version: 66.12
glider: 196
mission: 7
dive: 49
start: 8 2 114 2 16 38
data:
$ID,196
$MISSION,7
$DIVE,49
$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,-4735.7627
$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,47
$R_STBD_OVSHOOT,19
$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
$GPS1,020814,021026,7134.041,-14407.792,111,0.7,131,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.2
$GPS2,020814,021624,7134.050,-14407.659,5,0.8,25,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.8,3862,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.69,-145.9,171,2738,470,533,0.0,0.0,0,69,0.00,0.00,-53.67,0.000,16386,0.000,0.000,169,2738,1948,1959,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,170,2739,1960,1939,3.7,-5.1,5,125,11.95,2.38,-34.35,0.000,18948,0.398,0.098,2666,1360,3857,3918,3796,0,0,0,0,0,0,14.14,14.34,14.53
$GC,349,-0.69,-145.9,2667,1360,3919,3802,64.8,-19.1,58,357,0.00,2.53,0.00,0.000,1030,0.000,0.101,2657,2755,3860,3919,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,654,-0.69,-145.9,2657,2756,3919,3804,125.7,-19.2,89,661,0.00,2.40,0.00,0.000,516,0.000,0.073,2657,1369,3860,3918,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,700,-0.69,-145.9,2658,1370,3919,3804,133.8,-17.1,98,708,0.00,2.50,0.00,0.000,1030,0.000,0.102,2647,2754,3860,3918,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1005,-0.69,-145.9,2648,2755,3919,3804,187.5,-16.9,129,1012,0.00,1.85,0.00,0.000,260,0.000,0.109,2638,3784,3861,3919,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1106,-0.69,-145.9,2639,3785,3919,3804,205.2,-17.3,149,1113,0.10,1.70,0.00,0.000,3078,0.264,0.062,2663,2770,3860,3918,3803,0,0,0,0,0,0,14.38,14.52,28.83
$GC,1418,-0.69,-145.9,2664,2770,3920,3803,247.8,-13.2,181,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2770,3860,3919,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-0.69,-145.9,2664,2771,3918,3803,288.4,-12.5,193,1744,0.00,1.83,0.00,0.000,260,0.000,0.109,2658,3795,3859,3917,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1853,-0.69,-145.9,2664,3791,3918,3802,304.4,-14.0,216,1861,0.00,1.73,0.00,0.000,1030,0.000,0.063,2658,2757,3859,3917,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2158,-0.69,-145.9,2659,2757,3917,3801,343.4,-12.7,227,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2757,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.69,-145.9,2659,2757,3917,3801,380.5,-12.3,237,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2757,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,-0.69,-145.9,2659,2758,3916,3802,417.1,-12.2,247,2766,0.00,1.83,0.00,0.000,260,0.000,0.109,2650,3780,3857,3915,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2856,-0.69,-145.9,2651,3781,3915,3801,430.3,-13.8,266,2862,0.00,1.70,0.00,0.000,1030,0.000,0.063,2651,2765,3857,3915,3800,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3181,-0.69,-145.9,2651,2763,3916,3798,471.3,-12.5,281,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2763,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3482,-0.69,-145.9,2651,2764,3916,3802,508.7,-12.5,291,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2763,3858,3915,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-0.69,-145.9,2651,2763,3916,3800,545.9,-12.5,301,3788,0.00,1.83,0.00,0.000,260,0.000,0.108,2642,3789,3857,3915,3800,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3857,-0.69,-145.9,2642,3789,3916,3800,556.3,-13.7,316,3864,0.08,1.70,0.00,0.000,3078,0.256,0.062,2662,2764,3857,3914,3800,0,0,0,0,0,0,14.54,14.68,28.83
$GC,4173,-0.69,-145.9,2662,2764,3916,3799,593.0,-11.5,329,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2764,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.69,-145.9,2662,2764,3916,3799,626.3,-11.1,339,4482,0.00,1.77,0.00,0.000,260,0.000,0.109,2656,3787,3856,3914,3799,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4536,-0.69,-145.9,2657,3789,3914,3800,634.0,-12.6,351,4544,0.00,1.70,0.00,0.000,1030,0.000,0.063,2656,2757,3856,3914,3799,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4868,-0.69,-145.9,2657,2758,3915,3800,671.7,-11.3,367,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.69,-145.9,2657,2758,3915,3799,705.5,-11.2,377,5175,0.00,1.77,0.00,0.000,260,0.000,0.109,2648,3782,3856,3914,3799,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5249,-0.69,-145.9,2649,3786,3915,3799,715.7,-13.0,393,5256,0.00,1.70,0.00,0.000,1030,0.000,0.062,2648,2761,3856,3914,3798,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,5559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5559,begin apogee
$GC,5562,-0.13,0.0,2649,2761,3913,3799,751.9,-11.4,405,5689,0.73,0.00,124.32,1.956,10244,0.239,0.000,2843,2761,3258,3279,3237,0,0,0,0,0,0,14.59,28.83,13.13
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5691,0.69,145.9,2843,2761,3276,3233,754.7,0.0,409,5824,0.88,2.55,124.57,1.913,10756,0.135,0.071,3107,1338,2662,2677,2648,0,0,0,0,0,0,13.80,13.83,12.93
$GC,6048,0.69,148.6,3107,1340,2669,2642,720.2,11.5,475,6056,0.00,2.60,0.00,0.000,1030,0.000,0.098,3107,2740,2654,2668,2641,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6380,0.69,148.6,3107,2740,2669,2640,676.5,13.1,491,6389,0.00,1.90,0.00,0.000,260,0.000,0.105,3107,3785,2651,2664,2639,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6613,0.69,148.6,3108,3784,2669,2640,640.0,15.7,537,6620,0.00,1.77,0.00,0.000,1030,0.000,0.060,3113,2740,2653,2668,2639,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6924,0.69,148.6,3113,2740,2669,2640,598.0,13.3,549,6930,0.00,1.90,0.00,0.000,260,0.000,0.104,3112,3788,2653,2668,2639,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7049,0.69,148.6,3114,3789,2669,2640,578.3,16.1,574,7056,0.00,1.77,0.00,0.000,1030,0.000,0.059,3120,2738,2653,2667,2639,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7376,0.69,148.6,3121,2738,2669,2639,534.4,13.4,589,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2738,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140802041631.211569,3,672,-1,0127,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,16.8,2.0,-100,1.0,-01,0.8,22,900,0025*39
$GC,7678,0.69,148.6,3122,2738,2664,2640,493.9,13.6,599,7686,0.00,2.35,0.00,0.000,516,0.000,0.076,3129,1345,2653,2668,2638,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7710,0.69,148.6,3130,1345,2669,2639,489.5,12.4,605,7717,0.00,2.50,0.00,0.000,1030,0.000,0.098,3129,2759,2657,2668,2646,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8041,0.69,148.6,3129,2759,2669,2638,443.9,13.7,621,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2759,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,0.69,148.6,3129,2759,2669,2638,403.0,13.7,631,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2759,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,0.69,148.6,3130,2760,2669,2639,361.8,13.8,641,8647,0.00,2.42,0.00,0.000,516,0.000,0.075,3138,1343,2653,2668,2638,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8671,0.69,148.6,3139,1344,2669,2641,357.9,11.9,647,8680,0.00,2.47,0.00,0.000,1030,0.000,0.098,3138,2734,2652,2667,2638,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9004,0.69,148.6,3139,2735,2669,2639,311.3,13.9,663,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2735,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9304,0.69,148.6,3139,2734,2669,2638,269.7,13.8,673,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2734,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9604,0.69,148.6,3138,2735,2669,2638,230.9,12.5,691,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2734,2653,2668,2638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9904,0.70,154.6,3139,2734,2669,2638,194.5,11.3,721,9917,0.00,0.00,7.70,1.340,8198,0.000,0.000,3137,2734,2621,2636,2607,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10214,0.73,203.5,3139,2735,2637,2607,162.8,9.0,752,10259,0.00,0.00,40.97,1.330,8198,0.000,0.000,3138,2734,2422,2428,2417,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10554,0.76,243.6,3139,2735,2429,2412,129.4,9.5,786,10596,0.00,1.90,33.38,1.271,8452,0.000,0.105,3138,3792,2257,2259,2255,0,0,0,0,0,0,28.83,14.19,13.71
$GC,10645,0.76,243.6,3139,3792,2261,2255,119.3,12.2,802,10652,0.00,1.80,0.00,0.000,1030,0.000,0.060,3145,2739,2255,2258,2253,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10956,0.78,277.5,3146,2740,2260,2251,87.5,9.8,834,10972,0.00,0.00,14.15,0.456,8198,0.000,0.000,3145,2739,2126,2126,2126,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11266,0.83,340.5,3146,2739,2141,2125,58.5,8.3,865,11300,0.00,2.40,28.20,0.363,8708,0.000,0.076,3155,1340,1869,1862,1876,0,0,0,0,0,0,28.83,14.37,14.20
$GC,11364,0.87,401.6,3155,1340,1868,1874,49.8,8.4,883,11399,0.00,2.53,27.25,0.334,9222,0.000,0.100,3155,2730,1620,1618,1622,0,0,0,0,0,0,28.83,14.34,14.19
$GC,11703,0.93,482.5,3157,2731,1631,1611,22.2,7.3,919,11743,0.12,0.00,35.55,0.265,10758,0.129,0.000,3207,2730,1289,1291,1287,0,0,0,0,0,0,14.45,28.83,14.27
$FREEZE,11.02,3.690,-1.281,0,1,0
$STATE,11976,end climb,NO_VERTICAL_VELOCITY
$STATE,11976,begin surface
$SM_CCo,11978,85.95,0.231,0,0,498,676.54
$SM_CCo,12288,-0.38,0.000,0,0,501,676.54
$SM_CCo,12290,0.17,0.654,0,0,498,676.54
$SM_CCo,12292,-0.12,0.000,0,0,500,676.54
$SM_GC,1.61,8.95,0.05,-0.12,0.067,0.259,0.000,202,2758,500,-8.36,-0.65,676.54,0,0,0,0,0,0,14.45,14.45,14.50
$RAFOS_CLK,295
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14404.85,010814,223804
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.69
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.40
$XPDR_PINGS,9
$SC_FREEKB,3916192
$24V_AH,12.93,16.620
$10V_AH,12.77,0.000
$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,22.800,61.825,436.100,86.125,0.000,0.000,0.000,217.950,6.750,0.000,26.933,0.000,9588.821,716.616,2247.063,94.172,0.000,1656.955,0.000,1401.346,1473.000,39.215,0.000
$DEVICE_MAMPS,397.800,259.335,1956.105,654.075,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.608,0.000,0.000,0.000
$MEM,292996
$DATA_FILE_SIZE,33323,947
$CAP_FILE_SIZE,144236,0
$CFSIZE,2097872896,2081521664
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12874.29,0x2378b6,7,5
$INTR,1,5560.82,0x2378b6,2,5
$SOUNDSPEED,1451.9
$EKF,12356,4295.401855,-8649.458008,11.017222,0.028407,-0.033456,0.004936,0.000237,0.002376,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.007,231.41,1
$GPS,020814,054231,7135.377,-14409.600,13,0.7,33,22.6