version: 66.12
glider: 196
mission: 7
dive: 193
start: 8 22 114 20 39 41
data:
$ID,196
$MISSION,7
$DIVE,193
$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,-5256.0083
$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,51
$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
$GPS1,220814,203142,7247.382,-14438.000,35,0.8,55,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.7
$GPS2,220814,203923,7247.386,-14438.127,5,0.7,26,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,325.2,80682,-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,-145.9,205,2760,433,548,0.0,0.0,0,90,0.00,0.00,-72.03,0.000,16386,0.000,0.000,205,2759,2332,2340,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2759,2341,2325,3.9,-4.1,7,136,11.93,2.40,-26.90,0.000,18948,0.394,0.091,2662,1372,3855,3918,3793,0,0,0,0,0,0,14.03,14.26,14.47
$GC,360,-0.69,-145.9,2664,1371,3918,3794,75.7,-20.7,61,366,0.00,2.50,0.00,0.000,1030,0.000,0.100,2654,2764,3858,3918,3798,0,0,0,0,0,0,28.83,14.26,28.83
$GC,670,-0.69,-145.9,2655,2766,3919,3799,142.5,-20.5,93,676,0.00,2.38,0.00,0.000,516,0.000,0.070,2654,1367,3858,3918,3798,0,0,0,0,0,0,28.83,14.35,28.83
$GC,900,-0.69,-145.9,2655,1369,3918,3799,182.4,-16.5,139,906,0.00,2.50,0.00,0.000,1030,0.000,0.100,2642,2769,3858,3918,3798,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1210,-0.69,-145.9,2643,2769,3918,3798,238.1,-16.8,171,1216,0.00,2.38,0.00,0.000,516,0.000,0.070,2643,1367,3858,3918,3798,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1270,-0.69,-145.9,2644,1369,3918,3799,247.3,-14.5,183,1276,0.15,2.47,0.00,0.000,3078,0.269,0.099,2665,2763,3858,3918,3798,0,0,0,0,0,0,14.30,14.40,28.83
$GC,1592,-0.69,-145.9,2665,2763,3919,3798,291.3,-13.3,196,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2763,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.69,-145.9,2666,2764,3926,3798,330.0,-12.8,206,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.69,-145.9,2666,2764,3918,3799,367.7,-12.5,216,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,-0.69,-145.9,2665,2764,3919,3798,405.1,-12.4,226,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2763,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-0.69,-145.9,2666,2764,3917,3799,441.9,-12.3,236,2796,0.00,2.35,0.00,0.000,516,0.000,0.070,2665,1363,3857,3917,3798,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2826,-0.69,-145.9,2665,1363,3918,3798,446.1,-11.6,243,2831,0.00,2.45,0.00,0.000,1030,0.000,0.100,2662,2755,3857,3917,3798,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3152,-0.69,-145.9,2662,2756,3919,3797,486.3,-12.3,258,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3917,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3451,-0.69,-145.9,2663,2757,3918,3798,522.9,-12.1,268,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.69,-145.9,2662,2756,3918,3797,559.2,-12.2,278,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3917,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.69,-145.9,2662,2757,3918,3798,595.5,-12.1,288,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3857,3917,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.69,-145.9,2663,2757,3918,3798,631.3,-11.8,298,4356,0.00,2.33,0.00,0.000,516,0.000,0.070,2662,1363,3857,3917,3797,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4396,-0.69,-145.9,2662,1363,3918,3797,636.5,-11.1,307,4401,0.00,2.45,0.00,0.000,1030,0.000,0.099,2651,2761,3857,3917,3797,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4712,-0.69,-145.9,2651,2760,3918,3797,676.0,-12.5,320,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2761,3857,3917,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-0.69,-145.9,2652,2761,3917,3798,713.6,-12.4,330,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2761,3857,3917,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5309,begin apogee
$GC,5313,-0.13,0.0,2652,2761,3918,3797,750.7,-12.2,340,5440,0.73,0.00,124.97,1.974,10244,0.226,0.000,2846,2761,3257,3275,3239,0,0,0,0,0,0,14.51,28.83,13.15
$STATE,5441,end apogee,CONTROL_FINISHED_OK
$STATE,5441,begin climb
$GC,5443,0.69,145.9,2847,2761,3272,3235,754.4,0.0,344,5572,0.85,0.00,123.22,1.826,11270,0.125,0.000,3106,2761,2659,2666,2653,0,0,0,0,0,0,13.81,28.83,12.78
$GC,5882,0.69,145.9,3107,2761,2665,2644,709.6,12.8,384,5887,0.00,1.90,0.00,0.000,260,0.000,0.099,3106,3786,2654,2664,2644,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5921,0.69,145.9,3107,3786,2665,2644,703.8,15.1,392,5927,0.00,1.80,0.00,0.000,1030,0.000,0.055,3113,2738,2653,2664,2643,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6243,0.69,145.9,3114,2739,2665,2644,661.5,13.2,406,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2738,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,0.69,145.9,3114,2738,2665,2643,622.3,13.0,416,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,0.69,145.9,3114,2739,2665,2643,583.7,12.9,426,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,0.69,145.9,3113,2738,2665,2642,545.4,12.8,436,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,0.69,145.9,3114,2738,2665,2642,507.8,12.5,446,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7742,0.69,145.9,3114,2738,2665,2642,470.9,12.3,456,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2738,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,0.69,145.9,3114,2738,2665,2642,433.7,12.4,466,8047,0.00,1.85,0.00,0.000,260,0.000,0.102,3113,3779,2653,2664,2642,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8061,0.69,145.9,3114,3779,2665,2642,430.9,13.6,470,8067,0.00,1.73,0.00,0.000,1030,0.000,0.055,3121,2735,2653,2664,2642,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8372,0.69,145.9,3122,2735,2665,2642,391.7,12.6,482,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,0.69,145.9,3122,2735,2665,2642,354.5,12.2,492,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8972,0.69,145.9,3122,2736,2665,2643,318.8,11.7,502,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,0.69,145.9,3122,2735,2665,2642,283.7,11.7,512,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2735,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9572,0.70,166.0,3122,2735,2665,2643,250.8,10.6,522,9590,0.00,0.00,17.08,1.297,8198,0.000,0.000,3121,2735,2581,2589,2573,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9872,0.72,184.9,3122,2735,2585,2564,217.9,10.6,550,9893,0.00,0.00,15.98,1.263,8198,0.000,0.000,3121,2735,2499,2508,2491,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10193,0.75,238.0,3122,2736,2508,2489,189.3,8.8,582,10244,0.00,1.90,44.50,1.208,8452,0.000,0.099,3121,3793,2282,2285,2280,0,0,0,0,0,0,28.83,14.23,13.69
$GC,10283,0.75,238.2,3122,3794,2284,2279,180.1,11.6,600,10288,0.00,1.77,0.00,0.000,1030,0.000,0.057,3125,2748,2280,2283,2277,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10594,0.79,291.9,3126,2748,2284,2273,150.1,8.8,632,10644,0.00,0.00,45.40,1.219,8454,0.000,0.000,3125,2748,2061,2066,2056,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10943,0.82,328.8,3125,2749,2066,2047,114.8,9.7,668,10975,0.10,0.00,28.75,1.181,10246,0.151,0.000,3167,2747,1913,1914,1912,0,0,0,0,0,0,14.33,28.83,13.66
$GC,11274,0.82,330.9,3168,2748,1912,1899,75.5,11.5,701,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2748,1905,1911,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11573,0.87,408.3,3168,2748,1912,1897,47.3,7.5,731,11615,0.00,2.47,33.62,0.328,8708,0.000,0.073,3177,1353,1593,1600,1586,0,0,0,0,0,0,28.83,14.24,14.08
$GC,11689,0.93,486.5,3178,1354,1602,1585,38.5,7.5,754,11730,0.00,2.53,34.88,0.299,9222,0.000,0.098,3177,2731,1272,1286,1259,0,0,0,0,0,0,28.83,14.24,14.06
$GC,12037,1.05,654.7,3177,2731,1290,1246,16.6,2.7,793,12119,0.17,1.90,75.35,0.244,10500,0.112,0.100,3252,3786,586,550,623,0,0,0,0,0,0,14.30,14.15,14.04
$FREEZE,8.68,0.815,-1.438,2,1,0
$FREEZE,8.27,0.815,-1.437,2,1,0
$FREEZE,7.69,0.727,-1.433,2,1,0
$GC,12150,1.07,689.0,3252,3788,551,622,8.7,9.8,815,12168,0.00,1.77,9.98,0.225,9222,0.000,0.056,3259,2748,498,445,552,0,0,0,0,0,0,28.83,14.20,14.06
$FREEZE,6.66,0.826,-1.429,2,1,0
$FREEZE,5.69,2.393,-1.410,2,1,0
$FREEZE,4.88,3.385,-1.402,2,1,0
$FREEZE,4.07,3.344,-1.405,2,1,0
$FREEZE,3.27,3.228,-1.406,2,1,0
$FREEZE,2.43,3.322,-1.397,2,1,0
$FREEZE,1.57,3.485,-1.390,2,1,0
$STATE,12231,end climb,SURFACE_DEPTH_REACHED
$STATE,12231,begin surface coast
$FREEZE,0.83,3.522,-1.390,2,1,0
$FREEZE,0.85,3.207,-0.061,2,1,0
$FINISH,0.9,1.000840
$STATE,12251,end surface coast,CONTROL_FINISHED_OK
$STATE,12251,begin surface
$SM_CCo,12327,0.00,0.000,0,0,496,677.52
$SM_GC,1.85,9.52,0.00,0.00,0.088,0.000,0.000,202,2748,496,-8.37,-0.34,677.52,0,0,0,0,0,0,14.28,28.83,28.83
$RAFOS_CLK,19
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7214.16,-14419.26,220814,170336
$TT8_MAMPS,0.08239,0.08239
$HUMID,45.62
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,6
$SC_FREEKB,3852192
$24V_AH,12.78,57.765
$10V_AH,12.77,0.000
$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,23.450,43.825,553.725,0.000,0.000,0.000,0.000,279.675,1.500,0.000,27.213,0.000,10029.164,621.473,1978.108,155.173,0.000,1572.809,0.000,1238.759,1437.000,0.539,0.000
$DEVICE_MAMPS,393.975,101.745,1974.465,0.000,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.312,0.000,0.000,0.000
$MEM,252208
$DATA_FILE_SIZE,26757,827
$CAP_FILE_SIZE,132280,0
$CFSIZE,2097872896,2054094848
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12643.34,0x2378b6,7,5
$INTR,1,5310.68,0x2378b6,2,5
$INTR,2,12254.92,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,230814,000624,7248.658,-14439.920,29,0.8,49,22.8