version: 66.12
glider: 196
mission: 7
dive: 142
start: 8 15 114 10 26 6
data:
$ID,196
$MISSION,7
$DIVE,142
$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,-5190.5894
$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,46
$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
$GPS1,150814,101554,7236.602,-14411.251,39,0.8,59,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.6
$GPS2,150814,102548,7236.529,-14411.617,4,0.8,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,339.1,24964,-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,-145.9,174,2735,424,563,0.0,0.0,0,89,0.00,0.00,-72.28,0.000,16386,0.000,0.000,171,2736,2311,2319,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,172,2736,2320,2305,3.5,-3.7,7,135,11.90,1.92,-28.30,0.000,18692,0.390,0.127,2659,3790,3856,3917,3795,0,0,0,0,0,0,14.06,14.27,14.52
$GC,359,-0.69,-145.9,2659,3787,3918,3802,82.8,-23.6,61,365,0.00,1.73,0.00,0.000,1030,0.000,0.057,2659,2751,3859,3917,3802,0,0,0,0,0,0,28.83,14.41,28.83
$GC,669,-0.69,-145.9,2660,2751,3918,3802,147.2,-20.1,93,675,0.00,1.85,0.00,0.000,260,0.000,0.101,2650,3786,3859,3917,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,829,-0.69,-145.9,2651,3786,3918,3802,180.5,-19.9,125,835,0.00,1.70,0.00,0.000,1030,0.000,0.057,2651,2762,3859,3917,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1139,-0.69,-145.9,2652,2763,3917,3803,233.3,-16.1,157,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2762,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1459,-0.69,-145.9,2651,2763,3918,3803,281.2,-14.7,175,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2761,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,-0.69,-145.9,2651,2762,3918,3802,324.3,-14.2,185,1765,0.00,2.33,0.00,0.000,516,0.000,0.071,2651,1369,3859,3917,3802,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1804,-0.69,-145.9,2651,1369,3918,3802,330.4,-13.5,194,1810,0.10,2.47,0.00,0.000,3078,0.233,0.101,2667,2755,3859,3917,3801,0,0,0,0,0,0,14.44,14.52,28.83
$GC,2120,-0.69,-145.9,2668,2756,3917,3803,370.9,-12.8,207,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3859,3917,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,-0.69,-145.9,2667,2755,3917,3802,408.8,-12.5,217,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.69,-145.9,2674,2756,3918,3803,446.0,-12.2,227,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2755,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.69,-145.9,2667,2755,3918,3802,482.9,-12.3,237,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.69,-145.9,2667,2755,3918,3802,519.4,-12.0,247,3325,0.00,2.30,0.00,0.000,516,0.000,0.069,2667,1368,3859,3917,3801,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3359,-0.69,-145.9,2668,1368,3917,3803,524.2,-11.4,255,3365,0.00,2.47,0.00,0.000,1030,0.000,0.099,2661,2761,3858,3916,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3680,-0.69,-145.9,2662,2761,3917,3803,563.9,-12.4,269,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-0.69,-145.9,2662,2761,3918,3803,600.7,-12.3,279,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4279,-0.69,-145.9,2661,2760,3918,3802,636.7,-12.0,289,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4579,-0.69,-145.9,2661,2761,3918,3802,672.1,-11.8,299,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2761,3859,3917,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-0.69,-145.9,2661,2761,3918,3802,707.1,-11.6,309,4885,0.00,2.35,0.00,0.000,516,0.000,0.068,2661,1371,3858,3915,3801,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4924,-0.69,-145.9,2661,1370,3918,3801,712.1,-10.7,318,4930,0.00,2.47,0.00,0.000,1030,0.000,0.099,2650,2764,3859,3917,3802,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5242,-0.13,0.0,2651,2764,3918,3802,750.1,-12.1,331,5370,0.73,0.00,125.00,1.955,10244,0.230,0.000,2848,2765,3258,3275,3242,0,0,0,0,0,0,14.55,28.83,13.19
$STATE,5371,end apogee,CONTROL_FINISHED_OK
$STATE,5371,begin climb
$GC,5372,0.69,145.9,2846,2766,3270,3238,753.1,0.0,335,5501,0.88,0.00,122.95,1.793,11270,0.135,0.000,3108,2765,2659,2666,2653,0,0,0,0,0,0,13.82,28.83,12.86
$GC,5811,0.69,145.9,3109,2765,2666,2645,705.4,13.2,375,5816,0.00,1.85,0.00,0.000,260,0.000,0.099,3108,3791,2655,2665,2645,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5840,0.69,145.9,3114,3793,2665,2647,700.9,15.1,381,5846,0.00,1.80,0.00,0.000,1030,0.000,0.054,3112,2742,2653,2665,2642,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6171,0.69,145.9,3116,2743,2665,2645,656.1,13.4,397,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,0.69,145.9,3116,2744,2665,2645,616.3,13.2,407,6476,0.00,1.90,0.00,0.000,260,0.000,0.100,3115,3786,2654,2665,2644,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6515,0.69,145.9,3115,3786,2666,2644,609.6,15.6,416,6521,0.00,1.75,0.00,0.000,1030,0.000,0.054,3123,2740,2654,2665,2644,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6831,0.69,145.9,3124,2740,2666,2644,567.3,13.4,429,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2740,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140815121649.002997,3,138,-8,0156,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,7.8,0.9,-100,2.1,-01,0.1,25,900,0025*0A
$GC,7134,0.69,145.9,3124,2740,2666,2644,527.5,13.2,439,7138,0.00,1.83,0.00,0.000,260,0.000,0.102,3123,3787,2654,2665,2644,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7182,0.69,145.9,3124,3787,2666,2644,519.6,15.2,449,7188,0.00,1.73,0.00,0.000,1030,0.000,0.054,3129,2748,2654,2665,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7493,0.69,145.9,3130,2748,2665,2645,477.3,13.5,461,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2748,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7793,0.69,145.9,3130,2749,2666,2644,437.0,13.4,471,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2748,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8093,0.69,145.9,3130,2749,2666,2645,397.6,13.0,481,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2748,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8393,0.69,145.9,3130,2749,2665,2644,358.6,12.8,491,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2748,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,0.69,145.9,3130,2749,2665,2645,320.2,12.9,501,8698,0.00,1.85,0.00,0.000,260,0.000,0.101,3129,3786,2657,2664,2650,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8727,0.69,145.9,3130,3786,2666,2644,315.3,14.7,508,8733,0.00,1.73,0.00,0.000,1030,0.000,0.055,3137,2737,2654,2665,2643,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9053,0.69,145.9,3138,2737,2666,2643,273.2,12.7,523,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2735,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,0.70,161.8,3138,2737,2665,2645,237.6,10.8,539,9368,0.00,0.00,13.35,1.297,8198,0.000,0.000,3137,2737,2599,2607,2591,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9663,0.72,195.6,3138,2738,2604,2585,203.4,9.8,570,9699,0.00,1.90,28.70,1.242,8452,0.000,0.103,3137,3779,2455,2460,2450,0,0,0,0,0,0,28.83,14.35,13.83
$GC,9923,0.73,209.7,3138,3779,2458,2450,172.6,10.9,622,9940,0.00,1.73,12.45,1.259,9222,0.000,0.055,3145,2747,2399,2404,2395,0,0,0,0,0,0,28.83,14.47,13.80
$GC,10245,0.77,266.3,3146,2748,2404,2389,143.3,8.6,656,10301,0.00,2.47,47.72,1.232,8708,0.000,0.071,3154,1346,2165,2166,2165,0,0,0,0,0,0,28.83,14.16,13.63
$GC,10326,0.81,310.4,3156,1346,2165,2164,135.8,9.3,671,10367,0.00,2.50,37.25,1.207,9222,0.000,0.096,3154,2742,1992,1993,1992,0,0,0,0,0,0,28.83,14.16,13.54
$GC,10665,0.81,310.4,3155,2742,1982,1979,95.0,11.9,709,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2742,1979,1980,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10965,0.83,353.1,3155,2743,1981,1977,63.5,9.4,739,10987,0.00,0.00,17.50,0.379,8198,0.000,0.000,3155,2742,1819,1816,1822,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11286,0.90,444.2,3155,2742,1822,1820,40.4,6.8,771,11327,0.00,0.00,40.42,0.308,8198,0.000,0.000,3155,2742,1446,1453,1439,0,0,0,0,0,0,28.83,28.83,14.21
$GC,11626,0.99,575.5,3155,2742,1457,1421,17.2,4.6,805,11691,0.15,2.45,57.60,0.248,10756,0.122,0.073,3221,1349,909,902,917,0,0,0,0,0,0,14.46,14.35,14.24
$FREEZE,8.87,1.510,-1.431,2,1,0
$FREEZE,8.49,1.510,-1.430,2,1,0
$FREEZE,8.10,1.513,-1.432,2,1,0
$FREEZE,7.65,1.513,-1.432,2,1,0
$FREEZE,6.98,1.520,-1.433,2,1,0
$GC,11751,1.07,688.9,3221,1350,904,913,9.7,5.6,830,11802,0.00,2.47,44.88,0.223,9222,0.000,0.093,3221,2753,497,450,545,0,0,0,0,0,0,28.83,14.37,14.20
$FREEZE,6.17,1.506,-1.433,2,1,0
$FREEZE,5.50,1.500,-1.433,2,1,0
$FREEZE,4.82,1.501,-1.432,2,1,0
$FREEZE,4.35,1.503,-1.432,2,1,0
$FREEZE,3.47,1.480,-1.431,2,1,0
$FREEZE,2.59,1.501,-1.430,2,1,0
$FREEZE,2.09,1.499,-1.430,2,1,0
$FREEZE,1.35,1.494,-1.430,2,1,0
$STATE,11875,end climb,SURFACE_DEPTH_REACHED
$STATE,11875,begin surface coast
$FREEZE,0.90,1.491,-1.429,2,1,0
$FREEZE,0.75,1.357,-0.912,2,1,0
$FINISH,0.8,1.013467
$STATE,11896,end surface coast,CONTROL_FINISHED_OK
$STATE,11896,begin surface
$SM_CCo,11970,0.00,0.000,0,0,493,678.25
$SM_GC,1.86,8.98,0.00,0.00,0.057,0.000,0.000,203,2753,493,-8.36,-0.20,678.25,0,0,0,0,0,0,14.40,28.83,28.83
$RAFOS_CLK,318
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14406.82,150814,101820
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.47
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3875040
$24V_AH,12.86,42.801
$10V_AH,12.87,0.000
$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,22.725,49.550,547.825,0.000,0.000,0.000,0.000,378.600,1.000,0.000,26.513,0.000,9710.154,617.255,2098.944,133.878,0.000,1683.969,0.000,1262.751,1475.000,0.539,0.000
$DEVICE_MAMPS,390.150,126.990,1954.575,0.000,0.000,0.000,0.000,156.060,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.744,0.000,0.000,0.000
$MEM,281308
$DATA_FILE_SIZE,30056,848
$CAP_FILE_SIZE,135738,0
$CFSIZE,2097872896,2063925248
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12740.63,0x2378b6,7,5
$INTR,1,5240.79,0x2378b6,2,5
$INTR,2,11782.19,0x234484,1,24
$INTR,3,11899.34,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,150814,134724,7237.590,-14412.256,61,0.8,81,22.9