version: 66.12
glider: 196
mission: 7
dive: 179
start: 8 20 114 19 8 38
data:
$ID,196
$MISSION,7
$DIVE,179
$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,-5237.23
$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,18
$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
$GPS1,200814,190124,7230.918,-14357.975,25,0.8,45,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-79.3
$GPS2,200814,190819,7230.965,-14358.125,4,0.9,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.8,44979,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,208,2766,434,561,0.0,0.0,0,79,0.00,0.00,-61.95,0.000,16386,0.000,0.000,207,2765,2058,2065,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,208,2765,2067,2054,3.0,-2.6,6,134,11.88,1.85,-34.80,0.000,18692,0.396,0.123,2657,3788,3856,3915,3797,0,0,0,0,0,0,14.03,14.29,14.53
$GC,358,-0.69,-145.9,2658,3789,3914,3803,81.9,-23.1,62,364,0.00,1.70,0.00,0.000,1030,0.000,0.053,2656,2757,3857,3914,3801,0,0,0,0,0,0,28.83,14.43,28.83
$GC,669,-0.69,-145.9,2658,2757,3915,3802,143.5,-17.1,94,674,0.00,1.85,0.00,0.000,260,0.000,0.101,2649,3788,3858,3914,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,899,-0.69,-145.9,2649,3788,3915,3803,188.2,-18.2,140,904,0.00,1.70,0.00,0.000,1030,0.000,0.055,2648,2763,3857,3913,3802,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1209,-0.69,-145.9,2649,2764,3915,3802,236.8,-15.3,172,1214,0.00,1.83,0.00,0.000,260,0.000,0.102,2641,3780,3857,3914,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1304,-0.69,-145.9,2642,3782,3915,3803,253.1,-17.6,191,1309,0.08,1.70,0.00,0.000,3078,0.247,0.057,2667,2758,3858,3914,3802,0,0,0,0,0,0,14.35,14.54,28.83
$GC,1630,-0.69,-145.9,2668,2758,3915,3802,296.9,-13.0,206,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2756,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.69,-145.9,2668,2758,3915,3803,335.0,-12.4,216,1934,0.00,2.35,0.00,0.000,516,0.000,0.067,2667,1370,3857,3914,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1989,-0.69,-145.9,2667,1369,3915,3801,342.1,-11.7,228,1994,0.00,2.47,0.00,0.000,1030,0.000,0.099,2662,2774,3857,3914,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2320,-0.69,-145.9,2663,2775,3916,3802,383.8,-12.8,244,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2774,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.69,-145.9,2663,2774,3916,3800,422.2,-12.7,254,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2774,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2919,-0.69,-145.9,2663,2774,3915,3801,459.7,-12.4,264,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2774,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,-0.69,-145.9,2662,2774,3916,3801,496.6,-12.3,274,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2774,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.69,-145.9,2663,2775,3920,3802,532.9,-12.0,284,3524,0.00,2.35,0.00,0.000,516,0.000,0.065,2662,1376,3858,3915,3801,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3569,-0.69,-145.9,2663,1370,3916,3801,538.6,-10.9,294,3574,0.00,2.45,0.00,0.000,1030,0.000,0.096,2653,2768,3858,3915,3801,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3879,-0.69,-145.9,2654,2767,3916,3801,578.8,-13.1,306,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.69,-145.9,2653,2768,3923,3801,618.2,-13.1,316,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2768,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.69,-145.9,2654,2769,3915,3802,656.7,-12.7,326,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140820201618.525155,3,442,-3,0290,0150,255,03,03,05,05,1,000,000,2,5,1,0,150,18.8,5.0,-100,-2.0,-01,0.1,24,900,0025*37
$GC,4780,-0.69,-145.9,2653,2769,3914,3801,694.1,-12.4,336,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2768,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5079,-0.69,-145.9,2653,2768,3916,3801,730.9,-12.3,346,5084,0.00,2.33,0.00,0.000,516,0.000,0.066,2653,1368,3857,3914,3801,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5114,-0.69,-145.9,2653,1368,3914,3802,735.2,-11.5,353,5119,0.00,2.45,0.00,0.000,1030,0.000,0.098,2648,2766,3857,3914,3801,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,5257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5257,begin apogee
$GC,5261,-0.13,0.0,2650,2767,3916,3801,753.0,-12.4,362,5389,0.73,0.00,125.15,1.982,10244,0.232,0.000,2843,2766,3257,3273,3241,0,0,0,0,0,0,14.44,28.83,13.13
$STATE,5390,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5391,0.69,145.9,2844,2766,3270,3238,756.5,0.0,366,5521,0.88,0.00,124.07,1.834,11270,0.134,0.000,3107,2766,2661,2666,2657,0,0,0,0,0,0,13.78,28.83,12.76
$GC,5830,0.69,145.9,3108,2767,2664,2645,710.4,13.1,406,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,0.69,145.9,3106,2767,2665,2644,671.2,13.1,416,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6430,0.69,145.9,3107,2766,2665,2644,632.2,13.0,426,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6730,0.69,145.9,3107,2767,2665,2643,593.4,12.9,436,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2767,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7030,0.69,145.9,3108,2768,2664,2644,555.2,12.6,446,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2767,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,0.69,145.9,3107,2767,2665,2643,518.2,12.3,456,7335,0.00,2.38,0.00,0.000,516,0.000,0.067,3118,1350,2653,2663,2643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7355,0.69,145.9,3119,1351,2664,2644,515.3,11.8,461,7362,0.00,2.47,0.00,0.000,1030,0.000,0.092,3118,2743,2653,2663,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7660,0.69,145.9,3119,2744,2664,2644,476.8,12.6,472,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.69,145.9,3118,2742,2665,2643,438.7,12.7,482,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,0.69,145.9,3118,2743,2665,2643,400.9,12.6,492,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,0.69,145.9,3119,2743,2665,2643,364.4,12.2,502,8565,0.00,1.83,0.00,0.000,260,0.000,0.099,3118,3779,2652,2663,2642,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8595,0.69,145.9,3118,3779,2665,2642,359.7,13.8,509,8600,0.00,1.70,0.00,0.000,1030,0.000,0.051,3126,2734,2652,2663,2642,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8921,0.69,145.9,3126,2734,2664,2643,319.8,12.2,524,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2734,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,0.69,145.9,3126,2735,2664,2643,282.8,12.2,534,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,0.69,151.3,3126,2734,2665,2643,247.8,11.3,544,9522,0.00,0.00,1.25,0.324,8198,0.000,0.000,3125,2733,2642,2653,2631,0,0,0,0,0,0,28.83,28.83,14.21
$GC,9820,0.70,161.5,3126,2735,2671,2636,215.3,11.1,574,9834,0.00,0.00,13.23,1.277,8198,0.000,0.000,3125,2733,2599,2608,2590,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10131,0.72,194.8,3126,2735,2604,2584,183.1,9.9,605,10163,0.00,1.92,27.75,1.203,8452,0.000,0.099,3123,3786,2459,2465,2454,0,0,0,0,0,0,28.83,14.35,13.85
$GC,10317,0.72,194.8,3127,3787,2462,2453,160.4,11.8,642,10324,0.00,1.75,0.00,0.000,1030,0.000,0.050,3132,2733,2456,2461,2451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10622,0.78,272.3,3132,2733,2463,2451,133.4,7.5,673,10694,0.00,1.95,64.50,1.186,8452,0.000,0.099,3132,3786,2140,2141,2140,0,0,0,0,0,0,28.83,14.10,13.59
$GC,10718,0.78,272.3,3133,3788,2140,2145,124.3,12.1,692,10725,0.00,1.77,0.00,0.000,1030,0.000,0.051,3138,2739,2137,2138,2136,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11024,0.79,294.1,3139,2739,2141,2129,91.2,10.5,723,11036,0.00,0.00,8.43,0.455,8198,0.000,0.000,3138,2740,2059,2064,2054,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11334,0.82,338.7,3139,2740,2076,2055,60.1,9.3,754,11355,0.00,0.00,20.38,0.366,8198,0.000,0.000,3138,2740,1876,1876,1877,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11654,0.90,441.0,3139,2739,1886,1874,36.1,6.2,786,11705,0.12,0.00,45.33,0.308,10502,0.135,0.000,3194,2739,1458,1468,1449,0,0,0,0,0,0,14.47,28.83,14.18
$GC,12004,1.06,672.6,3194,2740,1474,1432,20.3,-0.7,824,12117,0.12,2.42,102.22,0.261,10756,0.137,0.070,3247,1354,513,469,557,0,0,0,0,0,0,14.47,14.28,14.14
$GC,12166,1.13,776.8,3248,1354,471,556,11.9,6.1,854,12172,0.00,2.47,1.33,0.278,9222,0.000,0.091,3247,2745,500,456,544,0,0,0,0,0,0,28.83,14.31,14.19
$FREEZE,8.47,1.052,-1.391,2,1,0
$FREEZE,7.87,1.081,-1.390,2,1,0
$FREEZE,7.13,1.104,-1.390,2,1,0
$FREEZE,6.45,1.175,-1.389,2,1,0
$FREEZE,5.62,1.210,-1.388,2,1,0
$FREEZE,4.89,1.299,-1.388,2,1,0
$FREEZE,4.25,1.305,-1.387,2,1,0
$FREEZE,3.58,1.306,-1.387,2,1,0
$FREEZE,2.95,1.311,-1.387,2,1,0
$FREEZE,2.14,1.313,-1.386,2,1,0
$FREEZE,1.39,1.347,-1.385,2,1,0
$STATE,12315,end climb,SURFACE_DEPTH_REACHED
$STATE,12315,begin surface coast
$FREEZE,0.73,1.580,-1.383,2,1,0
$FREEZE,0.79,1.689,-0.102,2,1,0
$FINISH,0.8,1.001405
$STATE,12335,end surface coast,CONTROL_FINISHED_OK
$STATE,12335,begin surface
$SM_CCo,12411,0.00,0.000,0,0,500,676.54
$SM_GC,1.77,9.30,0.00,0.00,0.083,0.000,0.000,208,2745,500,-8.35,-0.42,676.54,0,0,0,0,0,0,14.40,28.83,28.83
$RAFOS_CLK,462
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7153.15,-14402.03,200814,152931
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.18
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.70
$XPDR_PINGS,8
$SC_FREEKB,3858464
$24V_AH,12.76,53.513
$10V_AH,12.85,0.000
$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,23.100,45.700,533.625,0.000,0.000,0.000,0.000,248.725,2.000,0.000,25.917,0.000,10051.896,602.253,2021.714,144.871,0.000,1553.005,0.000,1299.473,1485.000,0.539,0.000
$DEVICE_MAMPS,395.505,123.165,1982.115,0.000,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.880,0.000,0.000,0.000
$MEM,260244
$DATA_FILE_SIZE,30008,872
$CAP_FILE_SIZE,135514,0
$CFSIZE,2097872896,2056814592
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12874.39,0x2378b6,7,5
$INTR,1,5258.80,0x2378b6,2,5
$INTR,2,12338.86,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,200814,223654,7232.824,-14400.312,39,0.8,59,22.9