version: 66.12
glider: 196
mission: 7
dive: 156
start: 8 17 114 10 37 16
data:
$ID,196
$MISSION,7
$DIVE,156
$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,-5208.2417
$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,30
$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
$GPS1,170814,102951,7235.490,-14414.682,19,0.7,39,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.1
$GPS2,170814,103701,7235.473,-14414.839,19,0.8,39,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,155.7,110180,-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,-145.9,144,2773,435,537,0.0,0.0,0,79,0.00,0.00,-62.58,0.000,16386,0.000,0.000,138,2773,2095,2095,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,139,2773,2098,2096,3.7,-4.1,6,128,12.18,0.00,-30.75,0.000,19206,0.396,0.000,2664,2773,3856,3916,3797,0,0,0,0,0,0,14.09,28.83,14.53
$GC,426,-0.69,-145.9,2664,2773,3917,3804,94.4,-20.8,45,432,0.00,2.42,0.00,0.000,516,0.000,0.070,2663,1365,3860,3917,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,541,-0.69,-145.9,2665,1362,3917,3804,116.1,-17.9,68,548,0.00,2.50,0.00,0.000,1030,0.000,0.098,2655,2749,3862,3916,3808,0,0,0,0,0,0,28.83,14.39,28.83
$GC,846,-0.69,-145.9,2656,2749,3919,3803,175.3,-19.2,99,852,0.00,2.35,0.00,0.000,516,0.000,0.070,2661,1355,3860,3917,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,896,-0.69,-145.9,2656,1353,3918,3803,183.9,-16.5,109,902,0.00,2.50,0.00,0.000,1030,0.000,0.101,2643,2768,3859,3916,3803,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1206,-0.69,-145.9,2644,2768,3918,3803,235.6,-16.5,141,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2768,3860,3917,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.69,-145.9,2645,2768,3918,3803,283.5,-15.1,158,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2768,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.69,-145.9,2644,2769,3917,3804,327.2,-14.5,168,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2773,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.69,-145.9,2650,2769,3917,3804,370.8,-14.6,178,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2768,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,-0.69,-145.9,2645,2768,3918,3802,414.2,-14.4,188,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2768,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-0.69,-145.9,2645,2768,3916,3802,456.7,-14.2,198,2722,0.00,2.35,0.00,0.000,516,0.000,0.072,2644,1365,3859,3916,3802,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2761,-0.69,-145.9,2645,1365,3916,3804,462.8,-12.9,207,2767,0.12,2.47,0.00,0.000,3078,0.237,0.101,2666,2751,3859,3916,3802,0,0,0,0,0,0,14.48,14.59,28.83
$GC,3077,-0.69,-145.9,2667,2752,3917,3803,502.3,-12.4,220,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3376,-0.69,-145.9,2667,2751,3917,3802,539.0,-12.2,230,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3676,-0.69,-145.9,2667,2751,3917,3803,575.2,-12.0,240,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,-0.69,-145.9,2667,2752,3917,3803,611.1,-11.9,250,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-0.69,-145.9,2667,2751,3917,3803,646.5,-11.8,260,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.69,-145.9,2666,2751,3918,3802,681.7,-11.8,270,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,-0.69,-145.9,2667,2748,3917,3803,717.0,-11.9,280,4882,0.00,2.30,0.00,0.000,516,0.000,0.070,2666,1363,3859,3916,3802,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4924,-0.69,-145.9,2668,1363,3917,3803,722.3,-10.4,288,4929,0.00,2.47,0.00,0.000,1030,0.000,0.101,2662,2775,3859,3916,3802,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,5183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5183,begin apogee
$GC,5186,-0.13,0.0,2664,2776,3913,3803,753.2,-11.9,300,5314,0.68,0.00,124.82,1.961,10244,0.228,0.000,2843,2775,3258,3275,3241,0,0,0,0,0,0,14.47,28.83,13.14
$STATE,5315,end apogee,CONTROL_FINISHED_OK
$STATE,5315,begin climb
$GC,5317,0.69,145.9,2844,2776,3272,3240,756.8,0.0,304,5451,0.95,1.90,123.80,1.821,10500,0.156,0.108,3112,3783,2658,2662,2655,0,0,0,0,0,0,13.78,13.80,12.79
$GC,5675,0.69,145.9,3112,3784,2664,2649,713.8,16.4,378,5681,0.00,1.80,0.00,0.000,1030,0.000,0.054,3120,2745,2659,2662,2656,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5996,0.69,145.9,3121,2746,2664,2647,669.0,13.9,392,6001,0.00,2.42,0.00,0.000,516,0.000,0.072,3131,1341,2653,2663,2644,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6225,0.69,145.9,3132,1342,2663,2648,639.8,12.0,438,6231,0.00,2.55,0.00,0.000,1030,0.000,0.095,3131,2740,2655,2663,2647,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6536,0.69,145.9,3132,2740,2664,2647,595.6,14.2,450,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2740,2654,2662,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6835,0.69,145.9,3132,2741,2664,2647,553.4,14.1,460,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2740,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,0.69,145.9,3132,2740,2664,2646,511.6,13.9,470,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2740,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7435,0.69,145.9,3132,2741,2663,2647,470.6,13.4,480,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2740,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7735,0.69,145.9,3132,2740,2664,2645,430.6,13.1,490,7741,0.00,1.85,0.00,0.000,260,0.000,0.101,3131,3785,2654,2663,2646,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7800,0.69,145.9,3132,3786,2664,2647,420.7,15.4,503,7806,0.00,1.73,0.00,0.000,1030,0.000,0.057,3137,2739,2654,2663,2646,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8126,0.69,145.9,3139,2741,2663,2646,376.3,13.6,518,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2740,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8425,0.69,145.9,3138,2740,2664,2647,337.0,12.9,528,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2740,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,0.69,145.9,3138,2741,2663,2647,299.6,12.2,538,8731,0.00,1.85,0.00,0.000,260,0.000,0.102,3137,3781,2654,2663,2645,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8775,0.69,145.9,3138,3782,2665,2645,292.5,14.0,548,8781,0.00,1.70,0.00,0.000,1030,0.000,0.056,3144,2742,2654,2663,2645,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9086,0.69,145.9,3145,2742,2664,2645,253.5,12.4,560,9091,0.00,2.33,0.00,0.000,516,0.000,0.071,3156,1346,2654,2663,2645,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9120,0.70,164.3,3156,1346,2663,2646,249.6,10.7,567,9142,0.10,2.47,15.65,1.304,13318,0.249,0.096,3118,2743,2584,2591,2577,0,0,0,0,0,0,14.48,14.60,13.97
$GC,9446,0.72,194.6,3118,2744,2591,2575,214.6,10.0,602,9478,0.00,2.42,25.33,1.258,8708,0.000,0.072,3126,1341,2459,2464,2455,0,0,0,0,0,0,28.83,14.38,13.83
$GC,9518,0.75,237.0,3127,1342,2464,2455,207.4,9.4,614,9560,0.00,2.47,35.90,1.279,9222,0.000,0.094,3126,2747,2287,2287,2287,0,0,0,0,0,0,28.83,14.38,13.64
$GC,9857,0.77,259.2,3127,2747,2286,2278,168.3,10.5,652,9879,0.00,0.00,18.67,1.246,8198,0.000,0.000,3126,2747,2197,2201,2194,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10178,0.79,283.9,3127,2748,2201,2187,134.9,10.3,684,10204,0.00,2.42,21.50,1.208,8708,0.000,0.070,3131,1343,2094,2100,2089,0,0,0,0,0,0,28.83,14.25,13.76
$GC,10233,0.80,302.2,3132,1343,2097,2089,129.1,10.7,695,10254,0.00,2.53,15.98,1.216,9222,0.000,0.095,3131,2756,2021,2025,2018,0,0,0,0,0,0,28.83,14.28,13.66
$GC,10559,0.82,336.7,3132,2757,2019,2007,95.1,9.8,730,10581,0.00,2.45,14.65,0.482,8708,0.000,0.073,3138,1342,1885,1886,1884,0,0,0,0,0,0,28.83,14.33,14.05
$GC,10600,0.85,375.4,3139,1342,1891,1884,91.0,9.6,738,10622,0.00,2.47,17.83,0.470,9222,0.000,0.096,3137,2736,1728,1729,1728,0,0,0,0,0,0,28.83,14.29,14.04
$GC,10920,0.90,441.1,3139,2736,1736,1724,58.6,8.1,772,10957,0.15,2.42,29.35,0.363,10756,0.118,0.073,3209,1356,1460,1468,1453,0,0,0,0,0,0,14.45,14.28,14.15
$GC,11021,0.90,445.6,3210,1356,1467,1451,47.8,11.4,792,11027,0.00,2.47,1.88,0.324,9222,0.000,0.096,3205,2743,1443,1456,1430,0,0,0,0,0,0,28.83,14.36,14.17
$GC,11332,1.00,587.3,3209,2744,1464,1425,16.6,4.1,824,11403,0.00,2.40,63.30,0.249,8708,0.000,0.073,3209,1351,861,856,867,0,0,0,0,0,0,28.83,14.35,14.21
$GC,11433,1.12,754.8,3209,1352,857,867,13.2,2.7,844,11479,0.15,2.50,39.78,0.239,11270,0.138,0.097,3260,2754,499,452,546,0,0,0,0,0,0,14.35,14.33,14.21
$FREEZE,8.64,2.566,-1.380,2,1,0
$FREEZE,7.83,2.563,-1.380,2,1,0
$FREEZE,6.99,2.562,-1.379,2,1,0
$FREEZE,6.09,2.562,-1.378,2,1,0
$FREEZE,5.28,2.559,-1.378,2,1,0
$FREEZE,4.23,2.560,-1.377,2,1,0
$FREEZE,3.13,2.560,-1.376,2,1,0
$FREEZE,2.14,2.557,-1.375,2,1,0
$FREEZE,1.46,2.541,-1.375,2,1,0
$STATE,11592,end climb,SURFACE_DEPTH_REACHED
$STATE,11592,begin surface coast
$FREEZE,0.77,2.550,-1.374,2,1,0
$FREEZE,0.85,2.347,-1.383,2,1,0
$FINISH,0.8,1.020303
$STATE,11613,end surface coast,CONTROL_FINISHED_OK
$STATE,11613,begin surface
$SM_CCo,11689,0.00,0.000,0,0,493,678.25
$SM_GC,1.76,9.38,0.00,0.00,0.085,0.000,0.000,203,2755,493,-8.36,-0.17,678.25,0,0,0,0,0,0,14.38,28.83,28.83
$RAFOS_CLK,335
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14412.66,170814,070443
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.14
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.50
$XPDR_PINGS,10
$SC_FREEKB,3868768
$24V_AH,12.79,46.855
$10V_AH,12.84,0.000
$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,23.700,64.550,548.425,0.000,0.000,0.000,0.000,253.725,2.500,0.000,40.636,0.000,9334.680,621.140,2018.619,135.880,0.000,1581.982,0.000,1289.334,1499.000,0.539,0.000
$DEVICE_MAMPS,395.505,107.865,1961.460,0.000,0.000,0.000,0.000,154.530,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11651.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.737,0.000,0.000,0.000
$MEM,273324
$DATA_FILE_SIZE,30060,867
$CAP_FILE_SIZE,134261,0
$CFSIZE,2097872896,2061205504
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12493.28,0x2378b6,7,5
$INTR,1,5184.54,0x2378b6,2,5
$INTR,2,11617.12,0x2378b6,7,5
$SOUNDSPEED,1451.3
$GPS,170814,135324,7233.554,-14415.175,32,0.8,52,22.8