version: 66.12
glider: 196
mission: 7
dive: 167
start: 8 19 114 0 47 58
data:
$ID,196
$MISSION,7
$DIVE,167
$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,-5222.1069
$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,37
$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
$GPS1,190814,004048,7215.755,-14408.262,35,1.0,55,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.5
$GPS2,190814,004743,7215.745,-14408.046,17,1.0,37,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,158.1,73616,-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,15,-0.69,-145.9,184,2762,436,542,0.0,0.0,0,79,0.00,0.00,-62.20,0.000,16386,0.000,0.000,182,2762,2073,2080,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,183,2763,2078,2071,3.2,-3.4,6,130,11.98,2.47,-32.00,0.000,18948,0.395,0.093,2669,1355,3857,3914,3800,0,0,0,0,0,0,14.07,14.33,14.53
$GC,291,-0.69,-145.9,2669,1355,3915,3803,62.1,-23.0,48,295,0.00,2.50,0.00,0.000,1030,0.000,0.097,2660,2759,3859,3914,3805,0,0,0,0,0,0,28.83,14.35,28.83
$GC,600,-0.69,-145.9,2661,2760,3915,3807,130.1,-21.0,80,605,0.00,1.83,0.00,0.000,260,0.000,0.101,2651,3780,3860,3914,3806,0,0,0,0,0,0,28.83,14.42,28.83
$GC,691,-0.69,-145.9,2653,3781,3915,3808,149.5,-21.8,98,695,0.00,1.67,0.00,0.000,1030,0.000,0.057,2652,2743,3860,3914,3807,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1000,-0.69,-145.9,2652,2740,3915,3807,206.9,-17.0,130,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2743,3860,3914,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.69,-145.9,2652,2743,3915,3807,256.1,-15.6,159,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2742,3860,3914,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.69,-145.9,2652,2743,3914,3806,301.6,-14.8,169,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2742,3860,3914,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1910,-0.69,-145.9,2652,2743,3915,3807,344.5,-14.1,179,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2742,3859,3913,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,-0.69,-145.9,2652,2743,3915,3806,386.2,-13.8,189,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2743,3859,3914,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.69,-145.9,2652,2743,3915,3804,427.6,-13.8,199,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2741,3859,3914,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.69,-145.9,2652,2743,3915,3804,468.0,-13.4,209,2815,0.00,2.33,0.00,0.000,516,0.000,0.072,2651,1374,3858,3914,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2850,-0.69,-145.9,2652,1375,3915,3803,473.2,-12.4,217,2856,0.12,2.42,0.00,0.000,3078,0.276,0.100,2666,2761,3858,3914,3803,0,0,0,0,0,0,14.48,14.57,28.83
$GC,3171,-0.69,-145.9,2667,2762,3915,3804,511.4,-11.8,231,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.69,-145.9,2667,2762,3915,3804,546.7,-11.7,241,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.69,-145.9,2667,2763,3915,3804,582.6,-12.0,251,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.69,-145.9,2667,2761,3914,3803,618.4,-11.9,261,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.69,-145.9,2667,2762,3915,3803,653.8,-11.8,271,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.69,-145.9,2667,2761,3915,3801,688.5,-11.5,281,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4970,-0.69,-145.9,2667,2762,3915,3803,723.0,-11.5,291,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5208,begin apogee
$GC,5212,-0.13,0.0,2667,2762,3915,3803,750.5,-11.4,299,5339,0.65,0.00,124.40,1.985,10246,0.225,0.000,2844,2761,3257,3273,3241,0,0,0,0,0,0,14.54,28.83,13.17
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5341,0.69,145.9,2845,2761,3270,3237,754.2,0.0,303,5469,0.88,0.00,124.68,1.836,10502,0.133,0.000,3108,2761,2661,2666,2656,0,0,0,0,0,0,13.81,28.83,12.83
$GC,5750,0.69,145.9,3109,2761,2665,2645,712.4,13.1,322,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2761,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,0.69,145.9,3109,2761,2665,2644,673.7,12.8,332,6055,0.00,1.88,0.00,0.000,260,0.000,0.099,3108,3789,2653,2663,2644,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6090,0.69,145.9,3109,3791,2664,2645,667.8,15.0,340,6095,0.00,1.77,0.00,0.000,1030,0.000,0.054,3114,2738,2653,2663,2644,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6411,0.69,145.9,3115,2739,2664,2645,625.7,13.1,354,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6710,0.69,145.9,3115,2738,2664,2644,586.6,12.8,364,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,0.69,145.9,3114,2738,2664,2643,548.4,12.7,374,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7310,0.69,145.9,3115,2738,2665,2643,510.7,12.5,384,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,0.69,145.9,3114,2738,2665,2643,473.9,12.2,394,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,0.69,145.9,3114,2738,2664,2642,437.5,12.1,404,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8210,0.69,145.9,3114,2738,2665,2642,400.6,12.2,414,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8510,0.69,145.9,3115,2738,2665,2642,363.7,12.2,424,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,0.69,145.9,3114,2738,2665,2642,328.5,11.7,434,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,0.69,145.9,3115,2744,2664,2643,293.5,11.7,444,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9410,0.70,157.7,3115,2738,2665,2643,260.3,11.0,454,9421,0.00,0.00,9.55,1.332,8198,0.000,0.000,3114,2738,2616,2625,2607,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9710,0.72,192.3,3115,2739,2624,2603,228.5,9.8,476,9742,0.00,0.00,29.67,1.252,8198,0.000,0.000,3114,2738,2470,2475,2466,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10041,0.75,230.7,3114,2738,2474,2458,193.9,9.6,509,10074,0.00,0.00,32.10,1.255,8198,0.000,0.000,3114,2738,2317,2319,2315,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10371,0.79,282.9,3115,2738,2315,2303,161.9,8.9,542,10422,0.10,2.42,44.03,1.274,10756,0.161,0.071,3161,1347,2096,2098,2095,0,0,0,0,0,0,14.38,14.14,13.60
$GC,10461,0.79,282.9,3162,1347,2096,2092,151.9,11.8,560,10467,0.00,2.55,0.00,0.000,1030,0.000,0.094,3161,2766,2093,2094,2092,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10772,0.79,285.2,3162,2767,2097,2087,114.4,11.5,592,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2766,2091,2096,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11072,0.80,305.9,3162,2767,2098,2085,82.2,10.5,622,11083,0.00,0.00,8.70,0.429,8198,0.000,0.000,3161,2767,2012,2017,2007,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11382,0.86,391.1,3162,2767,2030,2007,54.4,7.1,653,11423,0.00,0.00,38.28,0.349,8454,0.000,0.000,3162,2766,1661,1665,1658,0,0,0,0,0,0,28.83,28.83,14.19
$GC,11725,0.93,482.7,3162,2766,1671,1646,28.6,6.8,688,11771,0.00,2.47,39.83,0.288,8708,0.000,0.072,3164,1342,1289,1302,1276,0,0,0,0,0,0,28.83,14.28,14.17
$GC,11860,0.99,581.2,3165,1342,1307,1274,19.2,6.4,715,11912,0.15,2.53,44.15,0.254,11270,0.125,0.096,3223,2734,887,884,890,0,0,0,0,0,0,14.35,14.31,14.12
$FREEZE,8.89,4.779,-1.382,2,1,0
$FREEZE,8.38,4.782,-1.382,2,1,0
$FREEZE,8.03,4.782,-1.381,2,1,0
$FREEZE,7.58,4.784,-1.381,2,1,0
$FREEZE,7.33,4.787,-1.381,2,1,0
$FREEZE,6.87,4.793,-1.380,2,1,0
$FREEZE,6.44,4.801,-1.379,2,1,0
$FREEZE,6.08,4.835,-1.377,2,1,0
$FREEZE,5.75,4.843,-1.376,2,1,0
$FREEZE,5.35,4.902,-1.373,2,1,0
$FREEZE,4.96,4.912,-1.372,2,1,0
$FREEZE,4.50,4.900,-1.373,2,1,0
$FREEZE,4.02,4.917,-1.372,2,1,0
$FREEZE,3.80,4.917,-1.371,2,1,0
$FREEZE,3.50,4.909,-1.372,2,1,0
$FREEZE,3.18,4.909,-1.371,2,1,0
$FREEZE,2.85,4.906,-1.371,2,1,0
$FREEZE,2.45,4.906,-1.371,2,1,0
$FREEZE,2.12,4.915,-1.370,2,1,0
$FREEZE,1.67,4.915,-1.370,2,1,0
$GC,12216,1.09,718.8,3225,2735,882,879,4.0,4.3,756,12262,0.00,1.95,42.08,0.202,8454,0.000,0.101,3223,3793,498,459,538,0,0,0,0,0,0,28.83,14.26,14.19
$STATE,12263,end climb,SURFACE_DEPTH_REACHED
$STATE,12263,begin surface coast
$FREEZE,1.07,4.907,-1.370,2,1,0
$FREEZE,0.59,4.636,-1.004,2,1,0
$FREEZE,0.51,4.850,-1.372,2,1,0
$FREEZE,0.60,4.702,-0.690,2,1,0
$FINISH,0.6,1.010082
$STATE,12296,end surface coast,CONTROL_FINISHED_OK
$STATE,12296,begin surface
$SM_CCo,12373,0.00,0.000,0,0,497,677.27
$SM_GC,1.49,9.30,1.77,0.00,0.082,0.057,0.000,203,2766,497,-8.37,1.19,677.27,0,0,0,0,0,0,14.31,14.32,28.83
$RAFOS_CLK,47
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7139.36,-14411.33,180814,211351
$TT8_MAMPS,0.081641,0.081641
$HUMID,46.22
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.80
$XPDR_PINGS,6
$SC_FREEKB,3863840
$24V_AH,12.83,50.047
$10V_AH,12.88,0.000
$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,23.175,30.575,537.450,0.000,0.000,0.000,0.000,242.350,1.500,0.000,38.698,0.000,10196.688,607.013,1845.913,131.941,0.000,1453.745,0.000,1150.758,1492.000,0.540,0.000
$DEVICE_MAMPS,394.740,100.980,1985.175,0.000,0.000,0.000,0.000,153.765,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12334.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.779,0.000,0.000,0.000
$MEM,266940
$DATA_FILE_SIZE,26670,767
$CAP_FILE_SIZE,126363,0
$CFSIZE,2097872896,2059173888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12594.39,0x2378b6,7,5
$INTR,1,5210.10,0x2378b6,2,5
$SOUNDSPEED,1450.1
$GPS,190814,041524,7214.087,-14406.887,26,0.7,46,22.8