version: 66.12
glider: 196
mission: 7
dive: 177
start: 8 20 114 12 0 34
data:
$ID,196
$MISSION,7
$DIVE,177
$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,-5234.7119
$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,57
$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
$GPS1,200814,115018,7227.111,-14355.962,43,0.8,63,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-79.2
$GPS2,200814,120016,7227.188,-14355.660,3,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.5,52095,-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,-145.9,210,2768,440,544,0.0,0.0,0,86,0.00,0.00,-69.22,0.000,16386,0.000,0.000,210,2769,2247,2252,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-145.9,210,2768,2253,2244,4.4,-5.2,7,134,11.85,2.40,-27.85,0.000,18948,0.393,0.090,2660,1366,3856,3914,3798,0,0,0,0,0,0,14.04,14.28,14.48
$GC,358,-0.69,-145.9,2660,1366,3915,3802,75.8,-18.8,61,364,0.00,2.53,0.00,0.000,1030,0.000,0.094,2651,2788,3858,3915,3802,0,0,0,0,0,0,28.83,14.30,28.83
$GC,668,-0.69,-145.9,2652,2789,3915,3801,139.3,-18.4,93,673,0.00,2.40,0.00,0.000,516,0.000,0.064,2651,1368,3859,3914,3804,0,0,0,0,0,0,28.83,14.36,28.83
$GC,853,-0.69,-145.9,2651,1368,3915,3803,169.3,-14.8,130,860,0.10,2.53,0.00,0.000,3078,0.252,0.096,2665,2756,3858,3914,3803,0,0,0,0,0,0,14.22,14.31,28.83
$GC,1158,-0.69,-145.9,2665,2757,3915,3802,215.9,-13.9,161,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1468,-0.69,-145.9,2666,2757,3915,3803,258.9,-13.5,188,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.69,-145.9,2666,2758,3915,3804,299.3,-13.0,198,1773,0.00,1.85,0.00,0.000,260,0.000,0.103,2658,3788,3858,3914,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1823,-0.69,-145.9,2659,3789,3915,3803,307.3,-15.1,209,1830,0.00,1.70,0.00,0.000,1030,0.000,0.054,2658,2759,3858,3914,3803,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2128,-0.69,-145.9,2659,2757,3915,3803,348.0,-12.8,220,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.69,-145.9,2659,2757,3915,3803,385.1,-12.3,230,2433,0.00,2.30,0.00,0.000,516,0.000,0.065,2659,1366,3858,3914,3802,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2473,-0.69,-145.9,2659,1367,3915,3802,390.5,-11.2,239,2479,0.00,2.45,0.00,0.000,1030,0.000,0.098,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2788,-0.69,-145.9,2649,2761,3915,3802,433.7,-14.0,252,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,-0.69,-145.9,2649,2762,3914,3803,475.3,-13.9,262,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.69,-145.9,2649,2761,3915,3803,516.8,-13.7,272,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.69,-145.9,2649,2762,3914,3804,556.7,-13.3,282,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,-0.69,-145.9,2649,2761,3915,3802,595.4,-13.0,292,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.69,-145.9,2649,2762,3915,3803,634.0,-12.8,302,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-0.69,-145.9,2649,2762,3914,3803,672.5,-12.8,312,4593,0.00,2.30,0.00,0.000,516,0.000,0.065,2648,1370,3858,3914,3802,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4623,-0.69,-145.9,2649,1368,3915,3802,676.7,-12.1,319,4629,0.08,2.45,0.00,0.000,3078,0.252,0.097,2670,2753,3858,3914,3802,0,0,0,0,0,0,14.50,14.61,28.83
$GC,4948,-0.69,-145.9,2671,2753,3915,3802,713.1,-11.2,334,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2753,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.69,-145.9,2671,2754,3915,3803,746.3,-11.1,344,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2753,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5310,-0.13,0.0,2671,2754,3914,3803,752.9,-11.0,346,5438,0.65,0.00,125.03,1.995,10244,0.221,0.000,2849,2753,3257,3274,3241,0,0,0,0,0,0,14.52,28.83,13.16
$STATE,5439,end apogee,CONTROL_FINISHED_OK
$STATE,5439,begin climb
$GC,5440,0.69,145.9,2849,2753,3270,3237,756.5,0.0,350,5570,0.85,0.00,123.72,1.844,11270,0.127,0.000,3108,2753,2661,2667,2655,0,0,0,0,0,0,13.81,28.83,12.78
$GC,5879,0.69,145.9,3108,2753,2666,2645,712.8,12.7,390,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,0.69,145.9,3109,2754,2666,2646,674.9,12.6,400,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2753,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,0.69,145.9,3108,2753,2666,2645,637.3,12.5,410,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,0.69,145.9,3109,2754,2666,2645,600.2,12.3,420,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,0.69,145.9,3108,2753,2666,2644,562.8,12.5,430,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2753,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7379,0.69,145.9,3108,2754,2665,2645,525.7,12.4,440,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,0.69,145.9,3108,2754,2666,2645,488.4,12.4,450,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,0.69,145.9,3108,2754,2666,2645,451.4,12.5,460,7985,0.00,1.83,0.00,0.000,260,0.000,0.099,3107,3785,2654,2665,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8019,0.69,145.9,3109,3785,2674,2645,445.7,13.8,468,8025,0.00,1.70,0.00,0.000,1030,0.000,0.052,3113,2738,2654,2665,2643,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8340,0.69,145.9,3114,2738,2666,2645,405.9,12.3,482,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,0.69,145.9,3114,2737,2668,2644,368.8,12.3,492,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,0.69,145.9,3114,2737,2666,2645,332.9,11.7,502,8945,0.00,2.33,0.00,0.000,516,0.000,0.067,3124,1338,2654,2665,2644,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8979,0.70,163.3,3126,1338,2665,2644,328.7,10.7,510,9001,0.00,2.47,14.75,1.382,9222,0.000,0.093,3125,2741,2587,2594,2581,0,0,0,0,0,0,28.83,14.58,13.94
$GC,9300,0.70,163.3,3125,2741,2595,2578,287.6,13.0,524,9305,0.00,1.80,0.00,0.000,260,0.000,0.098,3124,3789,2586,2594,2578,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9319,0.70,163.3,3126,3790,2595,2579,284.8,13.8,528,9325,0.00,1.70,0.00,0.000,1030,0.000,0.051,3131,2748,2585,2594,2577,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9629,0.70,163.3,3132,2748,2595,2579,246.6,12.5,540,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2747,2586,2595,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,0.72,189.1,3131,2748,2595,2579,209.0,10.3,570,9954,0.00,0.00,21.60,1.239,8198,0.000,0.000,3131,2746,2488,2493,2483,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10250,0.72,194.7,3131,2746,2491,2474,171.2,11.3,602,10261,0.00,1.88,3.62,1.206,8452,0.000,0.099,3131,3788,2467,2475,2460,0,0,0,0,0,0,28.83,14.41,13.64
$GC,10280,0.72,194.7,3132,3790,2474,2465,167.5,11.9,608,10286,0.00,1.73,0.00,0.000,1030,0.000,0.052,3138,2740,2471,2479,2464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10591,0.75,226.2,3140,2741,2482,2465,137.2,9.9,640,10627,0.00,1.90,29.73,1.147,8452,0.000,0.100,3138,3786,2330,2333,2328,0,0,0,0,0,0,28.83,14.31,13.82
$GC,10746,0.75,226.2,3139,3786,2333,2326,117.5,14.2,671,10753,0.00,1.73,0.00,0.000,1030,0.000,0.051,3146,2750,2329,2332,2326,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11052,0.79,283.3,3146,2749,2333,2325,88.3,8.6,702,11083,0.00,2.40,24.23,0.461,8708,0.000,0.067,3157,1341,2103,2103,2103,0,0,0,0,0,0,28.83,14.38,14.08
$GC,11123,0.81,315.3,3158,1342,2108,2104,81.6,9.9,716,11144,0.00,2.50,14.43,0.433,9222,0.000,0.093,3157,2755,1972,1968,1977,0,0,0,0,0,0,28.83,14.35,14.09
$GC,11444,0.81,316.3,3158,2756,1975,1976,45.4,11.6,750,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2755,1973,1973,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11743,0.94,504.9,3158,2756,1974,1972,29.3,1.6,780,11836,0.12,2.45,82.70,0.288,10756,0.134,0.069,3208,1354,1197,1213,1182,0,0,0,0,0,0,14.50,14.33,14.16
$GC,11936,1.06,672.6,3207,1354,1213,1174,21.8,2.7,818,12017,0.00,2.45,74.20,0.265,9222,0.000,0.093,3208,2743,513,474,553,0,0,0,0,0,0,28.83,14.35,14.14
$FREEZE,8.95,0.956,-1.406,2,1,0
$FREEZE,8.38,0.934,-1.406,2,1,0
$FREEZE,7.55,0.963,-1.405,2,1,0
$FREEZE,6.91,1.034,-1.400,2,1,0
$FREEZE,6.15,1.084,-1.397,2,1,0
$FREEZE,5.38,1.016,-1.399,2,1,0
$FREEZE,4.61,0.983,-1.399,2,1,0
$FREEZE,3.86,1.057,-1.395,2,1,0
$FREEZE,2.95,1.076,-1.393,2,1,0
$FREEZE,2.12,1.016,-1.394,2,1,0
$FREEZE,1.37,1.177,-1.384,2,1,0
$STATE,12253,end climb,SURFACE_DEPTH_REACHED
$STATE,12254,begin surface coast
$FREEZE,0.78,1.331,-1.337,2,1,0
$FREEZE,0.73,1.163,-0.720,2,1,0
$FINISH,0.7,1.010618
$STATE,12274,end surface coast,CONTROL_FINISHED_OK
$STATE,12274,begin surface
$SM_CCo,12290,0.85,0.288,0,0,499,676.54
$SM_GC,2.49,9.25,0.00,0.85,0.087,0.000,0.288,203,2743,499,-8.37,-0.48,676.54,0,0,0,0,0,0,14.40,28.83,14.28
$RAFOS_CLK,594
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7153.15,-14350.51,200814,115255
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.14
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,13.00
$XPDR_PINGS,6
$SC_FREEKB,3859360
$24V_AH,12.78,52.947
$10V_AH,12.86,0.000
$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,22.900,51.750,514.000,0.850,0.000,0.000,0.000,370.975,1.500,0.000,26.013,0.000,10035.707,539.894,2155.515,153.137,0.000,1656.853,0.000,1285.151,1377.000,0.539,0.000
$DEVICE_MAMPS,393.210,102.510,1995.120,287.640,0.000,0.000,0.000,147.645,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12312.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.906,0.000,0.000,0.000
$MEM,261380
$DATA_FILE_SIZE,30016,860
$CAP_FILE_SIZE,139779,0
$CFSIZE,2097872896,2057207808
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12859.39,0x2378b6,7,5
$INTR,1,5308.19,0x2378b6,2,5
$INTR,2,12277.75,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,200814,152654,7229.027,-14356.141,40,0.8,60,22.9