version: 66.12
glider: 196
mission: 7
dive: 182
start: 8 21 114 5 47 42
data:
$ID,196
$MISSION,7
$DIVE,182
$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,-5241.0088
$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
$GPS1,210814,054043,7235.997,-14404.426,17,0.8,37,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-79.7
$GPS2,210814,054723,7235.993,-14404.799,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.5,35314,-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,16,-0.69,-145.9,205,2756,441,538,0.0,0.0,0,80,0.00,0.00,-62.83,0.000,16386,0.000,0.000,204,2756,2121,2130,2112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,205,2757,2131,2113,3.5,-3.5,6,131,11.82,1.80,-31.17,0.000,18692,0.392,0.120,2660,3786,3854,3914,3795,0,0,0,0,0,0,14.07,14.30,14.54
$GC,355,-0.69,-145.9,2661,3787,3915,3802,83.5,-23.5,61,362,0.00,1.70,0.00,0.000,1030,0.000,0.053,2660,2760,3857,3914,3801,0,0,0,0,0,0,28.83,14.44,28.83
$GC,660,-0.69,-145.9,2661,2760,3915,3801,144.5,-19.0,92,666,0.00,1.83,0.00,0.000,260,0.000,0.101,2652,3782,3857,3914,3801,0,0,0,0,0,0,28.83,14.36,28.83
$GC,890,-0.69,-145.9,2653,3783,3915,3801,189.9,-19.5,138,896,0.00,1.70,0.00,0.000,1030,0.000,0.056,2652,2759,3857,3914,3801,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1200,-0.69,-145.9,2653,2759,3915,3801,238.9,-15.7,170,1206,0.00,1.83,0.00,0.000,260,0.000,0.102,2644,3778,3857,3914,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1310,-0.69,-145.9,2644,3777,3913,3801,257.2,-16.5,192,1316,0.00,1.67,0.00,0.000,1030,0.000,0.056,2644,2762,3857,3913,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1621,-0.69,-145.9,2645,2762,3914,3802,304.2,-14.8,204,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,-0.69,-145.9,2644,2762,3915,3801,347.6,-14.2,214,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3860,3914,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-0.69,-145.9,2644,2761,3915,3801,390.2,-14.1,224,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.69,-145.9,2644,2762,3914,3800,432.2,-14.0,234,2526,0.00,2.33,0.00,0.000,516,0.000,0.067,2644,1365,3857,3914,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2560,-0.69,-145.9,2644,1366,3915,3801,437.4,-12.9,242,2566,0.15,2.45,0.00,0.000,3078,0.263,0.098,2665,2761,3857,3914,3800,0,0,0,0,0,0,14.40,14.51,28.83
$GC,2881,-0.69,-145.9,2666,2762,3915,3800,476.2,-12.1,256,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-0.69,-145.9,2666,2762,3915,3800,512.0,-12.0,266,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,-0.69,-145.9,2666,2761,3915,3800,547.7,-11.9,276,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3780,-0.69,-145.9,2666,2763,3914,3800,582.9,-11.8,286,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2762,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-0.69,-145.9,2666,2762,3915,3800,618.4,-11.9,296,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,-0.69,-145.9,2666,2761,3915,3800,653.5,-11.6,306,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2762,3856,3913,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4681,-0.69,-145.9,2665,2762,3915,3799,688.0,-11.5,316,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2762,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.69,-145.9,2667,2763,3914,3800,721.6,-11.2,326,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5249,begin apogee
$GC,5253,-0.13,0.0,2667,2763,3914,3799,751.7,-11.2,335,5379,0.65,0.00,124.18,1.981,10244,0.224,0.000,2843,2762,3257,3274,3240,0,0,0,0,0,0,14.52,28.83,13.16
$STATE,5380,end apogee,CONTROL_FINISHED_OK
$STATE,5380,begin climb
$GC,5382,0.69,145.9,2844,2762,3271,3236,755.0,0.0,339,5511,0.88,0.00,123.47,1.847,11270,0.135,0.000,3107,2762,2657,2664,2650,0,0,0,0,0,0,13.81,28.83,12.80
$GC,5821,0.69,145.9,3107,2762,2664,2645,708.3,13.1,379,5826,0.00,1.88,0.00,0.000,260,0.000,0.097,3106,3779,2653,2663,2644,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5881,0.69,145.9,3107,3779,2664,2644,699.3,15.5,391,5886,0.00,1.75,0.00,0.000,1030,0.000,0.052,3113,2748,2653,2663,2644,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6212,0.69,145.9,3114,2749,2665,2644,655.3,13.3,407,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6511,0.69,145.9,3114,2749,2664,2644,615.5,13.2,417,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6811,0.69,145.9,3114,2749,2664,2644,575.9,13.3,427,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7111,0.69,145.9,3114,2749,2664,2644,536.8,13.0,437,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,0.69,145.9,3114,2748,2664,2642,498.6,12.6,447,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2655,2663,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,0.69,145.9,3114,2749,2664,2643,460.9,12.3,457,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8012,0.69,145.9,3114,2748,2663,2648,424.6,12.1,467,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8311,0.69,145.9,3114,2749,2664,2643,388.0,12.1,477,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8611,0.69,145.9,3114,2748,2664,2642,351.6,12.1,487,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2748,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,0.69,145.9,3114,2748,2664,2642,315.2,12.1,497,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,0.69,150.1,3114,2748,2664,2642,281.2,11.4,507,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2748,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140821080445.624009,3,850,00,0191,0150,217,04,04,05,04,1,000,000,2,5,1,0,150,25.9,4.3,-100,-1.3,-01,-0.1,14,900,0025*02
$GC,9512,0.71,176.4,3114,2749,2664,2643,249.4,10.2,517,9542,0.00,0.00,25.00,1.287,8198,0.000,0.000,3113,2748,2533,2541,2526,0,0,0,0,0,0,28.83,28.83,13.80
$GC,9842,0.72,193.3,3114,2749,2541,2523,213.3,10.7,550,9862,0.00,0.00,15.07,1.278,8198,0.000,0.000,3113,2754,2463,2470,2457,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10162,0.76,243.1,3114,2748,2472,2453,179.8,9.0,582,10207,0.00,1.92,41.58,1.228,8452,0.000,0.099,3113,3786,2261,2264,2259,0,0,0,0,0,0,28.83,14.19,13.66
$GC,10242,0.76,243.1,3114,3786,2262,2256,171.6,12.7,598,10247,0.00,1.73,0.00,0.000,1030,0.000,0.053,3121,2734,2258,2261,2255,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10553,0.79,290.2,3122,2734,2262,2252,141.1,9.1,630,10594,0.00,0.00,39.70,1.225,8198,0.000,0.000,3121,2733,2072,2075,2069,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10893,0.82,331.7,3122,2734,2074,2053,106.9,9.4,664,10927,0.12,0.00,32.47,1.183,10246,0.133,0.000,3173,2733,1901,1903,1900,0,0,0,0,0,0,14.38,28.83,13.66
$GC,11222,0.82,331.7,3174,2733,1898,1888,65.6,11.7,697,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2733,1892,1897,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11522,0.89,433.4,3174,2734,1898,1887,41.1,6.2,727,11573,0.00,1.92,43.42,0.325,8452,0.000,0.102,3173,3781,1489,1497,1481,0,0,0,0,0,0,28.83,14.28,14.17
$GC,11598,0.91,465.8,3174,3782,1498,1482,34.8,9.9,742,11619,0.00,1.70,14.43,0.311,9222,0.000,0.054,3178,2739,1358,1371,1345,0,0,0,0,0,0,28.83,14.38,14.16
$GC,11923,1.06,680.3,3179,2740,1374,1335,18.4,0.2,777,12026,0.17,2.45,93.40,0.252,10756,0.112,0.070,3258,1344,498,452,545,0,0,0,0,0,0,14.45,14.28,14.16
$FREEZE,8.85,4.369,-1.373,2,1,0
$FREEZE,8.43,4.237,-1.374,2,1,0
$FREEZE,8.20,4.237,-1.374,2,1,0
$GC,12122,1.14,783.8,3259,1345,452,546,8.2,6.1,816,12128,0.00,2.47,0.00,0.000,1030,0.000,0.093,3258,2741,497,452,543,0,0,0,0,0,0,28.83,14.33,28.83
$FREEZE,7.19,4.109,-1.372,2,1,0
$FREEZE,6.65,4.069,-1.370,2,1,0
$FREEZE,6.00,4.041,-1.369,2,1,0
$FREEZE,5.28,4.015,-1.368,2,1,0
$FREEZE,4.66,4.001,-1.367,2,1,0
$FREEZE,4.07,3.994,-1.366,2,1,0
$FREEZE,3.39,3.983,-1.366,2,1,0
$FREEZE,2.76,3.982,-1.365,2,1,0
$FREEZE,2.07,3.979,-1.364,2,1,0
$FREEZE,1.55,3.978,-1.364,2,1,0
$STATE,12224,end climb,SURFACE_DEPTH_REACHED
$STATE,12224,begin surface coast
$FREEZE,0.68,3.919,-1.366,2,1,0
$FREEZE,0.75,3.874,-1.256,2,1,0
$FREEZE,0.78,3.916,-0.620,2,1,0
$FINISH,0.8,1.009091
$STATE,12255,end surface coast,CONTROL_FINISHED_OK
$STATE,12255,begin surface
$SM_CCo,12331,0.00,0.000,0,0,493,678.25
$SM_GC,1.83,9.27,0.00,0.00,0.078,0.000,0.000,199,2743,493,-8.36,-0.48,678.25,0,0,0,0,0,0,14.42,28.83,28.83
$RAFOS_CLK,220
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7200.11,-14405.22,210814,020929
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.20
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3857120
$24V_AH,12.80,54.383
$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,23.075,31.125,552.725,0.000,0.000,0.000,0.000,234.050,1.000,0.000,25.987,0.000,10048.426,601.199,1929.678,146.253,0.000,1504.508,0.000,1242.898,1489.000,0.539,0.000
$DEVICE_MAMPS,392.445,120.105,1981.350,0.000,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12294.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.787,0.000,0.000,0.000
$MEM,258456
$DATA_FILE_SIZE,26684,830
$CAP_FILE_SIZE,130329,0
$CFSIZE,2097872896,2056257536
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12820.38,0x2378b6,7,5
$INTR,1,5250.78,0x2378b6,2,5
$INTR,2,5437.33,0x234484,1,24
$INTR,3,12258.46,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,210814,091424,7237.558,-14406.306,25,0.8,45,22.9