version: 66.12
glider: 196
mission: 7
dive: 191
start: 8 22 114 13 35 59
data:
$ID,196
$MISSION,7
$DIVE,191
$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,-5253.4868
$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,44
$R_STBD_OVSHOOT,19
$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
$GPS1,220814,132818,7245.770,-14429.262,35,0.8,55,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.3
$GPS2,220814,133541,7245.733,-14429.227,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,284.9,28047,-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,-145.9,204,2742,417,574,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,16386,0.000,0.000,205,2742,2333,2344,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,205,2742,2341,2325,3.8,-4.0,7,136,11.98,2.38,-27.08,0.000,18948,0.397,0.089,2665,1362,3855,3916,3794,0,0,0,0,0,0,14.03,14.26,14.47
$GC,316,-0.69,-145.9,2665,1362,3918,3798,65.2,-20.6,52,322,0.00,2.53,0.00,0.000,1030,0.000,0.102,2656,2764,3857,3916,3798,0,0,0,0,0,0,28.83,14.28,28.83
$GC,621,-0.69,-145.9,2657,2764,3918,3798,131.6,-20.7,83,626,0.00,1.85,0.00,0.000,260,0.000,0.103,2648,3787,3857,3917,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,661,-0.69,-145.9,2649,3787,3917,3799,140.3,-21.7,91,666,0.00,1.73,0.00,0.000,1030,0.000,0.058,2648,2759,3857,3916,3799,0,0,0,0,0,0,28.83,14.42,28.83
$GC,971,-0.69,-145.9,2649,2759,3918,3799,200.8,-18.4,123,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2759,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.69,-145.9,2649,2759,3917,3799,250.9,-15.7,153,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2759,3861,3916,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.69,-145.9,2649,2759,3917,3799,296.7,-15.1,163,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2758,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.69,-145.9,2649,2758,3917,3799,340.2,-14.2,173,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2758,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2170,-0.69,-145.9,2649,2759,3916,3799,382.2,-13.9,183,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2758,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.69,-145.9,2649,2759,3916,3798,423.3,-13.6,193,2476,0.00,2.35,0.00,0.000,516,0.000,0.072,2648,1354,3856,3916,3797,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2545,-0.69,-145.9,2649,1353,3917,3798,433.0,-12.1,208,2551,0.15,2.53,0.00,0.000,3078,0.262,0.101,2669,2759,3857,3916,3798,0,0,0,0,0,0,14.45,14.54,28.83
$GC,2861,-0.69,-145.9,2670,2759,3917,3798,470.6,-11.9,221,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.69,-145.9,2671,2760,3917,3799,506.2,-11.9,231,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2759,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-0.69,-145.9,2670,2760,3917,3799,541.1,-11.6,241,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-0.69,-145.9,2670,2760,3917,3799,575.8,-11.5,251,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.69,-145.9,2670,2760,3917,3799,610.5,-11.7,261,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-0.69,-145.9,2670,2759,3917,3798,645.3,-11.6,271,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-0.69,-145.9,2670,2760,3917,3799,679.9,-11.5,281,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.69,-145.9,2670,2760,3917,3806,714.2,-11.4,291,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2759,3856,3916,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.69,-145.9,2670,2759,3917,3798,748.4,-11.3,301,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2759,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5289,begin apogee
$GC,5293,-0.13,0.0,2671,2760,3917,3798,751.7,-11.3,302,5420,0.65,0.00,125.30,1.993,10244,0.218,0.000,2848,2759,3257,3275,3239,0,0,0,0,0,0,14.50,28.83,13.15
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5423,0.69,145.9,2849,2760,3272,3235,755.4,0.0,306,5552,0.85,0.00,123.57,1.824,11270,0.122,0.000,3109,2760,2660,2666,2655,0,0,0,0,0,0,13.81,28.83,12.78
$GC,5862,0.69,145.9,3110,2761,2665,2647,710.9,13.0,346,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2760,2653,2660,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,0.69,145.9,3111,2761,2665,2645,672.4,12.7,356,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2760,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,0.69,145.9,3110,2761,2666,2645,634.5,12.7,366,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2760,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6762,0.69,145.9,3110,2760,2666,2644,596.4,12.7,376,6767,0.00,1.85,0.00,0.000,260,0.000,0.102,3110,3787,2654,2665,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6781,0.69,145.9,3110,3788,2665,2645,593.8,12.8,380,6787,0.00,1.75,0.00,0.000,1030,0.000,0.056,3116,2736,2654,2664,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7092,0.69,145.9,3117,2738,2665,2645,553.5,12.7,392,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2736,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,0.69,145.9,3117,2738,2665,2645,515.2,12.6,402,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,0.69,145.9,3116,2738,2665,2645,477.3,12.6,412,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,0.69,145.9,3116,2736,2666,2644,439.4,12.5,422,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8292,0.69,145.9,3117,2737,2666,2645,401.6,12.5,432,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,0.69,145.9,3117,2737,2665,2645,364.4,12.3,442,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,0.69,145.9,3117,2737,2665,2645,328.1,12.0,452,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9192,0.69,149.4,3117,2737,2665,2650,293.2,11.4,462,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2736,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9492,0.71,167.6,3116,2737,2666,2651,260.6,10.7,472,9511,0.00,0.00,18.50,1.304,8198,0.000,0.000,3116,2737,2574,2581,2567,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9792,0.72,187.3,3116,2736,2579,2559,227.5,10.6,494,9814,0.00,2.38,16.83,1.270,8708,0.000,0.069,3125,1347,2489,2495,2483,0,0,0,0,0,0,28.83,14.32,13.76
$GC,9833,0.74,217.0,3126,1345,2494,2484,223.1,10.1,502,9865,0.00,2.47,25.40,1.229,9222,0.000,0.094,3125,2739,2368,2371,2366,0,0,0,0,0,0,28.83,14.30,13.67
$MODEM_MSG,CACST,6,1,20140822160440.127180,3,1014,00,0149,0150,217,03,03,05,03,1,000,000,2,5,1,0,150,21.4,6.6,-100,-3.6,-01,-0.2,20,900,0025*30
$GC,10163,0.77,258.2,3126,2745,2371,2360,186.1,9.4,538,10205,0.00,1.92,34.75,1.209,8452,0.000,0.101,3125,3787,2200,2201,2199,0,0,0,0,0,0,28.83,14.14,13.62
$GC,10229,0.77,258.2,3123,3787,2200,2198,179.0,11.8,549,10236,0.00,1.77,0.00,0.000,1030,0.000,0.054,3132,2741,2197,2198,2197,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10535,0.78,280.9,3133,2742,2200,2193,145.7,10.4,580,10561,0.00,2.45,19.60,1.209,8708,0.000,0.072,3142,1347,2106,2108,2104,0,0,0,0,0,0,28.83,14.26,13.73
$GC,10616,0.81,313.1,3143,1346,2107,2100,137.7,9.9,596,10651,0.00,2.50,27.58,1.189,9222,0.000,0.096,3142,2746,1974,1972,1976,0,0,0,0,0,0,28.83,14.22,13.64
$GC,10955,0.81,323.9,3143,2747,1973,1969,99.1,11.1,634,10960,0.00,0.00,3.72,0.457,8198,0.000,0.000,3143,2746,1937,1938,1937,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11256,0.85,376.1,3143,2746,1952,1937,69.3,8.9,664,11286,0.00,0.00,24.40,0.398,8198,0.000,0.000,3143,2746,1725,1727,1723,0,0,0,0,0,0,28.83,28.83,14.03
$GC,11586,0.92,480.6,3143,2747,1729,1718,42.2,6.1,697,11638,0.12,2.50,46.35,0.311,10756,0.129,0.073,3208,1347,1297,1308,1287,0,0,0,0,0,0,14.34,14.23,14.06
$GC,11672,0.94,504.7,3209,1347,1310,1285,34.1,10.3,714,11689,0.00,2.53,11.00,0.308,9222,0.000,0.095,3208,2755,1199,1209,1190,0,0,0,0,0,0,28.83,14.23,14.06
$FREEZE,8.54,2.373,-1.437,2,1,0
$GC,11988,1.05,657.5,3209,2755,1213,1178,11.5,3.5,747,12059,0.00,0.00,68.60,0.230,8198,0.000,0.000,3208,2755,575,542,609,0,0,0,0,0,0,28.83,28.83,14.11
$FREEZE,7.28,2.364,-1.428,2,1,0
$FREEZE,6.72,2.736,-1.422,2,1,0
$FREEZE,6.07,2.534,-1.426,2,1,0
$FREEZE,5.45,2.479,-1.427,2,1,0
$FREEZE,4.92,2.636,-1.421,2,1,0
$FREEZE,4.26,2.555,-1.424,2,1,0
$FREEZE,3.53,2.428,-1.419,2,1,0
$FREEZE,2.94,2.434,-1.414,2,1,0
$FREEZE,2.24,2.438,-1.411,2,1,0
$FREEZE,1.62,2.297,-1.416,2,1,0
$STATE,12156,end climb,SURFACE_DEPTH_REACHED
$STATE,12156,begin surface coast
$FREEZE,1.03,2.438,-1.408,2,1,0
$FREEZE,0.86,2.297,-0.144,2,1,0
$FREEZE,0.89,2.405,-0.292,2,1,0
$FINISH,0.9,1.004244
$STATE,12187,end surface coast,CONTROL_FINISHED_OK
$STATE,12187,begin surface
$SM_CCo,12203,8.35,0.211,0,0,498,676.54
$SM_GC,2.77,9.25,0.00,8.35,0.083,0.000,0.211,203,2755,498,-8.36,-0.17,676.54,0,0,0,0,0,0,14.33,28.83,14.19
$RAFOS_CLK,177
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14431.96,220814,100123
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.43
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.70
$XPDR_PINGS,3
$SC_FREEKB,3853088
$24V_AH,12.78,57.121
$10V_AH,12.87,0.000
$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,23.000,35.475,545.600,8.350,0.000,0.000,0.000,266.525,0.750,0.000,26.442,0.000,10023.726,615.574,1864.462,149.078,0.000,1507.348,0.000,1151.119,1491.000,0.539,0.000
$DEVICE_MAMPS,397.035,102.510,1992.825,211.140,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12234.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.927,0.000,0.000,0.000
$MEM,253320
$DATA_FILE_SIZE,26674,767
$CAP_FILE_SIZE,129892,0
$CFSIZE,2097872896,2054520832
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12609.39,0x2378b6,7,5
$INTR,1,5290.46,0x2378b6,2,5
$INTR,2,12191.20,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,220814,170054,7246.549,-14433.670,34,0.7,54,22.8