version: 66.12
glider: 196
mission: 7
dive: 170
start: 8 19 114 11 25 14
data:
$ID,196
$MISSION,7
$DIVE,170
$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,-5225.8862
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,190814,111554,7217.014,-14404.595,31,0.8,51,22.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.8
$GPS2,190814,112455,7217.058,-14404.358,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,334.7,70336,-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,-145.9,195,2773,440,537,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,16386,0.000,0.000,194,2772,2074,2076,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,194,2773,2076,2074,3.2,-3.4,6,130,11.88,1.85,-32.45,0.000,18692,0.394,0.128,2660,3785,3856,3916,3797,0,0,0,0,0,0,14.06,14.31,14.53
$GC,354,-0.69,-145.9,2661,3786,3917,3804,85.4,-24.6,61,361,0.00,1.70,0.00,0.000,1030,0.000,0.051,2660,2757,3859,3916,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,660,-0.69,-145.9,2662,2758,3916,3805,149.1,-19.9,92,665,0.00,1.83,0.00,0.000,260,0.000,0.099,2652,3779,3860,3916,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,890,-0.69,-145.9,2649,3780,3912,3804,194.6,-18.8,138,895,0.00,1.67,0.00,0.000,1030,0.000,0.054,2652,2764,3860,3916,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1200,-0.69,-145.9,2653,2763,3917,3804,244.6,-15.4,170,1205,0.00,1.83,0.00,0.000,260,0.000,0.103,2644,3784,3860,3916,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1429,-0.69,-145.9,2645,3783,3917,3807,282.5,-16.3,216,1435,0.00,1.70,0.00,0.000,1030,0.000,0.054,2643,2753,3859,3915,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1740,-0.69,-145.9,2645,2754,3916,3804,328.6,-14.7,228,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3859,3915,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.69,-145.9,2646,2754,3914,3804,371.7,-14.3,238,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3859,3915,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.69,-145.9,2645,2754,3916,3803,414.1,-14.0,248,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.69,-145.9,2645,2754,3915,3802,455.9,-13.8,258,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.69,-145.9,2644,2754,3924,3802,496.8,-13.6,268,2945,0.00,2.33,0.00,0.000,516,0.000,0.067,2644,1365,3857,3915,3800,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3000,-0.69,-145.9,2645,1366,3916,3801,504.4,-12.6,280,3005,0.15,2.45,0.00,0.000,3078,0.261,0.097,2665,2752,3856,3915,3797,0,0,0,0,0,0,14.35,14.45,28.83
$GC,3330,-0.69,-145.9,2666,2752,3916,3801,543.3,-11.7,296,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140819120449.253314,3,395,-4,0110,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,18.2,0.6,-100,2.4,-01,0.3,19,900,0025*35
$MODEM_MSG,CACST,6,1,20140819121612.857888,3,756,-1,0168,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,18.1,1.0,-100,2.1,-01,-0.5,21,900,0025*19
$GC,3630,-0.69,-145.9,2666,2751,3917,3800,578.4,-11.7,306,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2752,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.69,-145.9,2666,2752,3917,3800,613.7,-11.8,316,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.69,-145.9,2666,2752,3917,3800,648.7,-11.7,326,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4530,-0.69,-145.9,2666,2752,3916,3799,683.5,-11.6,336,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2752,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.69,-145.9,2666,2752,3916,3799,718.7,-11.8,346,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5132,-0.13,0.0,2673,2752,3916,3800,753.4,-11.5,356,5260,0.65,0.00,124.53,1.987,10246,0.224,0.000,2843,2752,3255,3271,3240,0,0,0,0,0,0,14.50,28.83,13.16
$STATE,5261,end apogee,CONTROL_FINISHED_OK
$STATE,5261,begin climb
$GC,5263,0.69,145.9,2844,2753,3269,3239,757.4,0.0,360,5391,0.93,0.00,124.20,1.828,10502,0.136,0.000,3113,2752,2660,2665,2656,0,0,0,0,0,0,13.81,28.83,12.81
$GC,5670,0.69,145.9,3114,2753,2664,2647,714.7,13.2,389,5675,0.00,1.90,0.00,0.000,260,0.000,0.097,3113,3778,2654,2663,2646,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5709,0.69,145.9,3114,3777,2664,2646,708.7,15.4,397,5715,0.00,1.75,0.00,0.000,1030,0.000,0.050,3121,2743,2654,2663,2646,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6031,0.69,145.9,3121,2743,2664,2645,664.9,13.6,411,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6330,0.69,145.9,3122,2743,2664,2644,624.4,13.6,421,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,0.69,145.9,3122,2743,2665,2644,583.7,13.6,431,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,0.69,145.9,3122,2742,2664,2644,543.0,13.5,441,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2742,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,0.69,145.9,3122,2743,2664,2642,502.6,13.4,451,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,0.69,145.9,3122,2743,2664,2645,463.1,13.1,461,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7830,0.69,145.9,3122,2742,2664,2644,424.4,12.9,471,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,0.69,145.9,3121,2743,2664,2643,384.8,13.3,481,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,0.69,145.9,3122,2743,2664,2643,345.8,12.8,491,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8730,0.69,145.9,3122,2743,2664,2644,308.0,12.3,501,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,0.69,148.4,3122,2742,2664,2643,272.7,11.5,511,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9331,0.70,166.4,3122,2743,2664,2644,239.5,10.7,527,9352,0.00,0.00,17.42,1.286,8198,0.000,0.000,3121,2741,2573,2579,2567,0,0,0,0,0,0,28.83,28.83,13.98
$GC,9650,0.72,190.1,3122,2742,2580,2563,205.8,10.4,559,9676,0.00,2.40,19.30,1.246,8708,0.000,0.067,3132,1352,2479,2484,2474,0,0,0,0,0,0,28.83,14.40,13.88
$GC,9716,0.75,233.7,3133,1353,2483,2475,199.3,9.3,572,9762,0.00,2.45,37.03,1.239,9222,0.000,0.092,3132,2743,2298,2298,2299,0,0,0,0,0,0,28.83,14.40,13.67
$GC,10060,0.76,249.2,3129,2744,2301,2293,160.0,10.8,611,10075,0.00,0.00,13.00,1.251,8198,0.000,0.000,3132,2743,2242,2245,2240,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10371,0.79,283.0,3132,2743,2242,2230,128.7,9.8,642,10407,0.00,2.45,28.80,1.187,8708,0.000,0.067,3142,1352,2097,2100,2095,0,0,0,0,0,0,28.83,14.25,13.72
$GC,10461,0.82,326.2,3143,1352,2099,2094,119.8,9.3,660,10503,0.00,2.45,34.47,1.212,9222,0.000,0.093,3142,2729,1922,1919,1926,0,0,0,0,0,0,28.83,14.27,13.58
$GC,10802,0.83,349.3,3143,2730,1919,1915,82.0,10.4,698,10818,0.00,2.40,9.05,0.428,8708,0.000,0.067,3152,1354,1834,1835,1834,0,0,0,0,0,0,28.83,14.32,14.03
$GC,10842,0.86,386.4,3152,1354,1841,1833,77.9,9.7,706,10864,0.00,2.45,17.67,0.422,9222,0.000,0.093,3152,2732,1681,1683,1680,0,0,0,0,0,0,28.83,14.31,14.04
$GC,11162,0.91,458.3,3152,2733,1690,1673,47.5,7.8,740,11199,0.10,2.35,31.77,0.330,10756,0.150,0.067,3201,1353,1388,1397,1379,0,0,0,0,0,0,14.40,14.35,14.16
$GC,11238,0.92,477.7,3206,1353,1401,1379,39.7,10.6,755,11255,0.00,2.47,8.88,0.305,9222,0.000,0.093,3205,2723,1309,1321,1298,0,0,0,0,0,0,28.83,14.28,14.15
$GC,11554,1.07,693.3,3206,2724,1327,1289,14.2,0.2,788,11651,0.12,2.38,88.22,0.241,10756,0.140,0.069,3272,1361,497,454,541,0,0,0,0,0,0,14.45,14.29,14.20
$FREEZE,8.86,4.591,-1.377,2,1,0
$FREEZE,8.50,4.591,-1.377,2,1,0
$FREEZE,8.21,4.595,-1.377,2,1,0
$FREEZE,7.91,4.595,-1.377,2,1,0
$FREEZE,7.62,4.594,-1.377,2,1,0
$FREEZE,7.14,4.594,-1.376,2,1,0
$FREEZE,6.73,4.594,-1.376,2,1,0
$FREEZE,6.26,4.594,-1.376,2,1,0
$FREEZE,5.92,4.593,-1.376,2,1,0
$FREEZE,5.61,4.593,-1.375,2,1,0
$FREEZE,5.20,4.595,-1.375,2,1,0
$FREEZE,4.81,4.595,-1.375,2,1,0
$FREEZE,4.46,4.595,-1.374,2,1,0
$FREEZE,4.16,4.595,-1.374,2,1,0
$FREEZE,3.74,4.595,-1.374,2,1,0
$FREEZE,3.40,4.595,-1.374,2,1,0
$FREEZE,3.03,4.595,-1.373,2,1,0
$FREEZE,2.55,4.595,-1.373,2,1,0
$GC,11770,1.12,764.7,3273,1362,452,545,2.6,7.8,831,11777,0.00,2.40,0.00,0.000,1030,0.000,0.093,3273,2713,496,451,542,0,0,0,0,0,0,28.83,14.33,28.83
$FREEZE,1.31,4.596,-1.372,2,1,0
$STATE,11784,end climb,SURFACE_DEPTH_REACHED
$STATE,11784,begin surface coast
$FREEZE,0.60,4.338,-1.380,2,1,0
$FREEZE,0.69,4.177,-0.684,2,1,0
$FINISH,0.7,1.010027
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11880,0.00,0.000,0,0,493,678.25
$SM_GC,1.64,9.40,0.10,0.00,0.084,0.186,0.000,204,2769,493,-8.35,-0.48,678.25,0,0,0,0,0,0,14.40,14.35,28.83
$RAFOS_CLK,486
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7139.36,-14411.33,190814,111825
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.40
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3862496
$24V_AH,12.81,50.932
$10V_AH,13.11,0.000
$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,23.225,43.300,554.350,0.000,0.000,0.000,0.000,318.150,1.000,0.000,25.660,0.000,9643.482,617.886,2009.514,147.161,0.000,1609.911,0.000,1244.231,1488.000,0.540,0.000
$DEVICE_MAMPS,393.975,185.895,1986.705,0.000,0.000,0.000,0.000,155.295,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.776,0.000,0.000,0.000
$MEM,265412
$DATA_FILE_SIZE,29975,835
$CAP_FILE_SIZE,132185,0
$CFSIZE,2097872896,2058584064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12732.29,0x2378b6,7,5
$INTR,1,5130.09,0x2378b6,2,5
$SOUNDSPEED,1450.3
$GPS,190814,144425,7218.363,-14402.787,23,0.8,43,22.8