version: 66.12
glider: 196
mission: 7
dive: 197
start: 8 23 114 10 54 50
data:
$ID,196
$MISSION,7
$DIVE,197
$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,-5261.1421
$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
$GPS1,230814,104718,7252.948,-14444.040,40,0.8,60,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.9
$GPS2,230814,105431,7252.956,-14444.105,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.0,69945,-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,-145.9,199,2734,434,544,0.0,0.0,0,80,0.00,0.00,-62.38,0.000,16386,0.000,0.000,198,2734,2066,2074,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,199,2735,2076,2060,3.1,-2.6,6,136,12.02,2.35,-35.35,0.000,19204,0.397,0.093,2666,1370,3855,3918,3793,0,0,0,0,0,0,14.03,14.24,14.47
$GC,360,-0.69,-145.9,2667,1370,3919,3802,76.2,-20.4,62,365,0.00,2.50,0.00,0.000,1030,0.000,0.098,2657,2766,3859,3918,3801,0,0,0,0,0,0,28.83,14.28,28.83
$GC,670,-0.69,-145.9,2658,2767,3919,3802,143.1,-20.2,94,675,0.00,2.38,0.00,0.000,516,0.000,0.070,2656,1370,3859,3918,3800,0,0,0,0,0,0,28.83,14.36,28.83
$GC,900,-0.69,-145.9,2658,1370,3920,3801,183.4,-16.6,140,905,0.00,2.47,0.00,0.000,1030,0.000,0.099,2646,2761,3857,3913,3801,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1210,-0.69,-145.9,2647,2762,3919,3802,237.5,-16.5,172,1215,0.00,2.35,0.00,0.000,516,0.000,0.070,2646,1370,3859,3918,3801,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1290,-0.69,-145.9,2647,1370,3920,3801,249.7,-14.6,188,1296,0.15,2.47,0.00,0.000,3078,0.275,0.100,2667,2762,3859,3918,3801,0,0,0,0,0,0,14.33,14.40,28.83
$GC,1601,-0.69,-145.9,2668,2763,3919,3802,291.9,-13.1,200,1606,0.00,1.80,0.00,0.000,260,0.000,0.106,2661,3795,3859,3918,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1640,-0.69,-145.9,2661,3795,3920,3801,297.4,-14.3,208,1645,0.00,1.73,0.00,0.000,1030,0.000,0.057,2661,2751,3859,3918,3801,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1961,-0.69,-145.9,2661,2750,3920,3801,339.9,-13.1,222,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2750,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.69,-145.9,2662,2751,3919,3802,379.2,-13.0,232,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2750,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.69,-145.9,2662,2750,3919,3801,417.7,-12.8,242,2565,0.00,2.33,0.00,0.000,516,0.000,0.070,2661,1356,3859,3918,3800,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2610,-0.69,-145.9,2661,1356,3920,3801,423.7,-11.6,252,2615,0.00,2.45,0.00,0.000,1030,0.000,0.098,2650,2754,3859,3918,3801,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2920,-0.69,-145.9,2651,2756,3919,3802,465.1,-13.5,264,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2754,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.69,-145.9,2651,2755,3919,3802,505.3,-13.4,274,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2755,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.69,-145.9,2651,2755,3919,3801,545.4,-13.4,284,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2754,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.69,-145.9,2651,2755,3919,3802,585.0,-13.1,294,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2754,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-0.69,-145.9,2651,2755,3918,3802,623.9,-12.9,304,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2754,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.69,-145.9,2651,2755,3919,3801,662.5,-12.8,314,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2755,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.69,-145.9,2651,2755,3919,3802,700.6,-12.7,324,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2754,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-0.69,-145.9,2651,2755,3919,3802,738.4,-12.7,334,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2755,3859,3918,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5142,-0.13,0.0,2651,2755,3919,3801,753.4,-12.5,338,5271,0.73,0.00,126.18,1.994,10244,0.229,0.000,2843,2754,3255,3274,3237,0,0,0,0,0,0,14.33,28.83,13.10
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;58881a6ea9;,*6F
$MODEM_MSG,CACST,6,0,20140823120440.124120,3,145,-8,0161,0150,217,04,04,05,04,1,013,000,0,5,1,0,150,17.2,4.6,-100,-1.6,-01,0.1,15,900,0025*3E
$GC,5274,0.69,145.9,2844,2756,3272,3231,757.0,0.0,342,5402,0.90,0.00,123.30,1.808,11270,0.135,0.000,3111,2754,2659,2666,2653,0,0,0,0,0,0,13.71,28.83,12.68
$GC,5712,0.69,145.9,3112,2754,2665,2644,710.1,13.2,382,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2754,2655,2668,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,0.69,145.9,3112,2755,2665,2643,671.1,12.9,392,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2755,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,0.69,145.9,3112,2756,2665,2644,632.3,13.0,402,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2754,2652,2663,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,0.69,145.9,3112,2756,2665,2643,593.7,12.9,412,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2755,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,0.69,145.9,3111,2755,2665,2642,555.5,12.7,422,6917,0.00,1.85,0.00,0.000,260,0.000,0.102,3111,3786,2653,2664,2642,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6942,0.69,145.9,3112,3786,2665,2642,551.2,15.4,428,6947,0.00,1.73,0.00,0.000,1030,0.000,0.054,3117,2749,2653,2664,2642,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7273,0.69,145.9,3125,2744,2665,2642,508.5,12.9,444,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2744,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.69,145.9,3118,2745,2665,2643,470.2,12.8,454,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2744,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,0.69,145.9,3118,2744,2665,2642,431.9,12.8,464,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2744,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,0.69,145.9,3118,2744,2665,2642,393.8,12.6,474,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2744,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.69,145.9,3119,2745,2666,2643,356.6,12.3,484,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2744,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.69,145.9,3118,2744,2666,2639,321.0,11.7,494,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2744,2655,2668,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,0.70,155.8,3118,2744,2665,2642,286.8,11.1,504,9082,0.00,0.00,8.65,1.361,8710,0.000,0.000,3117,2744,2621,2630,2613,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9403,0.71,175.4,3118,2744,2628,2607,251.0,10.6,520,9421,0.00,0.00,17.25,1.292,8198,0.000,0.000,3117,2744,2541,2550,2532,0,0,0,0,0,0,28.83,28.83,13.93
$GC,9702,0.73,209.2,3118,2744,2546,2523,218.4,9.8,548,9734,0.00,0.00,28.17,1.245,8198,0.000,0.000,3117,2744,2400,2406,2395,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10033,0.77,263.0,3118,2745,2406,2390,185.7,8.8,581,10083,0.00,0.00,45.40,1.261,8198,0.000,0.000,3117,2744,2179,2183,2175,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10383,0.81,312.0,3118,2744,2184,2167,151.8,9.0,616,10426,0.12,0.00,41.00,1.237,10758,0.135,0.000,3167,2744,1989,1991,1987,0,0,0,0,0,0,14.39,28.83,13.59
$GC,10722,0.81,312.0,3169,2745,1977,1971,108.2,12.6,651,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2744,1973,1976,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11022,0.81,320.0,3169,2745,1977,1970,73.8,11.2,681,11025,0.00,0.00,2.22,0.362,8198,0.000,0.000,3168,2744,1952,1955,1950,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11322,0.89,432.4,3168,2745,1971,1951,50.1,5.7,711,11378,0.00,2.45,50.45,0.335,8708,0.000,0.073,3177,1342,1494,1504,1484,0,0,0,0,0,0,28.83,14.26,14.07
$GC,11463,0.93,495.7,3177,1343,1506,1481,39.7,8.3,739,11498,0.00,2.53,28.27,0.304,9222,0.000,0.096,3177,2747,1236,1250,1223,0,0,0,0,0,0,28.83,14.25,14.05
$GC,11803,1.05,659.4,3178,2748,1252,1214,16.8,2.9,777,11885,0.17,2.50,73.53,0.245,10756,0.116,0.074,3258,1344,567,529,605,0,0,0,0,0,0,14.32,14.20,14.09
$FREEZE,8.96,-0.563,-1.444,2,1,0
$FREEZE,8.51,-0.563,-1.443,2,1,0
$FREEZE,8.20,-0.308,-1.441,2,1,0
$FREEZE,7.64,-0.308,-1.440,2,1,0
$FREEZE,7.40,-0.180,-1.440,2,1,0
$FREEZE,6.81,-0.180,-1.439,2,1,0
$FREEZE,6.47,-0.076,-1.439,2,1,0
$FREEZE,5.93,-0.076,-1.439,2,1,0
$FREEZE,5.57,-0.063,-1.438,2,1,0
$GC,11950,1.09,714.0,3258,1344,531,606,5.9,8.7,806,11963,0.00,2.47,7.68,0.220,9222,0.000,0.094,3258,2726,498,448,548,0,0,0,0,0,0,28.83,14.21,14.12
$FREEZE,4.42,0.145,-1.432,2,1,0
$FREEZE,3.53,0.560,-1.424,2,1,0
$FREEZE,2.67,1.839,-1.399,2,1,0
$FREEZE,1.97,2.114,-1.394,2,1,0
$STATE,11996,end climb,SURFACE_DEPTH_REACHED
$STATE,11996,begin surface coast
$FREEZE,1.23,2.116,-1.398,2,1,0
$FREEZE,0.87,1.875,-0.708,2,1,0
$FINISH,0.9,1.010433
$STATE,12017,end surface coast,CONTROL_FINISHED_OK
$STATE,12017,begin surface
$SM_CCo,12093,0.00,0.000,0,0,497,677.03
$SM_GC,1.93,9.40,0.08,0.00,0.081,0.212,0.000,199,2767,497,-8.36,-0.48,677.03,0,0,0,0,0,0,14.31,14.26,28.83
$RAFOS_CLK,411
$MODEM,13,1408795480,72.52500,-145.95480,40.124,58169.9
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7214.16,-14439.59,230814,071841
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.95
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.60
$XPDR_PINGS,8
$SC_FREEKB,3850400
$24V_AH,12.68,59.030
$10V_AH,12.72,0.000
$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,23.500,36.425,552.100,0.000,0.000,0.000,0.000,257.275,2.000,0.000,25.606,0.000,9839.616,601.834,1930.900,149.941,0.000,1518.655,0.000,1218.552,1472.000,0.539,0.000
$DEVICE_MAMPS,397.035,211.905,1993.590,0.000,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12063.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.376,0.000,0.000,0.000
$MEM,249932
$DATA_FILE_SIZE,26726,814
$CAP_FILE_SIZE,129338,0
$CFSIZE,2097872896,2053341184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12661.31,0x2378b6,7,5
$INTR,1,5140.10,0x2378b6,2,5
$SOUNDSPEED,1448.8
$GPS,230814,141748,7254.246,-14445.416,38,0.9,58,22.8