version: 66.12
glider: 196
mission: 7
dive: 47
start: 8 1 114 19 11 15
data:
$ID,196
$MISSION,7
$DIVE,47
$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,-4733.2397
$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,20
$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
$GPS1,010814,190426,7131.204,-14407.733,90,6.1,111,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.9
$GPS2,010814,191057,7131.170,-14407.735,17,0.7,38,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,330.4,9042,-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,14,-0.69,-145.9,185,2744,465,531,0.0,0.0,0,59,0.00,0.00,-43.60,0.000,16386,0.000,0.000,182,2743,1669,1689,1649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.69,-145.9,183,2743,1690,1650,3.0,-5.1,4,120,11.95,1.90,-39.67,0.000,18692,0.401,0.132,2657,3784,3858,3919,3797,0,0,0,0,0,0,14.14,14.31,14.53
$GC,344,-0.69,-145.9,2661,3785,3925,3804,76.2,-23.2,58,353,0.00,1.73,0.00,0.000,1030,0.000,0.060,2657,2755,3861,3919,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,657,-0.69,-145.9,2658,2755,3920,3804,137.5,-18.6,90,666,0.00,1.85,0.00,0.000,260,0.000,0.106,2649,3782,3861,3919,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,890,-0.69,-145.9,2649,3782,3920,3803,181.5,-17.4,136,897,0.00,1.73,0.00,0.000,1030,0.000,0.062,2648,2754,3861,3919,3803,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1201,-0.69,-145.9,2649,2754,3920,3803,228.0,-14.3,168,1207,0.00,1.85,0.00,0.000,260,0.000,0.107,2640,3785,3860,3919,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1431,-0.69,-145.9,2641,3785,3919,3804,264.4,-15.6,214,1440,0.10,1.73,0.00,0.000,3078,0.257,0.063,2666,2761,3860,3918,3803,0,0,0,0,0,0,14.40,14.54,28.83
$GC,1745,-0.69,-145.9,2666,2762,3919,3803,303.7,-12.4,226,1753,0.00,1.83,0.00,0.000,260,0.000,0.108,2660,3779,3859,3916,3803,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1941,-0.69,-145.9,2661,3780,3916,3803,330.6,-13.8,265,1948,0.00,1.70,0.00,0.000,1030,0.000,0.062,2660,2761,3861,3921,3802,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2258,-0.69,-145.9,2661,2763,3916,3804,370.4,-12.5,278,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2557,-0.69,-145.9,2661,2761,3915,3804,407.2,-12.2,288,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.69,-145.9,2660,2762,3915,3802,443.5,-12.1,298,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3157,-0.69,-145.9,2661,2762,3915,3803,479.3,-11.8,308,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3856,3911,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-0.69,-145.9,2661,2762,3914,3804,514.9,-11.9,318,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3861,3921,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.69,-145.9,2660,2762,3915,3802,550.2,-11.6,328,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-0.69,-145.9,2660,2762,3916,3800,584.9,-11.5,338,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.69,-145.9,2661,2762,3915,3802,619.5,-11.4,348,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801201632.138231,3,147,03,0282,0150,179,01,01,03,04,-1,-01,-01,1,3,0,0,150,17.5,1.0,-100,2.1,-01,-0.1,14,900,0025*0A
$GC,4657,-0.69,-145.9,2660,2760,3915,3801,654.1,-11.4,358,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2760,3857,3913,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-0.69,-145.9,2661,2762,3915,3802,687.8,-11.3,368,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2761,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5259,-0.69,-145.9,2661,2762,3915,3801,721.1,-10.9,378,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5527,begin apogee
$GC,5530,-0.13,0.0,2660,2762,3915,3801,751.2,-11.1,387,5657,0.70,0.00,124.43,1.954,10244,0.236,0.000,2847,2761,3256,3276,3236,0,0,0,0,0,0,14.55,28.83,13.12
$STATE,5658,end apogee,CONTROL_FINISHED_OK
$STATE,5658,begin climb
$GC,5659,0.69,145.9,2848,2762,3274,3233,754.2,0.0,391,5791,0.88,0.00,124.78,1.925,11270,0.147,0.000,3108,2761,2658,2669,2648,0,0,0,0,0,0,13.76,28.83,12.90
$GC,6106,0.69,145.9,3108,2762,2669,2642,702.6,13.3,425,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2761,2654,2668,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,0.69,145.9,3108,2761,2669,2640,662.7,13.3,435,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2761,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,0.69,145.9,3108,2762,2669,2640,623.5,13.0,445,6712,0.00,2.47,0.00,0.000,516,0.000,0.076,3118,1343,2653,2668,2638,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6726,0.69,145.9,3119,1344,2669,2640,620.9,12.6,449,6733,0.00,2.53,0.00,0.000,1030,0.000,0.098,3118,2743,2652,2665,2639,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7037,0.69,145.9,3119,2744,2668,2640,578.9,13.5,461,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,0.69,145.9,3119,2740,2669,2640,538.8,13.3,471,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,0.69,145.9,3118,2744,2677,2639,498.8,13.4,481,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2743,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,0.69,145.9,3118,2744,2666,2639,459.0,13.2,491,7944,0.00,2.40,0.00,0.000,516,0.000,0.076,3125,1352,2653,2668,2638,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7963,0.69,145.9,3126,1352,2669,2638,455.8,12.1,496,7971,0.00,2.45,0.00,0.000,1030,0.000,0.098,3125,2731,2653,2668,2638,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8268,0.69,145.9,3126,2733,2669,2639,414.6,13.5,507,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2732,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8568,0.69,145.9,3126,2734,2669,2641,374.4,13.3,517,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8868,0.69,145.9,3126,2733,2669,2638,335.1,13.1,527,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2652,2668,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,0.69,145.9,3126,2734,2669,2639,295.7,13.1,537,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2733,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9468,0.69,145.9,3126,2734,2669,2639,257.7,12.5,547,9475,0.00,1.88,0.00,0.000,260,0.000,0.106,3125,3790,2653,2668,2638,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9504,0.69,145.9,3126,3790,2669,2638,252.5,14.8,554,9512,0.00,1.73,0.00,0.000,1030,0.000,0.059,3131,2741,2653,2668,2638,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9812,0.69,145.9,3132,2742,2669,2639,213.9,12.0,587,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2741,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10112,0.71,172.2,3132,2741,2669,2638,180.7,10.2,617,10137,0.00,0.00,22.00,1.374,8198,0.000,0.000,3131,2741,2550,2561,2539,0,0,0,0,0,0,28.83,28.83,13.87
$GC,10432,0.74,223.5,3131,2741,2561,2534,149.3,8.9,649,10476,0.00,0.00,42.60,1.285,8198,0.000,0.000,3131,2741,2345,2348,2342,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10772,0.77,260.3,3132,2742,2345,2330,115.4,9.7,683,10806,0.00,2.42,28.00,1.251,8708,0.000,0.074,3142,1347,2191,2195,2187,0,0,0,0,0,0,28.83,14.22,13.74
$GC,10830,0.80,302.1,3142,1348,2193,2186,109.7,9.4,693,10872,0.00,2.55,33.17,1.239,9222,0.000,0.098,3141,2737,2019,2019,2019,0,0,0,0,0,0,28.83,14.23,13.58
$GC,11166,0.82,325.0,3143,2738,2022,2007,73.2,10.4,729,11179,0.00,0.00,8.70,0.401,8198,0.000,0.000,3142,2737,1935,1934,1937,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11476,0.88,415.5,3143,2738,1945,1937,45.3,6.8,760,11524,0.10,2.42,40.72,0.321,10756,0.150,0.074,3196,1344,1563,1561,1566,0,0,0,0,0,0,14.40,14.33,14.18
$GC,11563,0.90,448.7,3197,1345,1564,1564,37.3,9.9,775,11584,0.00,2.55,14.88,0.315,9222,0.000,0.098,3195,2743,1427,1429,1425,0,0,0,0,0,0,28.83,14.31,14.19
$GC,11878,1.06,669.8,3197,2743,1436,1416,11.2,-0.1,808,11973,0.12,0.00,92.07,0.231,10498,0.148,0.000,3246,2743,573,548,599,0,0,0,0,0,0,14.42,28.83,28.83
$FREEZE,10.68,5.682,-1.234,0,1,0
$STATE,11974,end climb,NO_VERTICAL_VELOCITY
$STATE,11974,begin surface
$SM_CCo,11976,8.25,0.240,0,0,498,676.54
$SM_CCo,12194,-0.32,0.000,0,0,501,676.54
$SM_CCo,12196,0.05,1.763,0,0,498,676.54
$SM_CCo,12198,-0.08,0.000,0,0,500,676.54
$SM_GC,1.54,9.25,0.00,-0.08,0.083,0.000,0.000,199,2743,500,-8.37,-0.48,676.54,0,0,0,0,0,0,14.42,28.83,14.25
$RAFOS_CLK,461
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14412.79,010814,152854
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.12
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,13.00
$XPDR_PINGS,5
$SC_FREEKB,3917088
$24V_AH,12.90,16.040
$10V_AH,12.75,0.000
$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,23.100,37.700,531.350,8.300,0.000,0.000,0.000,240.475,5.750,0.000,38.368,0.000,9802.327,652.888,2050.394,84.445,0.000,1541.828,0.000,1222.691,1479.000,37.962,0.000
$DEVICE_MAMPS,400.860,131.580,1953.810,1762.560,0.000,0.000,0.000,152.235,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.457,0.000,0.000,0.000
$MEM,293992
$DATA_FILE_SIZE,26658,822
$CAP_FILE_SIZE,132347,0
$CFSIZE,2097872896,2081947648
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13070.34,0x2378b6,7,5
$INTR,1,5528.40,0x2378b6,2,5
$INTR,2,12183.00,0x2378b6,7,5
$SOUNDSPEED,1450.6
$EKF,12282,4292.548828,-8647.362305,10.679390,0.118887,-0.032049,-0.016641,0.000284,0.002833,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.003,268.59,1
$GPS,010814,223554,7132.570,-14407.443,33,0.8,53,22.6