version: 66.12
glider: 196
mission: 7
dive: 187
start: 8 21 114 23 31 38
data:
$ID,196
$MISSION,7
$DIVE,187
$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,-5247.4082
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,210814,232418,7242.440,-14414.144,34,0.7,55,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-78.2
$GPS2,210814,233119,7242.455,-14414.178,3,0.7,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,284.5,38237,-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,-145.9,202,2769,432,545,0.0,0.0,0,80,0.00,0.00,-62.60,0.000,16386,0.000,0.000,201,2768,2107,2116,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,202,2765,2118,2100,3.4,-3.5,6,132,12.02,2.45,-32.90,0.000,18948,0.399,0.088,2663,1371,3856,3916,3796,0,0,0,0,0,0,14.06,14.29,14.49
$GC,356,-0.69,-145.9,2664,1371,3918,3803,76.7,-20.6,61,363,0.00,2.50,0.00,0.000,1030,0.000,0.095,2655,2748,3859,3916,3802,0,0,0,0,0,0,28.83,14.31,28.83
$GC,661,-0.69,-145.9,2657,2749,3917,3805,141.3,-20.0,92,666,0.00,2.33,0.00,0.000,516,0.000,0.063,2655,1368,3860,3916,3804,0,0,0,0,0,0,28.83,14.41,28.83
$GC,871,-0.69,-145.9,2654,1369,3912,3805,177.5,-16.3,134,877,0.00,2.47,0.00,0.000,1030,0.000,0.096,2643,2768,3860,3916,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1181,-0.69,-145.9,2644,2769,3917,3805,231.7,-17.0,166,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3860,3916,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-0.69,-145.9,2645,2768,3917,3804,279.8,-15.9,184,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.69,-145.9,2645,2765,3916,3805,324.3,-14.5,194,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2768,3859,3916,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-0.69,-145.9,2644,2769,3916,3804,368.1,-14.5,204,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3860,3917,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2381,-0.69,-145.9,2644,2768,3917,3802,410.9,-14.1,214,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.69,-145.9,2644,2768,3917,3803,453.3,-14.2,224,2686,0.00,2.35,0.00,0.000,516,0.000,0.066,2643,1371,3858,3916,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2731,-0.69,-145.9,2644,1369,3917,3801,460.1,-12.8,234,2737,0.10,2.50,0.00,0.000,3078,0.231,0.096,2666,2755,3858,3916,3801,0,0,0,0,0,0,14.33,14.42,28.83
$GC,3042,-0.69,-145.9,2667,2756,3917,3802,498.2,-12.3,246,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140822001625.549208,3,148,-2,0202,0150,255,03,03,04,03,1,000,000,2,5,1,0,150,20.7,4.7,-100,-1.7,-01,0.4,27,900,0025*3C
$GC,3342,-0.69,-145.9,2666,2756,3917,3801,534.6,-12.2,256,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.69,-145.9,2666,2755,3917,3801,570.6,-11.9,266,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2755,3856,3915,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.69,-145.9,2666,2756,3916,3802,606.1,-11.9,276,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.69,-145.9,2667,2756,3916,3802,641.3,-11.7,286,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4541,-0.69,-145.9,2666,2755,3917,3801,676.0,-11.6,296,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2754,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-0.69,-145.9,2667,2756,3915,3801,710.4,-11.4,306,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2755,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.69,-145.9,2666,2755,3917,3801,744.3,-11.3,316,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5200,begin apogee
$GC,5203,-0.13,0.0,2666,2756,3917,3800,751.1,-11.3,318,5330,0.65,0.00,124.20,1.981,10244,0.223,0.000,2843,2755,3257,3275,3240,0,0,0,0,0,0,14.50,28.83,13.16
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5333,0.69,145.9,2845,2756,3272,3238,754.8,0.0,322,5463,0.88,0.00,123.40,1.832,11270,0.129,0.000,3109,2755,2658,2664,2653,0,0,0,0,0,0,13.81,28.83,12.78
$GC,5772,0.69,145.9,3110,2756,2665,2645,709.0,13.2,362,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6072,0.69,145.9,3110,2756,2664,2644,669.7,13.1,372,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,0.69,145.9,3110,2756,2664,2645,631.1,13.0,382,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,0.69,145.9,3109,2755,2662,2643,593.2,12.5,392,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,0.69,145.9,3109,2755,2665,2643,555.4,12.6,402,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,0.69,145.9,3110,2756,2664,2642,518.3,12.3,412,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.69,145.9,3109,2755,2664,2642,480.8,12.5,422,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,0.69,145.9,3114,2756,2665,2642,444.3,12.1,432,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,0.69,145.9,3110,2756,2665,2643,407.9,12.1,442,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.69,145.9,3110,2756,2665,2643,371.3,12.2,452,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.69,145.9,3110,2756,2664,2643,335.9,11.8,462,8777,0.00,2.35,0.00,0.000,516,0.000,0.067,3119,1346,2653,2664,2642,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8792,0.69,152.2,3120,1346,2664,2643,333.6,11.3,466,8804,0.00,2.42,3.05,1.102,9222,0.000,0.092,3119,2748,2639,2653,2626,0,0,0,0,0,0,28.83,14.61,13.69
$GC,9103,0.69,152.2,3120,2748,2666,2628,296.2,12.0,478,9105,0.00,0.00,1.15,0.353,8198,0.000,0.000,3120,2748,2638,2652,2624,0,0,0,0,0,0,28.83,28.83,14.20
$GC,9402,0.70,162.5,3120,2748,2667,2627,261.6,11.1,488,9416,0.00,0.00,12.95,1.320,8198,0.000,0.000,3119,2743,2594,2605,2583,0,0,0,0,0,0,28.83,28.83,13.98
$GC,9702,0.71,179.2,3120,2749,2601,2578,228.5,10.7,510,9724,0.00,2.42,14.45,1.274,8708,0.000,0.067,3125,1346,2521,2529,2513,0,0,0,0,0,0,28.83,14.44,13.92
$GC,9769,0.73,208.0,3126,1346,2529,2513,221.8,10.1,523,9799,0.00,2.45,24.35,1.229,9222,0.000,0.091,3125,2748,2405,2409,2402,0,0,0,0,0,0,28.83,14.46,13.81
$GC,10104,0.75,232.5,3126,2749,2409,2396,184.8,10.3,560,10130,0.00,1.85,20.95,1.207,8452,0.000,0.099,3125,3789,2305,2309,2302,0,0,0,0,0,0,28.83,14.31,13.79
$GC,10159,0.75,232.5,3126,3789,2306,2303,178.3,13.2,570,10166,0.00,1.75,0.00,0.000,1030,0.000,0.050,3131,2738,2303,2305,2301,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10464,0.77,266.7,3133,2739,2306,2299,147.5,9.8,601,10496,0.00,0.00,29.12,1.166,8198,0.000,0.000,3132,2738,2166,2169,2164,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10795,0.81,313.7,3133,2739,2168,2155,114.8,9.1,634,10836,0.00,0.00,36.60,1.150,8198,0.000,0.000,3132,2738,1973,1972,1975,0,0,0,0,0,0,28.83,28.83,13.68
$GC,11135,0.84,360.2,3133,2738,1972,1965,81.2,9.2,668,11161,0.00,2.38,19.98,0.434,8708,0.000,0.066,3142,1351,1789,1788,1790,0,0,0,0,0,0,28.83,14.23,14.00
$GC,11190,0.87,396.3,3144,1352,1792,1791,75.9,9.7,679,11211,0.00,2.53,16.73,0.416,9222,0.000,0.094,3143,2760,1642,1645,1639,0,0,0,0,0,0,28.83,14.24,13.99
$GC,11516,0.92,470.6,3143,2760,1651,1630,46.4,7.7,714,11558,0.15,2.47,33.10,0.328,10756,0.116,0.067,3212,1353,1337,1349,1326,0,0,0,0,0,0,14.33,14.24,14.07
$GC,11597,0.92,479.4,3213,1353,1350,1325,38.0,11.2,730,11609,0.00,2.47,4.00,0.321,9222,0.000,0.093,3212,2737,1304,1318,1290,0,0,0,0,0,0,28.83,14.23,14.04
$GC,11908,1.04,649.0,3213,2737,1322,1283,16.8,2.6,762,11989,0.00,0.00,76.35,0.249,8454,0.000,0.000,3211,2737,610,585,636,0,0,0,0,0,0,28.83,28.83,14.09
$FREEZE,8.26,2.381,-1.421,2,1,0
$FREEZE,7.68,2.436,-1.421,2,1,0
$FREEZE,7.15,2.487,-1.418,2,1,0
$FREEZE,6.50,2.675,-1.415,2,1,0
$FREEZE,5.84,2.750,-1.414,2,1,0
$FREEZE,5.28,2.670,-1.419,2,1,0
$FREEZE,4.67,2.500,-1.421,2,1,0
$FREEZE,4.04,2.338,-1.417,2,1,0
$FREEZE,3.37,2.549,-1.403,2,1,0
$FREEZE,2.73,2.844,-1.389,2,1,0
$FREEZE,2.16,2.838,-1.388,2,1,0
$FREEZE,1.37,2.789,-1.390,2,1,0
$STATE,12166,end climb,SURFACE_DEPTH_REACHED
$STATE,12166,begin surface coast
$FREEZE,0.93,2.847,-0.757,2,1,0
$FREEZE,0.75,2.791,-0.891,2,1,0
$FREEZE,0.86,2.838,-0.713,2,1,0
$FINISH,0.9,1.010497
$STATE,12196,end surface coast,CONTROL_FINISHED_OK
$STATE,12196,begin surface
$SM_CCo,12212,11.90,0.207,0,0,499,676.54
$SM_GC,2.45,9.20,0.00,11.90,0.077,0.000,0.207,203,2737,499,-8.37,-0.62,676.54,0,0,0,0,0,0,14.33,28.83,14.20
$RAFOS_CLK,519
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7207.11,-14404.21,210814,195200
$TT8_MAMPS,0.043442,0.043442
$HUMID,46.14
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.80
$XPDR_PINGS,7
$SC_FREEKB,3854880
$24V_AH,12.78,55.845
$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,23.000,37.700,540.375,11.900,0.000,0.000,0.000,251.750,1.750,0.000,26.235,0.000,9987.510,610.976,1896.437,147.789,0.000,1509.618,0.000,1188.938,1422.000,0.539,0.000
$DEVICE_MAMPS,399.330,99.450,1981.350,206.550,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12238.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.722,0.000,0.000,0.000
$MEM,255636
$DATA_FILE_SIZE,26679,797
$CAP_FILE_SIZE,130847,0
$CFSIZE,2097872896,2055274496
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12924.29,0x2378b6,7,5
$INTR,1,5201.20,0x2378b6,2,5
$INTR,2,12199.61,0x2378b6,7,5
$SOUNDSPEED,1449.8
$GPS,220814,025649,7243.222,-14418.056,39,0.8,59,22.9