69,-145.9,2663,1372,3923,3795,35.3,-32.4,21,191,0.00,2.50,0.00,0.000,1030,0.000,0.096,2654,2763,3858,3922,3794,0,0,0,0,0,0,28.83,14.23,28.83
$GC,490,-0.69,-145.9,2655,2761,3922,3796,113.7,-21.6,52,495,0.00,1.85,0.00,0.000,260,0.000,0.099,2646,3789,3858,3922,3795,0,0,0,0,0,0,28.83,14.25,28.83
$GC,525,-0.69,-145.9,2647,3790,3922,3796,121.5,-22.6,59,531,0.00,1.70,0.00,0.000,1030,0.000,0.053,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,830,-0.69,-145.9,2646,2761,3923,3795,184.8,-19.8,90,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.69,-145.9,2646,2761,3923,3795,239.2,-16.9,120,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.69,-145.9,2647,2762,3922,3796,287.3,-15.0,135,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1740,-0.69,-145.9,2647,2762,3922,3795,331.1,-14.5,145,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-0.69,-145.9,2647,2761,3922,3794,373.1,-13.8,155,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.69,-145.9,2647,2762,3922,3796,414.5,-13.7,165,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.69,-145.9,2647,2761,3923,3795,455.1,-13.5,175,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.69,-145.9,2647,2762,3922,3795,495.0,-13.2,185,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.69,-145.9,2646,2761,3923,3795,534.5,-13.1,195,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.69,-145.9,2647,2762,3922,3796,573.3,-12.8,205,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.69,-145.9,2646,2761,3923,3795,611.6,-12.8,215,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4140,-0.69,-145.9,2647,2762,3922,3796,649.5,-12.7,225,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,-0.69,-145.9,2647,2762,3923,3796,687.3,-12.5,235,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-0.69,-145.9,2647,2762,3922,3796,725.3,-12.6,245,4745,0.00,2.30,0.00,0.000,516,0.000,0.067,2646,1374,3858,3922,3795,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4775,-0.69,-145.9,2647,1374,3922,3795,729.6,-11.5,252,4780,0.15,2.42,0.00,0.000,3078,0.255,0.097,2669,2753,3858,3921,3795,0,0,0,0,0,0,14.33,14.49,28.83
$STATE,4978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4978,begin apogee
$GC,4983,-0.13,0.0,2669,2754,3922,3796,752.0,-10.8,263,5112,0.65,0.00,126.85,2.012,10244,0.213,0.000,2845,2753,3256,3276,3237,0,0,0,0,0,0,14.36,28.83,13.07
$STATE,5113,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5115,0.69,145.9,2846,2753,3273,3234,755.6,0.0,267,5247,0.88,0.00,125.00,1.866,11270,0.119,0.000,3113,2753,2659,2666,2653,0,0,0,0,0,0,13.76,28.83,12.62
$GC,5551,0.69,145.9,3114,2753,2666,2646,710.8,13.1,307,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5851,0.69,145.9,3114,2753,2666,2645,671.4,13.1,317,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2753,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,0.69,145.9,3114,2754,2666,2646,632.1,13.0,327,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6452,0.69,145.9,3114,2753,2666,2644,593.4,12.9,337,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,0.69,145.9,3114,2754,2666,2646,555.1,12.7,347,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,0.69,145.9,3114,2753,2666,2645,517.6,12.5,357,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.69,145.9,3115,2754,2666,2646,480.5,12.3,367,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.69,145.9,3114,2754,2666,2646,444.2,12.0,377,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,0.69,145.9,3114,2754,2665,2645,407.8,12.0,387,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8251,0.69,145.9,3114,2753,2666,2644,372.0,11.9,397,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2753,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8552,0.69,147.7,3114,2754,2666,2645,337.0,11.5,407,8557,0.00,2.35,0.00,0.000,516,0.000,0.063,3124,1349,2654,2665,2644,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8597,0.70,161.6,3125,1349,2667,2642,332.3,10.9,416,8617,0.00,2.45,13.82,1.401,9222,0.000,0.090,3124,2749,2594,2601,2587,0,0,0,0,0,0,28.83,14.44,13.79
$GC,8942,0.70,161.6,3125,2750,2601,2584,290.8,11.8,435,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2749,2592,2601,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9242,0.71,169.0,3125,2750,2602,2585,256.6,11.2,445,9250,0.00,0.00,7.10,1.352,8198,0.000,0.000,3124,2749,2568,2577,2560,0,0,0,0,0,0,28.83,28.83,13.84
$GC,9542,0.75,226.9,3125,2750,2575,2555,226.0,8.5,471,9593,0.00,0.00,48.17,1.272,8710,0.000,0.000,3124,2749,2330,2333,2328,0,0,0,0,0,0,28.83,28.83,13.65
$GC,9893,0.77,261.8,3125,2750,2333,2321,191.3,9.8,508,9928,0.00,2.40,29.95,1.293,8708,0.000,0.064,3125,1351,2185,2188,2183,0,0,0,0,0,0,28.83,14.25,13.64
$GC,9953,0.80,309.2,3126,1351,2188,2182,185.6,9.1,517,9998,0.00,2.47,40.35,1.327,9222,0.000,0.091,3125,2741,1995,1998,1992,0,0,0,0,0,0,28.83,14.23,13.48
$GC,10303,0.83,339.4,3126,2742,1998,1976,148.8,10.0,557,10335,0.12,2.40,25.70,1.222,10756,0.126,0.063,3190,1347,1869,1870,1868,0,0,0,0,0,0,14.36,14.22,13.62
$GC,10355,0.83,339.4,3187,1347,1867,1867,141.9,13.5,566,10360,0.00,2.50,0.00,0.000,1030,0.000,0.091,3190,2743,1867,1868,1866,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10665,0.83,339.4,3191,2744,1869,1862,98.0,13.6,598,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2743,1864,1868,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10965,0.86,385.2,3190,2743,1870,1859,63.8,9.2,628,10987,0.00,0.00,19.73,0.379,8198,0.000,0.000,3190,2743,1686,1690,1683,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11287,0.96,534.4,3192,2744,1697,1678,41.7,3.7,660,11357,0.00,0.00,66.97,0.311,8198,0.000,0.000,3190,2743,1077,1087,1068,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11655,1.05,654.6,3189,2744,1089,1056,18.1,5.2,697,11717,0.12,2.40,54.55,0.250,10756,0.136,0.067,3246,1357,587,554,620,0,0,0,0,0,0,14.27,14.21,14.04
$FREEZE,8.99,-1.325,-1.436,2,1,0
$FREEZE,8.68,-1.332,-1.436,2,1,0
$FREEZE,8.38,-1.332,-1.435,2,1,0
$FREEZE,8.02,-1.338,-1.435,2,1,0
$FREEZE,7.60,-1.338,-1.434,2,1,0
$FREEZE,7.20,-1.346,-1.434,2,1,0
$FREEZE,6.92,-1.346,-1.433,2,1,0
$FREEZE,6.49,-1.348,-1.433,2,1,0
$FREEZE,6.17,-1.348,-1.433,2,1,0
$FREEZE,5.71,-1.349,-1.432,2,1,0
$FREEZE,5.25,-1.349,-1.432,2,1,0
$FREEZE,4.85,-1.349,-1.431,2,1,0
$GC,11828,1.10,733.3,3247,1358,551,621,5.7,7.4,731,11846,0.00,2.47,9.77,0.216,9222,0.000,0.091,3246,2743,498,448,549,0,0,0,0,0,0,28.83,14.20,14.08
$FREEZE,3.98,-1.355,-1.431,2,1,0
$FREEZE,3.18,-1.359,-1.430,2,1,0
$FREEZE,2.49,-1.362,-1.429,2,1,0
$FREEZE,1.81,-1.367,-1.429,2,1,0
$STATE,11879,end climb,SURFACE_DEPTH_REACHED
$STATE,11880,begin surface coast
$FREEZE,1.82,-1.365,-1.428,2,1,0
$FREEZE,1.76,-1.345,-1.427,2,1,0
$FINISH,1.8,1.021042
$STATE,11899,end surface coast,CONTROL_FINISHED_OK
$STATE,11899,begin surface
$SM_CCo,12041,0.00,0.000,0,0,496,677.52
$SM_GC,3.26,9.38,0.00,0.00,0.085,0.000,0.000,202,2743,496,-8.35,-0.48,677.52,0,0,0,0,0,0,14.38,28.83,28.83
$RAFOS_CLK,259
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14348.56,040914,063015
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.76
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,5
$SC_FREEKB,3813632
$24V_AH,12.62,85.591
$10V_AH,12.76,0.000
$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,23.500,32.650,567.975,0.000,0.000,0.000,0.000,238.400,1.250,0.000,26.899,0.000,9868.940,624.313,1792.068,178.432,0.000,1476.290,0.000,1113.655,1485.000,0.539,0.000
$DEVICE_MAMPS,396.270,98.685,2011.950,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.334,0.000,0.000,0.000
$MEM,203016
$DATA_FILE_SIZE,26734,740
$CAP_FILE_SIZE,123638,0
$CFSIZE,2097872896,2037972992
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12629.27,0x2378b6,7,5
$INTR,1,4980.23,0x2378b6,2,5
$INTR,2,11968.76,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,040914,100526,7406.171,-14345.742,5,0.8,25,23.4