version: 66.12
glider: 196
mission: 7
dive: 141
start: 8 15 114 6 53 45
data:
$ID,196
$MISSION,7
$DIVE,141
$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,-5189.3262
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,150814,064724,7235.479,-14410.584,23,0.9,43,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.7
$GPS2,150814,065326,7235.447,-14410.807,5,0.9,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,338.0,26956,-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,-145.9,183,2750,418,565,0.0,0.0,0,79,0.00,0.00,-62.83,0.000,16386,0.000,0.000,181,2749,2068,2079,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,183,2751,2081,2063,3.0,-3.1,6,134,11.85,1.83,-36.88,0.000,18692,0.392,0.120,2656,3790,3855,3914,3796,0,0,0,0,0,0,14.09,14.26,14.53
$GC,358,-0.69,-145.9,2658,3792,3915,3802,82.9,-24.4,62,364,0.00,1.73,0.00,0.000,1030,0.000,0.056,2656,2760,3857,3914,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,669,-0.69,-145.9,2656,2759,3915,3801,149.3,-19.5,94,674,0.00,1.85,0.00,0.000,260,0.000,0.103,2648,3789,3857,3914,3801,0,0,0,0,0,0,28.83,14.43,28.83
$GC,899,-0.69,-145.9,2648,3790,3915,3802,195.9,-19.5,140,904,0.00,1.73,0.00,0.000,1030,0.000,0.057,2648,2754,3857,3914,3801,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1209,-0.69,-145.9,2649,2755,3915,3801,246.7,-15.6,172,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1509,-0.69,-145.9,2649,2755,3915,3802,291.8,-14.7,184,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.69,-145.9,2649,2754,3915,3801,335.2,-14.5,194,1814,0.00,2.35,0.00,0.000,516,0.000,0.071,2648,1372,3857,3914,3801,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1843,-0.69,-145.9,2649,1371,3913,3800,340.0,-13.5,201,1849,0.10,2.47,0.00,0.000,3078,0.236,0.100,2664,2755,3860,3914,3807,0,0,0,0,0,0,14.45,14.54,28.83
$GC,2169,-0.69,-145.9,2665,2754,3915,3801,382.3,-12.9,216,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2755,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2469,-0.69,-145.9,2665,2756,3915,3801,420.6,-12.7,226,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2755,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-0.69,-145.9,2665,2755,3915,3800,458.0,-12.4,236,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2755,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.69,-145.9,2665,2756,3915,3802,494.5,-12.1,246,3074,0.00,2.33,0.00,0.000,516,0.000,0.069,2664,1358,3857,3914,3801,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3114,-0.69,-145.9,2665,1361,3915,3809,499.7,-11.4,255,3119,0.00,2.47,0.00,0.000,1030,0.000,0.099,2656,2751,3857,3914,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3429,-0.69,-145.9,2656,2751,3915,3802,539.6,-12.8,268,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-0.69,-145.9,2656,2751,3915,3801,577.2,-12.5,278,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.69,-145.9,2656,2751,3915,3800,614.6,-12.4,288,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2750,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.69,-145.9,2656,2752,3915,3801,651.7,-12.4,298,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4629,-0.69,-145.9,2656,2751,3915,3802,688.7,-12.4,308,4634,0.00,2.35,0.00,0.000,516,0.000,0.068,2655,1372,3857,3914,3801,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4659,-0.69,-145.9,2656,1373,3915,3802,692.3,-11.8,314,4664,0.00,2.47,0.00,0.000,1030,0.000,0.099,2642,2757,3857,3914,3801,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4989,-0.69,-145.9,2642,2758,3914,3799,734.3,-12.8,330,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5137,begin apogee
$GC,5141,-0.13,0.0,2645,2757,3915,3801,753.5,-12.7,335,5270,0.75,0.00,125.80,1.973,10244,0.229,0.000,2844,2758,3254,3273,3235,0,0,0,0,0,0,14.40,28.83,13.12
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5272,0.69,145.9,2846,2759,3271,3242,757.1,0.0,339,5405,0.88,0.00,123.90,1.811,11270,0.132,0.000,3108,2758,2659,2666,2652,0,0,0,0,0,0,13.74,28.83,12.76
$MODEM_MSG,CACST,6,1,20140815080503.375337,3,219,-6,0131,0150,255,02,02,05,05,-1,-01,-01,1,3,0,0,150,7.6,0.6,-100,2.4,-01,0.1,35,900,0025*08
$MODEM_MSG,CACST,6,1,20140815081649.382643,3,470,-3,0143,0150,217,03,03,05,03,-1,-01,-01,1,3,0,0,150,9.7,1.4,-100,1.6,-01,0.3,24,900,0025*0D
$GC,5709,0.69,145.9,3109,2759,2666,2648,711.9,12.8,379,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2758,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,0.69,145.9,3108,2758,2667,2646,673.3,12.8,389,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2758,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6309,0.69,145.9,3109,2758,2667,2645,634.6,12.9,399,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2758,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6609,0.69,145.9,3109,2759,2666,2646,596.1,12.7,409,6614,0.00,1.85,0.00,0.000,260,0.000,0.100,3108,3788,2655,2665,2645,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6659,0.69,145.9,3108,3789,2667,2645,588.9,15.0,419,6664,0.00,1.73,0.00,0.000,1030,0.000,0.054,3113,2742,2655,2666,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6969,0.69,145.9,3114,2740,2667,2645,548.7,12.7,431,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,0.69,145.9,3114,2743,2667,2645,511.1,12.5,441,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,0.69,145.9,3114,2743,2667,2645,473.8,12.3,451,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,0.69,145.9,3114,2743,2667,2644,436.5,12.3,461,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,0.69,145.9,3114,2743,2667,2646,399.2,12.4,471,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8469,0.69,145.9,3114,2743,2667,2645,362.3,12.3,481,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2742,2656,2667,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8769,0.69,145.9,3114,2743,2667,2640,325.6,12.1,491,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2742,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,0.70,157.0,3114,2743,2667,2646,291.6,11.0,501,9080,0.00,0.00,10.15,1.366,8198,0.000,0.000,3114,2742,2616,2626,2607,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9369,0.70,165.9,3114,2742,2625,2603,257.9,11.2,511,9379,0.00,0.00,8.38,1.336,8198,0.000,0.000,3114,2742,2582,2591,2573,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9669,0.71,171.8,3115,2743,2589,2567,224.0,11.3,535,9681,0.00,2.40,3.53,1.206,8708,0.000,0.070,3125,1347,2563,2578,2549,0,0,0,0,0,0,28.83,14.54,13.69
$GC,9725,0.73,205.9,3125,1346,2583,2551,218.1,9.8,546,9763,0.00,2.47,31.85,1.243,9222,0.000,0.095,3125,2735,2415,2420,2410,0,0,0,0,0,0,28.83,14.45,13.79
$GC,10060,0.75,235.9,3125,2735,2421,2403,180.2,10.0,583,10093,0.00,1.92,25.55,1.275,8452,0.000,0.102,3125,3798,2290,2294,2287,0,0,0,0,0,0,28.83,14.23,13.72
$GC,10127,0.75,235.9,3126,3799,2292,2288,173.2,12.1,596,10134,0.00,1.80,0.00,0.000,1030,0.000,0.054,3126,2732,2289,2292,2286,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10433,0.79,283.8,3127,2731,2293,2283,143.9,9.1,627,10475,0.00,0.00,40.47,1.260,8454,0.000,0.000,3126,2731,2099,2102,2096,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10772,0.82,334.7,3127,2732,2099,2082,110.5,8.9,664,10814,0.00,0.00,40.35,1.161,8454,0.000,0.000,3126,2731,1891,1893,1889,0,0,0,0,0,0,28.83,28.83,13.64
$GC,11113,0.85,372.9,3126,2731,1888,1873,77.6,9.6,699,11134,0.12,0.00,15.93,0.419,10246,0.132,0.000,3177,2730,1737,1740,1735,0,0,0,0,0,0,14.37,28.83,14.05
$GC,11433,0.88,424.5,3178,2731,1747,1732,43.9,8.9,731,11464,0.00,2.42,22.83,0.320,8708,0.000,0.074,3178,1350,1528,1535,1521,0,0,0,0,0,0,28.83,14.32,14.20
$GC,11499,0.93,485.0,3178,1351,1538,1521,38.2,8.4,744,11535,0.00,2.45,27.50,0.319,9222,0.000,0.096,3178,2733,1279,1290,1269,0,0,0,0,0,0,28.83,14.35,14.16
$FREEZE,8.86,1.308,-1.428,2,1,0
$GC,11833,1.04,647.9,3179,2734,1292,1258,12.3,3.0,781,11908,0.17,0.00,72.15,0.232,10502,0.116,0.000,3251,2733,615,582,648,0,0,0,0,0,0,14.45,28.83,14.23
$FREEZE,8.22,1.487,-1.426,2,1,0
$FREEZE,7.58,1.533,-1.428,2,1,0
$FREEZE,6.99,1.568,-1.429,2,1,0
$FREEZE,6.27,1.560,-1.430,2,1,0
$FREEZE,5.45,1.471,-1.431,2,1,0
$FREEZE,4.64,1.466,-1.430,2,1,0
$FREEZE,3.61,1.526,-1.429,2,1,0
$FREEZE,2.55,1.523,-1.428,2,1,0
$FREEZE,1.56,1.498,-1.428,2,1,0
$STATE,11992,end climb,SURFACE_DEPTH_REACHED
$STATE,11992,begin surface coast
$FREEZE,0.67,1.386,-1.432,2,1,0
$FREEZE,0.93,1.449,-1.430,2,1,0
$FINISH,0.9,1.021016
$STATE,12013,end surface coast,CONTROL_FINISHED_OK
$STATE,12013,begin surface
$SM_CCo,12028,12.52,0.207,0,0,498,676.54
$SM_GC,1.94,9.25,0.00,12.52,0.076,0.000,0.207,202,2733,498,-8.35,-0.76,676.54,0,0,0,0,0,0,14.40,28.83,14.27
$RAFOS_CLK,399
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14415.23,150814,031758
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.70
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,5
$SC_FREEKB,3875488
$24V_AH,12.76,42.503
$10V_AH,12.79,0.000
$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,23.125,38.625,548.375,12.525,0.000,0.000,0.000,206.000,1.250,0.000,26.210,0.000,9794.895,628.417,1856.321,123.230,0.000,1488.196,0.000,1201.186,1478.000,0.539,0.000
$DEVICE_MAMPS,391.680,120.105,1972.935,206.550,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.610,0.000,0.000,0.000
$MEM,281912
$DATA_FILE_SIZE,26723,803
$CAP_FILE_SIZE,129085,0
$CFSIZE,2097872896,2064154624
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12676.19,0x2378b6,7,5
$INTR,1,5139.33,0x2378b6,2,5
$INTR,2,12017.08,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,150814,101554,7236.602,-14411.251,39,0.8,59,22.9