version: 66.12
glider: 196
mission: 7
dive: 147
start: 8 16 114 3 32 35
data:
$ID,196
$MISSION,7
$DIVE,147
$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,-5196.8945
$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,54
$R_STBD_OVSHOOT,19
$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
$GPS1,160814,032554,7242.272,-14413.953,37,0.9,57,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.2
$GPS2,160814,033217,7242.257,-14414.165,4,0.9,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,346.1,14521,-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,-145.9,166,2762,423,560,0.0,0.0,0,89,0.00,0.00,-72.22,0.000,16386,0.000,0.000,161,2762,2308,2313,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,162,2762,2315,2305,3.6,-3.7,7,135,11.95,1.88,-27.75,0.000,18692,0.392,0.125,2660,3786,3856,3917,3796,0,0,0,0,0,0,14.08,14.27,14.53
$GC,359,-0.69,-145.9,2660,3789,3918,3802,86.2,-25.1,61,364,0.00,1.70,0.00,0.000,1030,0.000,0.052,2660,2757,3859,3917,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,669,-0.69,-145.9,2661,2757,3917,3803,153.8,-19.7,93,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2757,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.69,-145.9,2660,2754,3918,3802,208.8,-17.1,123,974,0.00,1.83,0.00,0.000,260,0.000,0.103,2651,3779,3859,3917,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1034,-0.69,-145.9,2652,3780,3916,3802,220.8,-18.1,136,1041,0.00,1.70,0.00,0.000,1030,0.000,0.055,2651,2751,3859,3917,3802,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1339,-0.69,-145.9,2652,2752,3917,3803,269.4,-15.2,159,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.69,-145.9,2652,2752,3918,3801,312.5,-14.2,169,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2751,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1939,-0.69,-145.9,2652,2752,3917,3802,354.3,-13.8,179,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2751,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.69,-145.9,2652,2751,3917,3801,395.5,-13.7,189,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2752,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2539,-0.69,-145.9,2652,2751,3918,3801,436.5,-13.7,199,2544,0.00,2.35,0.00,0.000,516,0.000,0.067,2651,1372,3858,3916,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2599,-0.69,-145.9,2651,1372,3918,3802,444.3,-12.7,211,2605,0.05,2.47,0.00,0.000,3078,0.246,0.098,2666,2751,3858,3916,3801,0,0,0,0,0,0,14.36,14.44,28.83
$GC,2929,-0.69,-145.9,2667,2751,3917,3802,484.9,-12.2,227,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2750,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140816041650.036249,3,307,-5,0106,0150,217,03,03,05,03,-1,-01,-01,1,3,0,0,150,9.7,2.8,-100,0.2,-01,-0.1,27,900,0025*21
$GC,3230,-0.69,-145.9,2667,2751,3918,3802,521.1,-12.1,237,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.69,-145.9,2667,2751,3918,3801,557.0,-11.9,247,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2750,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3829,-0.69,-145.9,2667,2751,3917,3801,593.1,-12.0,257,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.69,-145.9,2667,2752,3917,3802,629.2,-12.0,267,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.69,-145.9,2667,2751,3918,3802,665.0,-11.9,277,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,-0.69,-145.9,2667,2752,3917,3802,700.2,-11.7,287,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5029,-0.69,-145.9,2667,2752,3917,3802,734.9,-11.5,297,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2751,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5178,begin apogee
$GC,5181,-0.13,0.0,2667,2752,3917,3802,751.9,-11.3,302,5310,0.65,0.00,125.72,1.977,10244,0.220,0.000,2845,2756,3255,3272,3238,0,0,0,0,0,0,14.52,28.83,13.16
$STATE,5311,end apogee,CONTROL_FINISHED_OK
$STATE,5311,begin climb
$GC,5313,0.69,145.9,2846,2751,3270,3237,755.2,0.0,306,5446,0.85,0.00,124.25,1.839,11270,0.127,0.000,3104,2751,2656,2663,2650,0,0,0,0,0,0,13.81,28.83,12.84
$GC,5750,0.69,145.9,3105,2750,2666,2644,710.2,12.9,346,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2751,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,0.69,145.9,3105,2752,2665,2645,671.8,12.8,356,6055,0.00,1.88,0.00,0.000,260,0.000,0.099,3104,3786,2653,2663,2644,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6070,0.69,145.9,3105,3786,2665,2644,668.8,14.5,360,6075,0.00,1.75,0.00,0.000,1030,0.000,0.050,3112,2740,2654,2664,2644,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6380,0.69,145.9,3113,2741,2665,2644,628.7,12.9,372,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2740,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6680,0.69,145.9,3112,2740,2663,2643,590.1,12.7,382,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,0.69,145.9,3112,2740,2665,2643,551.3,12.8,392,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2739,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,0.69,145.9,3113,2740,2665,2644,513.0,12.7,402,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2739,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7580,0.69,145.9,3113,2740,2664,2643,475.3,12.6,412,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2739,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,0.69,145.9,3113,2740,2664,2644,438.1,12.3,422,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2739,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8180,0.69,145.9,3112,2739,2665,2641,401.5,12.1,432,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2739,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,0.69,145.9,3112,2740,2665,2644,365.8,11.8,442,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2739,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8780,0.69,146.4,3112,2739,2665,2643,331.0,11.6,452,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2739,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9080,0.70,158.4,3112,2739,2666,2642,297.0,11.0,462,9092,0.00,0.00,10.70,1.381,8198,0.000,0.000,3112,2739,2613,2623,2603,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9380,0.71,169.1,3111,2736,2618,2593,263.5,11.1,472,9391,0.00,0.00,10.43,1.345,8198,0.000,0.000,3112,2739,2567,2576,2558,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9680,0.72,186.8,3112,2739,2572,2551,230.4,10.7,494,9701,0.00,0.00,15.05,1.294,8198,0.000,0.000,3112,2739,2492,2500,2484,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10001,0.76,241.9,3112,2739,2501,2482,198.5,8.7,526,10052,0.00,2.45,46.08,1.322,8708,0.000,0.067,3123,1350,2267,2270,2265,0,0,0,0,0,0,28.83,14.20,13.63
$GC,10077,0.80,299.2,3124,1351,2268,2265,191.5,8.6,540,10134,0.00,2.50,48.85,1.304,9222,0.000,0.093,3123,2743,2035,2042,2029,0,0,0,0,0,0,28.83,14.21,13.50
$GC,10432,0.81,311.0,3123,2743,2035,2018,151.1,11.0,581,10444,0.00,0.00,9.88,1.278,8198,0.000,0.000,3123,2743,1986,1995,1977,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10742,0.82,338.7,3124,2744,1988,1976,118.1,10.2,612,10765,0.12,0.00,21.00,1.157,10246,0.129,0.000,3176,2744,1878,1878,1879,0,0,0,0,0,0,14.41,28.83,13.75
$GC,11063,0.82,338.7,3177,2744,1875,1865,77.3,11.9,644,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2745,1869,1873,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11362,0.89,429.9,3177,2744,1875,1863,48.6,6.8,674,11408,0.00,2.42,38.95,0.337,8708,0.000,0.069,3178,1357,1505,1511,1499,0,0,0,0,0,0,28.83,14.38,14.20
$GC,11438,0.94,502.2,3178,1356,1512,1497,43.3,7.8,688,11475,0.00,2.45,32.55,0.340,9222,0.000,0.094,3177,2738,1209,1217,1201,0,0,0,0,0,0,28.83,14.37,14.15
$GC,11772,1.02,616.5,3178,2738,1220,1189,17.0,5.6,725,11829,0.15,2.38,50.53,0.255,10756,0.125,0.070,3246,1351,743,726,760,0,0,0,0,0,0,14.43,14.35,14.22
$GC,11878,1.08,702.6,3247,1352,727,760,11.1,7.0,746,11910,0.00,2.47,26.95,0.234,9222,0.000,0.093,3246,2728,498,450,547,0,0,0,0,0,0,28.83,14.33,14.17
$FREEZE,8.05,1.457,-1.434,2,1,0
$FREEZE,7.11,1.504,-1.432,2,1,0
$FREEZE,6.35,1.476,-1.432,2,1,0
$FREEZE,5.62,1.507,-1.431,2,1,0
$FREEZE,4.79,1.504,-1.431,2,1,0
$FREEZE,3.91,1.501,-1.430,2,1,0
$FREEZE,3.30,1.498,-1.430,2,1,0
$FREEZE,2.54,1.503,-1.429,2,1,0
$FREEZE,1.39,1.499,-1.429,2,1,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FREEZE,1.00,1.503,-1.428,2,1,0
$FREEZE,0.73,1.392,-0.716,2,1,0
$FINISH,0.7,1.010566
$STATE,12013,end surface coast,CONTROL_FINISHED_OK
$STATE,12013,begin surface
$SM_CCo,12089,0.00,0.000,0,0,495,677.76
$SM_GC,1.98,9.32,0.05,0.00,0.085,0.252,0.000,202,2757,495,-8.35,-0.74,677.76,0,0,0,0,0,0,14.40,14.37,28.83
$RAFOS_CLK,518
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7207.11,-14418.51,160814,000210
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.14
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3872800
$24V_AH,12.84,44.255
$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,23.100,30.275,560.925,0.000,0.000,0.000,0.000,226.100,1.500,0.000,25.833,0.000,9933.862,604.709,1802.518,127.020,0.000,1457.881,0.000,1142.526,1478.000,0.539,0.000
$DEVICE_MAMPS,392.445,251.685,1976.760,0.000,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.374,0.000,0.000,0.000
$MEM,278432
$DATA_FILE_SIZE,26757,763
$CAP_FILE_SIZE,125200,0
$CFSIZE,2097872896,2062974976
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12356.36,0x2378b6,7,5
$INTR,1,5179.83,0x2378b6,2,5
$SOUNDSPEED,1449.7
$GPS,160814,065524,7243.607,-14413.490,33,0.9,53,22.9