version: 66.12
glider: 196
mission: 7
dive: 203
start: 8 24 114 8 2 24
data:
$ID,196
$MISSION,7
$DIVE,203
$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,-5268.7046
$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,22
$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
$GPS1,240814,075154,7301.270,-14451.173,38,0.7,58,22.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.4
$GPS2,240814,080206,7301.333,-14451.378,4,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.7,53988,-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,-145.9,202,2734,418,575,0.0,0.0,0,86,0.00,0.00,-68.78,0.000,16386,0.000,0.000,201,2735,2236,2245,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-145.9,202,2735,2245,2228,4.3,-5.3,7,134,11.95,2.42,-29.33,0.000,18948,0.392,0.094,2665,1372,3857,3920,3795,0,0,0,0,0,0,14.00,14.18,14.42
$GC,358,-0.69,-145.9,2665,1371,3921,3801,76.5,-21.4,61,364,0.00,2.47,0.00,0.000,1030,0.000,0.096,2656,2757,3860,3920,3801,0,0,0,0,0,0,28.83,14.23,28.83
$GC,669,-0.69,-145.9,2658,2759,3921,3802,144.1,-21.1,93,674,0.00,2.38,0.00,0.000,516,0.000,0.068,2656,1368,3860,3920,3800,0,0,0,0,0,0,28.83,14.32,28.83
$GC,899,-0.69,-145.9,2656,1363,3921,3801,185.1,-17.1,139,904,0.00,2.50,0.00,0.000,1030,0.000,0.099,2645,2763,3860,3920,3800,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1209,-0.69,-145.9,2646,2765,3920,3801,240.2,-17.0,171,1214,0.00,2.38,0.00,0.000,516,0.000,0.068,2645,1370,3860,3920,3800,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1318,-0.69,-145.9,2645,1366,3921,3802,256.7,-14.3,193,1324,0.15,2.50,0.00,0.000,3078,0.271,0.099,2666,2769,3860,3920,3801,0,0,0,0,0,0,14.26,14.38,28.83
$MODEM_MSG,CACST,6,1,20140824081651.386093,3,3154,-1,0193,0150,217,04,04,06,04,1,000,000,2,5,1,0,150,15.6,2.1,-100,0.9,-01,0.2,21,900,0025*26
$GC,1628,-0.69,-145.9,2667,2770,3920,3802,299.3,-13.5,205,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.69,-145.9,2666,2770,3920,3801,338.8,-13.1,215,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.69,-145.9,2666,2769,3920,3800,377.3,-12.7,225,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.69,-145.9,2665,2770,3920,3801,414.5,-12.4,235,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3860,3920,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-0.69,-145.9,2666,2769,3921,3800,451.7,-12.3,245,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.69,-145.9,2667,2770,3920,3801,488.7,-12.2,255,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3429,-0.69,-145.9,2666,2770,3915,3800,525.4,-12.3,265,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-0.69,-145.9,2666,2770,3920,3801,562.0,-12.2,275,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.69,-145.9,2666,2770,3920,3801,598.5,-12.2,285,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2769,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.69,-145.9,2666,2769,3921,3800,634.9,-12.1,295,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4629,-0.69,-145.9,2666,2770,3920,3801,670.6,-12.0,305,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-0.69,-145.9,2666,2769,3921,3800,705.9,-11.7,315,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.69,-145.9,2666,2769,3921,3800,740.6,-11.5,325,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2769,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5317,begin apogee
$GC,5321,-0.13,0.0,2666,2770,3921,3800,750.9,-11.4,328,5448,0.65,0.00,125.00,1.981,10244,0.221,0.000,2843,2769,3257,3276,3239,0,0,0,0,0,0,14.50,28.83,13.14
$STATE,5449,end apogee,CONTROL_FINISHED_OK
$STATE,5449,begin climb
$GC,5451,0.69,145.9,2844,2770,3273,3234,754.6,0.0,332,5580,0.88,0.00,122.93,1.817,11270,0.130,0.000,3108,2769,2659,2666,2653,0,0,0,0,0,0,13.80,28.83,12.76
$GC,5890,0.69,145.9,3109,2770,2666,2645,708.7,12.9,372,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2769,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,0.69,145.9,3109,2769,2666,2644,670.7,12.6,382,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2769,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,0.69,145.9,3109,2770,2665,2645,632.0,12.9,392,6495,0.00,1.83,0.00,0.000,260,0.000,0.100,3108,3782,2654,2665,2643,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6524,0.69,145.9,3109,3782,2666,2645,626.9,14.2,399,6530,0.00,1.73,0.00,0.000,1030,0.000,0.054,3114,2744,2654,2665,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6851,0.69,145.9,3115,2743,2666,2644,584.9,12.8,414,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2743,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,0.69,145.9,3114,2742,2666,2643,546.4,12.9,424,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,0.69,145.9,3115,2743,2666,2642,507.9,12.8,434,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,0.69,145.9,3115,2743,2666,2643,469.4,12.8,444,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2739,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,0.69,145.9,3115,2743,2666,2644,431.5,12.4,454,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2742,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.69,145.9,3117,2743,2666,2644,394.5,12.3,464,8355,0.00,1.85,0.00,0.000,260,0.000,0.100,3114,3787,2654,2665,2643,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8374,0.69,145.9,3115,3788,2665,2644,391.1,13.3,469,8381,0.00,1.73,0.00,0.000,1030,0.000,0.055,3122,2741,2654,2665,2643,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8680,0.69,145.9,3123,2742,2666,2644,353.0,12.3,480,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2741,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,0.69,145.9,3123,2742,2666,2644,316.6,12.0,490,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2741,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,0.69,151.7,3123,2741,2666,2642,281.4,11.3,500,9284,0.00,0.00,2.72,0.958,8198,0.000,0.000,3125,2741,2642,2651,2634,0,0,0,0,0,0,28.83,28.83,13.67
$GC,9580,0.71,168.2,3123,2739,2670,2632,248.6,10.8,510,9601,0.00,0.00,17.77,1.287,8198,0.000,0.000,3122,2741,2567,2578,2557,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9900,0.74,213.7,3123,2742,2579,2555,215.6,9.2,542,9942,0.00,0.00,37.58,1.241,8198,0.000,0.000,3122,2741,2383,2390,2377,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10241,0.77,263.2,3122,2741,2390,2372,183.7,9.0,576,10286,0.00,1.95,41.40,1.252,8452,0.000,0.103,3122,3786,2182,2186,2179,0,0,0,0,0,0,28.83,14.18,13.64
$GC,10321,0.77,263.2,3122,3788,2183,2177,175.2,13.0,591,10326,0.00,1.75,0.00,0.000,1030,0.000,0.056,3125,2734,2179,2182,2176,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10632,0.80,306.7,3126,2735,2183,2167,144.0,9.3,623,10673,0.00,2.47,37.03,1.229,8708,0.000,0.073,3130,1349,2000,2007,1994,0,0,0,0,0,0,28.83,14.19,13.64
$GC,10714,0.84,354.2,3125,1348,2004,1992,136.3,9.1,639,10759,0.12,2.50,40.58,1.238,11270,0.131,0.094,3180,2743,1814,1811,1817,0,0,0,0,0,0,14.23,14.16,13.51
$GC,11064,0.84,354.2,3181,2743,1807,1795,88.2,13.1,679,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2743,1800,1806,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11364,0.85,380.4,3181,2744,1806,1793,53.4,10.2,709,11380,0.00,2.47,10.02,0.348,8708,0.000,0.072,3190,1343,1709,1714,1704,0,0,0,0,0,0,28.83,14.27,14.07
$GC,11436,0.90,450.4,3191,1343,1721,1704,47.1,7.9,723,11476,0.00,2.50,32.08,0.327,9222,0.000,0.096,3191,2743,1420,1430,1410,0,0,0,0,0,0,28.83,14.27,14.03
$GC,11775,0.98,567.1,3191,2743,1435,1397,20.3,5.4,761,11828,0.00,0.00,52.12,0.259,8454,0.000,0.000,3191,2743,946,946,946,0,0,0,0,0,0,28.83,28.83,14.09
$FREEZE,8.84,-0.236,-1.457,2,1,0
$FREEZE,8.44,-0.016,-1.433,2,1,0
$FREEZE,7.99,0.587,-1.410,2,1,0
$FREEZE,7.55,0.861,-1.408,2,1,0
$FREEZE,7.07,1.055,-1.408,2,1,0
$FREEZE,6.56,1.165,-1.407,2,1,0
$FREEZE,5.97,1.169,-1.408,2,1,0
$FREEZE,5.52,1.422,-1.396,2,1,0
$FREEZE,5.07,1.722,-1.386,2,1,0
$FREEZE,4.63,1.825,-1.387,2,1,0
$FREEZE,4.17,1.875,-1.390,2,1,0
$FREEZE,3.58,1.870,-1.394,2,1,0
$FREEZE,3.40,1.870,-1.394,2,1,0
$FREEZE,3.14,1.880,-1.396,2,1,0
$FREEZE,2.75,1.880,-1.395,2,1,0
$FREEZE,2.31,1.886,-1.399,2,1,0
$FREEZE,1.86,1.886,-1.398,2,1,0
$GC,12125,1.07,695.6,3191,2743,945,935,3.6,4.8,798,12159,0.15,0.00,31.75,0.201,10498,0.131,0.000,3243,2743,655,630,680,0,0,0,0,0,0,14.31,28.83,28.83
$STATE,12159,end climb,SURFACE_DEPTH_REACHED
$STATE,12159,begin surface coast
$FREEZE,1.43,1.846,-1.401,2,1,0
$FREEZE,0.78,1.778,-1.405,2,1,0
$FREEZE,0.80,1.886,-0.559,2,1,0
$FREEZE,0.81,1.755,-0.800,2,1,0
$FINISH,0.8,1.011803
$STATE,12192,end surface coast,CONTROL_FINISHED_OK
$STATE,12192,begin surface
$SM_CCo,12208,17.48,0.202,0,0,498,676.54
$SM_GC,1.56,9.27,0.00,17.48,0.074,0.000,0.202,201,2744,498,-8.37,-0.42,676.54,0,0,0,0,0,0,14.33,28.83,14.20
$RAFOS_CLK,611
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7228.39,-14529.49,240814,075452
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.02
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,2
$SC_FREEKB,3847712
$24V_AH,12.76,60.963
$10V_AH,12.84,0.000
$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,23.175,35.425,550.975,17.475,0.000,0.000,0.000,377.625,0.500,0.000,26.587,0.000,10037.570,568.571,2072.380,157.655,0.000,1647.185,0.000,1209.242,1267.000,0.540,0.000
$DEVICE_MAMPS,391.680,102.510,1981.350,201.960,0.000,0.000,0.000,149.175,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12237.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.219,0.000,0.000,0.000
$MEM,246444
$DATA_FILE_SIZE,26707,807
$CAP_FILE_SIZE,133280,0
$CFSIZE,2097872896,2052194304
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12566.33,0x2378b6,7,5
$INTR,1,5318.45,0x2378b6,2,5
$INTR,2,12195.89,0x2378b6,7,5
$SOUNDSPEED,1449.2
$GPS,240814,112725,7302.620,-14452.845,24,0.9,45,22.8