version: 66.12
glider: 196
mission: 7
dive: 332
start: 9 12 114 7 43 48
data:
$ID,196
$MISSION,7
$DIVE,332
$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,1
$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,-7591.0332
$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,54
$R_STBD_OVSHOOT,17
$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
$GPS1,120914,073454,7441.710,-14105.792,37,0.8,57,24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-52.5
$GPS2,120914,074327,7441.662,-14105.494,5,0.8,25,24.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,45.8,18363,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,193,2760,434,547,0.0,0.0,0,160,0.00,0.00,-140.82,0.000,16386,0.000,0.000,189,2760,3629,3661,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,162,-0.69,-145.9,192,2761,3661,3602,4.5,-5.7,14,183,12.27,2.42,-3.35,0.000,18948,0.396,0.080,2672,1363,3857,3907,3808,0,0,0,0,0,0,13.90,14.25,14.45
$GC,408,-0.69,-145.9,2673,1364,3911,3809,83.2,-20.0,63,415,0.00,2.53,0.00,0.000,1030,0.000,0.093,2663,2765,3859,3910,3808,0,0,0,0,0,0,28.83,14.20,28.83
$GC,713,-0.69,-145.9,2664,2765,3912,3809,144.6,-19.3,94,718,0.00,2.38,0.00,0.000,516,0.000,0.061,2663,1363,3860,3911,3809,0,0,0,0,0,0,28.83,14.34,28.83
$GC,873,-0.69,-145.9,2664,1363,3911,3810,172.0,-15.8,126,878,0.00,2.50,0.00,0.000,1030,0.000,0.094,2652,2762,3859,3911,3808,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1187,-0.69,-145.9,2653,2764,3912,3810,226.3,-16.0,158,1192,0.00,2.38,0.00,0.000,516,0.000,0.061,2652,1366,3859,3910,3808,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1237,-0.69,-145.9,2652,1365,3912,3809,233.8,-14.6,168,1242,0.12,2.50,0.00,0.000,3078,0.269,0.094,2665,2756,3860,3911,3809,0,0,0,0,0,0,14.04,14.19,28.83
$GC,1567,-0.69,-145.9,2666,2757,3912,3809,278.7,-13.3,188,1572,0.00,1.88,0.00,0.000,260,0.000,0.100,2659,3787,3860,3911,3809,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1597,-0.69,-145.9,2660,3788,3912,3809,282.9,-14.8,194,1602,0.00,1.73,0.00,0.000,1030,0.000,0.051,2659,2754,3859,3910,3809,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1928,-0.69,-145.9,2660,2754,3912,3809,326.6,-12.9,210,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2754,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2227,-0.69,-145.9,2660,2754,3912,3809,364.3,-12.3,220,2232,0.00,2.33,0.00,0.000,516,0.000,0.062,2659,1373,3860,3913,3808,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2257,-0.69,-145.9,2661,1372,3912,3809,367.9,-11.6,226,2262,0.00,2.50,0.00,0.000,1030,0.000,0.095,2649,2763,3859,3911,3808,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2587,-0.69,-145.9,2649,2764,3912,3809,410.3,-12.9,242,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.69,-145.9,2649,2763,3912,3809,448.8,-12.9,252,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2763,3859,3911,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3187,-0.69,-145.9,2649,2763,3912,3809,487.2,-12.7,262,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2763,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,-0.69,-145.9,2649,2764,3912,3809,525.2,-12.6,272,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3787,-0.69,-145.9,2649,2763,3912,3809,562.6,-12.4,282,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2763,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.69,-145.9,2649,2764,3913,3810,599.5,-12.4,292,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3860,3912,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4387,-0.69,-145.9,2648,2764,3913,3807,636.4,-12.3,302,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3860,3912,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4687,-0.69,-145.9,2649,2764,3913,3810,672.9,-12.1,312,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3860,3912,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.69,-145.9,2649,2764,3914,3810,709.0,-11.9,322,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2764,3861,3913,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.69,-145.9,2649,2764,3913,3810,744.8,-11.8,332,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2763,3860,3912,3809,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5345,begin apogee
$GC,5350,-0.13,0.0,2648,2764,3913,3810,752.0,-11.8,334,5480,0.75,0.00,127.38,2.009,10244,0.220,0.000,2846,2764,3257,3275,3239,0,0,0,0,0,0,14.17,28.83,13.03
$STATE,5481,end apogee,CONTROL_FINISHED_OK
$STATE,5481,begin climb
$GC,5483,0.69,145.9,2847,2764,3271,3236,755.5,0.0,338,5621,0.90,1.90,125.12,1.844,10500,0.133,0.100,3106,3785,2658,2663,2653,0,0,0,0,0,0,13.74,13.76,12.61
$GC,5845,0.69,145.9,3107,3786,2664,2649,716.0,15.2,413,5851,0.00,1.80,0.00,0.000,1030,0.000,0.048,3114,2738,2655,2663,2647,0,0,0,0,0,0,28.83,13.84,28.83
$GC,6162,0.69,145.9,3115,2739,2665,2646,675.5,12.8,426,6167,0.00,2.38,0.00,0.000,516,0.000,0.063,3125,1338,2653,2662,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6391,0.69,145.9,3125,1338,2666,2645,648.1,11.8,472,6397,0.00,2.47,0.00,0.000,1030,0.000,0.090,3125,2742,2654,2664,2645,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6702,0.69,145.9,3126,2743,2665,2645,607.4,13.3,484,6706,0.00,2.35,0.00,0.000,516,0.000,0.061,3133,1345,2653,2664,2643,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6776,0.69,145.9,3134,1345,2665,2645,598.1,12.3,499,6782,0.00,2.45,0.00,0.000,1030,0.000,0.088,3133,2741,2654,2664,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7092,0.69,145.9,3135,2743,2665,2645,555.9,13.5,512,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,0.69,145.9,3134,2742,2665,2645,515.4,13.4,522,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,0.69,145.9,3133,2742,2665,2644,475.3,13.3,532,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2742,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,0.69,145.9,3134,2743,2665,2645,435.8,13.1,542,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8292,0.69,145.9,3134,2742,2665,2645,396.5,13.0,552,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,0.69,145.9,3138,2743,2661,2645,357.4,13.0,562,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,0.69,145.9,3134,2743,2665,2645,319.6,12.3,572,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9192,0.70,154.3,3134,2743,2665,2645,284.8,11.2,582,9201,0.00,0.00,7.93,1.379,8198,0.000,0.000,3133,2742,2628,2639,2617,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9492,0.71,173.5,3134,2742,2635,2611,252.1,10.6,592,9516,0.00,2.42,17.17,1.314,8708,0.000,0.064,3143,1340,2543,2551,2536,0,0,0,0,0,0,28.83,14.52,13.85
$GC,9568,0.73,200.3,3144,1340,2551,2532,244.7,10.2,607,9597,0.00,2.45,22.80,1.313,9222,0.000,0.089,3143,2738,2436,2440,2432,0,0,0,0,0,0,28.83,14.38,13.69
$GC,9902,0.75,235.1,3144,2738,2441,2430,208.8,9.8,644,9934,0.00,0.00,29.88,1.317,8198,0.000,0.000,3143,2737,2297,2298,2296,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10234,0.78,271.7,3144,2737,2297,2285,175.0,9.7,677,10273,0.00,2.42,31.10,1.303,8708,0.000,0.063,3150,1353,2143,2145,2142,0,0,0,0,0,0,28.83,14.21,13.61
$GC,10305,0.80,308.9,3152,1354,2146,2140,167.9,9.6,691,10345,0.00,2.45,32.30,1.337,9222,0.000,0.090,3151,2729,1991,1995,1988,0,0,0,0,0,0,28.83,14.15,13.50
$GC,10643,0.82,326.9,3152,2729,1996,1975,130.0,10.7,729,10664,0.00,0.00,15.35,1.210,8198,0.000,0.000,3151,2729,1918,1922,1915,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10965,0.85,372.9,3152,2729,1923,1909,97.3,9.2,761,10987,0.00,0.00,20.30,0.489,8710,0.000,0.000,3151,2728,1737,1741,1733,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11285,0.89,426.5,3153,2729,1749,1730,67.6,8.8,794,11315,0.00,2.38,24.88,0.389,8708,0.000,0.061,3159,1347,1518,1530,1506,0,0,0,0,0,0,28.83,14.24,13.92
$GC,11420,0.92,480.4,3160,1347,1532,1504,55.7,8.8,821,11451,0.00,2.47,24.75,0.354,9222,0.000,0.091,3159,2728,1297,1315,1280,0,0,0,0,0,0,28.83,14.19,13.94
$GC,11756,1.02,621.2,3160,2729,1317,1270,35.8,4.1,858,11827,0.20,0.00,64.10,0.291,10502,0.101,0.000,3240,2728,723,711,736,0,0,0,0,0,0,14.28,28.83,13.97
$FREEZE,9.00,-1.283,-1.417,2,1,0
$FREEZE,8.65,-1.285,-1.416,2,1,0
$FREEZE,8.44,-1.285,-1.416,2,1,0
$FREEZE,8.09,-1.285,-1.434,2,1,0
$FREEZE,7.74,-1.285,-1.434,2,1,0
$FREEZE,7.25,-1.284,-1.433,2,1,0
$GC,12126,1.10,737.9,3241,2729,709,729,8.7,5.4,899,12157,0.00,2.40,25.27,0.223,8708,0.000,0.064,3245,1338,498,452,545,0,0,0,0,0,0,28.83,14.21,14.02
$FREEZE,6.21,-1.281,-1.433,2,1,0
$FREEZE,5.83,-1.281,-1.432,2,1,0
$FREEZE,5.35,-1.281,-1.432,2,1,0
$FREEZE,5.00,-1.281,-1.432,2,1,0
$FREEZE,4.64,-1.281,-1.431,2,1,0
$FREEZE,4.22,-1.281,-1.431,2,1,0
$FREEZE,3.72,-1.283,-1.431,2,1,0
$FREEZE,3.46,-1.283,-1.430,2,1,0
$FREEZE,3.05,-1.282,-1.430,2,1,0
$FREEZE,2.74,-1.282,-1.430,2,1,0
$FREEZE,2.37,-1.283,-1.430,2,1,0
$FREEZE,1.91,-1.283,-1.429,2,1,0
$STATE,12215,end climb,SURFACE_DEPTH_REACHED
$STATE,12215,begin surface coast
$FREEZE,1.68,-1.283,-1.429,2,1,0
$FREEZE,1.37,-1.283,-1.429,2,1,0
$FREEZE,0.98,-1.249,-1.427,2,1,0
$FINISH,1.0,1.021044
$STATE,12231,end surface coast,CONTROL_FINISHED_OK
$STATE,12231,begin surface
$SM_CCo,12312,0.00,0.000,0,0,495,677.52
$SM_GC,1.99,9.32,2.62,0.00,0.075,0.097,0.000,199,2763,495,-8.37,-0.62,677.52,0,0,0,0,0,0,14.33,14.24,28.83
$RAFOS_CLK,560
$RAFOS_FIX,7442.325684,-14113.402344,120914,000045,2,255,0.43
$IRIDIUM_FIX,7358.04,-14103.86,120914,040209
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.99
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3789888
$24V_AH,12.61,103.297
$10V_AH,12.68,0.000
$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,23.575,56.100,568.325,0.000,0.000,0.000,0.000,309.950,1.000,0.000,27.206,0.000,9753.056,676.281,2159.078,230.234,0.000,1729.092,0.000,1369.521,1491.000,0.539,0.000
$DEVICE_MAMPS,396.270,100.215,2008.890,0.000,0.000,0.000,0.000,156.060,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.736,0.000,0.000,0.000
$MEM,167580
$DATA_FILE_SIZE,30063,919
$CAP_FILE_SIZE,138211,0
$CFSIZE,2097872896,2027978752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12808.37,0x2378b6,7,5
$INTR,1,5347.00,0x2378b6,2,5
$SOUNDSPEED,1449.5
$GPS,120914,111024,7441.872,-14100.430,35,0.8,55,24.5