version: 66.12
glider: 196
mission: 7
dive: 78
start: 8 6 114 2 45 32
data:
$ID,196
$MISSION,7
$DIVE,78
$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,-5120.0083
$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,19
$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
$GPS1,060814,023318,7201.263,-14410.873,40,0.8,60,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.2
$GPS2,060814,024515,7201.244,-14410.922,5,0.8,26,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7206.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.7,8823,-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,15,-0.69,-145.9,203,2745,417,570,0.0,0.0,0,100,0.00,0.00,-82.88,0.000,16386,0.000,0.000,203,2746,2554,2567,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.69,-145.9,204,2746,2568,2543,4.1,-4.3,8,145,11.80,2.38,-25.85,0.000,18948,0.393,0.096,2663,1372,3855,3915,3795,0,0,0,0,0,0,14.04,14.25,14.45
$GC,249,-0.69,-145.9,2663,1372,3916,3798,43.3,-26.3,38,255,0.00,2.53,0.00,0.000,1030,0.000,0.097,2654,2761,3856,3914,3798,0,0,0,0,0,0,28.83,14.28,28.83
$GC,560,-0.69,-145.9,2655,2761,3916,3799,115.1,-22.2,70,565,0.00,1.85,0.00,0.000,260,0.000,0.103,2646,3790,3856,3914,3799,0,0,0,0,0,0,28.83,14.38,28.83
$GC,790,-0.69,-145.9,2647,3789,3916,3799,164.6,-20.8,116,795,0.00,1.70,0.00,0.000,1030,0.000,0.057,2646,2767,3857,3915,3799,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1100,-0.69,-145.9,2647,2766,3916,3799,218.6,-15.9,148,1105,0.00,2.40,0.00,0.000,516,0.000,0.070,2646,1366,3856,3915,3798,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1130,-0.69,-145.9,2647,1367,3916,3799,223.0,-14.8,154,1135,0.10,2.50,0.00,0.000,3078,0.254,0.100,2661,2757,3856,3915,3798,0,0,0,0,0,0,14.36,14.45,28.83
$GC,1449,-0.69,-145.9,2662,2758,3916,3800,266.1,-13.1,179,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2757,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.69,-145.9,2662,2758,3916,3799,304.9,-12.8,189,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2757,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.69,-145.9,2662,2757,3916,3798,342.4,-12.4,199,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2757,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.69,-145.9,2662,2758,3916,3799,378.5,-12.0,209,2355,0.00,1.83,0.00,0.000,260,0.000,0.106,2656,3784,3856,3915,3798,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2404,-0.69,-145.9,2656,3785,3916,3798,385.6,-13.4,220,2411,0.00,1.70,0.00,0.000,1030,0.000,0.057,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2710,-0.69,-145.9,2656,2754,3916,3798,423.7,-12.3,231,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.69,-145.9,2656,2755,3916,3799,460.2,-12.1,241,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.69,-145.9,2656,2754,3916,3798,495.8,-11.9,251,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.69,-145.9,2656,2755,3916,3799,531.2,-11.7,261,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.69,-145.9,2656,2754,3916,3799,566.6,-11.7,271,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.69,-145.9,2656,2754,3915,3798,601.8,-11.7,281,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.69,-145.9,2656,2754,3917,3799,636.9,-11.7,291,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.69,-145.9,2656,2755,3915,3800,671.7,-11.5,301,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3856,3915,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5110,-0.69,-145.9,2656,2755,3916,3800,706.5,-11.6,311,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2754,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.69,-145.9,2658,2755,3916,3800,740.7,-11.3,321,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2754,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5501,-0.13,0.0,2656,2755,3916,3800,750.7,-11.2,324,5630,0.70,0.00,126.07,1.955,10244,0.227,0.000,2843,2754,3254,3273,3236,0,0,0,0,0,0,14.45,28.83,13.08
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5631,begin climb
$GC,5632,0.69,145.9,2845,2755,3273,3233,754.0,0.0,328,5766,0.90,0.00,125.00,1.919,11270,0.141,0.000,3110,2754,2660,2670,2651,0,0,0,0,0,0,13.72,28.83,12.81
$MODEM_MSG,CACST,6,1,20140806041642.649591,3,568,-8,0178,0150,217,04,04,06,04,-1,-01,-01,1,3,0,0,150,15.7,-0.1,-100,3.1,-01,0.3,18,900,0025*1A
$GC,6071,0.69,145.9,3111,2753,2670,2640,702.9,13.7,368,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2754,2654,2668,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,0.69,145.9,3111,2754,2669,2641,662.3,13.5,378,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2754,2654,2669,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,0.69,145.9,3111,2754,2670,2636,621.7,13.6,388,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2754,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,0.69,145.9,3111,2754,2670,2640,581.4,13.4,398,6976,0.00,2.40,0.00,0.000,516,0.000,0.070,3121,1335,2654,2669,2639,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7005,0.69,145.9,3122,1335,2668,2639,576.9,13.2,405,7011,0.00,2.53,0.00,0.000,1030,0.000,0.093,3121,2745,2654,2669,2639,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7331,0.69,145.9,3122,2746,2670,2639,531.3,14.0,420,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2746,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,0.69,145.9,3122,2746,2670,2639,489.9,13.9,430,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2746,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,0.69,145.9,3122,2746,2670,2640,448.5,13.8,440,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2746,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,0.69,145.9,3122,2747,2670,2640,407.7,13.6,450,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2745,2653,2668,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,0.69,145.9,3122,2747,2668,2639,367.5,13.4,460,8536,0.00,2.38,0.00,0.000,516,0.000,0.070,3128,1349,2654,2669,2639,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8550,0.69,145.9,3129,1350,2669,2640,365.0,12.7,464,8556,0.00,2.45,0.00,0.000,1030,0.000,0.094,3128,2736,2654,2669,2639,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8860,0.69,145.9,3126,2737,2664,2640,323.3,13.2,476,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2736,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,0.69,145.9,3128,2737,2670,2640,283.9,13.1,486,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2736,2654,2669,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,0.69,145.9,3129,2736,2670,2639,245.4,12.4,498,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2736,2651,2669,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9760,0.70,166.5,3128,2737,2670,2640,211.5,10.5,528,9782,0.00,0.00,17.65,1.329,8198,0.000,0.000,3128,2736,2572,2584,2561,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10080,0.74,211.4,3129,2737,2584,2559,179.1,9.2,560,10122,0.00,0.00,37.00,1.385,8710,0.000,0.000,3128,2736,2391,2399,2384,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10421,0.77,258.3,3129,2737,2399,2380,146.4,9.1,595,10463,0.00,0.00,39.85,1.268,8198,0.000,0.000,3127,2736,2202,2208,2197,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10761,0.79,290.6,3129,2737,2207,2186,113.3,9.9,629,10792,0.00,2.42,24.62,1.263,8708,0.000,0.070,3137,1348,2066,2074,2059,0,0,0,0,0,0,28.83,14.17,13.71
$GC,10827,0.82,331.3,3137,1349,2071,2058,107.2,9.5,642,10864,0.00,2.50,31.90,1.173,9222,0.000,0.095,3137,2742,1904,1903,1906,0,0,0,0,0,0,28.83,14.21,13.61
$GC,11162,0.85,372.1,3135,2743,1900,1892,73.7,9.5,679,11184,0.00,2.40,17.05,0.408,8708,0.000,0.068,3143,1349,1741,1743,1740,0,0,0,0,0,0,28.83,14.28,14.06
$GC,11244,0.89,437.5,3144,1349,1750,1740,66.5,8.1,695,11280,0.12,2.45,29.92,0.383,11270,0.129,0.095,3197,2731,1473,1475,1471,0,0,0,0,0,0,14.34,14.29,14.07
$GC,11584,0.92,472.0,3198,2731,1480,1458,29.1,9.8,733,11606,0.00,1.92,15.25,0.293,8452,0.000,0.104,3198,3786,1332,1339,1326,0,0,0,0,0,0,28.83,14.33,14.21
$GC,11645,0.92,478.5,3198,3786,1341,1326,22.7,11.3,745,11651,0.00,1.77,3.08,0.275,9222,0.000,0.054,3204,2729,1306,1312,1301,0,0,0,0,0,0,28.83,14.38,14.22
$FREEZE,8.59,-1.068,-1.503,2,1,0
$FREEZE,8.05,-1.060,-1.502,2,1,0
$FREEZE,7.51,-1.059,-1.501,2,1,0
$FREEZE,6.82,-1.066,-1.499,2,1,0
$FREEZE,6.30,-1.041,-1.496,2,1,0
$FREEZE,5.78,-0.992,-1.492,2,1,0
$FREEZE,5.19,-0.948,-1.489,2,1,0
$FREEZE,4.77,-0.901,-1.487,2,1,0
$FREEZE,4.18,-0.831,-1.484,2,1,0
$FREEZE,3.65,-0.717,-1.474,2,1,0
$FREEZE,3.20,-0.409,-1.449,2,1,0
$FREEZE,2.79,-0.108,-1.427,2,1,0
$FREEZE,2.55,-0.062,-1.422,2,1,0
$FREEZE,2.21,-0.132,-1.423,2,1,0
$FREEZE,1.93,-0.327,-1.425,2,1,0
$STATE,11954,end climb,SURFACE_DEPTH_REACHED
$STATE,11955,begin surface coast
$FREEZE,1.76,0.366,-1.389,2,1,0
$FREEZE,1.56,0.440,-1.388,2,1,0
$FREEZE,1.34,0.486,-1.388,2,1,0
$FREEZE,1.07,0.519,-1.387,2,1,0
$FREEZE,0.80,0.836,-1.376,2,1,0
$FREEZE,0.84,-0.587,-1.331,2,1,0
$FINISH,0.8,1.019637
$STATE,12015,end surface coast,CONTROL_FINISHED_OK
$STATE,12015,begin surface
$SM_CCo,12030,88.03,0.197,0,0,500,676.54
$SM_GC,1.99,9.15,0.05,88.03,0.086,0.246,0.197,209,2758,500,-8.35,-0.74,676.54,0,0,0,0,0,0,14.44,14.43,14.28
$RAFOS_CLK,379
$RAFOS_FIX,7158.550781,-14408.227539,050814,202047,2,255,0.30
$IRIDIUM_FIX,7118.99,-14410.05,050814,123203
$TT8_MAMPS,0.044191,0.044191
$HUMID,43.66
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,7
$SC_FREEKB,3903712
$24V_AH,12.81,24.134
$10V_AH,12.70,0.000
$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,22.775,40.150,467.400,88.025,0.000,0.000,0.000,542.875,1.750,0.000,27.568,0.000,9894.588,648.199,2162.043,127.997,0.000,1819.823,0.000,1167.924,1490.000,0.539,0.000
$DEVICE_MAMPS,393.210,245.565,1955.340,197.370,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.569,0.000,0.000,0.000
$MEM,317640
$DATA_FILE_SIZE,26717,783
$CAP_FILE_SIZE,132810,0
$CFSIZE,2097872896,2076409856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12955.95,0x2378b6,7,5
$INTR,1,5499.25,0x2378b6,2,5
$SOUNDSPEED,1449.0
$GPS,060814,060854,7202.963,-14410.830,36,0.7,56,22.7