version: 66.12
glider: 196
mission: 7
dive: 169
start: 8 19 114 7 53 1
data:
$ID,196
$MISSION,7
$DIVE,169
$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,-5224.627
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,190814,074524,7215.534,-14406.219,28,0.9,48,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-79.7
$GPS2,190814,075242,7215.572,-14406.206,4,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,335.6,73049,-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,14,begin dive
$GC,15,-0.69,-145.9,205,2768,442,538,0.0,0.0,0,79,0.00,0.00,-62.15,0.000,16386,0.000,0.000,203,2768,2076,2080,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,203,2768,2081,2074,3.1,-3.3,6,131,11.75,1.85,-32.47,0.000,19204,0.392,0.127,2655,3781,3855,3914,3796,0,0,0,0,0,0,14.06,14.30,14.53
$GC,355,-0.69,-145.9,2654,3782,3916,3803,84.5,-25.1,61,362,0.00,1.70,0.00,0.000,1030,0.000,0.052,2655,2753,3858,3914,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,663,-0.69,-145.9,2655,2752,3915,3802,149.4,-19.7,92,667,0.00,1.80,0.00,0.000,260,0.000,0.100,2647,3780,3858,3914,3803,0,0,0,0,0,0,28.83,14.37,28.83
$GC,892,-0.69,-145.9,2648,3781,3911,3804,196.6,-19.3,138,897,0.00,1.70,0.00,0.000,1030,0.000,0.054,2646,2757,3859,3916,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1202,-0.69,-145.9,2647,2760,3916,3802,248.1,-15.6,170,1207,0.00,1.85,0.00,0.000,260,0.000,0.102,2639,3780,3858,3914,3803,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1432,-0.69,-145.9,2637,3781,3915,3804,287.1,-16.4,216,1438,0.10,1.70,0.00,0.000,3078,0.239,0.054,2662,2768,3858,3914,3803,0,0,0,0,0,0,14.23,14.41,28.83
$GC,1743,-0.69,-145.9,2665,2767,3915,3804,328.9,-13.2,228,1748,0.00,2.35,0.00,0.000,516,0.000,0.066,2664,1366,3856,3914,3798,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1787,-0.69,-145.9,2665,1367,3915,3803,334.5,-11.9,237,1792,0.00,2.50,0.00,0.000,1030,0.000,0.098,2656,2750,3858,3914,3803,0,0,0,0,0,0,28.83,14.40,28.83
$MODEM_MSG,CACST,6,1,20140819081614.266201,3,242,05,0099,0150,217,03,03,03,03,-1,-01,-01,1,3,0,0,150,24.5,0.6,-100,2.4,-01,0.5,24,900,0025*2A
$GC,2102,-0.69,-145.9,2656,2751,3916,3802,376.4,-13.2,250,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,-0.69,-145.9,2657,2752,3915,3802,415.0,-12.8,260,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2751,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.69,-145.9,2656,2751,3915,3801,453.2,-12.6,270,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2751,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3002,-0.69,-145.9,2657,2751,3915,3801,491.1,-12.6,280,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2753,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-0.69,-145.9,2657,2752,3915,3801,529.2,-12.7,290,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.69,-145.9,2657,2752,3914,3800,567.4,-12.7,300,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.69,-145.9,2657,2752,3915,3801,605.5,-12.7,310,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-0.69,-145.9,2656,2751,3915,3801,643.3,-12.5,320,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2750,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.69,-145.9,2656,2751,3915,3799,680.0,-12.1,330,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.69,-145.9,2657,2752,3915,3800,716.6,-12.2,340,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2751,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5101,begin apogee
$GC,5104,-0.13,0.0,2657,2752,3915,3800,753.2,-12.2,350,5231,0.70,0.00,124.18,1.978,10246,0.227,0.000,2844,2751,3257,3272,3243,0,0,0,0,0,0,14.53,28.83,13.18
$STATE,5232,end apogee,CONTROL_FINISHED_OK
$STATE,5232,begin climb
$GC,5234,0.69,145.9,2845,2751,3269,3239,756.7,0.0,354,5361,0.90,0.00,125.15,1.839,10246,0.133,0.000,3109,2751,2662,2666,2658,0,0,0,0,0,0,13.83,28.83,12.83
$GC,5642,0.69,145.9,3111,2752,2663,2647,714.5,13.2,368,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2751,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,0.69,145.9,3111,2751,2663,2645,675.2,13.0,378,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2751,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,0.69,145.9,3111,2751,2663,2644,636.3,13.0,388,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2751,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,0.69,145.9,3111,2751,2663,2645,597.7,12.8,398,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2751,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,0.69,145.9,3111,2752,2662,2644,559.8,12.6,408,6847,0.00,1.85,0.00,0.000,260,0.000,0.099,3110,3788,2652,2662,2643,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6877,0.69,145.9,3111,3788,2664,2644,554.8,14.9,415,6883,0.00,1.73,0.00,0.000,1030,0.000,0.051,3117,2737,2652,2662,2643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7203,0.69,145.9,3117,2736,2663,2644,513.3,12.6,430,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7502,0.69,145.9,3117,2736,2664,2643,475.3,12.6,440,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2736,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7802,0.69,145.9,3124,2736,2670,2643,438.2,12.3,450,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,0.69,145.9,3117,2737,2664,2643,400.8,12.4,460,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2736,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8402,0.69,145.9,3116,2736,2658,2642,363.7,12.4,470,8407,0.00,1.85,0.00,0.000,260,0.000,0.099,3117,3780,2653,2662,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8422,0.69,145.9,3118,3781,2663,2644,361.2,12.8,474,8428,0.00,1.70,0.00,0.000,1030,0.000,0.051,3125,2734,2652,2662,2643,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8732,0.69,145.9,3126,2735,2663,2643,322.2,12.4,486,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9032,0.69,145.9,3121,2734,2664,2643,286.3,12.0,496,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9332,0.69,150.2,3126,2735,2663,2644,251.4,11.4,506,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,0.72,182.4,3126,2734,2664,2642,219.5,9.9,534,9668,0.00,2.40,29.60,1.261,8708,0.000,0.068,3135,1347,2507,2510,2505,0,0,0,0,0,0,28.83,14.42,13.89
$GC,9704,0.72,192.2,3136,1348,2509,2506,212.2,11.1,548,9719,0.00,2.45,9.05,1.308,9222,0.000,0.093,3135,2743,2469,2472,2467,0,0,0,0,0,0,28.83,14.42,13.83
$GC,10024,0.76,242.4,3136,2743,2473,2463,179.1,9.0,582,10075,0.00,2.45,42.00,1.255,8708,0.000,0.066,3145,1351,2262,2261,2264,0,0,0,0,0,0,28.83,14.21,13.66
$GC,10100,0.79,283.4,3146,1352,2261,2264,171.7,9.5,597,10140,0.00,2.45,34.92,1.311,9222,0.000,0.093,3145,2729,2098,2097,2100,0,0,0,0,0,0,28.83,14.23,13.52
$GC,10445,0.79,290.7,3147,2730,2096,2086,130.7,11.2,636,10456,0.00,2.40,3.50,1.157,8708,0.000,0.067,3155,1354,2075,2083,2068,0,0,0,0,0,0,28.83,14.31,13.54
$GC,10512,0.81,323.2,3156,1355,2091,2069,123.9,9.9,649,10548,0.00,2.42,30.12,1.141,9222,0.000,0.093,3155,2725,1936,1935,1937,0,0,0,0,0,0,28.83,14.32,13.66
$GC,10846,0.82,330.1,3156,2726,1933,1927,84.8,11.3,686,10849,0.00,0.00,1.80,0.376,8198,0.000,0.000,3155,2725,1913,1915,1911,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11146,0.87,400.4,3155,2726,1930,1911,55.9,7.9,716,11182,0.00,2.35,31.95,0.354,8708,0.000,0.065,3164,1345,1624,1630,1619,0,0,0,0,0,0,28.83,14.36,14.14
$GC,11252,0.93,482.2,3165,1345,1631,1617,48.0,7.3,737,11293,0.00,2.47,36.03,0.330,9222,0.000,0.093,3164,2718,1291,1303,1279,0,0,0,0,0,0,28.83,14.31,14.13
$GC,11597,0.98,553.8,3165,2719,1307,1264,19.9,7.8,776,11634,0.15,2.33,31.75,0.260,10756,0.119,0.067,3232,1354,998,1000,996,0,0,0,0,0,0,14.45,14.38,14.22
$GC,11784,1.09,722.3,3232,1354,1001,990,11.8,2.7,813,11845,0.00,2.45,54.58,0.232,9222,0.000,0.093,3232,2715,497,456,539,0,0,0,0,0,0,28.83,14.38,14.20
$FREEZE,8.44,4.656,-1.384,2,1,0
$FREEZE,7.82,4.653,-1.384,2,1,0
$FREEZE,7.30,4.649,-1.383,2,1,0
$FREEZE,6.76,4.647,-1.382,2,1,0
$FREEZE,6.23,4.646,-1.382,2,1,0
$FREEZE,5.74,4.653,-1.380,2,1,0
$FREEZE,5.21,4.655,-1.380,2,1,0
$FREEZE,4.69,4.656,-1.379,2,1,0
$FREEZE,4.13,4.656,-1.378,2,1,0
$FREEZE,3.59,4.657,-1.378,2,1,0
$FREEZE,3.15,4.658,-1.378,2,1,0
$FREEZE,2.62,4.657,-1.377,2,1,0
$FREEZE,2.09,4.656,-1.377,2,1,0
$FREEZE,1.59,4.657,-1.376,2,1,0
$STATE,11989,end climb,SURFACE_DEPTH_REACHED
$STATE,11989,begin surface coast
$FREEZE,0.92,4.561,-1.380,2,1,0
$FREEZE,0.54,4.648,-1.374,2,1,0
$FREEZE,0.66,4.572,-0.715,2,1,0
$FINISH,0.7,1.010455
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12094,0.00,0.000,0,0,493,678.25
$SM_GC,1.59,9.23,0.08,0.00,0.079,0.193,0.000,202,2770,493,-8.36,-0.76,678.25,0,0,0,0,0,0,14.42,14.40,28.83
$RAFOS_CLK,572
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7139.36,-14405.61,190814,041754
$TT8_MAMPS,0.043442,0.043442
$HUMID,47.28
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.80
$XPDR_PINGS,4
$SC_FREEKB,3862944
$24V_AH,12.83,50.631
$10V_AH,13.09,0.000
$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,22.825,46.825,554.625,0.000,0.000,0.000,0.000,277.400,1.000,0.000,26.531,0.000,9761.318,630.397,1985.572,151.984,0.000,1578.882,0.000,1257.186,1491.000,0.540,0.000
$DEVICE_MAMPS,392.445,192.780,1977.525,0.000,0.000,0.000,0.000,151.470,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.804,0.000,0.000,0.000
$MEM,265896
$DATA_FILE_SIZE,30053,843
$CAP_FILE_SIZE,132311,0
$CFSIZE,2097872896,2058780672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12614.38,0x2378b6,7,5
$INTR,1,5102.42,0x2378b6,2,5
$SOUNDSPEED,1449.8
$GPS,190814,111554,7217.014,-14404.595,31,0.8,51,22.8