version: 66.12
glider: 196
mission: 7
dive: 185
start: 8 21 114 16 26 32
data:
$ID,196
$MISSION,7
$DIVE,185
$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,-5244.7915
$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,57
$R_STBD_OVSHOOT,16
$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
$GPS1,210814,161912,7240.439,-14408.668,39,0.7,59,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.7
$GPS2,210814,162613,7240.432,-14408.832,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,335.8,26987,-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
$MODEM_MSG,CACST,6,1,20140821160447.043680,3,226,-6,0140,0150,255,03,03,05,05,1,000,000,2,5,1,0,150,19.2,2.6,-100,0.4,-01,0.4,25,900,0025*1C
$GC,16,-0.69,-145.9,203,2763,439,536,0.0,0.0,0,80,0.00,0.00,-62.78,0.000,16386,0.000,0.000,205,2762,2124,2132,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,206,2763,2133,2118,3.4,-3.7,6,131,12.05,1.80,-30.67,0.000,18692,0.400,0.118,2660,3792,3854,3915,3794,0,0,0,0,0,0,14.02,14.28,14.49
$GC,355,-0.69,-145.9,2658,3792,3916,3801,84.0,-23.6,61,362,0.00,1.70,0.00,0.000,1030,0.000,0.052,2658,2766,3858,3915,3801,0,0,0,0,0,0,28.83,14.41,28.83
$GC,661,-0.69,-145.9,2658,2767,3916,3802,147.4,-19.3,92,666,0.00,1.83,0.00,0.000,260,0.000,0.100,2650,3785,3858,3915,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,865,-0.69,-145.9,2651,3785,3916,3801,187.5,-18.8,133,872,0.00,1.70,0.00,0.000,1030,0.000,0.054,2650,2756,3858,3915,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1171,-0.69,-145.9,2650,2757,3916,3802,238.6,-15.9,164,1176,0.00,1.85,0.00,0.000,260,0.000,0.101,2642,3792,3858,3915,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1285,-0.69,-145.9,2642,3792,3914,3801,258.0,-17.9,187,1292,0.10,1.70,0.00,0.000,3078,0.249,0.054,2667,2765,3858,3915,3801,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1591,-0.69,-145.9,2667,2765,3915,3801,299.3,-13.1,198,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2764,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.69,-145.9,2667,2765,3916,3800,338.1,-12.8,208,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2765,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.69,-145.9,2668,2765,3916,3800,375.7,-12.6,218,2196,0.00,2.33,0.00,0.000,516,0.000,0.066,2667,1362,3856,3914,3799,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2240,-0.69,-145.9,2668,1363,3915,3800,381.8,-11.5,228,2246,0.00,2.47,0.00,0.000,1030,0.000,0.099,2660,2769,3857,3914,3800,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2551,-0.69,-145.9,2661,2770,3915,3798,421.6,-12.8,240,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2769,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.69,-145.9,2661,2769,3916,3796,460.5,-13.0,250,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2769,3855,3914,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.69,-145.9,2661,2770,3915,3798,498.7,-12.7,260,3156,0.00,2.33,0.00,0.000,516,0.000,0.064,2660,1365,3855,3914,3796,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3180,-0.69,-145.9,2660,1365,3916,3796,502.3,-12.1,266,3186,0.00,2.45,0.00,0.000,1030,0.000,0.096,2649,2768,3855,3914,3796,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3511,-0.69,-145.9,2650,2769,3915,3797,545.6,-13.3,282,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2768,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-0.69,-145.9,2650,2768,3916,3798,585.0,-13.0,292,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2768,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,-0.69,-145.9,2650,2769,3915,3798,623.9,-13.0,302,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2768,3855,3915,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.69,-145.9,2650,2768,3916,3796,662.6,-12.8,312,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2768,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-0.69,-145.9,2650,2768,3916,3796,701.1,-12.9,322,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2768,3855,3915,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-0.69,-145.9,2650,2769,3915,3797,739.1,-12.6,332,5016,0.00,2.33,0.00,0.000,516,0.000,0.064,2649,1363,3854,3914,3795,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5060,-0.69,-145.9,2650,1365,3915,3796,745.2,-11.4,342,5066,0.15,2.42,0.00,0.000,3078,0.265,0.096,2671,2762,3855,3915,3795,0,0,0,0,0,0,14.51,14.63,28.83
$STATE,5129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5129,begin apogee
$GC,5133,-0.13,0.0,2672,2762,3916,3795,753.0,-11.3,346,5259,0.62,0.00,123.75,1.999,10246,0.217,0.000,2843,2767,3257,3274,3241,0,0,0,0,0,0,14.52,28.83,13.15
$STATE,5260,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5262,0.69,145.9,2844,2763,3270,3237,756.4,0.0,350,5389,0.93,0.00,124.05,1.834,10246,0.132,0.000,3116,2762,2660,2665,2656,0,0,0,0,0,0,13.81,28.83,12.81
$GC,5671,0.69,145.9,3117,2762,2664,2646,711.8,13.8,364,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,0.69,145.9,3117,2763,2664,2646,670.9,13.7,374,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,0.69,145.9,3117,2763,2664,2646,630.2,13.6,384,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,0.69,145.9,3117,2762,2664,2644,590.2,13.3,394,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,0.69,145.9,3117,2763,2664,2645,550.9,13.0,404,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2762,2656,2663,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,0.69,145.9,3117,2763,2664,2645,512.5,12.7,414,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,0.69,145.9,3117,2763,2664,2644,474.8,12.6,424,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7771,0.69,145.9,3117,2762,2664,2644,437.3,12.5,434,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,0.69,145.9,3117,2763,2664,2644,399.9,12.4,444,8076,0.00,2.38,0.00,0.000,516,0.000,0.066,3125,1344,2653,2663,2643,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8105,0.69,145.9,3126,1344,2664,2643,395.7,11.9,451,8111,0.00,2.45,0.00,0.000,1030,0.000,0.092,3125,2735,2653,2663,2643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8432,0.69,145.9,3125,2735,2664,2643,354.7,12.5,466,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2735,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,0.69,145.9,3126,2735,2664,2644,317.9,12.2,476,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2735,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9031,0.69,152.2,3126,2735,2664,2643,282.8,11.3,486,9035,0.00,0.00,2.88,1.016,8198,0.000,0.000,3125,2734,2638,2648,2628,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9331,0.71,168.4,3126,2735,2666,2630,250.1,10.8,496,9356,0.00,1.90,17.73,1.281,8452,0.000,0.099,3125,3786,2565,2574,2557,0,0,0,0,0,0,28.83,14.52,13.97
$GC,9422,0.71,168.4,3125,3788,2572,2558,238.3,13.6,514,9426,0.00,1.67,0.00,0.000,1030,0.000,0.051,3130,2738,2563,2571,2556,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9731,0.73,197.8,3130,2738,2572,2556,205.5,10.1,546,9761,0.00,0.00,24.70,1.222,8198,0.000,0.000,3130,2738,2445,2451,2439,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10062,0.75,238.6,3131,2738,2453,2436,170.9,9.5,579,10102,0.00,2.38,33.45,1.190,8708,0.000,0.067,3141,1350,2282,2284,2280,0,0,0,0,0,0,28.83,14.27,13.74
$GC,10128,0.78,280.1,3142,1351,2281,2281,164.5,9.4,592,10168,0.00,2.47,35.62,1.208,9222,0.000,0.093,3140,2739,2113,2113,2113,0,0,0,0,0,0,28.83,14.26,13.60
$GC,10473,0.79,295.5,3141,2740,2112,2099,124.9,10.8,631,10486,0.00,0.00,11.95,1.216,8198,0.000,0.000,3141,2744,2054,2059,2049,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10783,0.82,326.0,3141,2739,2056,2038,92.3,10.0,662,10798,0.00,0.00,13.05,0.470,8198,0.000,0.000,3143,2738,1928,1927,1929,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11094,0.85,377.4,3142,2739,1938,1929,61.9,8.9,693,11118,0.00,0.00,23.27,0.375,8454,0.000,0.000,3141,2738,1718,1719,1718,0,0,0,0,0,0,28.83,28.83,14.15
$GC,11424,0.92,472.9,3141,2738,1726,1710,39.2,6.6,729,11468,0.15,0.00,42.33,0.322,10246,0.116,0.000,3202,2738,1330,1339,1321,0,0,0,0,0,0,14.49,28.83,14.20
$GC,11763,1.07,695.2,3203,2738,1343,1306,16.5,-0.2,763,11860,0.12,2.38,90.07,0.247,10756,0.132,0.065,3259,1346,498,452,544,0,0,0,0,0,0,14.45,14.32,14.19
$FREEZE,8.63,4.332,-1.403,2,1,0
$GC,11900,1.13,775.7,3260,1347,453,545,8.6,7.3,790,11906,0.00,2.47,0.00,0.000,1030,0.000,0.091,3259,2741,498,452,544,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,7.53,4.411,-1.401,2,1,0
$FREEZE,6.92,4.472,-1.398,2,1,0
$FREEZE,6.13,4.519,-1.390,2,1,0
$FREEZE,5.31,4.572,-1.387,2,1,0
$FREEZE,4.68,4.626,-1.385,2,1,0
$FREEZE,3.87,4.656,-1.383,2,1,0
$FREEZE,3.13,4.676,-1.382,2,1,0
$FREEZE,2.42,4.699,-1.381,2,1,0
$FREEZE,1.62,4.700,-1.381,2,1,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FREEZE,0.88,4.694,-1.381,2,1,0
$FREEZE,0.83,4.215,-1.401,2,1,0
$FINISH,0.8,1.020423
$STATE,12014,end surface coast,CONTROL_FINISHED_OK
$STATE,12014,begin surface
$SM_CCo,12089,0.00,0.000,0,0,492,678.50
$SM_GC,1.72,9.32,0.00,0.00,0.080,0.000,0.000,201,2742,492,-8.36,-0.54,678.50,0,0,0,0,0,0,14.41,28.83,28.83
$RAFOS_CLK,600
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14408.44,210814,124758
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.22
$INTERNAL_PRESSURE,8.60186
$TCM_TEMP,12.70
$XPDR_PINGS,2
$SC_FREEKB,3855776
$24V_AH,12.81,55.237
$10V_AH,13.13,0.000
$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,23.450,43.000,542.850,0.000,0.000,0.000,0.000,258.550,0.500,0.000,25.736,0.000,9825.932,636.955,1899.500,146.456,0.000,1531.298,0.000,1201.140,0.000,0.540,0.000
$DEVICE_MAMPS,400.095,117.810,1998.945,0.000,0.000,0.000,0.000,156.060,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.841,0.000,0.000,0.000
$MEM,256832
$DATA_FILE_SIZE,26699,802
$CAP_FILE_SIZE,129696,0
$CFSIZE,2097872896,2055667712
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12829.49,0x2378b6,7,5
$INTR,1,5130.77,0x2378b6,2,5
$INTR,2,12017.31,0x2378b6,7,5
$SOUNDSPEED,1450.3
$GPS,210814,194924,7241.828,-14409.173,36,0.7,56,22.9