version: 66.12
glider: 196
mission: 7
dive: 189
start: 8 22 114 6 35 18
data:
$ID,196
$MISSION,7
$DIVE,189
$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,-5249.9321
$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,20
$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
$GPS1,220814,062748,7244.128,-14421.383,38,0.9,58,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-78.1
$GPS2,220814,063500,7244.133,-14421.405,5,0.9,26,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,284.4,33227,-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,-145.9,206,2736,418,566,0.0,0.0,0,80,0.00,0.00,-62.38,0.000,16386,0.000,0.000,204,2737,2104,2113,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,205,2736,2115,2097,3.6,-3.6,6,132,12.00,1.95,-32.22,0.000,18692,0.396,0.125,2660,3795,3857,3918,3796,0,0,0,0,0,0,14.04,14.25,14.47
$GC,356,-0.69,-145.9,2661,3795,3920,3801,85.3,-23.9,61,363,0.00,1.73,0.00,0.000,1030,0.000,0.056,2660,2766,3859,3918,3801,0,0,0,0,0,0,28.83,14.33,28.83
$GC,661,-0.69,-145.9,2662,2766,3920,3803,148.3,-19.3,92,666,0.00,1.85,0.00,0.000,260,0.000,0.103,2652,3788,3860,3918,3802,0,0,0,0,0,0,28.83,14.31,28.83
$GC,891,-0.69,-145.9,2653,3788,3920,3802,194.1,-20.0,138,896,0.00,1.73,0.00,0.000,1030,0.000,0.059,2652,2757,3860,3919,3802,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1201,-0.69,-145.9,2652,2758,3919,3803,245.4,-15.3,170,1206,0.00,1.85,0.00,0.000,260,0.000,0.105,2644,3782,3860,3918,3802,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1431,-0.69,-145.9,2645,3782,3920,3802,283.8,-16.4,216,1436,0.00,1.70,0.00,0.000,1030,0.000,0.060,2644,2764,3860,3918,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1741,-0.69,-145.9,2645,2765,3919,3802,329.3,-14.4,228,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.69,-145.9,2645,2764,3920,3801,372.5,-14.3,238,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.69,-145.9,2645,2765,3919,3802,414.6,-14.0,248,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-0.69,-145.9,2645,2766,3919,3802,456.7,-14.1,258,2646,0.00,2.35,0.00,0.000,516,0.000,0.072,2644,1363,3859,3918,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2686,-0.69,-145.9,2645,1362,3919,3801,462.7,-13.1,267,2692,0.08,2.50,0.00,0.000,3078,0.240,0.101,2666,2761,3859,3918,3801,0,0,0,0,0,0,14.45,14.54,28.83
$GC,3002,-0.69,-145.9,2667,2762,3918,3802,500.6,-11.9,280,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2757,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.69,-145.9,2666,2761,3919,3801,536.0,-11.7,290,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3861,3917,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.69,-145.9,2667,2762,3919,3802,570.7,-11.6,300,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-0.69,-145.9,2666,2761,3919,3801,605.3,-11.4,310,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2761,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.69,-145.9,2666,2761,3919,3801,639.6,-11.4,320,4206,0.00,2.33,0.00,0.000,516,0.000,0.069,2666,1367,3859,3918,3801,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4256,-0.69,-145.9,2666,1367,3918,3801,645.7,-11.4,331,4263,0.00,2.45,0.00,0.000,1030,0.000,0.099,2659,2765,3859,3918,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4561,-0.69,-145.9,2660,2765,3919,3801,681.9,-12.0,342,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2765,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4861,-0.69,-145.9,2660,2766,3918,3801,717.1,-11.7,352,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2761,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5164,-0.13,0.0,2660,2766,3918,3805,752.4,-11.7,362,5292,0.70,0.00,124.85,1.986,10246,0.226,0.000,2847,2765,3255,3271,3239,0,0,0,0,0,0,14.46,28.83,13.12
$STATE,5293,end apogee,CONTROL_FINISHED_OK
$STATE,5293,begin climb
$GC,5295,0.69,145.9,2848,2765,3272,3236,756.1,0.0,366,5423,0.90,0.00,125.38,1.845,10246,0.124,0.000,3114,2765,2660,2666,2655,0,0,0,0,0,0,13.78,28.83,12.73
$GC,5701,0.69,145.9,3115,2765,2665,2645,715.2,13.1,380,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2765,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,0.69,145.9,3115,2765,2665,2645,676.2,13.1,390,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2765,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,0.69,145.9,3115,2765,2665,2644,637.4,12.9,400,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2765,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;585f8a7ca8;,*38
$MODEM_MSG,CACST,6,0,20140822081627.848647,3,318,-5,0091,0150,255,02,02,05,05,1,014,000,0,5,1,0,150,18.0,5.1,-100,-2.1,-01,0.3,31,900,0025*3D
$GC,6601,0.69,145.9,3114,2765,2665,2644,599.0,12.8,410,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2765,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6901,0.69,145.9,3115,2766,2664,2645,560.6,12.9,420,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2765,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7201,0.69,145.9,3115,2766,2664,2644,522.6,12.6,430,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2765,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7501,0.69,145.9,3115,2766,2664,2644,484.8,12.6,440,7506,0.00,2.40,0.00,0.000,516,0.000,0.070,3125,1349,2653,2663,2643,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7526,0.69,145.9,3126,1348,2663,2644,481.7,12.6,445,7533,0.00,2.47,0.00,0.000,1030,0.000,0.094,3125,2738,2653,2663,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7831,0.69,145.9,3126,2739,2664,2642,442.4,12.8,456,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2739,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8131,0.69,145.9,3126,2739,2664,2644,403.8,12.8,466,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2738,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,0.69,145.9,3126,2738,2665,2643,365.0,12.9,476,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,0.69,145.9,3125,2739,2665,2643,327.1,12.5,486,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2739,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9031,0.69,145.9,3126,2739,2664,2643,290.8,12.0,496,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2738,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9331,0.70,154.0,3126,2739,2665,2643,256.4,11.2,506,9338,0.00,0.00,5.18,1.341,8198,0.000,0.000,3125,2739,2633,2643,2624,0,0,0,0,0,0,28.83,28.83,13.98
$GC,9631,0.72,192.3,3125,2739,2649,2624,224.9,9.6,532,9667,0.00,0.00,33.97,1.240,8198,0.000,0.000,3125,2738,2472,2475,2470,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9962,0.76,240.7,3126,2743,2476,2461,191.0,9.1,565,10008,0.00,1.88,40.90,1.240,8452,0.000,0.099,3125,3791,2271,2273,2269,0,0,0,0,0,0,28.83,14.21,13.67
$GC,10027,0.76,240.7,3125,3791,2270,2269,184.1,11.6,574,10034,0.00,1.77,0.00,0.000,1030,0.000,0.054,3131,2743,2268,2270,2267,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10333,0.78,272.8,3132,2743,2271,2263,152.4,9.9,605,10364,0.00,0.00,26.92,1.226,8454,0.000,0.000,3131,2742,2141,2145,2138,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10663,0.80,305.0,3132,2743,2145,2130,119.5,9.9,641,10694,0.00,0.00,25.17,1.192,8198,0.000,0.000,3137,2742,2006,2013,2000,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10993,0.83,345.1,3131,2742,2010,1993,87.3,9.5,674,11015,0.00,2.47,16.85,0.454,8708,0.000,0.072,3142,1347,1851,1853,1849,0,0,0,0,0,0,28.83,14.24,14.00
$GC,11079,0.87,398.6,3143,1347,1861,1850,79.3,8.8,691,11110,0.00,2.55,24.88,0.425,9222,0.000,0.096,3142,2745,1633,1638,1629,0,0,0,0,0,0,28.83,14.25,13.97
$GC,11414,0.92,472.9,3142,2745,1644,1619,47.8,7.7,728,11450,0.15,0.00,33.45,0.330,10246,0.116,0.000,3202,2745,1332,1339,1325,0,0,0,0,0,0,14.33,28.83,14.06
$GC,11744,1.02,616.5,3202,2745,1345,1307,17.9,4.0,761,11816,0.00,2.45,64.22,0.253,8708,0.000,0.073,3203,1341,743,729,757,0,0,0,0,0,0,28.83,14.19,14.09
$GC,11876,1.10,725.0,3204,1342,730,756,11.3,5.9,787,11908,0.15,2.50,27.30,0.232,11270,0.142,0.094,3252,2740,498,451,546,0,0,0,0,0,0,14.23,14.23,14.09
$FREEZE,8.56,0.785,-1.429,2,1,0
$FREEZE,7.70,1.132,-1.424,2,1,0
$FREEZE,7.05,1.293,-1.424,2,1,0
$FREEZE,6.29,1.386,-1.423,2,1,0
$FREEZE,5.47,1.539,-1.404,2,1,0
$FREEZE,4.82,2.053,-1.411,2,1,0
$FREEZE,4.09,3.148,-1.372,2,1,0
$FREEZE,3.48,3.160,-1.374,2,1,0
$FREEZE,2.78,3.166,-1.376,2,1,0
$FREEZE,2.20,3.165,-1.378,2,1,0
$FREEZE,1.63,3.166,-1.380,2,1,0
$STATE,12014,end climb,SURFACE_DEPTH_REACHED
$STATE,12014,begin surface coast
$FREEZE,1.01,3.154,-1.380,2,1,0
$FREEZE,1.04,2.943,-0.718,2,1,0
$FREEZE,0.90,2.818,-0.884,2,1,0
$FINISH,0.9,1.013015
$STATE,12045,end surface coast,CONTROL_FINISHED_OK
$STATE,12045,begin surface
$SM_CCo,12121,0.00,0.000,0,0,495,677.76
$SM_GC,1.91,9.32,0.00,0.00,0.078,0.000,0.000,202,2741,495,-8.35,-0.54,677.76,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,346
$MODEM,14,1408695387,72.39520,-144.52161,27.849,40361.2
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14414.30,220814,025937
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.22
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,5
$SC_FREEKB,3853984
$24V_AH,12.73,56.481
$10V_AH,13.07,0.000
$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,23.300,38.925,549.075,0.000,0.000,0.000,0.000,253.125,1.250,0.000,27.182,0.000,9832.772,644.921,1919.914,150.435,0.000,1527.508,0.000,1207.367,1483.000,0.539,0.000
$DEVICE_MAMPS,396.270,124.695,1985.940,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.799,0.000,0.000,0.000
$MEM,254520
$DATA_FILE_SIZE,26713,807
$CAP_FILE_SIZE,129739,0
$CFSIZE,2097872896,2054881280
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12631.41,0x2378b6,7,5
$INTR,1,5162.15,0x2378b6,2,5
$INTR,2,12048.90,0x2378b6,7,5
$SOUNDSPEED,1449.2
$GPS,220814,095842,7245.029,-14424.765,37,0.7,57,22.8