version: 66.12
glider: 196
mission: 7
dive: 288
start: 9 5 114 17 30 26
data:
$ID,196
$MISSION,7
$DIVE,288
$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,-5906.5635
$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
$GPS1,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.29
$_SM_ANGLEo,-21.6
$GPS2,050914,071858,7413.344,-14324.560,5,0.8,26,23.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.2,48272,-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,-145.9,2976,2752,1894,1791,0.0,0.0,0,30,0.00,0.00,-12.40,0.000,16386,0.000,0.000,2975,2750,2675,2732,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.69,-145.9,2976,2751,2734,2620,20.5,0.0,1,52,0.90,0.00,-16.27,0.000,20998,0.068,0.000,2659,2751,3856,3924,3788,0,0,0,0,0,0,14.27,28.83,14.53
$GC,348,-0.69,-145.9,2660,2751,3925,3795,105.6,-21.4,35,353,0.00,2.33,0.00,0.000,516,0.000,0.064,2659,1374,3859,3924,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,388,-0.69,-145.9,2660,1373,3927,3794,113.5,-19.0,43,393,0.00,2.47,0.00,0.000,1030,0.000,0.096,2648,2763,3859,3924,3794,0,0,0,0,0,0,28.83,14.30,28.83
$GC,698,-0.69,-145.9,2649,2764,3925,3795,174.6,-19.2,75,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.69,-145.9,2649,2765,3925,3795,227.8,-16.9,105,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.69,-145.9,2649,2764,3925,3795,277.5,-14.9,125,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.69,-145.9,2649,2765,3925,3795,319.8,-14.0,135,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.69,-145.9,2649,2763,3925,3796,360.7,-13.4,145,1923,0.00,2.35,0.00,0.000,516,0.000,0.065,2648,1365,3859,3924,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1948,-0.69,-145.9,2649,1365,3925,3795,364.5,-12.7,151,1953,0.15,2.47,0.00,0.000,3078,0.257,0.096,2670,2757,3859,3924,3794,0,0,0,0,0,0,14.31,14.46,28.83
$GC,2278,-0.69,-145.9,2671,2758,3925,3795,401.9,-11.3,167,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2758,3859,3925,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2578,-0.69,-145.9,2672,2759,3925,3795,435.2,-11.1,177,2583,0.00,2.33,0.00,0.000,516,0.000,0.063,2670,1369,3859,3924,3794,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2613,-0.69,-145.9,2671,1368,3926,3794,439.2,-11.1,184,2618,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2759,3859,3924,3794,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2940,-0.69,-145.9,2663,2761,3925,3795,476.8,-11.6,199,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2760,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.69,-145.9,2663,2761,3924,3795,512.0,-11.7,209,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,-0.69,-145.9,2663,2762,3925,3795,546.8,-11.6,219,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2760,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.69,-145.9,2662,2761,3926,3794,581.7,-11.6,229,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4138,-0.69,-145.9,2663,2762,3925,3795,616.2,-11.5,239,4143,0.00,2.33,0.00,0.000,516,0.000,0.063,2662,1365,3859,3924,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4178,-0.69,-145.9,2663,1365,3925,3794,620.7,-10.6,247,4183,0.00,2.45,0.00,0.000,1030,0.000,0.096,2662,2758,3859,3924,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4500,-0.69,-145.9,2663,2758,3925,3794,656.5,-11.1,261,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.69,-145.9,2662,2758,3920,3794,690.0,-11.3,271,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.69,-145.9,2663,2758,3925,3794,723.0,-11.0,281,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,3859,3924,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5371,-0.13,0.0,2663,2759,3925,3794,752.6,-11.0,290,5500,0.68,0.00,126.75,2.019,10244,0.220,0.000,2843,2759,3257,3277,3237,0,0,0,0,0,0,14.33,28.83,13.08
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5503,0.69,145.9,2844,2760,3271,3234,756.2,0.0,294,5635,0.88,0.00,124.97,1.854,11270,0.122,0.000,3110,2759,2658,2663,2653,0,0,0,0,0,0,13.77,28.83,12.64
$GC,5940,0.69,145.9,3111,2759,2662,2645,712.0,13.0,334,5945,0.00,1.88,0.00,0.000,260,0.000,0.096,3110,3793,2653,2661,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5964,0.69,145.9,3111,3794,2662,2646,708.4,14.8,339,5971,0.00,1.77,0.00,0.000,1030,0.000,0.048,3117,2744,2653,2662,2645,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6270,0.69,145.9,3118,2743,2663,2644,667.7,13.3,350,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,0.69,145.9,3119,2744,2662,2645,627.9,13.2,360,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2743,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6870,0.69,145.9,3118,2741,2663,2644,588.7,13.1,370,6875,0.00,1.88,0.00,0.000,260,0.000,0.097,3118,3789,2652,2662,2643,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6904,0.69,145.9,3119,3789,2663,2645,583.6,15.1,377,6910,0.00,1.73,0.00,0.000,1030,0.000,0.050,3125,2741,2652,2661,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7231,0.69,145.9,3125,2741,2663,2644,540.3,13.2,392,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,0.69,145.9,3126,2741,2663,2643,501.1,13.0,402,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2741,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7830,0.69,145.9,3126,2742,2662,2644,461.9,13.1,412,7835,0.00,1.85,0.00,0.000,260,0.000,0.098,3125,3780,2652,2662,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7854,0.69,145.9,3127,3781,2662,2644,458.3,14.4,417,7861,0.00,1.70,0.00,0.000,1030,0.000,0.050,3132,2741,2653,2662,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8160,0.69,145.9,3133,2741,2663,2644,417.3,13.3,428,8165,0.00,1.88,0.00,0.000,260,0.000,0.097,3132,3817,2652,2661,2643,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8194,0.69,145.9,3133,3818,2662,2644,412.1,15.6,435,8200,0.00,1.75,0.00,0.000,1030,0.000,0.049,3140,2738,2652,2662,2643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8521,0.69,145.9,3141,2738,2663,2643,368.4,13.3,450,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,0.69,145.9,3142,2738,2664,2643,329.6,12.8,460,8825,0.00,1.88,0.00,0.000,260,0.000,0.099,3140,3786,2652,2662,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8839,0.69,145.9,3141,3786,2664,2643,327.0,13.6,464,8845,0.10,1.70,0.00,0.000,5126,0.253,0.050,3123,2746,2652,2662,2643,0,0,0,0,0,0,14.28,14.59,28.83
$GC,9150,0.69,151.8,3124,2745,2659,2642,291.1,11.3,476,9152,0.00,0.00,1.35,0.293,8198,0.000,0.000,3123,2745,2640,2649,2631,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9450,0.71,179.9,3124,2746,2671,2635,259.8,10.1,486,9481,0.00,0.00,28.08,1.314,8198,0.000,0.000,3123,2745,2519,2526,2513,0,0,0,0,0,0,28.83,28.83,13.76
$GC,9780,0.75,229.4,3124,2746,2525,2509,226.1,9.0,511,9823,0.00,0.00,41.60,1.344,8454,0.000,0.000,3123,2745,2321,2322,2321,0,0,0,0,0,0,28.83,28.83,13.54
$GC,10121,0.78,268.7,3124,2745,2319,2309,192.2,9.5,548,10161,0.00,0.00,33.20,1.337,8198,0.000,0.000,3123,2745,2156,2158,2155,0,0,0,0,0,0,28.83,28.83,13.54
$GC,10460,0.80,306.3,3124,2745,2160,2147,159.5,9.6,582,10494,0.00,0.00,32.30,1.272,8198,0.000,0.000,3123,2745,2006,2012,2000,0,0,0,0,0,0,28.83,28.83,13.58
$GC,10791,0.83,344.9,3124,2745,2010,1987,126.3,9.6,615,10831,0.12,2.42,32.60,1.218,10756,0.132,0.070,3178,1348,1845,1847,1844,0,0,0,0,0,0,14.35,14.21,13.66
$GC,10866,0.83,344.9,3179,1349,1843,1841,117.3,11.8,630,10872,0.00,2.50,0.00,0.000,1030,0.000,0.091,3178,2744,1842,1845,1839,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11171,0.83,351.2,3179,2745,1846,1834,79.8,11.3,661,11174,0.00,0.00,1.35,0.326,8198,0.000,0.000,3178,2744,1828,1831,1826,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11471,0.91,455.9,3179,2745,1849,1824,52.6,6.1,691,11523,0.00,0.00,48.03,0.344,8710,0.000,0.000,3178,2744,1398,1414,1383,0,0,0,0,0,0,28.83,28.83,13.99
$GC,11822,0.99,577.2,3179,2745,1417,1371,31.7,5.2,728,11883,0.12,2.38,54.75,0.294,10756,0.135,0.064,3244,1360,906,907,905,0,0,0,0,0,0,14.26,14.21,13.96
$GC,11978,1.03,633.1,3245,1360,908,905,19.4,8.7,759,12009,0.00,2.47,25.92,0.258,9222,0.000,0.090,3245,2743,675,656,695,0,0,0,0,0,0,28.83,14.21,14.02
$FREEZE,8.98,-1.379,-1.447,2,4,0
$FREEZE,8.16,-1.377,-1.447,2,4,0
$FREEZE,7.26,-1.377,-1.446,2,4,0
$FREEZE,6.41,-1.375,-1.445,2,4,0
$FREEZE,5.53,-1.375,-1.444,2,4,0
$FREEZE,4.51,-1.375,-1.444,2,4,0
$FREEZE,3.79,-1.370,-1.443,2,4,0
$FREEZE,2.98,-1.364,-1.442,2,4,0
$FREEZE,2.20,-1.368,-1.442,2,4,0
$FREEZE,1.58,-1.364,-1.441,2,4,0
$STATE,12213,end climb,SURFACE_DEPTH_REACHED
$STATE,12213,begin surface coast
$FREEZE,0.92,-1.351,-1.440,2,4,0
$FREEZE,0.94,-1.335,-0.157,2,4,0
$FINISH,0.9,1.002053
$STATE,12232,end surface coast,FINISH_DEPTH_REACHED
$STATE,12232,begin surface
$SM_CCo,12249,19.80,0.203,0,0,500,676.54
$SM_GC,1.68,9.40,0.00,19.80,0.085,0.000,0.203,205,2745,500,-8.36,-0.42,676.54,0,0,0,0,0,0,14.31,28.83,14.16
$RAFOS_CLK,165
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14323.58,050914,001152
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.48
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,8
$SC_FREEKB,3809600
$24V_AH,12.64,88.525
$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,12.350,48.675,550.900,19.800,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,10042.157,584.485,1614.964,143.433,0.000,1220.155,0.000,1184.816,1477.000,0.539,0.000
$DEVICE_MAMPS,257.040,98.685,2018.835,202.725,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.736,0.000,0.000,0.000
$MEM,198100
$DATA_FILE_SIZE,26729,788
$CAP_FILE_SIZE,125158,0
$CFSIZE,2097872896,2036367360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5368.62,0x2378b6,2,5
$INTR,1,12236.88,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,050914,205624,7418.135,-14310.750,39,1.1,59,23.7