version: 66.12
glider: 196
mission: 7
dive: 41
start: 7 31 114 21 43 40
data:
$ID,196
$MISSION,7
$DIVE,41
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-4725.6694
$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,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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,400
$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
$GPS1,310714,213324,7122.168,-14408.641,124,0.7,144,22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.7
$GPS2,310714,214322,7122.207,-14408.904,5,0.8,25,22.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.6,25553,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,194,2786,456,528,0.0,0.0,0,60,0.00,0.00,-43.88,0.000,16386,0.000,0.000,188,2786,1677,1698,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.69,-145.9,189,2786,1700,1658,3.1,-4.5,4,121,12.07,1.77,-40.60,0.000,19204,0.406,0.134,2660,3764,3856,3916,3796,0,0,0,0,0,0,14.12,14.31,14.51
$GC,345,-0.69,-145.9,2662,3766,3912,3802,72.2,-22.7,58,354,0.00,1.67,0.00,0.000,1030,0.000,0.053,2660,2751,3859,3916,3802,0,0,0,0,0,0,28.83,14.44,28.83
$GC,658,-0.69,-145.9,2661,2751,3918,3802,133.2,-18.2,90,667,0.00,1.80,0.00,0.000,260,0.000,0.102,2652,3758,3859,3916,3802,0,0,0,0,0,0,28.83,14.44,28.83
$GC,891,-0.69,-145.9,2653,3759,3917,3803,175.6,-16.3,136,898,0.00,1.65,0.00,0.000,1030,0.000,0.056,2652,2761,3859,3916,3802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1202,-0.69,-145.9,2653,2762,3917,3803,221.6,-14.2,168,1209,0.00,1.80,0.00,0.000,260,0.000,0.104,2644,3766,3858,3916,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1433,-0.69,-145.9,2645,3766,3916,3802,257.4,-15.9,214,1441,0.00,1.65,0.00,0.000,1030,0.000,0.057,2644,2763,3858,3915,3801,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1745,-0.69,-145.9,2645,2764,3915,3802,299.7,-13.2,226,1753,0.00,1.77,0.00,0.000,260,0.000,0.105,2636,3758,3858,3914,3802,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1977,-0.69,-145.9,2637,3759,3914,3802,334.4,-15.5,272,1985,0.10,1.65,0.00,0.000,3078,0.262,0.057,2662,2760,3857,3913,3801,0,0,0,0,0,0,14.45,14.61,28.83
$GC,2289,-0.69,-145.9,2662,2760,3914,3801,371.8,-11.8,284,2295,0.00,1.77,0.00,0.000,260,0.000,0.105,2657,3758,3857,3913,3801,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2410,-0.69,-145.9,2657,3759,3914,3801,387.5,-13.0,308,2416,0.00,1.65,0.00,0.000,1030,0.000,0.058,2657,2757,3857,3913,3801,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2740,-0.69,-145.9,2658,2759,3914,3799,427.6,-11.9,324,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3855,3913,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-0.69,-145.9,2658,2758,3913,3801,463.0,-11.7,334,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2757,3856,3912,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.69,-145.9,2657,2757,3913,3800,498.5,-11.7,344,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3856,3912,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.69,-145.9,2657,2757,3913,3799,534.1,-11.8,354,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3855,3911,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.69,-145.9,2658,2758,3912,3799,569.6,-11.7,364,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3854,3912,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.69,-145.9,2657,2757,3913,3798,604.6,-11.6,374,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3854,3911,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.69,-145.9,2657,2758,3912,3798,639.2,-11.5,384,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3854,3911,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-0.69,-145.9,2658,2758,3911,3799,674.3,-11.6,394,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3853,3910,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.69,-145.9,2657,2757,3910,3797,709.0,-11.5,404,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2757,3853,3909,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5442,-0.69,-145.9,2658,2758,3910,3798,742.7,-11.2,414,5449,0.00,1.73,0.00,0.000,260,0.000,0.106,2648,3769,3852,3909,3796,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5483,-0.69,-145.9,2650,3766,3910,3796,748.1,-13.0,422,5492,0.00,1.65,0.00,0.000,1030,0.000,0.058,2649,2754,3852,3909,3796,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,5499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5500,begin apogee
$GC,5502,-0.13,0.0,2650,2754,3910,3797,750.3,-12.2,425,5628,0.73,0.00,123.50,1.972,10246,0.243,0.000,2843,2754,3258,3278,3239,0,0,0,0,0,0,14.60,28.83,13.13
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5631,0.69,145.9,2843,2754,3274,3235,753.7,0.0,429,5759,0.95,0.00,126.10,1.922,10246,0.152,0.000,3115,2754,2663,2672,2655,0,0,0,0,0,0,13.79,28.83,12.94
$GC,6041,0.69,145.9,3117,2754,2668,2638,705.8,13.7,443,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2754,2654,2667,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6341,0.69,145.9,3116,2755,2668,2642,664.7,13.7,453,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2754,2654,2667,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,0.69,145.9,3116,2754,2668,2641,624.3,13.4,463,6648,0.00,2.33,0.00,0.000,516,0.000,0.071,3125,1404,2653,2667,2640,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6676,0.69,145.9,3125,1405,2668,2640,619.7,12.6,470,6685,0.00,2.45,0.00,0.000,1030,0.000,0.095,3125,2769,2653,2667,2640,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7005,0.69,145.9,3126,2769,2668,2639,573.7,14.2,485,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2769,2653,2667,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,0.69,145.9,3125,2769,2668,2638,531.8,14.0,495,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2769,2653,2667,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7604,0.69,145.9,3125,2769,2668,2639,489.9,13.9,505,7611,0.00,2.35,0.00,0.000,516,0.000,0.072,3125,1400,2653,2667,2639,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7640,0.69,145.9,3122,1400,2668,2639,485.1,12.5,512,7647,0.00,2.47,0.00,0.000,1030,0.000,0.095,3125,2793,2652,2665,2639,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7967,0.69,145.9,3126,2794,2668,2640,439.7,14.0,527,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2793,2651,2667,2636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8266,0.69,145.9,3126,2794,2668,2641,398.3,13.6,537,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2793,2652,2667,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,0.69,145.9,3126,2793,2668,2638,357.4,13.4,547,8573,0.00,2.40,0.00,0.000,516,0.000,0.071,3125,1402,2652,2667,2638,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8602,0.69,145.9,3126,1402,2668,2639,353.0,11.8,554,8610,0.00,2.47,0.00,0.000,1030,0.000,0.095,3125,2793,2652,2667,2638,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8930,0.69,145.9,3126,2794,2668,2639,309.4,13.2,569,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2793,2652,2667,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9229,0.69,145.9,3126,2793,2668,2638,270.5,12.9,579,9236,0.00,2.40,0.00,0.000,516,0.000,0.069,3133,1398,2652,2667,2638,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9275,0.69,145.9,3134,1398,2668,2637,265.0,11.9,588,9282,0.00,2.47,0.00,0.000,1030,0.000,0.097,3133,2786,2652,2667,2638,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9581,0.69,145.9,3134,2787,2668,2638,225.3,12.4,612,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2786,2650,2663,2638,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801000441.692169,3,32,-3,0094,0150,255,02,02,03,05,-1,-01,-01,1,3,0,0,150,16.8,0.4,-100,2.6,-01,0.2,31,900,0025*05
$MODEM_MSG,CACST,6,1,20140801001638.463858,3,273,00,0186,0150,217,04,04,04,04,-1,-01,-01,1,3,0,0,150,17.2,2.8,-100,0.2,-01,0.6,21,900,0025*28
$GC,9881,0.69,149.0,3134,2786,2669,2638,189.2,11.5,642,9889,0.00,1.77,0.00,0.000,260,0.000,0.105,3133,3783,2652,2667,2638,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9928,0.69,149.0,3133,3784,2668,2638,183.2,12.8,651,9936,0.00,1.65,0.00,0.000,1030,0.000,0.061,3140,2790,2652,2667,2638,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10233,0.73,198.1,3140,2791,2668,2638,151.8,9.0,682,10279,0.00,0.00,42.67,1.330,8710,0.000,0.000,3140,2790,2446,2452,2440,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10574,0.75,233.2,3141,2791,2451,2432,118.1,9.8,717,10607,0.00,0.00,27.12,1.281,8198,0.000,0.000,3139,2791,2301,2305,2297,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10904,0.78,274.0,3140,2790,2306,2290,85.1,9.5,750,10925,0.00,2.47,17.05,0.448,8708,0.000,0.076,3150,1393,2142,2145,2139,0,0,0,0,0,0,28.83,14.31,14.14
$GC,10980,0.80,304.5,3151,1392,2156,2139,77.8,10.0,764,11001,0.00,2.50,14.38,0.421,9222,0.000,0.099,3150,2793,2017,2019,2015,0,0,0,0,0,0,28.83,14.35,14.14
$GC,11305,0.84,354.5,3151,2793,2029,2012,44.4,9.0,798,11334,0.00,2.47,22.25,0.321,8708,0.000,0.076,3154,1397,1812,1806,1819,0,0,0,0,0,0,28.83,14.38,14.23
$GC,11397,0.89,437.4,3155,1396,1811,1818,36.8,7.2,815,11438,0.00,2.50,37.10,0.311,9222,0.000,0.099,3154,2777,1474,1474,1474,0,0,0,0,0,0,28.83,14.38,14.19
$GC,11742,1.00,587.7,3154,2777,1477,1459,12.0,3.6,852,11819,0.20,2.42,65.50,0.234,10756,0.119,0.075,3225,1395,860,850,870,0,0,0,0,0,0,14.40,14.34,14.25
$FREEZE,11.49,5.563,-1.330,0,1,0
$STATE,11892,end climb,NO_VERTICAL_VELOCITY
$STATE,11892,begin surface
$SM_CCo,11894,40.05,0.235,0,0,497,676.54
$SM_CCo,12219,-0.32,0.000,0,0,500,676.54
$SM_CCo,12221,0.00,0.000,0,0,500,676.54
$SM_CCo,12223,0.00,0.000,0,0,500,676.54
$SM_GC,1.91,9.05,2.47,0.00,0.074,0.100,0.000,204,2760,500,-8.36,-0.65,676.54,0,0,0,0,0,0,14.47,14.45,28.83
$RAFOS_CLK,198
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7045.80,-14413.68,310714,213540
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.35
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.30
$XPDR_PINGS,10
$SC_FREEKB,3919776
$24V_AH,12.94,14.314
$10V_AH,13.23,0.000
$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,23.100,58.325,475.675,40.050,0.000,0.000,0.000,391.475,7.000,0.000,26.835,0.000,9710.868,706.260,2303.307,97.143,0.000,1769.409,0.000,1301.433,1415.000,37.444,0.000
$DEVICE_MAMPS,406.215,140.760,1972.170,234.855,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.708,0.000,0.000,0.000
$MEM,296580
$DATA_FILE_SIZE,29979,878
$CAP_FILE_SIZE,142165,0
$CFSIZE,2097872896,2083127296
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5500.58,0x2378b6,2,5
$INTR,1,12222.20,0x2378b6,7,5
$INTR,2,12223.99,0x2378b6,7,5
$SOUNDSPEED,1451.0
$EKF,12317,4283.458984,-8648.692383,11.489490,0.495060,-0.056965,0.018938,0.000269,0.002635,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.023,84.99,1
$GPS,010814,010854,7123.586,-14408.262,43,0.7,63,22.6