version: 66.12
glider: 196
mission: 7
dive: 190
start: 8 22 114 10 5 49
data:
$ID,196
$MISSION,7
$DIVE,190
$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,-5252.2256
$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,47
$R_STBD_OVSHOOT,21
$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
$GPS1,220814,095842,7245.029,-14424.765,37,0.7,57,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-78.6
$GPS2,220814,100530,7245.043,-14424.697,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,284.0,30782,-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,-145.9,200,2744,437,543,0.0,0.0,0,80,0.00,0.00,-62.50,0.000,16386,0.000,0.000,198,2742,2108,2119,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,199,2744,2119,2099,3.6,-3.9,6,132,11.98,2.45,-32.95,0.000,18948,0.396,0.093,2663,1361,3854,3915,3794,0,0,0,0,0,0,14.04,14.27,14.47
$GC,356,-0.69,-145.9,2664,1361,3916,3801,75.2,-20.3,61,363,0.00,2.55,0.00,0.000,1030,0.000,0.102,2653,2753,3857,3915,3800,0,0,0,0,0,0,28.83,14.28,28.83
$GC,661,-0.69,-145.9,2655,2753,3917,3800,140.1,-20.2,92,667,0.00,2.35,0.00,0.000,516,0.000,0.069,2654,1367,3858,3916,3800,0,0,0,0,0,0,28.83,14.40,28.83
$GC,791,-0.69,-145.9,2655,1367,3916,3802,163.0,-16.4,118,797,0.00,2.53,0.00,0.000,1030,0.000,0.101,2643,2782,3858,3916,3800,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1101,-0.69,-145.9,2644,2783,3917,3800,220.2,-17.1,150,1107,0.00,1.80,0.00,0.000,260,0.000,0.104,2635,3783,3858,3916,3801,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1176,-0.69,-145.9,2636,3784,3916,3801,233.6,-17.6,165,1183,0.12,1.73,0.00,0.000,3078,0.249,0.059,2668,2756,3858,3916,3800,0,0,0,0,0,0,14.28,14.47,28.83
$GC,1501,-0.69,-145.9,2668,2756,3916,3800,279.8,-13.5,184,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-0.69,-145.9,2667,2755,3917,3801,319.1,-13.0,194,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2101,-0.69,-145.9,2667,2755,3917,3800,357.1,-12.6,204,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2401,-0.69,-145.9,2668,2756,3916,3801,394.6,-12.4,214,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-0.69,-145.9,2668,2756,3916,3801,431.7,-12.3,224,2707,0.00,2.33,0.00,0.000,516,0.000,0.071,2667,1363,3857,3915,3799,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2776,-0.69,-145.9,2667,1362,3917,3799,440.5,-11.3,239,2782,0.00,2.45,0.00,0.000,1030,0.000,0.102,2662,2759,3857,3915,3799,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3091,-0.69,-145.9,2663,2759,3916,3798,480.2,-12.6,252,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.69,-145.9,2664,2760,3916,3800,518.3,-12.6,262,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.69,-145.9,2664,2760,3916,3800,556.1,-12.5,272,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3861,3924,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.69,-145.9,2663,2759,3917,3799,593.3,-12.3,282,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.69,-145.9,2663,2759,3917,3799,629.7,-12.0,292,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.69,-145.9,2663,2759,3917,3799,665.4,-11.8,302,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.69,-145.9,2660,2761,3912,3800,701.5,-12.0,312,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2759,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.69,-145.9,2664,2760,3914,3800,737.2,-11.9,322,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5310,begin apogee
$GC,5314,-0.13,0.0,2663,2759,3917,3799,751.5,-11.9,326,5441,0.68,0.00,124.85,1.983,10246,0.224,0.000,2845,2759,3257,3275,3239,0,0,0,0,0,0,14.51,28.83,13.15
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5443,0.69,145.9,2846,2760,3271,3236,755.1,0.0,330,5578,0.90,2.03,124.15,1.838,10500,0.129,0.099,3111,3785,2656,2663,2649,0,0,0,0,0,0,13.81,13.39,12.78
$GC,5607,0.69,145.9,3112,3786,2663,2648,744.7,14.4,360,5614,0.00,1.88,0.00,0.000,1030,0.000,0.054,3117,2738,2654,2662,2647,0,0,0,0,0,0,28.83,13.57,28.83
$GC,5912,0.69,145.9,3118,2739,2663,2645,704.0,13.3,371,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6212,0.69,145.9,3118,2739,2663,2645,664.3,13.3,381,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6512,0.69,145.9,3118,2738,2663,2643,624.9,13.2,391,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6825,0.69,145.9,3118,2738,2663,2643,585.8,13.1,401,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7112,0.69,145.9,3118,2739,2663,2644,546.0,13.3,411,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2738,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,0.69,145.9,3118,2739,2663,2643,506.3,13.1,421,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2650,2662,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,0.69,145.9,3118,2739,2663,2644,467.8,12.7,431,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8013,0.69,145.9,3118,2737,2663,2642,429.8,12.7,441,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,0.69,145.9,3118,2739,2663,2643,392.3,12.4,451,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140822120440.968511,3,256,-6,0139,0150,255,03,03,05,03,-1,-01,-01,1,3,0,0,150,21.2,4.2,-100,-1.2,-01,-0.4,24,900,0025*3F
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58572a7cda;,*36
$MODEM_MSG,CACST,6,0,20140822121631.035874,3,483,08,0365,0150,179,01,01,03,03,1,014,000,0,5,1,0,150,24.5,8.1,-100,-5.1,-01,0.3,10,900,0025*25
$GC,8612,0.69,145.9,3118,2738,2663,2642,354.6,12.5,461,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2738,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8913,0.69,145.9,3117,2739,2663,2643,318.2,12.0,471,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2735,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,0.69,147.2,3118,2739,2663,2643,283.4,11.6,481,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2738,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9513,0.71,168.1,3118,2739,2663,2643,250.6,10.5,491,9532,0.00,0.00,18.67,1.291,8198,0.000,0.000,3117,2738,2571,2578,2564,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9812,0.72,193.3,3118,2739,2575,2556,218.6,10.3,519,9835,0.00,0.00,21.52,1.258,8198,0.000,0.000,3117,2738,2468,2475,2461,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10133,0.76,246.9,3118,2738,2471,2452,187.1,8.8,551,10184,0.00,0.00,44.78,1.238,8198,0.000,0.000,3117,2738,2244,2249,2240,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10483,0.79,286.2,3117,2738,2250,2233,154.3,9.5,586,10524,0.00,2.47,32.80,1.234,8708,0.000,0.073,3125,1344,2085,2089,2081,0,0,0,0,0,0,28.83,14.19,13.65
$GC,10534,0.83,340.9,3126,1345,2089,2081,149.5,8.7,594,10586,0.12,2.53,46.72,1.242,11270,0.129,0.095,3180,2746,1864,1860,1869,0,0,0,0,0,0,14.24,14.20,13.48
$GC,10883,0.83,340.9,3181,2746,1860,1851,99.6,14.1,634,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2746,1855,1859,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11184,0.83,343.9,3181,2747,1860,1849,60.8,11.5,664,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2746,1853,1859,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11484,0.89,436.7,3181,2747,1859,1848,35.9,6.7,694,11530,0.00,2.45,41.12,0.314,8708,0.000,0.072,3190,1339,1476,1484,1468,0,0,0,0,0,0,28.83,14.25,14.09
$GC,11560,0.94,509.7,3192,1340,1485,1467,30.2,7.7,708,11600,0.00,2.50,32.75,0.294,9222,0.000,0.096,3190,2740,1179,1190,1169,0,0,0,0,0,0,28.83,14.21,14.07
$FREEZE,8.87,0.545,-1.455,2,1,0
$FREEZE,8.57,0.695,-1.451,2,1,0
$FREEZE,8.08,0.695,-1.451,2,1,0
$FREEZE,7.76,-0.059,-1.457,2,1,0
$FREEZE,7.27,-0.059,-1.457,2,1,0
$FREEZE,6.74,0.492,-1.447,2,1,0
$FREEZE,6.25,0.508,-1.446,2,1,0
$FREEZE,5.81,0.508,-1.446,2,1,0
$GC,11905,1.04,650.5,3191,2740,1191,1154,9.7,4.1,747,11974,0.12,0.00,62.75,0.222,10758,0.138,0.000,3245,2739,603,573,634,0,0,0,0,0,0,14.32,28.83,14.12
$FREEZE,4.64,1.122,-1.433,2,1,0
$FREEZE,3.83,1.429,-1.426,2,1,0
$FREEZE,2.98,1.440,-1.426,2,1,0
$FREEZE,2.27,1.457,-1.426,2,1,0
$FREEZE,1.44,1.461,-1.425,2,1,0
$STATE,12018,end climb,SURFACE_DEPTH_REACHED
$STATE,12018,begin surface coast
$FREEZE,0.97,1.459,-1.425,2,1,0
$FREEZE,0.91,1.381,-0.848,2,1,0
$FINISH,0.9,1.012523
$STATE,12038,end surface coast,CONTROL_FINISHED_OK
$STATE,12038,begin surface
$SM_CCo,12054,11.60,0.209,0,0,498,676.54
$SM_GC,2.33,9.38,0.00,11.60,0.083,0.000,0.209,206,2740,498,-8.36,-0.57,676.54,0,0,0,0,0,0,14.31,28.83,14.19
$RAFOS_CLK,260
$MODEM,14,1408709791,72.36840,-144.50160,31.036,44975.8
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14421.83,220814,063033
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.43
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3853536
$24V_AH,12.78,56.802
$10V_AH,13.02,0.000
$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,23.300,32.025,550.125,11.600,0.000,0.000,0.000,233.325,1.250,0.000,26.564,0.000,9880.857,624.529,1821.643,144.225,0.000,1475.172,0.000,1146.342,1481.000,0.539,0.000
$DEVICE_MAMPS,395.505,104.040,1982.880,208.845,0.000,0.000,0.000,165.240,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12070.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.395,0.000,0.000,0.000
$MEM,253892
$DATA_FILE_SIZE,26680,765
$CAP_FILE_SIZE,126434,0
$CFSIZE,2097872896,2054684672
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12630.24,0x2378b6,7,5
$INTR,1,5311.32,0x2378b6,2,5
$INTR,2,12041.86,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,220814,132818,7245.770,-14429.262,35,0.8,55,22.8