version: 66.12
glider: 196
mission: 7
dive: 194
start: 8 23 114 0 14 25
data:
$ID,196
$MISSION,7
$DIVE,194
$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,-5257.269
$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,44
$R_STBD_OVSHOOT,20
$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
$GPS1,230814,000624,7248.658,-14439.920,29,0.8,49,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.9
$GPS2,230814,001407,7248.669,-14440.025,4,2.1,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,325.6,78152,-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,-145.9,203,2747,432,551,0.0,0.0,0,90,0.00,0.00,-71.95,0.000,16386,0.000,0.000,202,2748,2353,2361,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,203,2748,2362,2346,4.3,-4.7,7,135,12.05,2.40,-25.75,0.000,18948,0.395,0.092,2666,1366,3852,3914,3791,0,0,0,0,0,0,13.96,14.15,14.38
$GC,359,-0.69,-145.9,2667,1366,3915,3797,76.5,-20.8,61,365,0.00,2.53,0.00,0.000,1030,0.000,0.100,2656,2768,3855,3914,3796,0,0,0,0,0,0,28.83,14.21,28.83
$MODEM_MSG,CACST,6,1,20140823000438.722718,3,2133,-8,0130,0150,255,04,04,07,06,1,000,000,2,5,1,0,150,10.2,2.3,-100,0.7,-01,-0.2,28,900,0025*07
$GC,670,-0.69,-145.9,2658,2764,3914,3796,143.0,-20.3,93,675,0.00,2.40,0.00,0.000,516,0.000,0.070,2657,1356,3855,3914,3796,0,0,0,0,0,0,28.83,14.31,28.83
$GC,804,-0.69,-145.9,2658,1355,3915,3797,167.3,-17.0,120,811,0.00,2.55,0.00,0.000,1030,0.000,0.099,2646,2757,3855,3914,3797,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1110,-0.69,-145.9,2647,2757,3915,3797,223.0,-17.3,151,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2757,3854,3913,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-0.69,-145.9,2647,2758,3915,3797,274.2,-15.7,173,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2757,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-0.69,-145.9,2646,2757,3914,3797,319.3,-14.9,183,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2757,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.69,-145.9,2647,2757,3915,3796,363.2,-14.5,193,2031,0.12,0.00,0.00,0.000,2054,0.298,0.000,2671,2757,3855,3914,3796,0,0,0,0,0,0,14.42,28.83,28.83
$GC,2330,-0.69,-145.9,2672,2757,3915,3796,401.0,-12.5,203,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2757,3854,3913,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2629,-0.69,-145.9,2672,2757,3914,3797,438.0,-12.2,213,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2757,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.69,-145.9,2672,2757,3915,3796,474.2,-12.1,223,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2757,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3230,-0.69,-145.9,2672,2757,3915,3796,509.8,-11.8,233,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2758,3855,3914,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-0.69,-145.9,2672,2757,3915,3796,545.0,-11.6,243,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2757,3854,3913,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.69,-145.9,2671,2757,3915,3796,579.5,-11.5,253,3835,0.00,2.35,0.00,0.000,516,0.000,0.070,2671,1356,3852,3909,3796,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3884,-0.69,-145.9,2671,1356,3915,3796,585.5,-10.7,264,3891,0.00,2.47,0.00,0.000,1030,0.000,0.099,2662,2765,3855,3914,3796,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4190,-0.69,-145.9,2662,2766,3914,3797,621.8,-11.9,275,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3854,3913,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4490,-0.69,-145.9,2663,2765,3915,3795,658.1,-12.1,285,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2765,3854,3914,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.69,-145.9,2663,2766,3915,3796,694.3,-12.0,295,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2768,3854,3913,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,-0.69,-145.9,2663,2765,3915,3796,730.0,-11.9,305,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2765,3854,3913,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5272,-0.13,0.0,2663,2765,3914,3795,751.5,-11.9,311,5398,0.68,0.00,123.70,1.959,10244,0.225,0.000,2844,2766,3259,3278,3241,0,0,0,0,0,0,14.50,28.83,13.16
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5401,0.69,145.9,2844,2766,3274,3236,755.0,0.0,315,5531,0.88,0.00,123.88,1.840,11270,0.135,0.000,3107,2766,2658,2665,2652,0,0,0,0,0,0,13.82,28.83,12.77
$GC,5841,0.69,145.9,3113,2767,2672,2644,708.7,12.9,355,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,0.69,145.9,3108,2766,2665,2642,669.8,12.8,365,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6441,0.69,145.9,3107,2766,2665,2642,631.5,12.8,375,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6741,0.69,145.9,3108,2766,2665,2643,593.5,12.5,385,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,0.69,145.9,3108,2767,2665,2642,556.3,12.4,395,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,0.69,145.9,3107,2766,2660,2641,519.7,12.2,405,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2766,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,0.69,145.9,3108,2767,2665,2642,483.3,12.1,415,7646,0.00,1.83,0.00,0.000,260,0.000,0.101,3107,3786,2652,2664,2641,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7665,0.69,145.9,3108,3787,2665,2643,479.9,13.4,420,7672,0.00,1.75,0.00,0.000,1030,0.000,0.056,3113,2729,2652,2664,2641,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7971,0.69,145.9,3114,2730,2665,2642,442.1,12.3,431,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2729,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,0.69,145.9,3113,2729,2665,2642,404.9,12.4,441,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2729,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,0.69,145.9,3113,2729,2665,2641,368.5,12.2,451,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2729,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,0.69,145.9,3113,2729,2665,2641,332.6,11.9,461,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2729,2652,2664,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9171,0.70,155.6,3113,2729,2665,2641,298.5,11.1,471,9180,0.00,0.00,8.68,1.371,8198,0.000,0.000,3113,2729,2622,2633,2611,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9471,0.70,160.5,3114,2730,2628,2607,264.3,11.4,481,9474,0.00,0.00,2.50,0.845,8198,0.000,0.000,3112,2729,2603,2614,2593,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9771,0.73,199.5,3113,2729,2631,2597,233.0,9.6,501,9813,0.00,2.35,35.85,1.281,8708,0.000,0.069,3123,1348,2438,2445,2432,0,0,0,0,0,0,28.83,14.38,13.78
$GC,9832,0.74,222.0,3124,1347,2441,2432,226.7,10.4,512,9858,0.00,2.47,19.42,1.349,9222,0.000,0.094,3121,2746,2346,2348,2345,0,0,0,0,0,0,28.83,14.36,13.69
$GC,10162,0.76,244.7,3124,2746,2350,2340,189.4,10.4,548,10184,0.00,0.00,19.17,1.301,8198,0.000,0.000,3123,2746,2257,2261,2254,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10483,0.79,283.1,3124,2747,2262,2248,157.3,9.6,580,10518,0.00,0.00,32.85,1.301,8454,0.000,0.000,3124,2746,2105,2108,2102,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10813,0.81,318.0,3125,2747,2103,2089,124.2,9.8,615,10844,0.00,0.00,29.33,1.245,8198,0.000,0.000,3124,2746,1960,1960,1960,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11144,0.84,362.0,3124,2747,1956,1949,92.5,9.3,648,11165,0.12,0.00,19.30,0.474,10246,0.132,0.000,3177,2746,1781,1778,1784,0,0,0,0,0,0,14.33,28.83,13.99
$GC,11463,0.85,375.7,3178,2747,1786,1780,53.9,10.9,680,11474,0.00,0.00,6.25,0.349,8198,0.000,0.000,3177,2746,1726,1728,1724,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11773,0.93,482.7,3178,2746,1738,1722,29.3,5.9,711,11824,0.00,0.00,48.35,0.289,8198,0.000,0.000,3173,2746,1287,1299,1276,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12123,1.04,649.9,3178,2746,1303,1261,15.8,2.7,746,12205,0.15,1.88,74.28,0.241,10500,0.123,0.099,3246,3788,608,575,641,0,0,0,0,0,0,14.32,14.19,14.09
$FREEZE,8.76,1.455,-1.430,2,1,0
$FREEZE,8.24,1.455,-1.429,2,1,0
$FREEZE,7.83,1.714,-1.427,2,1,0
$FREEZE,7.44,1.714,-1.426,2,1,0
$FREEZE,6.90,1.776,-1.425,2,1,0
$GC,12235,1.07,684.1,3246,3789,575,642,7.8,9.8,768,12253,0.00,1.77,12.30,0.220,9222,0.000,0.055,3249,2746,497,444,550,0,0,0,0,0,0,28.83,14.24,14.09
$FREEZE,5.84,1.687,-1.424,2,1,0
$FREEZE,5.02,1.718,-1.422,2,1,0
$FREEZE,4.17,1.743,-1.422,2,1,0
$FREEZE,3.35,1.666,-1.421,2,1,0
$FREEZE,2.47,1.924,-1.418,2,1,0
$FREEZE,1.66,2.955,-1.413,2,1,0
$STATE,12307,end climb,SURFACE_DEPTH_REACHED
$STATE,12308,begin surface coast
$FREEZE,0.82,3.103,-1.412,2,1,0
$FREEZE,0.75,3.027,-0.703,2,1,0
$FINISH,0.8,1.010336
$STATE,12327,end surface coast,CONTROL_FINISHED_OK
$STATE,12327,begin surface
$SM_CCo,12403,0.00,0.000,0,0,494,678.01
$SM_GC,1.96,9.40,0.00,0.00,0.084,0.000,0.000,206,2746,494,-8.36,-0.40,678.01,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,610
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7214.16,-14431.96,220814,203428
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.02
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.70
$XPDR_PINGS,8
$SC_FREEKB,3851744
$24V_AH,12.77,58.069
$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,23.400,26.750,555.850,0.000,0.000,0.000,0.000,280.525,2.000,0.000,25.776,0.000,10215.388,606.012,1886.773,153.466,0.000,1514.301,0.000,1169.271,0.000,0.539,0.000
$DEVICE_MAMPS,394.740,100.980,1959.165,0.000,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.189,0.000,0.000,0.000
$MEM,251544
$DATA_FILE_SIZE,26676,779
$CAP_FILE_SIZE,128820,0
$CFSIZE,2097872896,2053931008
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12883.37,0x2378b6,7,5
$INTR,1,5269.53,0x2378b6,2,5
$INTR,2,12330.35,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,230814,034224,7250.075,-14441.676,28,0.9,48,22.8