version: 66.12
glider: 196
mission: 7
dive: 165
start: 8 18 114 17 45 36
data:
$ID,196
$MISSION,7
$DIVE,165
$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,-5219.5874
$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,45
$R_STBD_OVSHOOT,25
$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
$GPS1,180814,173912,7218.821,-14410.179,39,0.7,59,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.2
$GPS2,180814,174517,7218.828,-14410.232,4,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,157.1,79317,-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,-145.9,145,2767,445,540,0.0,0.0,0,79,0.00,0.00,-62.28,0.000,16386,0.000,0.000,139,2767,2101,2103,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,140,2768,2105,2101,3.7,-4.4,6,130,12.07,2.40,-30.55,0.000,18948,0.391,0.088,2665,1356,3854,3914,3795,0,0,0,0,0,0,14.09,14.34,14.53
$GC,264,-0.69,-145.9,2665,1356,3915,3801,55.0,-24.6,43,271,0.00,2.53,0.00,0.000,1030,0.000,0.099,2656,2749,3858,3915,3801,0,0,0,0,0,0,28.83,14.35,28.83
$GC,570,-0.69,-145.9,2657,2750,3915,3804,125.1,-21.2,74,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2749,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,870,-0.69,-145.9,2657,2749,3916,3803,184.4,-18.7,104,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2749,3859,3915,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.69,-145.9,2657,2749,3916,3803,233.6,-15.8,134,1175,0.00,1.85,0.00,0.000,260,0.000,0.105,2654,3783,3856,3914,3799,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1210,-0.69,-145.9,2649,3784,3915,3804,240.4,-17.0,142,1215,0.00,1.70,0.00,0.000,1030,0.000,0.059,2648,2762,3857,3915,3799,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1540,-0.69,-145.9,2649,2762,3915,3804,291.4,-15.0,158,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.69,-145.9,2649,2762,3915,3803,335.7,-14.6,168,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2761,3861,3914,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2140,-0.69,-145.9,2649,2762,3916,3802,378.3,-14.2,178,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.69,-145.9,2648,2762,3916,3802,420.8,-14.0,188,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.69,-145.9,2649,2763,3915,3802,462.1,-13.6,198,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-0.69,-145.9,2649,2762,3915,3802,503.0,-13.6,208,3045,0.00,2.35,0.00,0.000,516,0.000,0.072,2648,1352,3858,3914,3802,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3079,-0.69,-145.9,2649,1353,3915,3802,508.2,-12.5,216,3085,0.10,2.50,0.00,0.000,3078,0.242,0.101,2664,2754,3860,3914,3807,0,0,0,0,0,0,14.47,14.57,28.83
$GC,3400,-0.69,-145.9,2665,2755,3916,3801,547.4,-12.1,230,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-0.69,-145.9,2665,2753,3915,3801,583.7,-12.1,240,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.69,-145.9,2665,2753,3916,3801,619.6,-12.0,250,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.69,-145.9,2665,2754,3915,3802,655.7,-12.1,260,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.69,-145.9,2665,2753,3916,3800,691.7,-11.9,270,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2754,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.69,-145.9,2664,2754,3916,3801,727.2,-11.7,280,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2753,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5112,-0.13,0.0,2665,2754,3915,3801,751.3,-11.6,287,5239,0.68,0.00,124.62,1.979,10244,0.226,0.000,2849,2754,3257,3273,3242,0,0,0,0,0,0,14.55,28.83,13.17
$STATE,5240,end apogee,CONTROL_FINISHED_OK
$STATE,5240,begin climb
$GC,5242,0.69,145.9,2849,2754,3269,3237,754.9,0.0,291,5370,0.85,0.00,123.40,1.838,11270,0.129,0.000,3107,2754,2660,2665,2655,0,0,0,0,0,0,13.82,28.83,12.82
$GC,5680,0.69,145.9,3108,2754,2665,2647,710.2,13.0,331,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5980,0.69,145.9,3108,2754,2665,2645,672.0,12.7,341,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2653,2662,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6280,0.69,145.9,3108,2754,2665,2645,633.8,12.8,351,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6580,0.69,145.9,3108,2754,2664,2644,595.6,12.7,361,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,0.69,145.9,3108,2755,2665,2645,557.7,12.7,371,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,0.69,145.9,3108,2754,2665,2644,520.6,12.3,381,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,0.69,145.9,3108,2755,2665,2645,484.0,12.3,391,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2754,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,0.69,145.9,3108,2754,2665,2645,447.8,12.1,401,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,0.69,145.9,3108,2753,2665,2644,411.7,11.9,411,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,0.69,147.6,3108,2753,2665,2644,376.6,11.5,421,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2754,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8680,0.69,149.3,3108,2754,2665,2644,341.8,11.5,431,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2753,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,0.69,152.2,3109,2754,2664,2645,307.0,11.5,441,8984,0.00,0.00,3.15,1.108,8198,0.000,0.000,3107,2754,2635,2648,2622,0,0,0,0,0,0,28.83,28.83,13.61
$GC,9280,0.71,168.5,3109,2754,2664,2631,273.7,10.8,451,9299,0.00,0.00,17.98,1.316,8198,0.000,0.000,3107,2754,2570,2578,2562,0,0,0,0,0,0,28.83,28.83,13.82
$MODEM_MSG,CACST,6,1,20140818200445.563980,3,71,00,0112,0150,217,04,04,03,04,-1,-01,-01,1,3,0,0,150,16.2,0.8,-100,2.2,-01,0.3,24,900,0025*11
$MODEM_MSG,CACST,6,1,20140818201610.900540,3,181,04,0190,0150,255,02,02,03,04,-1,-01,-01,1,3,0,0,150,15.7,0.9,-100,2.1,-01,-0.4,34,900,0025*02
$GC,9580,0.71,175.3,3104,2753,2577,2555,239.8,11.3,467,9584,0.00,0.00,3.53,1.203,8198,0.000,0.000,3107,2754,2544,2553,2535,0,0,0,0,0,0,28.83,28.83,13.57
$GC,9880,0.74,213.8,3108,2754,2568,2540,209.3,9.6,497,9922,0.00,0.00,35.58,1.232,8198,0.000,0.000,3107,2754,2382,2388,2376,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10221,0.77,267.3,3108,2754,2390,2372,176.9,8.8,531,10272,0.12,0.00,45.28,1.272,10246,0.154,0.000,3156,2753,2162,2163,2161,0,0,0,0,0,0,14.40,28.83,13.57
$GC,10570,0.77,267.3,3157,2754,2164,2153,134.7,11.7,566,10575,0.00,1.88,0.00,0.000,260,0.000,0.103,3156,3790,2157,2163,2152,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10595,0.77,267.3,3157,3791,2164,2152,131.4,14.2,571,10602,0.00,1.75,0.00,0.000,1030,0.000,0.054,3164,2742,2157,2163,2152,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10900,0.79,286.0,3164,2743,2164,2152,97.2,10.6,602,10911,0.00,0.00,7.22,0.479,8198,0.000,0.000,3164,2742,2093,2099,2087,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11210,0.83,340.6,3166,2743,2117,2088,66.9,8.7,633,11241,0.00,0.00,24.88,0.389,8198,0.000,0.000,3164,2742,1869,1869,1869,0,0,0,0,0,0,28.83,28.83,14.19
$GC,11541,0.90,444.9,3165,2744,1874,1866,41.6,6.1,666,11592,0.00,2.40,45.58,0.314,8708,0.000,0.071,3173,1338,1442,1454,1430,0,0,0,0,0,0,28.83,14.38,14.16
$GC,11626,0.95,518.4,3175,1338,1452,1428,35.3,7.7,683,11664,0.00,2.55,32.62,0.310,9222,0.000,0.097,3173,2743,1142,1153,1132,0,0,0,0,0,0,28.83,14.35,14.15
$GC,11961,1.07,688.9,3174,2744,1155,1118,13.5,2.6,720,12038,0.20,2.42,69.80,0.236,10756,0.118,0.073,3246,1347,499,453,545,0,0,0,0,0,0,14.42,14.33,14.22
$FREEZE,8.94,4.669,-1.372,2,1,0
$FREEZE,8.77,4.666,-1.373,2,1,0
$FREEZE,8.50,4.666,-1.373,2,1,0
$FREEZE,8.35,4.675,-1.373,2,1,0
$FREEZE,7.97,4.675,-1.372,2,1,0
$FREEZE,7.64,4.664,-1.372,2,1,0
$FREEZE,7.59,4.664,-1.372,2,1,0
$FREEZE,7.13,4.663,-1.372,2,1,0
$FREEZE,6.95,4.663,-1.372,2,1,0
$FREEZE,6.65,4.670,-1.372,2,1,0
$FREEZE,6.32,4.670,-1.371,2,1,0
$FREEZE,6.09,4.669,-1.371,2,1,0
$FREEZE,5.78,4.669,-1.371,2,1,0
$GC,12120,1.15,798.2,3247,1347,452,544,5.8,5.8,751,12126,0.00,2.45,0.00,0.000,1030,0.000,0.094,3246,2730,497,451,543,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,5.22,4.678,-1.371,2,1,0
$FREEZE,4.73,4.678,-1.370,2,1,0
$FREEZE,3.97,4.676,-1.370,2,1,0
$FREEZE,3.25,4.675,-1.369,2,1,0
$FREEZE,2.64,4.679,-1.369,2,1,0
$FREEZE,1.97,4.675,-1.368,2,1,0
$STATE,12182,end climb,SURFACE_DEPTH_REACHED
$STATE,12182,begin surface coast
$FREEZE,1.15,4.671,-1.368,2,1,0
$FREEZE,0.62,4.580,-1.371,2,1,0
$FINISH,0.6,1.019974
$STATE,12202,end surface coast,CONTROL_FINISHED_OK
$STATE,12202,begin surface
$SM_CCo,12278,0.00,0.000,0,0,492,678.50
$SM_GC,1.56,9.12,0.05,0.00,0.067,0.246,0.000,211,2769,492,-8.35,-0.62,678.50,0,0,0,0,0,0,14.39,14.38,28.83
$RAFOS_CLK,214
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14418.68,180814,140818
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.73
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.80
$XPDR_PINGS,4
$SC_FREEKB,3864736
$24V_AH,12.82,49.466
$10V_AH,12.88,0.000
$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,23.150,26.825,533.625,0.000,0.000,0.000,0.000,210.475,1.000,0.000,26.546,0.000,10131.070,589.900,1792.187,131.590,0.000,1415.562,0.000,1142.059,1486.000,0.539,0.000
$DEVICE_MAMPS,390.915,245.565,1979.055,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.696,0.000,0.000,0.000
$MEM,268072
$DATA_FILE_SIZE,26708,760
$CAP_FILE_SIZE,126938,0
$CFSIZE,2097872896,2059501568
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12758.43,0x2378b6,7,5
$INTR,1,5110.02,0x2378b6,2,5
$INTR,2,5309.18,0x234484,1,24
$SOUNDSPEED,1450.4
$GPS,180814,211124,7217.236,-14409.471,23,0.7,43,22.8