version: 66.12
glider: 196
mission: 7
dive: 183
start: 8 21 114 9 21 7
data:
$ID,196
$MISSION,7
$DIVE,183
$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,-5242.2715
$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,49
$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
$GPS1,210814,091424,7237.558,-14406.306,25,0.8,45,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.0
$GPS2,210814,092048,7237.579,-14406.477,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,333.7,32320,-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,-145.9,199,2744,442,537,0.0,0.0,0,79,0.00,0.00,-61.97,0.000,16386,0.000,0.000,198,2744,2111,2120,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.69,-145.9,199,2745,2121,2105,3.6,-4.1,6,130,12.07,1.83,-30.50,0.000,18692,0.403,0.120,2657,3785,3854,3914,3795,0,0,0,0,0,0,14.07,14.32,14.53
$GC,354,-0.69,-145.9,2658,3785,3915,3802,84.9,-24.0,61,361,0.00,1.70,0.00,0.000,1030,0.000,0.054,2657,2756,3857,3914,3800,0,0,0,0,0,0,28.83,14.44,28.83
$GC,660,-0.69,-145.9,2657,2755,3915,3800,147.2,-19.2,92,665,0.00,1.85,0.00,0.000,260,0.000,0.100,2648,3787,3857,3914,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,890,-0.69,-145.9,2649,3788,3915,3801,192.7,-18.4,138,895,0.00,1.73,0.00,0.000,1030,0.000,0.055,2648,2746,3857,3914,3801,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1200,-0.69,-145.9,2649,2746,3915,3801,242.7,-15.2,170,1205,0.00,1.85,0.00,0.000,260,0.000,0.102,2640,3779,3857,3914,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1380,-0.69,-145.9,2641,3779,3915,3800,273.8,-17.5,206,1386,0.10,1.70,0.00,0.000,3078,0.245,0.055,2665,2757,3857,3914,3801,0,0,0,0,0,0,14.35,14.55,28.83
$GC,1710,-0.69,-145.9,2666,2757,3915,3801,318.8,-13.0,222,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,-0.69,-145.9,2666,2758,3915,3801,357.0,-12.8,232,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2757,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,-0.69,-145.9,2666,2758,3915,3801,394.8,-12.4,242,2315,0.00,2.33,0.00,0.000,516,0.000,0.067,2665,1358,3857,3914,3800,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2350,-0.69,-145.9,2666,1357,3915,3801,399.6,-11.4,250,2355,0.00,2.45,0.00,0.000,1030,0.000,0.099,2662,2755,3857,3914,3800,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2671,-0.69,-145.9,2663,2756,3915,3799,440.0,-12.6,264,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.69,-145.9,2663,2757,3915,3800,477.9,-12.6,274,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,-0.69,-145.9,2663,2757,3915,3800,515.6,-12.5,284,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3570,-0.69,-145.9,2662,2756,3915,3798,553.1,-12.4,294,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.69,-145.9,2663,2756,3915,3799,590.0,-12.2,304,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.69,-145.9,2663,2756,3915,3799,626.2,-12.0,314,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4470,-0.69,-145.9,2663,2756,3915,3799,662.4,-12.1,324,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4770,-0.69,-145.9,2663,2756,3915,3799,698.1,-11.9,334,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5070,-0.69,-145.9,2663,2756,3915,3799,733.3,-11.8,344,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2756,3856,3914,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5222,-0.13,0.0,2663,2756,3915,3798,750.7,-11.6,349,5349,0.68,0.00,124.62,1.994,10244,0.226,0.000,2845,2756,3257,3275,3240,0,0,0,0,0,0,14.52,28.83,13.16
$STATE,5350,end apogee,CONTROL_FINISHED_OK
$STATE,5350,begin climb
$GC,5352,0.69,145.9,2845,2756,3271,3235,754.1,0.0,353,5482,0.88,0.00,123.10,1.840,11270,0.128,0.000,3111,2757,2658,2664,2653,0,0,0,0,0,0,13.81,28.83,12.78
$GC,5791,0.69,145.9,3112,2757,2664,2645,707.7,13.1,393,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2756,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,0.69,145.9,3112,2757,2664,2644,668.2,13.0,403,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2756,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,0.69,145.9,3111,2756,2665,2643,629.9,12.7,413,6396,0.00,1.85,0.00,0.000,260,0.000,0.099,3111,3785,2653,2663,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6416,0.69,145.9,3111,3785,2664,2644,626.3,14.1,418,6422,0.00,1.75,0.00,0.000,1030,0.000,0.051,3117,2732,2653,2663,2643,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6721,0.69,145.9,3118,2739,2664,2644,587.0,12.7,429,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2732,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7021,0.69,145.9,3118,2732,2664,2642,548.9,12.6,439,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2732,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7321,0.69,145.9,3117,2733,2664,2642,511.2,12.7,449,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2732,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,0.69,145.9,3118,2732,2664,2642,473.1,12.7,459,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2732,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7921,0.69,145.9,3119,2733,2663,2643,434.9,12.8,469,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2732,2652,2663,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,0.69,145.9,3118,2732,2664,2642,397.0,12.7,479,8226,0.00,1.88,0.00,0.000,260,0.000,0.099,3117,3787,2652,2663,2642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8236,0.69,145.9,3118,3788,2664,2643,395.0,12.8,482,8241,0.00,1.73,0.00,0.000,1030,0.000,0.052,3125,2738,2652,2663,2642,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8552,0.69,145.9,3125,2738,2664,2642,354.5,12.7,495,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2738,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8851,0.69,145.9,3126,2737,2664,2643,316.3,12.7,505,8856,0.00,2.30,0.00,0.000,516,0.000,0.067,3134,1350,2652,2663,2642,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8886,0.69,145.9,3135,1351,2664,2642,312.2,11.7,512,8891,0.00,2.45,0.00,0.000,1030,0.000,0.092,3134,2739,2652,2663,2642,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9212,0.69,145.9,3135,2739,2664,2642,272.2,12.0,527,9217,0.00,1.80,0.00,0.000,260,0.000,0.099,3133,3784,2652,2663,2642,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9341,0.69,145.9,3134,3785,2664,2642,253.1,14.4,553,9347,0.00,1.70,0.00,0.000,1030,0.000,0.052,3142,2737,2652,2663,2642,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9656,0.71,178.9,3143,2738,2664,2643,218.1,9.9,584,9687,0.00,0.00,27.02,1.249,8198,0.000,0.000,3142,2737,2522,2528,2517,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9986,0.74,216.3,3142,2737,2529,2512,183.1,9.6,617,10022,0.00,1.88,31.30,1.229,8452,0.000,0.097,3142,3787,2370,2373,2367,0,0,0,0,0,0,28.83,14.20,13.66
$GC,10091,0.74,216.3,3143,3788,2370,2367,170.9,12.2,638,10098,0.00,1.75,0.00,0.000,1030,0.000,0.051,3145,2745,2368,2370,2366,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10397,0.76,251.9,3147,2745,2371,2363,140.0,9.7,669,10432,0.00,2.40,29.98,1.211,8708,0.000,0.065,3160,1354,2225,2227,2223,0,0,0,0,0,0,28.83,14.17,13.62
$GC,10457,0.79,286.0,3161,1353,2225,2222,134.1,9.8,679,10493,0.00,2.50,29.05,1.222,9222,0.000,0.093,3160,2743,2087,2088,2087,0,0,0,0,0,0,28.83,14.18,13.53
$GC,10797,0.79,287.7,3162,2744,2088,2077,93.6,11.5,717,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2743,2081,2087,2076,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140821120445.831470,3,1023,-6,0143,0150,255,03,03,06,05,1,000,000,2,5,1,0,150,22.4,2.5,-100,0.5,-01,-0.2,23,900,0025*08
$GC,11098,0.83,342.0,3161,2744,2089,2076,62.7,8.7,747,11128,0.00,0.00,23.75,0.376,8198,0.000,0.000,3160,2743,1863,1860,1866,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11428,0.90,440.1,3161,2743,1865,1863,38.6,6.4,780,11478,0.00,0.00,43.65,0.318,8198,0.000,0.000,3160,2743,1460,1469,1452,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11778,1.02,615.4,3161,2743,1474,1436,17.1,2.3,815,11861,0.17,2.40,76.78,0.252,10756,0.112,0.067,3244,1348,747,734,760,0,0,0,0,0,0,14.41,14.31,14.19
$GC,11895,1.10,737.5,3245,1347,735,760,13.0,5.1,838,11927,0.00,2.53,27.50,0.240,9222,0.000,0.092,3244,2749,499,454,544,0,0,0,0,0,0,28.83,14.26,14.18
$FREEZE,8.49,4.598,-1.381,2,1,0
$FREEZE,7.78,4.606,-1.380,2,1,0
$FREEZE,7.20,4.607,-1.379,2,1,0
$FREEZE,6.57,4.607,-1.378,2,1,0
$FREEZE,5.94,4.606,-1.378,2,1,0
$FREEZE,5.22,4.605,-1.377,2,1,0
$FREEZE,4.64,4.603,-1.377,2,1,0
$FREEZE,4.11,4.601,-1.377,2,1,0
$FREEZE,3.59,4.602,-1.376,2,1,0
$FREEZE,3.01,4.605,-1.376,2,1,0
$FREEZE,2.50,4.605,-1.375,2,1,0
$FREEZE,1.77,4.602,-1.375,2,1,0
$STATE,12080,end climb,SURFACE_DEPTH_REACHED
$STATE,12080,begin surface coast
$FREEZE,1.14,4.599,-1.375,2,1,0
$FREEZE,0.72,4.560,-1.370,2,1,0
$FREEZE,0.88,4.439,-1.183,2,1,0
$FINISH,0.9,1.017287
$STATE,12110,end surface coast,CONTROL_FINISHED_OK
$STATE,12110,begin surface
$SM_CCo,12186,0.00,0.000,0,0,494,678.01
$SM_GC,1.81,9.25,0.00,0.00,0.076,0.000,0.000,203,2749,494,-8.36,-0.31,678.01,0,0,0,0,0,0,14.40,28.83,28.83
$RAFOS_CLK,128
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7200.11,-14356.77,210814,054319
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.37
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.70
$XPDR_PINGS,4
$SC_FREEKB,3856672
$24V_AH,12.78,54.672
$10V_AH,12.89,0.000
$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,23.150,44.325,536.750,0.000,0.000,0.000,0.000,219.075,1.000,0.000,25.451,0.000,9840.060,605.609,1968.536,150.487,0.000,1519.772,0.000,1285.827,1494.000,0.539,0.000
$DEVICE_MAMPS,403.155,120.105,1994.355,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12150.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.871,0.000,0.000,0.000
$MEM,257948
$DATA_FILE_SIZE,30033,863
$CAP_FILE_SIZE,133455,0
$CFSIZE,2097872896,2056028160
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12804.41,0x2378b6,7,5
$INTR,1,5220.00,0x2378b6,2,5
$INTR,2,11803.04,0x234482,1,24
$INTR,3,12113.52,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,210814,124525,7238.998,-14407.395,26,0.8,46,22.9