version: 66.12
glider: 196
mission: 7
dive: 219
start: 8 26 114 16 17 33
data:
$ID,196
$MISSION,7
$DIVE,219
$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,-5289.0562
$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,51
$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
$GPS1,260814,160948,7325.924,-14505.580,40,0.8,60,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.1
$GPS2,260814,161718,7325.947,-14505.588,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,320.0,7857,-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,-145.9,205,2737,427,550,0.0,0.0,0,90,0.00,0.00,-72.22,0.000,16386,0.000,0.000,205,2737,2258,2267,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2737,2268,2250,3.3,-2.8,7,140,12.18,2.38,-29.60,0.000,18948,0.400,0.089,2663,1365,3856,3921,3791,0,0,0,0,0,0,13.94,14.18,14.41
$GC,365,-0.69,-145.9,2664,1364,3922,3796,79.7,-19.9,62,372,0.00,2.58,0.00,0.000,1030,0.000,0.100,2654,2759,3858,3921,3795,0,0,0,0,0,0,28.83,14.19,28.83
$MODEM_MSG,CACST,6,1,20140826160512.350768,3,371,01,0268,0150,217,03,03,04,03,-1,-01,-01,1,3,0,0,150,17.6,0.6,-100,2.4,-01,-0.3,25,900,0025*03
$GC,671,-0.69,-145.9,2655,2761,3922,3796,146.1,-20.5,93,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.69,-145.9,2661,2761,3923,3796,204.0,-18.2,123,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,-0.69,-145.9,2655,2760,3922,3795,255.0,-15.4,152,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-0.69,-145.9,2655,2761,3922,3796,299.6,-14.6,162,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1880,-0.69,-145.9,2654,2760,3922,3794,341.5,-13.8,172,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.69,-145.9,2655,2761,3922,3796,381.9,-13.4,182,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2760,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2480,-0.69,-145.9,2655,2761,3921,3795,421.8,-13.3,192,2485,0.00,2.33,0.00,0.000,516,0.000,0.066,2654,1367,3858,3921,3795,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2520,-0.69,-145.9,2655,1369,3922,3796,427.0,-12.9,200,2525,0.00,2.47,0.00,0.000,1030,0.000,0.097,2643,2755,3858,3921,3795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2841,-0.69,-145.9,2644,2755,3922,3795,471.0,-13.8,214,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2753,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3140,-0.69,-145.9,2644,2755,3922,3795,512.5,-13.8,224,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3440,-0.69,-145.9,2644,2755,3922,3796,553.1,-13.5,234,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-0.69,-145.9,2644,2756,3922,3796,593.1,-13.4,244,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-0.69,-145.9,2644,2756,3922,3796,633.1,-13.3,254,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.69,-145.9,2644,2756,3921,3796,673.1,-13.3,264,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-0.69,-145.9,2644,2756,3922,3796,712.8,-13.0,274,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4943,-0.13,0.0,2644,2755,3922,3795,751.6,-12.8,284,5071,0.75,0.00,126.00,2.010,10244,0.230,0.000,2844,2755,3257,3277,3237,0,0,0,0,0,0,14.46,28.83,13.12
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5074,0.69,145.9,2845,2756,3273,3235,755.1,0.0,288,5207,0.88,0.00,124.90,1.883,11270,0.131,0.000,3108,2755,2659,2666,2652,0,0,0,0,0,0,13.78,28.83,12.68
$GC,5511,0.69,145.9,3108,2754,2667,2645,709.2,13.0,328,5517,0.00,1.90,0.00,0.000,260,0.000,0.098,3108,3780,2655,2665,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5536,0.69,145.9,3109,3780,2666,2645,705.7,14.9,333,5543,0.00,1.77,0.00,0.000,1030,0.000,0.050,3114,2736,2655,2665,2645,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5841,0.69,145.9,3114,2737,2667,2645,665.6,13.0,344,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,0.69,145.9,3115,2737,2666,2645,626.4,13.0,354,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6441,0.69,145.9,3115,2737,2667,2644,587.7,12.9,364,6447,0.00,2.33,0.00,0.000,516,0.000,0.067,3125,1350,2654,2665,2644,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6671,0.69,145.9,3125,1349,2667,2644,560.5,11.8,410,6677,0.00,2.42,0.00,0.000,1030,0.000,0.093,3125,2736,2654,2665,2644,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6981,0.69,145.9,3125,2736,2667,2644,519.3,13.3,422,6986,0.00,1.88,0.00,0.000,260,0.000,0.099,3125,3784,2654,2665,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7211,0.69,145.9,3126,3784,2667,2644,484.2,14.7,468,7217,0.00,1.73,0.00,0.000,1030,0.000,0.051,3132,2733,2655,2666,2644,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7522,0.69,145.9,3133,2734,2666,2644,442.0,13.4,480,7527,0.00,1.88,0.00,0.000,260,0.000,0.098,3128,3784,2654,2665,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7561,0.69,145.9,3133,3784,2667,2643,436.1,15.2,488,7567,0.00,1.73,0.00,0.000,1030,0.000,0.050,3140,2732,2654,2666,2643,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7882,0.69,145.9,3140,2732,2667,2644,392.0,13.6,502,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2732,2657,2670,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,0.69,145.9,3141,2733,2666,2645,352.1,13.2,512,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2732,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,0.69,145.9,3141,2732,2666,2643,313.2,12.8,522,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2732,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,0.69,145.9,3141,2732,2667,2643,276.3,12.3,532,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2732,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9082,0.71,170.8,3140,2732,2667,2644,243.2,10.3,546,9108,0.00,2.40,21.25,1.300,8708,0.000,0.067,3151,1341,2556,2563,2549,0,0,0,0,0,0,28.83,14.51,13.90
$GC,9148,0.72,195.8,3152,1342,2560,2550,236.4,10.3,559,9175,0.00,2.45,21.25,1.299,9222,0.000,0.093,3150,2740,2455,2459,2451,0,0,0,0,0,0,28.83,14.47,13.81
$GC,9473,0.74,222.8,3150,2740,2459,2444,200.3,10.2,594,9504,0.00,2.42,22.95,1.276,8708,0.000,0.066,3161,1350,2343,2344,2342,0,0,0,0,0,0,28.83,14.26,13.74
$GC,9540,0.76,252.6,3162,1350,2342,2342,193.4,10.0,607,9570,0.00,2.45,25.20,1.286,9222,0.000,0.091,3161,2733,2226,2225,2227,0,0,0,0,0,0,28.83,14.31,13.64
$GC,9874,0.76,252.6,3162,2734,2226,2216,153.8,11.7,644,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2733,2220,2225,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10175,0.78,281.3,3162,2733,2226,2215,122.2,10.1,674,10199,0.00,0.00,23.25,1.224,8198,0.000,0.000,3161,2733,2111,2114,2109,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10496,0.81,317.0,3162,2733,2111,2096,89.7,9.7,706,10516,0.00,2.38,14.85,0.463,8708,0.000,0.065,3169,1350,1968,1968,1969,0,0,0,0,0,0,28.83,14.31,14.01
$GC,10556,0.84,363.7,3170,1348,1973,1969,83.8,9.1,718,10582,0.00,2.47,21.90,0.441,9222,0.000,0.093,3169,2742,1776,1774,1778,0,0,0,0,0,0,28.83,14.25,13.99
$GC,10887,0.90,442.2,3170,2742,1780,1770,51.4,7.5,754,10929,0.00,2.40,35.05,0.343,8708,0.000,0.067,3177,1354,1453,1465,1442,0,0,0,0,0,0,28.83,14.26,14.04
$GC,11008,0.96,538.8,3178,1355,1466,1440,43.3,6.5,778,11060,0.00,2.45,43.40,0.317,9222,0.000,0.093,3177,2724,1058,1067,1050,0,0,0,0,0,0,28.83,14.23,14.00
$GC,11358,1.05,656.9,3178,2724,1067,1038,17.5,5.3,818,11413,0.17,0.00,53.30,0.249,10246,0.109,0.000,3253,2723,579,543,615,0,0,0,0,0,0,14.28,28.83,14.09
$FREEZE,8.95,-0.053,-1.434,2,1,0
$FREEZE,8.12,-0.241,-1.435,2,1,0
$FREEZE,7.19,-0.233,-1.433,2,1,0
$FREEZE,6.42,-0.293,-1.433,2,1,0
$FREEZE,5.60,-0.267,-1.432,2,1,0
$FREEZE,4.74,-0.316,-1.431,2,1,0
$FREEZE,3.88,-0.413,-1.431,2,1,0
$FREEZE,2.98,-0.437,-1.430,2,1,0
$FREEZE,2.22,-0.592,-1.429,2,1,0
$FREEZE,1.43,-0.595,-1.427,2,1,0
$STATE,11556,end climb,SURFACE_DEPTH_REACHED
$STATE,11557,begin surface coast
$FREEZE,0.87,-0.591,-1.372,2,1,0
$FREEZE,0.84,-0.591,-0.405,2,1,0
$FINISH,0.8,1.005857
$STATE,11578,end surface coast,FINISH_DEPTH_REACHED
$STATE,11578,begin surface
$SM_CCo,11594,8.80,0.210,0,0,497,676.54
$SM_GC,2.65,9.38,0.05,8.80,0.081,0.228,0.210,201,2775,497,-8.37,-0.82,676.54,0,0,0,0,0,0,14.33,14.32,14.19
$RAFOS_CLK,561
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7250.09,-14509.72,260814,124001
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.94
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.40
$XPDR_PINGS,10
$SC_FREEKB,3840544
$24V_AH,12.68,66.117
$10V_AH,12.83,0.000
$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,23.350,44.850,533.300,8.800,0.000,0.000,0.000,267.575,2.500,0.000,27.065,0.000,9315.123,602.925,1967.507,161.910,0.000,1548.412,0.000,1249.716,0.000,0.539,0.000
$DEVICE_MAMPS,400.095,227.970,2009.655,209.610,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.202,0.000,0.000,0.000
$MEM,237160
$DATA_FILE_SIZE,30081,840
$CAP_FILE_SIZE,128786,0
$CFSIZE,2097872896,2049212416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12786.35,0x2378b6,7,5
$INTR,1,4940.20,0x2378b6,2,5
$SOUNDSPEED,1449.7
$GPS,260814,193224,7327.441,-14506.979,38,0.7,58,22.8