version: 66.12
glider: 196
mission: 7
dive: 166
start: 8 18 114 21 18 3
data:
$ID,196
$MISSION,7
$DIVE,166
$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,-5220.8481
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,180814,211124,7217.236,-14409.471,23,0.7,43,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.3
$GPS2,180814,211744,7217.284,-14409.378,4,0.9,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,157.5,76459,-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,-145.9,168,2774,438,538,0.0,0.0,0,79,0.00,0.00,-62.28,0.000,16386,0.000,0.000,166,2772,2129,2132,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,166,2773,2133,2128,4.1,-5.9,6,130,12.02,2.42,-29.70,0.000,19204,0.395,0.093,2664,1359,3855,3914,3797,0,0,0,0,0,0,14.07,14.33,14.53
$GC,194,-0.69,-145.9,2666,1359,3915,3801,38.3,-26.5,29,201,0.00,2.53,0.00,0.000,1030,0.000,0.096,2656,2754,3857,3914,3801,0,0,0,0,0,0,28.83,14.33,28.83
$GC,500,-0.69,-145.9,2657,2753,3915,3805,112.7,-21.5,60,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2752,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.69,-145.9,2657,2753,3915,3805,173.6,-18.6,90,805,0.00,1.85,0.00,0.000,260,0.000,0.104,2648,3788,3859,3914,3804,0,0,0,0,0,0,28.83,14.44,28.83
$GC,879,-0.69,-145.9,2648,3788,3914,3805,189.4,-18.7,106,885,0.00,1.70,0.00,0.000,1030,0.000,0.057,2648,2762,3858,3913,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1189,-0.69,-145.9,2649,2763,3915,3805,241.7,-16.4,138,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3859,3914,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-0.69,-145.9,2649,2762,3915,3803,288.2,-15.1,152,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.69,-145.9,2649,2762,3915,3803,331.9,-14.4,162,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3859,3914,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-0.69,-145.9,2649,2762,3915,3804,374.9,-14.3,172,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.69,-145.9,2649,2762,3915,3803,417.1,-14.0,182,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3859,3915,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,-0.69,-145.9,2649,2762,3915,3804,459.0,-13.9,192,2695,0.00,2.33,0.00,0.000,516,0.000,0.072,2648,1364,3858,3914,3802,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2734,-0.69,-145.9,2649,1364,3914,3802,465.0,-13.1,201,2740,0.10,2.47,0.00,0.000,3078,0.238,0.100,2664,2749,3858,3914,3802,0,0,0,0,0,0,14.47,14.58,28.83
$GC,3050,-0.69,-145.9,2665,2750,3913,3803,503.9,-12.3,214,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-0.69,-145.9,2665,2750,3915,3803,540.2,-12.0,224,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3650,-0.69,-145.9,2665,2750,3915,3804,576.6,-12.3,234,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3950,-0.69,-145.9,2665,2750,3914,3803,612.7,-11.9,244,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-0.69,-145.9,2665,2750,3915,3803,648.9,-12.1,254,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4550,-0.69,-145.9,2665,2750,3915,3802,684.8,-11.8,264,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.69,-145.9,2665,2749,3915,3802,719.6,-11.5,274,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2750,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5118,begin apogee
$GC,5122,-0.13,0.0,2665,2750,3915,3801,750.6,-11.5,283,5248,0.68,0.00,124.40,1.968,10246,0.224,0.000,2849,2749,3257,3273,3242,0,0,0,0,0,0,14.51,28.83,13.19
$STATE,5250,end apogee,CONTROL_FINISHED_OK
$STATE,5250,begin climb
$GC,5251,0.69,145.9,2850,2750,3269,3239,754.0,0.0,287,5380,0.90,0.00,124.93,1.836,10758,0.128,0.000,3116,2750,2660,2665,2656,0,0,0,0,0,0,13.83,28.83,12.84
$GC,5659,0.69,145.9,3117,2751,2664,2646,711.3,13.6,306,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2750,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,0.69,145.9,3117,2750,2664,2644,671.2,13.4,316,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2750,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,0.69,145.9,3116,2750,2664,2644,631.2,13.4,326,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2750,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,0.69,145.9,3117,2751,2664,2645,591.7,13.1,336,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2750,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6859,0.69,145.9,3117,2750,2664,2644,552.4,13.0,346,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2750,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7160,0.69,145.9,3117,2750,2664,2644,514.0,12.8,356,7165,0.00,1.85,0.00,0.000,260,0.000,0.102,3116,3790,2653,2663,2643,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7174,0.69,145.9,3117,3791,2664,2644,511.8,13.0,359,7180,0.00,1.73,0.00,0.000,1030,0.000,0.055,3124,2744,2653,2663,2643,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7490,0.69,145.9,3124,2744,2665,2643,470.6,13.1,372,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7790,0.69,145.9,3125,2744,2664,2644,431.9,12.9,382,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,0.69,145.9,3124,2744,2664,2643,393.4,12.9,392,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,0.69,145.9,3124,2744,2664,2643,355.3,12.6,402,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2744,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8690,0.69,145.9,3125,2745,2664,2644,318.2,12.2,412,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8990,0.69,145.9,3123,2744,2664,2643,281.8,12.1,422,8995,0.00,2.35,0.00,0.000,516,0.000,0.070,3134,1340,2653,2663,2643,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9024,0.70,160.8,3136,1340,2664,2643,277.8,10.8,429,9044,0.00,2.50,12.35,1.336,9222,0.000,0.096,3132,2775,2598,2605,2591,0,0,0,0,0,0,28.83,14.62,14.00
$GC,9350,0.70,164.7,3135,2775,2606,2590,238.1,11.4,450,9352,0.00,0.00,1.02,0.328,8198,0.000,0.000,3135,2775,2587,2595,2579,0,0,0,0,0,0,28.83,28.83,14.19
$GC,9650,0.72,187.4,3136,2775,2610,2584,205.5,10.4,480,9674,0.00,0.00,22.85,1.236,8454,0.000,0.000,3134,2775,2492,2498,2487,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9973,0.76,246.0,3136,2776,2494,2478,173.8,8.5,513,10025,0.00,0.00,48.72,1.235,8454,0.000,0.000,3134,2774,2249,2250,2249,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10323,0.79,282.7,3135,2775,2253,2239,138.5,9.7,550,10356,0.00,0.00,31.38,1.223,8198,0.000,0.000,3134,2775,2103,2108,2099,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10654,0.81,312.0,3136,2776,2103,2086,105.2,10.1,583,10679,0.00,1.80,21.50,1.156,8452,0.000,0.101,3135,3782,1982,1984,1980,0,0,0,0,0,0,28.83,14.16,13.67
$GC,10708,0.81,312.0,3136,3782,1981,1980,99.2,12.4,593,10715,0.00,1.75,0.00,0.000,1030,0.000,0.055,3140,2753,1979,1981,1977,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11014,0.84,360.3,3142,2754,1981,1975,70.1,9.1,624,11036,0.00,0.00,20.70,0.398,8198,0.000,0.000,3137,2753,1789,1789,1790,0,0,0,0,0,0,28.83,28.83,14.04
$MODEM_MSG,CACST,6,1,20140819001612.994811,3,360,07,0109,0150,217,02,02,03,02,-1,-01,-01,1,3,0,0,150,23.0,0.9,-100,2.2,-01,0.1,25,900,0025*24
$GC,11334,0.91,461.5,3141,2753,1796,1787,45.8,6.2,656,11386,0.15,2.45,44.80,0.323,10756,0.121,0.074,3210,1345,1375,1387,1363,0,0,0,0,0,0,14.40,14.24,14.12
$GC,11445,0.92,475.2,3210,1345,1387,1360,34.7,10.9,678,11458,0.00,2.50,5.97,0.311,9222,0.000,0.096,3210,2749,1320,1333,1308,0,0,0,0,0,0,28.83,14.31,14.14
$GC,11756,1.07,692.0,3211,2749,1340,1299,14.9,0.1,710,11851,0.00,1.83,89.62,0.243,8452,0.000,0.099,3209,3782,497,454,540,0,0,0,0,0,0,28.83,14.28,14.18
$FREEZE,8.91,4.718,-1.375,2,1,0
$FREEZE,8.49,4.718,-1.375,2,1,0
$FREEZE,8.02,4.730,-1.373,2,1,0
$FREEZE,7.74,4.730,-1.373,2,1,0
$FREEZE,7.31,4.745,-1.376,2,1,0
$FREEZE,6.95,4.745,-1.376,2,1,0
$FREEZE,6.47,4.741,-1.378,2,1,0
$FREEZE,6.14,4.741,-1.378,2,1,0
$FREEZE,5.69,4.749,-1.379,2,1,0
$FREEZE,5.15,4.749,-1.379,2,1,0
$FREEZE,4.79,4.751,-1.378,2,1,0
$FREEZE,4.44,4.751,-1.377,2,1,0
$FREEZE,3.89,4.761,-1.380,2,1,0
$FREEZE,3.59,4.761,-1.380,2,1,0
$FREEZE,3.18,4.756,-1.381,2,1,0
$FREEZE,2.83,4.756,-1.381,2,1,0
$FREEZE,2.53,4.763,-1.381,2,1,0
$FREEZE,2.12,4.763,-1.380,2,1,0
$FREEZE,1.88,4.724,-1.381,2,1,0
$STATE,11975,end climb,SURFACE_DEPTH_REACHED
$STATE,11976,begin surface coast
$FREEZE,1.38,4.724,-1.381,2,1,0
$FREEZE,0.88,4.724,-1.381,2,1,0
$FREEZE,0.61,4.724,-1.381,2,1,0
$FREEZE,0.57,4.623,-1.340,2,1,0
$FREEZE,0.60,4.623,-1.340,2,1,0
$FREEZE,0.59,4.723,-0.208,2,1,0
$FINISH,0.6,1.002987
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12083,0.00,0.000,0,0,493,678.25
$SM_GC,1.59,9.00,1.75,0.00,0.063,0.060,0.000,201,2765,493,-8.35,1.27,678.25,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,115
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14412.93,180814,174134
$TT8_MAMPS,0.041195,0.041195
$HUMID,45.27
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,6.50
$XPDR_PINGS,1
$SC_FREEKB,3864288
$24V_AH,12.84,49.758
$10V_AH,13.16,0.000
$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,22.850,33.800,548.250,0.000,0.000,0.000,0.000,222.200,0.250,0.000,25.627,0.000,9909.291,618.917,1802.690,129.492,0.000,1446.748,0.000,1138.996,1439.000,0.540,0.000
$DEVICE_MAMPS,394.740,104.040,1967.580,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.938,0.000,0.000,0.000
$MEM,267504
$DATA_FILE_SIZE,26679,760
$CAP_FILE_SIZE,126179,0
$CFSIZE,2097872896,2059337728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12746.33,0x2378b6,7,5
$INTR,1,5119.86,0x2378b6,2,5
$SOUNDSPEED,1450.3
$GPS,190814,004048,7215.755,-14408.262,35,1.0,55,22.8