version: 66.12
glider: 196
mission: 7
dive: 220
start: 8 26 114 19 40 26
data:
$ID,196
$MISSION,7
$DIVE,220
$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,-5290.3184
$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,37
$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
$GPS1,260814,193224,7327.441,-14506.979,38,0.7,58,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-79.0
$GPS2,260814,194008,7327.462,-14506.945,6,0.8,26,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.3,4968,-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,-145.9,202,2776,420,571,0.0,0.0,0,90,0.00,0.00,-71.95,0.000,16386,0.000,0.000,202,2776,2262,2274,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,203,2777,2275,2253,3.3,-2.8,7,139,12.05,0.00,-29.50,0.000,18694,0.397,0.000,2662,2777,3855,3920,3790,0,0,0,0,0,0,14.00,28.83,14.46
$GC,437,-0.69,-145.9,2663,2777,3921,3796,101.7,-22.3,46,443,0.00,1.80,0.00,0.000,260,0.000,0.099,2653,3773,3857,3920,3795,0,0,0,0,0,0,28.83,14.29,28.83
$GC,487,-0.69,-145.9,2657,3773,3921,3794,113.3,-23.6,56,493,0.00,1.67,0.00,0.000,1030,0.000,0.053,2657,2764,3857,3920,3795,0,0,0,0,0,0,28.83,14.38,28.83
$GC,798,-0.69,-145.9,2657,2764,3922,3794,176.0,-19.5,88,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2764,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.69,-145.9,2658,2765,3921,3796,228.9,-16.1,118,1103,0.00,2.33,0.00,0.000,516,0.000,0.066,2657,1373,3857,3920,3795,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1155,-0.69,-145.9,2658,1373,3920,3795,237.7,-15.2,128,1161,0.00,2.45,0.00,0.000,1030,0.000,0.098,2646,2751,3857,3920,3795,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1475,-0.69,-145.9,2647,2753,3921,3796,287.0,-14.9,145,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.69,-145.9,2647,2753,3921,3796,331.4,-14.6,155,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2752,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-0.69,-145.9,2647,2752,3921,3795,373.7,-14.0,165,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-0.69,-145.9,2647,2753,3921,3796,415.3,-13.8,175,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;5899fa6e42;,*6A
$MODEM_MSG,CACST,6,0,20140826200511.878961,3,170,-1,0229,0150,255,02,02,04,04,1,013,000,0,5,1,0,150,13.2,4.8,-100,-1.8,-01,-0.2,33,900,0025*17
$GC,2679,-0.69,-145.9,2647,2753,3921,3796,456.5,-13.7,185,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-0.69,-145.9,2647,2752,3921,3795,497.0,-13.5,195,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-0.69,-145.9,2647,2752,3922,3795,536.8,-13.2,205,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3575,-0.69,-145.9,2647,2752,3922,3795,576.5,-13.2,215,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.69,-145.9,2647,2753,3921,3796,615.9,-13.1,225,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-0.69,-145.9,2647,2752,3922,3795,655.0,-12.9,235,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-0.69,-145.9,2647,2753,3922,3795,694.1,-13.0,245,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4775,-0.69,-145.9,2646,2752,3922,3795,733.1,-12.9,255,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2752,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4928,-0.13,0.0,2647,2753,3921,3796,752.3,-12.9,260,5057,0.75,0.00,125.90,2.018,10244,0.227,0.000,2847,2752,3256,3275,3237,0,0,0,0,0,0,14.45,28.83,13.12
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5060,0.69,145.9,2848,2753,3273,3236,756.2,0.0,264,5192,0.85,0.00,124.57,1.853,11270,0.122,0.000,3108,2752,2659,2666,2653,0,0,0,0,0,0,13.76,28.83,12.68
$GC,5496,0.69,145.9,3108,2752,2667,2647,712.6,12.7,304,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,0.69,145.9,3109,2753,2666,2647,674.5,12.7,314,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2752,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,0.69,145.9,3108,2752,2667,2645,636.6,12.7,324,6101,0.00,1.85,0.00,0.000,260,0.000,0.098,3108,3784,2655,2666,2645,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6126,0.69,145.9,3109,3785,2667,2646,632.3,14.1,330,6131,0.00,1.73,0.00,0.000,1030,0.000,0.051,3115,2738,2655,2666,2645,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6457,0.69,145.9,3116,2739,2667,2646,589.0,13.0,346,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,0.69,145.9,3115,2738,2667,2645,550.1,12.9,356,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,0.69,145.9,3116,2738,2667,2646,511.1,13.0,366,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7357,0.69,145.9,3115,2738,2667,2645,472.5,12.9,376,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7656,0.69,145.9,3114,2738,2667,2644,434.8,12.6,386,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7956,0.69,145.9,3115,2738,2666,2645,397.6,12.4,396,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,0.69,145.9,3116,2738,2667,2646,361.0,12.0,406,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8557,0.69,148.1,3116,2738,2667,2646,325.7,11.5,416,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2737,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8856,0.70,159.1,3115,2738,2665,2645,291.7,11.0,426,8870,0.00,0.00,12.18,1.369,8198,0.000,0.000,3115,2737,2608,2617,2599,0,0,0,0,0,0,28.83,28.83,13.94
$GC,9156,0.71,173.8,3115,2738,2613,2593,258.1,10.8,436,9171,0.00,0.00,13.12,1.319,8198,0.000,0.000,3115,2738,2548,2557,2539,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9456,0.74,218.1,3116,2738,2554,2533,228.1,9.3,460,9498,0.00,0.00,37.00,1.251,8198,0.000,0.000,3115,2738,2364,2369,2359,0,0,0,0,0,0,28.83,28.83,13.75
$GC,9797,0.77,260.1,3115,2738,2369,2356,194.4,9.4,494,9838,0.00,0.00,35.67,1.260,8710,0.000,0.000,3114,2738,2191,2196,2186,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10136,0.80,305.3,3116,2739,2197,2180,161.3,9.2,532,10179,0.12,2.47,37.88,1.268,10756,0.134,0.068,3177,1347,2006,2013,1999,0,0,0,0,0,0,14.40,14.18,13.59
$GC,10248,0.80,305.3,3177,1345,2010,1998,147.8,12.4,554,10254,0.00,2.50,0.00,0.000,1030,0.000,0.093,3176,2743,2003,2009,1998,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10559,0.80,305.3,3178,2744,2013,1995,107.5,12.5,586,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2743,2003,2012,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10859,0.83,340.1,3177,2743,2014,1990,73.4,9.8,616,10880,0.00,2.40,14.32,0.409,8708,0.000,0.070,3178,1350,1872,1876,1868,0,0,0,0,0,0,28.83,14.32,14.06
$GC,10936,0.86,385.4,3178,1350,1882,1869,65.8,9.2,631,10962,0.00,2.45,20.98,0.386,9222,0.000,0.093,3178,2729,1685,1689,1682,0,0,0,0,0,0,28.83,14.29,14.02
$GC,11260,0.93,494.3,3179,2730,1697,1675,40.1,5.8,666,11316,0.00,2.45,48.42,0.308,8708,0.000,0.068,3178,1351,1241,1254,1228,0,0,0,0,0,0,28.83,14.25,14.06
$GC,11350,0.99,573.6,3179,1351,1255,1227,34.0,7.4,683,11392,0.12,2.47,35.75,0.305,11270,0.130,0.093,3232,2733,918,916,920,0,0,0,0,0,0,14.28,14.23,14.01
$FREEZE,8.80,-0.417,-1.435,2,1,0
$FREEZE,8.16,-0.438,-1.434,2,1,0
$FREEZE,7.53,-0.423,-1.433,2,1,0
$FREEZE,6.91,-0.432,-1.433,2,1,0
$FREEZE,6.35,-0.450,-1.432,2,1,0
$FREEZE,5.74,-0.515,-1.432,2,1,0
$FREEZE,5.03,-0.549,-1.432,2,1,0
$FREEZE,4.41,-0.570,-1.431,2,1,0
$FREEZE,3.75,-0.580,-1.430,2,1,0
$FREEZE,2.97,-0.584,-1.429,2,1,0
$GC,11691,1.06,679.3,3234,2733,915,909,5.7,6.0,721,11742,0.00,0.00,46.45,0.206,8198,0.000,0.000,3232,2733,497,446,549,0,0,0,0,0,0,28.83,28.83,14.12
$FREEZE,1.51,-0.592,-1.427,2,1,0
$STATE,11749,end climb,SURFACE_DEPTH_REACHED
$STATE,11749,begin surface coast
$FREEZE,0.79,-0.604,-1.426,2,1,0
$FREEZE,0.84,-0.577,-0.382,2,1,0
$FINISH,0.8,1.005498
$STATE,11770,end surface coast,FINISH_DEPTH_REACHED
$STATE,11770,begin surface
$SM_CCo,11846,0.00,0.000,0,0,494,678.01
$SM_GC,2.01,9.30,0.00,0.00,0.079,0.000,0.000,201,2733,494,-8.37,-0.76,678.01,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,530
$MODEM,13,1409083511,72.58220,-145.99600,71.879,104206.2
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7250.09,-14509.72,260814,161242
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.92
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3840096
$24V_AH,12.68,66.435
$10V_AH,12.78,0.000
$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,23.200,26.575,552.250,0.000,0.000,0.000,0.000,281.900,1.500,0.000,27.208,0.000,9739.038,602.270,1804.376,158.978,0.000,1486.252,0.000,1097.946,1498.000,0.539,0.000
$DEVICE_MAMPS,397.035,98.685,2018.070,0.000,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11818.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.536,0.000,0.000,0.000
$MEM,236592
$DATA_FILE_SIZE,23451,729
$CAP_FILE_SIZE,122589,0
$CFSIZE,2097872896,2049015808
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12172.42,0x2378b6,7,5
$INTR,1,4925.35,0x2378b6,2,5
$INTR,2,11773.79,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,260814,225918,7329.022,-14508.626,39,0.7,59,22.8