version: 66.12
glider: 196
mission: 7
dive: 160
start: 8 18 114 0 20 35
data:
$ID,196
$MISSION,7
$DIVE,160
$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,-5213.2847
$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,50
$R_STBD_OVSHOOT,20
$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
$GPS1,180814,001345,7227.737,-14415.639,43,0.7,63,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.1
$GPS2,180814,002016,7227.705,-14415.487,6,0.8,26,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,155.3,95812,-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,-145.9,134,2744,439,539,0.0,0.0,0,79,0.00,0.00,-62.50,0.000,16386,0.000,0.000,127,2743,2075,2074,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,128,2744,2076,2078,3.6,-4.7,6,130,12.32,2.42,-31.73,0.000,18948,0.396,0.090,2666,1364,3859,3913,3805,0,0,0,0,0,0,14.00,14.24,14.44
$MODEM_MSG,CACST,6,1,20140818000442.312390,3,271,-5,0109,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,11.3,1.4,-100,1.6,-01,0.3,25,900,0025*33
$GC,250,-0.69,-145.9,2665,1364,3913,3803,52.9,-24.2,40,255,0.00,2.50,0.00,0.000,1030,0.000,0.101,2655,2759,3857,3913,3802,0,0,0,0,0,0,28.83,14.23,28.83
$GC,559,-0.69,-145.9,2657,2759,3914,3803,122.7,-20.8,72,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2759,3858,3913,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.69,-145.9,2656,2760,3915,3805,180.0,-18.0,102,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2759,3859,3914,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.69,-145.9,2657,2760,3913,3804,229.7,-15.5,132,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2759,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1479,-0.69,-145.9,2656,2760,3914,3804,277.8,-14.7,152,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2759,3858,3913,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1779,-0.69,-145.9,2656,2759,3914,3803,320.6,-14.1,162,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2759,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.69,-145.9,2656,2759,3914,3803,362.2,-13.7,172,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2759,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2379,-0.69,-145.9,2656,2759,3914,3803,403.1,-13.5,182,2385,0.00,2.38,0.00,0.000,516,0.000,0.070,2655,1367,3857,3912,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2434,-0.69,-145.9,2656,1368,3914,3803,410.3,-12.6,193,2441,0.00,2.47,0.00,0.000,1030,0.000,0.101,2644,2751,3858,3913,3803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2739,-0.69,-145.9,2646,2754,3913,3804,453.1,-14.0,204,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.69,-145.9,2645,2753,3913,3803,494.9,-13.9,214,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3339,-0.69,-145.9,2646,2753,3913,3804,536.2,-13.8,224,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3639,-0.69,-145.9,2645,2753,3914,3803,577.5,-13.7,234,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.69,-145.9,2645,2754,3914,3804,618.7,-13.6,244,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.69,-145.9,2646,2754,3914,3804,658.8,-13.2,254,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.69,-145.9,2645,2753,3914,3803,698.2,-13.0,264,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3858,3913,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.69,-145.9,2648,2753,3914,3804,737.4,-13.2,274,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2753,3857,3912,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4961,-0.13,0.0,2647,2754,3913,3804,753.1,-13.1,278,5089,0.75,0.00,125.00,1.966,10244,0.235,0.000,2845,2753,3257,3272,3242,0,0,0,0,0,0,14.50,28.83,13.15
$STATE,5090,end apogee,CONTROL_FINISHED_OK
$STATE,5090,begin climb
$GC,5091,0.69,145.9,2845,2753,3269,3237,756.7,0.0,282,5226,0.93,1.95,123.57,1.854,10500,0.157,0.106,3106,3786,2657,2661,2653,0,0,0,0,0,0,13.81,13.83,12.82
$GC,5450,0.69,145.9,3106,3786,2662,2648,715.2,15.4,356,5456,0.00,1.80,0.00,0.000,1030,0.000,0.055,3115,2747,2654,2661,2647,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5771,0.69,145.9,3115,2748,2662,2646,672.6,13.3,370,5776,0.00,2.42,0.00,0.000,516,0.000,0.072,3125,1337,2653,2661,2645,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5990,0.69,145.9,3126,1337,2661,2646,645.6,12.1,414,5996,0.00,2.55,0.00,0.000,1030,0.000,0.096,3125,2745,2652,2660,2645,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6311,0.69,145.9,3126,2745,2661,2645,602.2,13.6,428,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2745,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,0.69,145.9,3126,2746,2661,2645,562.0,13.4,438,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,0.69,145.9,3126,2746,2660,2644,522.7,13.1,448,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2744,2650,2660,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,0.69,145.9,3126,2746,2662,2645,483.8,13.0,458,7216,0.00,1.85,0.00,0.000,260,0.000,0.102,3125,3785,2652,2660,2644,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7285,0.69,145.9,3126,3786,2661,2645,472.6,14.8,473,7291,0.00,1.75,0.00,0.000,1030,0.000,0.055,3132,2728,2652,2661,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7601,0.69,145.9,3132,2728,2662,2644,430.4,13.3,486,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2728,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,0.69,145.9,3131,2728,2662,2644,390.2,13.3,496,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2728,2651,2660,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,0.69,145.9,3132,2729,2661,2645,350.5,13.2,506,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2728,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,0.69,145.9,3132,2728,2662,2644,311.7,12.7,516,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2728,2652,2660,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,0.69,145.9,3132,2729,2661,2645,274.3,12.2,526,8806,0.00,1.88,0.00,0.000,260,0.000,0.101,3131,3786,2652,2661,2644,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8855,0.69,145.9,3132,3788,2662,2644,266.8,14.3,537,8862,0.00,1.73,0.00,0.000,1030,0.000,0.056,3139,2740,2652,2661,2644,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9160,0.69,152.9,3140,2740,2662,2644,229.9,11.3,558,9166,0.00,0.00,3.10,1.066,8710,0.000,0.000,3139,2740,2636,2647,2626,0,0,0,0,0,0,28.83,28.83,13.73
$GC,9470,0.73,204.3,3140,2740,2659,2631,197.9,8.9,590,9522,0.00,2.38,45.92,1.232,8708,0.000,0.070,3150,1348,2419,2420,2418,0,0,0,0,0,0,28.83,14.31,13.75
$GC,9602,0.75,231.0,3151,1349,2419,2415,184.7,10.2,616,9633,0.00,2.47,22.52,1.281,9222,0.000,0.096,3150,2742,2310,2309,2311,0,0,0,0,0,0,28.83,14.33,13.68
$GC,9932,0.76,248.9,3150,2742,2310,2306,147.1,10.7,652,9954,0.00,1.90,15.18,1.252,8452,0.000,0.103,3148,3780,2238,2239,2238,0,0,0,0,0,0,28.83,14.26,13.76
$GC,9993,0.76,248.9,3150,3780,2239,2237,139.5,13.4,664,9998,0.00,1.75,0.00,0.000,1030,0.000,0.056,3157,2741,2236,2237,2236,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10304,0.78,274.1,3158,2741,2238,2235,105.8,10.3,696,10329,0.00,2.42,18.95,1.191,8708,0.000,0.073,3167,1353,2134,2134,2134,0,0,0,0,0,0,28.83,14.31,13.77
$GC,10358,0.79,296.0,3168,1351,2134,2132,100.1,10.5,707,10380,0.00,2.53,16.20,1.191,9222,0.000,0.096,3167,2745,2046,2046,2047,0,0,0,0,0,0,28.83,14.29,13.70
$GC,10684,0.80,299.5,3168,2745,2045,2036,62.1,11.4,742,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2745,2040,2045,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10984,0.89,426.4,3168,2745,2046,2034,42.3,4.9,772,11046,0.00,0.00,55.45,0.315,8710,0.000,0.000,3167,2745,1516,1523,1509,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11344,1.01,596.9,3168,2745,1525,1495,16.6,2.6,813,11426,0.15,2.42,74.28,0.251,10756,0.125,0.072,3233,1339,821,812,830,0,0,0,0,0,0,14.46,14.33,14.19
$GC,11456,1.10,729.3,3234,1339,814,828,12.7,4.6,835,11498,0.00,2.50,35.42,0.239,9222,0.000,0.095,3233,2743,497,453,541,0,0,0,0,0,0,28.83,14.32,14.19
$FREEZE,8.48,2.523,-1.384,2,1,0
$FREEZE,8.11,2.524,-1.384,2,1,0
$FREEZE,7.47,2.523,-1.384,2,1,0
$FREEZE,7.05,2.524,-1.384,2,1,0
$FREEZE,6.40,2.523,-1.383,2,1,0
$FREEZE,6.10,2.517,-1.383,2,1,0
$FREEZE,5.52,2.520,-1.383,2,1,0
$FREEZE,4.71,2.519,-1.382,2,1,0
$FREEZE,4.09,2.522,-1.382,2,1,0
$FREEZE,3.23,2.523,-1.381,2,1,0
$FREEZE,2.72,2.523,-1.381,2,1,0
$FREEZE,2.10,2.524,-1.380,2,1,0
$FREEZE,1.50,2.522,-1.380,2,1,0
$STATE,11635,end climb,SURFACE_DEPTH_REACHED
$STATE,11635,begin surface coast
$FREEZE,0.97,2.517,-1.380,2,1,0
$FREEZE,0.65,2.449,-0.751,2,1,0
$FREEZE,0.69,2.504,-0.814,2,1,0
$FINISH,0.7,1.011996
$STATE,11666,end surface coast,CONTROL_FINISHED_OK
$STATE,11666,begin surface
$SM_CCo,11741,0.00,0.000,0,0,491,678.75
$SM_GC,1.70,9.20,0.00,0.00,0.074,0.000,0.000,203,2745,491,-8.37,-0.42,678.75,0,0,0,0,0,0,14.39,28.83,28.83
$RAFOS_CLK,561
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7153.15,-14417.78,170814,204648
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.22
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.60
$XPDR_PINGS,1
$SC_FREEKB,3866976
$24V_AH,12.82,48.013
$10V_AH,12.86,0.000
$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,23.350,44.075,535.600,0.000,0.000,0.000,0.000,227.025,0.250,0.000,27.872,0.000,9450.514,587.323,1956.759,133.117,0.000,1510.691,0.000,1279.248,0.000,0.540,0.000
$DEVICE_MAMPS,395.505,106.335,1966.050,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11705.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.844,0.000,0.000,0.000
$MEM,270980
$DATA_FILE_SIZE,30027,860
$CAP_FILE_SIZE,129706,0
$CFSIZE,2097872896,2060451840
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12579.29,0x2378b6,7,5
$INTR,1,4959.77,0x2378b6,2,5
$INTR,2,11669.41,0x2378b6,7,5
$SOUNDSPEED,1450.7
$GPS,180814,033742,7225.739,-14414.785,39,0.8,60,22.8