version: 66.12
glider: 196
mission: 7
dive: 133
start: 8 14 114 2 57 42
data:
$ID,196
$MISSION,7
$DIVE,133
$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,-5179.2417
$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,21
$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
$GPS1,140814,024812,7227.297,-14402.414,40,0.8,60,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-78.6
$GPS2,140814,025724,7227.238,-14402.520,4,0.8,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,331.6,42354,-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,-145.9,196,2758,440,542,0.0,0.0,0,79,0.00,0.00,-62.15,0.000,16386,0.000,0.000,195,2758,2099,2106,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,196,2759,2107,2095,3.7,-4.0,6,130,11.90,1.83,-31.60,0.000,18692,0.395,0.127,2659,3786,3853,3913,3794,0,0,0,0,0,0,14.03,14.27,14.48
$GC,354,-0.69,-145.9,2659,3787,3915,3798,81.6,-23.1,61,361,0.00,1.73,0.00,0.000,1030,0.000,0.056,2659,2756,3856,3914,3798,0,0,0,0,0,0,28.83,14.41,28.83
$GC,660,-0.69,-145.9,2660,2758,3914,3798,143.8,-19.3,92,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,960,-0.69,-145.9,2659,2757,3915,3798,195.9,-16.0,122,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.69,-145.9,2659,2757,3915,3798,241.6,-14.6,152,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3855,3913,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1560,-0.69,-145.9,2660,2758,3914,3799,284.2,-14.2,166,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-0.69,-145.9,2659,2757,3914,3798,327.5,-14.4,176,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.69,-145.9,2660,2758,3915,3799,369.6,-14.0,186,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,-0.69,-145.9,2660,2758,3915,3799,410.4,-13.4,196,2465,0.00,2.35,0.00,0.000,516,0.000,0.072,2659,1373,3855,3914,3797,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2499,-0.69,-145.9,2660,1373,3914,3798,415.6,-12.4,204,2505,0.00,2.45,0.00,0.000,1030,0.000,0.101,2648,2747,3856,3914,3798,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2820,-0.69,-145.9,2649,2747,3915,3798,458.9,-13.5,218,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2746,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.69,-145.9,2655,2747,3915,3798,499.0,-13.3,228,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2746,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-0.69,-145.9,2649,2747,3915,3798,538.5,-13.1,238,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2746,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.69,-145.9,2649,2747,3915,3798,577.2,-12.9,248,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2747,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.69,-145.9,2648,2746,3915,3798,615.8,-12.9,258,4025,0.00,2.35,0.00,0.000,516,0.000,0.070,2648,1365,3855,3913,3797,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4060,-0.69,-145.9,2649,1362,3915,3798,620.8,-12.0,266,4065,0.08,2.47,0.00,0.000,3078,0.250,0.099,2670,2750,3856,3914,3798,0,0,0,0,0,0,14.46,14.54,28.83
$GC,4381,-0.69,-145.9,2671,2750,3915,3798,657.4,-11.5,280,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2749,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.69,-145.9,2671,2750,3915,3798,691.6,-11.4,290,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2749,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-0.69,-145.9,2671,2749,3915,3798,725.6,-11.3,300,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2750,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814041638.170032,3,178,-7,0107,0150,255,02,02,05,05,1,000,000,2,5,1,0,150,14.7,3.2,-100,-0.2,-01,-0.1,29,900,0025*14
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5225,-0.13,0.0,2668,2749,3915,3797,752.7,-11.3,308,5354,0.65,0.00,125.62,1.961,10244,0.219,0.000,2848,2749,3255,3273,3237,0,0,0,0,0,0,14.43,28.83,13.12
$STATE,5355,end apogee,CONTROL_FINISHED_OK
$STATE,5355,begin climb
$GC,5357,0.69,145.9,2848,2750,3271,3235,756.6,0.0,312,5486,0.88,0.00,124.22,1.873,11270,0.127,0.000,3114,2749,2661,2667,2656,0,0,0,0,0,0,13.77,28.83,12.76
$GC,5791,0.69,145.9,3115,2750,2665,2646,711.7,13.2,352,5796,0.00,1.92,0.00,0.000,260,0.000,0.099,3114,3787,2655,2665,2645,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5830,0.69,145.9,3115,3787,2666,2646,705.8,15.4,360,5836,0.00,1.80,0.00,0.000,1030,0.000,0.054,3122,2740,2654,2664,2645,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6151,0.69,145.9,3123,2740,2665,2645,661.8,13.7,374,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2739,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,0.69,145.9,3123,2740,2666,2644,621.6,13.4,384,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2740,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,0.69,145.9,3123,2740,2665,2644,581.6,13.2,394,6756,0.00,1.88,0.00,0.000,260,0.000,0.102,3122,3789,2653,2664,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6781,0.69,145.9,3123,3790,2665,2645,577.1,15.3,400,6786,0.00,1.75,0.00,0.000,1030,0.000,0.055,3129,2738,2654,2664,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7111,0.69,145.9,3129,2738,2666,2644,532.7,13.4,416,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,0.69,145.9,3129,2738,2666,2644,492.7,13.4,426,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,0.69,145.9,3129,2738,2666,2643,452.4,13.6,436,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,0.69,145.9,3128,2739,2665,2645,412.0,13.6,446,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8311,0.69,145.9,3130,2742,2665,2645,371.2,13.5,456,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8611,0.69,145.9,3130,2739,2665,2645,330.7,13.5,466,8616,0.00,1.88,0.00,0.000,260,0.000,0.102,3129,3792,2654,2664,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8655,0.69,145.9,3130,3793,2665,2644,323.9,15.7,475,8661,0.00,1.73,0.00,0.000,1030,0.000,0.055,3137,2742,2654,2664,2644,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8971,0.69,145.9,3138,2743,2665,2645,280.7,13.6,488,8976,0.00,1.83,0.00,0.000,260,0.000,0.102,3143,3794,2655,2665,2645,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9001,0.69,145.9,3140,3795,2666,2644,276.2,15.5,494,9006,0.00,1.73,0.00,0.000,1030,0.000,0.055,3144,2741,2654,2664,2644,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9311,0.69,145.9,3146,2742,2666,2645,236.4,12.5,516,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2741,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,0.70,162.7,3145,2742,2665,2645,201.6,10.7,546,9633,0.00,2.40,14.75,1.268,8708,0.000,0.073,3156,1346,2587,2594,2580,0,0,0,0,0,0,28.83,14.52,13.97
$GC,9747,0.73,209.7,3156,1347,2594,2580,187.8,9.1,573,9794,0.00,2.50,38.97,1.330,9222,0.000,0.096,3156,2751,2395,2396,2395,0,0,0,0,0,0,28.83,14.48,13.75
$GC,10092,0.75,228.6,3157,2752,2397,2390,147.7,10.6,612,10114,0.00,1.85,15.73,1.224,8452,0.000,0.101,3156,3792,2322,2324,2321,0,0,0,0,0,0,28.83,14.28,13.78
$GC,10273,0.75,228.6,3157,3793,2321,2321,124.1,13.1,648,10279,0.00,1.73,0.00,0.000,1030,0.000,0.051,3163,2751,2320,2320,2320,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10584,0.77,253.4,3164,2752,2321,2319,91.3,10.3,680,10596,0.00,0.00,10.45,0.467,8198,0.000,0.000,3163,2751,2223,2222,2225,0,0,0,0,0,0,28.83,28.83,14.16
$GC,10894,0.81,312.3,3164,2752,2236,2226,59.6,8.5,711,10926,0.00,2.38,25.90,0.366,8708,0.000,0.067,3173,1347,1984,1979,1989,0,0,0,0,0,0,28.83,14.39,14.20
$GC,10961,0.86,388.5,3174,1348,1983,1989,54.3,7.6,724,11001,0.00,2.47,33.72,0.345,9222,0.000,0.096,3173,2749,1673,1674,1673,0,0,0,0,0,0,28.83,14.38,14.16
$GC,11305,0.90,447.1,3174,2750,1677,1662,23.4,8.5,763,11337,0.00,2.42,25.23,0.271,8708,0.000,0.073,3177,1353,1431,1439,1424,0,0,0,0,0,0,28.83,14.39,14.25
$GC,11401,0.99,571.9,3178,1353,1445,1422,16.6,5.0,782,11463,0.08,2.50,54.85,0.247,11270,0.091,0.096,3220,2740,925,920,930,0,0,0,0,0,0,14.41,14.38,14.20
$FREEZE,8.84,0.703,-1.393,2,1,0
$FREEZE,8.50,0.710,-1.392,2,1,0
$FREEZE,8.05,0.713,-1.390,2,1,0
$FREEZE,7.69,0.717,-1.389,2,1,0
$FREEZE,7.19,0.736,-1.387,2,1,0
$FREEZE,6.77,0.739,-1.386,2,1,0
$FREEZE,6.41,0.735,-1.385,2,1,0
$FREEZE,6.03,0.734,-1.382,2,1,0
$FREEZE,5.59,0.732,-1.380,2,1,0
$FREEZE,5.03,0.735,-1.379,2,1,0
$FREEZE,4.53,0.751,-1.376,2,1,0
$FREEZE,3.90,0.751,-1.375,2,1,0
$FREEZE,3.51,0.758,-1.374,2,1,0
$FREEZE,3.14,0.761,-1.373,2,1,0
$FREEZE,2.62,0.777,-1.372,2,1,0
$FREEZE,2.23,0.774,-1.371,2,1,0
$FREEZE,1.85,0.758,-1.371,2,1,0
$STATE,11746,end climb,SURFACE_DEPTH_REACHED
$STATE,11746,begin surface coast
$FREEZE,1.32,0.773,-1.369,2,1,0
$FREEZE,0.71,0.783,-1.368,2,1,0
$FREEZE,0.70,0.784,-1.332,2,1,0
$FREEZE,0.81,0.759,-1.369,2,1,0
$FINISH,0.8,1.020163
$STATE,11787,end surface coast,CONTROL_FINISHED_OK
$STATE,11787,begin surface
$SM_CCo,11802,46.50,0.201,0,0,498,676.54
$SM_GC,2.05,9.15,0.00,46.50,0.078,0.000,0.201,195,2742,498,-8.36,-0.51,676.54,0,0,0,0,0,0,14.47,28.83,14.30
$RAFOS_CLK,401
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14400.45,130814,195659
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.39
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3879072
$24V_AH,12.76,40.192
$10V_AH,12.82,0.000
$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,22.725,45.925,469.450,46.500,0.000,0.000,0.000,377.575,1.500,0.000,26.488,0.000,9596.444,590.274,2062.435,148.216,0.000,1634.056,0.000,1233.651,1490.000,0.540,0.000
$DEVICE_MAMPS,394.740,126.990,1961.460,201.195,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.688,0.000,0.000,0.000
$MEM,286500
$DATA_FILE_SIZE,26720,827
$CAP_FILE_SIZE,133124,0
$CFSIZE,2097872896,2065694720
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12643.00,0x2378b6,7,5
$INTR,1,5222.71,0x2378b6,2,5
$INTR,2,11789.83,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,140814,061624,7228.333,-14402.824,26,0.8,46,22.9