version: 66.12
glider: 196
mission: 7
dive: 204
start: 8 24 114 11 34 32
data:
$ID,196
$MISSION,7
$DIVE,204
$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,-5269.9658
$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,48
$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
$GPS1,240814,112725,7302.620,-14452.845,24,0.9,45,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.5
$GPS2,240814,113413,7302.676,-14452.927,3,0.9,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,327.1,51395,-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,-145.9,199,2745,410,577,0.0,0.0,0,90,0.00,0.00,-72.28,0.000,16386,0.000,0.000,198,2745,2352,2360,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,199,2746,2361,2346,4.5,-5.4,7,136,12.02,2.38,-25.35,0.000,18948,0.397,0.093,2662,1367,3855,3916,3794,0,0,0,0,0,0,14.02,14.26,14.47
$GC,360,-0.69,-145.9,2663,1367,3917,3799,77.9,-21.0,61,366,0.00,2.47,0.00,0.000,1030,0.000,0.096,2654,2759,3855,3916,3794,0,0,0,0,0,0,28.83,14.26,28.83
$GC,670,-0.69,-145.9,2655,2760,3917,3800,144.9,-20.5,93,675,0.00,2.35,0.00,0.000,516,0.000,0.067,2653,1370,3858,3917,3799,0,0,0,0,0,0,28.83,14.37,28.83
$GC,900,-0.69,-145.9,2654,1370,3918,3799,185.5,-17.1,139,906,0.12,2.47,0.00,0.000,3078,0.283,0.098,2667,2761,3857,3916,3799,0,0,0,0,0,0,14.25,14.38,28.83
$GC,1211,-0.69,-145.9,2667,2761,3917,3799,235.4,-15.2,171,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3860,3922,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.69,-145.9,2668,2762,3918,3800,280.2,-14.2,188,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,-0.69,-145.9,2667,2761,3917,3805,320.5,-13.1,198,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.69,-145.9,2668,2762,3917,3800,358.9,-12.7,208,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.69,-145.9,2667,2761,3916,3799,396.3,-12.4,218,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-0.69,-145.9,2667,2761,3917,3799,433.1,-12.3,228,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140824120452.493664,3,74,-5,0097,0150,255,03,03,04,03,1,000,000,2,5,1,0,150,11.5,3.5,-100,-0.5,-01,-0.2,33,900,0025*26
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58604a7cdb;,*38
$MODEM_MSG,CACST,6,0,20140824121651.632216,3,222,-6,0110,0150,255,03,03,05,03,1,014,000,0,5,1,0,150,17.6,4.9,-100,-1.9,-01,0.3,26,900,0025*3E
$GC,3025,-0.69,-145.9,2667,2761,3917,3799,469.1,-11.9,238,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.69,-145.9,2667,2761,3917,3799,505.0,-12.0,248,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.69,-145.9,2668,2762,3917,3803,540.7,-11.9,258,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.69,-145.9,2668,2762,3916,3800,576.2,-11.8,268,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.69,-145.9,2667,2761,3917,3799,611.2,-11.7,278,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.69,-145.9,2667,2761,3917,3799,646.3,-11.7,288,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,-0.69,-145.9,2664,2760,3916,3799,681.1,-11.6,298,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,-0.69,-145.9,2668,2762,3917,3800,715.6,-11.5,308,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5420,-0.69,-145.9,2668,2761,3917,3800,749.4,-11.2,318,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3857,3916,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5449,begin apogee
$GC,5453,-0.13,0.0,2668,2761,3917,3799,752.8,-11.2,319,5580,0.65,0.00,125.15,1.973,10244,0.222,0.000,2843,2760,3256,3275,3238,0,0,0,0,0,0,14.45,28.83,13.14
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5583,0.69,145.9,2844,2761,3272,3234,756.4,0.0,323,5712,0.88,0.00,123.20,1.828,11270,0.134,0.000,3107,2761,2659,2666,2653,0,0,0,0,0,0,13.79,28.83,12.75
$GC,6021,0.69,145.9,3108,2762,2666,2644,710.4,12.9,363,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2762,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6321,0.69,145.9,3108,2763,2666,2645,671.9,12.9,373,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2761,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,0.69,145.9,3107,2762,2666,2643,633.5,12.8,383,6627,0.00,1.85,0.00,0.000,260,0.000,0.100,3107,3786,2655,2666,2644,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6651,0.69,145.9,3108,3786,2666,2644,629.2,13.8,389,6657,0.00,1.75,0.00,0.000,1030,0.000,0.054,3113,2735,2654,2665,2644,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6982,0.69,145.9,3113,2735,2666,2643,586.0,13.0,405,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7281,0.69,145.9,3114,2735,2666,2643,547.6,12.8,415,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,0.69,145.9,3114,2736,2666,2644,509.6,12.6,425,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,0.69,145.9,3114,2735,2666,2643,471.8,12.5,435,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,0.69,145.9,3114,2732,2666,2643,434.5,12.4,445,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,0.69,145.9,3114,2735,2666,2643,397.5,12.3,455,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,0.69,145.9,3120,2736,2666,2643,361.3,12.1,465,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2733,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9082,0.69,145.9,3114,2736,2666,2644,325.6,11.9,475,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9381,0.69,150.5,3114,2735,2666,2642,291.2,11.4,485,9384,0.00,0.00,1.10,0.302,8198,0.000,0.000,3114,2735,2643,2656,2631,0,0,0,0,0,0,28.83,28.83,14.33
$GC,9682,0.71,179.7,3114,2736,2674,2635,259.6,10.1,495,9713,0.00,0.00,28.08,1.291,8198,0.000,0.000,3113,2735,2519,2528,2510,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10011,0.74,215.8,3114,2736,2528,2507,224.5,9.7,522,10043,0.00,0.00,30.12,1.268,8198,0.000,0.000,3113,2735,2376,2382,2371,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10343,0.77,263.1,3114,2736,2380,2363,191.9,9.1,555,10384,0.00,0.00,39.88,1.263,8198,0.000,0.000,3113,2735,2186,2190,2182,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10682,0.80,303.4,3114,2735,2186,2167,158.7,9.5,589,10723,0.12,0.00,34.08,1.251,10246,0.135,0.000,3164,2735,2015,2022,2008,0,0,0,0,0,0,14.38,28.83,13.63
$GC,11021,0.80,303.4,3164,2736,2022,2000,116.0,12.2,623,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2735,2008,2018,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11322,0.81,322.2,3165,2736,2021,1998,82.1,10.6,653,11333,0.00,0.00,7.30,0.426,8198,0.000,0.000,3164,2735,1945,1951,1939,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11631,0.87,402.3,3165,2736,1961,1940,52.9,7.4,684,11673,0.00,0.00,36.58,0.345,8198,0.000,0.000,3164,2735,1615,1623,1607,0,0,0,0,0,0,28.83,28.83,14.05
$GC,11972,0.95,512.0,3164,2735,1629,1596,29.8,5.8,718,12024,0.10,0.00,48.88,0.290,10502,0.151,0.000,3207,2734,1169,1178,1160,0,0,0,0,0,0,14.33,28.83,14.08
$FREEZE,8.92,1.815,-1.428,2,1,0
$FREEZE,8.79,1.690,-1.431,2,1,0
$FREEZE,8.41,1.690,-1.430,2,1,0
$FREEZE,8.06,1.653,-1.428,2,1,0
$GC,12321,1.05,654.8,3208,2736,1181,1147,11.2,4.0,754,12393,0.00,2.47,63.78,0.226,8708,0.000,0.073,3208,1348,587,553,622,0,0,0,0,0,0,28.83,14.23,14.12
$FREEZE,7.41,1.344,-1.428,2,1,0
$FREEZE,7.10,1.344,-1.428,2,1,0
$FREEZE,6.81,0.791,-1.430,2,1,0
$FREEZE,6.50,0.791,-1.430,2,1,0
$FREEZE,6.26,-0.033,-1.431,2,1,0
$FREEZE,6.07,-0.033,-1.431,2,1,0
$FREEZE,5.69,0.820,-1.413,2,1,0
$FREEZE,5.38,0.820,-1.413,2,1,0
$FREEZE,5.07,0.979,-1.411,2,1,0
$FREEZE,4.89,0.979,-1.411,2,1,0
$FREEZE,4.53,1.792,-1.392,2,1,0
$GC,12439,1.12,757.6,3209,1349,553,622,5.1,6.2,776,12457,0.15,2.50,9.80,0.214,11270,0.148,0.093,3256,2746,498,448,548,0,0,0,0,0,0,14.23,14.23,14.12
$FREEZE,3.62,1.902,-1.397,2,1,0
$FREEZE,2.92,1.904,-1.399,2,1,0
$FREEZE,2.38,1.908,-1.400,2,1,0
$FREEZE,1.72,1.909,-1.401,2,1,0
$STATE,12491,end climb,SURFACE_DEPTH_REACHED
$STATE,12491,begin surface coast
$FREEZE,0.98,1.910,-1.400,2,1,0
$FREEZE,0.68,1.804,-0.829,2,1,0
$FREEZE,0.72,1.852,-0.930,2,1,0
$FINISH,0.7,1.013727
$STATE,12521,end surface coast,CONTROL_FINISHED_OK
$STATE,12521,begin surface
$SM_CCo,12597,0.00,0.000,0,0,496,677.27
$SM_GC,1.80,9.43,0.00,0.00,0.086,0.000,0.000,208,2747,496,-8.35,-0.37,677.27,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,547
$MODEM,14,1408882611,72.39760,-144.50121,51.632,74824.6
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7221.25,-14444.83,240814,075925
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.66
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.60
$XPDR_PINGS,5
$SC_FREEKB,3847264
$24V_AH,12.75,61.280
$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,23.475,18.250,547.925,0.000,0.000,0.000,0.000,238.100,1.250,0.000,25.509,0.000,10383.340,605.534,1870.269,145.488,0.000,1464.810,0.000,1177.071,1479.000,0.539,0.000
$DEVICE_MAMPS,397.035,100.215,1972.935,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12566.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.229,0.000,0.000,0.000
$MEM,245832
$DATA_FILE_SIZE,26709,786
$CAP_FILE_SIZE,127460,0
$CFSIZE,2097872896,2052030464
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12727.25,0x2378b6,7,5
$INTR,1,5450.17,0x2378b6,2,5
$INTR,2,12524.47,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,240814,150554,7304.158,-14454.753,38,0.8,58,22.8