version: 66.12
glider: 196
mission: 7
dive: 205
start: 8 24 114 15 13 22
data:
$ID,196
$MISSION,7
$DIVE,205
$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,-5271.2261
$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,50
$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
$GPS1,240814,150554,7304.158,-14454.753,38,0.8,58,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-79.0
$GPS2,240814,151307,7304.182,-14454.756,5,0.7,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,327.7,48483,-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,-145.9,207,2749,435,549,0.0,0.0,0,90,0.00,0.00,-72.45,0.000,16386,0.000,0.000,206,2749,2358,2367,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,207,2749,2369,2352,4.4,-5.5,7,136,12.05,2.42,-25.30,0.000,18948,0.400,0.090,2661,1368,3857,3919,3796,0,0,0,0,0,0,14.02,14.24,14.47
$GC,360,-0.69,-145.9,2662,1368,3920,3802,78.8,-21.2,61,366,0.00,2.50,0.00,0.000,1030,0.000,0.097,2652,2762,3860,3920,3801,0,0,0,0,0,0,28.83,14.26,28.83
$GC,670,-0.69,-145.9,2653,2763,3921,3801,146.2,-20.7,93,676,0.00,2.38,0.00,0.000,516,0.000,0.068,2652,1363,3859,3919,3800,0,0,0,0,0,0,28.83,14.36,28.83
$GC,885,-0.69,-145.9,2653,1363,3920,3802,184.9,-17.6,136,892,0.08,2.53,0.00,0.000,3078,0.256,0.098,2672,2756,3860,3919,3801,0,0,0,0,0,0,14.26,14.37,28.83
$GC,1190,-0.69,-145.9,2673,2757,3920,3802,234.3,-14.9,167,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3920,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.69,-145.9,2673,2759,3920,3802,278.6,-13.5,185,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1810,-0.69,-145.9,2673,2756,3921,3801,317.3,-12.8,195,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.69,-145.9,2673,2756,3922,3800,355.5,-12.5,205,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2756,3860,3920,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.69,-145.9,2673,2756,3921,3801,392.5,-12.2,215,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,-0.69,-145.9,2673,2757,3920,3802,428.6,-12.0,225,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3920,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.69,-145.9,2673,2756,3921,3801,464.9,-12.2,235,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.69,-145.9,2673,2759,3921,3801,500.6,-11.9,245,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.69,-145.9,2673,2756,3920,3801,535.4,-11.5,255,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.69,-145.9,2673,2757,3920,3802,570.0,-11.4,265,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.69,-145.9,2673,2756,3921,3800,604.4,-11.5,275,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140824160451.337116,3,1040,-5,0192,0150,255,03,03,06,05,1,000,000,2,5,1,0,150,18.3,3.9,-100,-0.9,-01,-0.2,26,900,0025*22
$MODEM_MSG,CACST,6,1,20140824161656.310995,3,554,-8,0122,0150,255,03,03,06,05,1,000,000,2,5,1,0,150,14.1,2.9,-100,0.1,-01,0.4,27,900,0025*14
$GC,4510,-0.69,-145.9,2673,2756,3921,3801,638.3,-11.2,285,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.69,-145.9,2673,2756,3920,3802,671.7,-11.1,295,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2757,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,-0.69,-145.9,2673,2757,3920,3802,705.2,-11.1,305,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3859,3919,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.69,-145.9,2673,2757,3920,3802,738.6,-11.2,315,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2756,3860,3919,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5529,begin apogee
$GC,5533,-0.13,0.0,2673,2755,3921,3801,752.0,-11.2,319,5660,0.62,0.00,125.32,1.986,10244,0.218,0.000,2844,2757,3258,3277,3239,0,0,0,0,0,0,14.42,28.83,13.12
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5663,0.69,145.9,2845,2758,3274,3236,755.8,0.0,323,5792,0.88,0.00,123.53,1.830,11270,0.125,0.000,3109,2756,2660,2667,2654,0,0,0,0,0,0,13.78,28.83,12.73
$GC,6102,0.69,145.9,3110,2757,2666,2643,711.2,12.8,363,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2756,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,0.69,145.9,3110,2756,2666,2643,673.3,12.6,373,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,0.69,145.9,3110,2757,2666,2642,635.2,12.6,383,6707,0.00,1.88,0.00,0.000,260,0.000,0.101,3109,3793,2653,2664,2642,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6716,0.69,145.9,3110,3795,2665,2644,633.0,12.9,386,6722,0.00,1.75,0.00,0.000,1030,0.000,0.054,3115,2743,2653,2664,2642,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7033,0.69,145.9,3116,2742,2666,2642,591.8,13.1,399,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,0.69,145.9,3116,2744,2667,2643,552.9,12.9,409,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,0.69,145.9,3116,2742,2666,2642,514.2,13.0,419,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,0.69,145.9,3116,2743,2666,2642,475.3,12.9,429,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,0.69,145.9,3117,2743,2665,2643,437.2,12.6,439,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,0.69,145.9,3116,2743,2666,2642,400.0,12.4,449,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,0.69,145.9,3117,2743,2665,2643,363.0,12.2,459,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9131,0.69,145.9,3116,2743,2666,2642,327.4,11.7,469,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2742,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,0.69,152.9,3116,2743,2665,2643,293.2,11.3,479,9442,0.00,2.38,3.47,1.189,8708,0.000,0.070,3126,1350,2641,2659,2624,0,0,0,0,0,0,28.83,14.60,13.72
$GC,9502,0.72,185.0,3127,1350,2662,2626,285.8,9.9,493,9537,0.00,2.45,29.92,1.300,9222,0.000,0.094,3127,2755,2499,2506,2493,0,0,0,0,0,0,28.83,14.58,13.87
$GC,9842,0.72,185.0,3127,2754,2506,2487,243.3,12.6,516,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2755,2496,2505,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10142,0.74,222.5,3127,2755,2505,2487,210.7,9.6,546,10178,0.00,2.40,31.60,1.235,8708,0.000,0.067,3137,1350,2343,2346,2341,0,0,0,0,0,0,28.83,14.34,13.79
$GC,10219,0.77,253.9,3138,1351,2344,2342,203.3,10.0,561,10249,0.00,2.45,25.98,1.236,9222,0.000,0.093,3137,2732,2223,2224,2222,0,0,0,0,0,0,28.83,14.33,13.69
$GC,10554,0.78,276.8,3137,2732,2222,2210,166.9,10.4,598,10575,0.00,0.00,20.25,1.216,8198,0.000,0.000,3137,2731,2127,2132,2123,0,0,0,0,0,0,28.83,28.83,13.74
$GC,10875,0.80,301.8,3137,2732,2129,2112,133.4,10.3,630,10905,0.00,2.45,21.42,1.185,8708,0.000,0.070,3144,1350,2020,2024,2016,0,0,0,0,0,0,28.83,14.27,13.75
$GC,10930,0.83,347.2,3145,1351,2025,2014,127.9,9.2,641,10976,0.00,2.45,38.35,1.185,9222,0.000,0.094,3144,2723,1834,1831,1838,0,0,0,0,0,0,28.83,14.28,13.57
$GC,11275,0.85,368.0,3145,2723,1837,1825,88.9,10.5,680,11286,0.00,0.00,8.32,0.449,8198,0.000,0.000,3144,2723,1758,1763,1754,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11585,0.88,421.0,3145,2724,1772,1754,59.5,8.8,711,11617,0.10,1.95,24.40,0.366,10500,0.150,0.099,3188,3785,1541,1547,1536,0,0,0,0,0,0,14.33,14.23,14.04
$GC,11741,0.90,448.7,3189,3787,1551,1535,41.5,10.2,742,11758,0.00,1.77,12.68,0.313,9222,0.000,0.050,3195,2731,1426,1436,1417,0,0,0,0,0,0,28.83,14.29,14.07
$GC,12058,1.00,594.5,3195,2731,1443,1408,19.1,3.9,775,12129,0.00,2.47,65.35,0.256,8708,0.000,0.071,3197,1340,833,827,840,0,0,0,0,0,0,28.83,14.23,14.07
$GC,12188,1.09,715.5,3198,1340,828,839,13.5,5.2,801,12231,0.15,2.47,37.22,0.236,11270,0.140,0.093,3244,2724,499,450,549,0,0,0,0,0,0,14.23,14.22,14.07
$FREEZE,8.17,1.578,-1.417,2,1,0
$FREEZE,7.49,1.653,-1.415,2,1,0
$FREEZE,6.69,1.723,-1.413,2,1,0
$FREEZE,5.89,1.726,-1.413,2,1,0
$FREEZE,5.29,1.799,-1.410,2,1,0
$FREEZE,4.64,1.799,-1.410,2,1,0
$FREEZE,4.04,1.772,-1.411,2,1,0
$FREEZE,3.52,1.798,-1.409,2,1,0
$FREEZE,2.76,1.793,-1.409,2,1,0
$FREEZE,1.93,1.790,-1.408,2,1,0
$STATE,12357,end climb,SURFACE_DEPTH_REACHED
$STATE,12357,begin surface coast
$FREEZE,1.35,1.789,-1.408,2,1,0
$FREEZE,0.82,1.767,-1.409,2,1,0
$FINISH,0.8,1.020696
$STATE,12378,end surface coast,CONTROL_FINISHED_OK
$STATE,12378,begin surface
$SM_CCo,12454,0.00,0.000,0,0,495,677.76
$SM_GC,1.88,9.32,0.05,0.00,0.077,0.232,0.000,196,2773,495,-8.37,-0.82,677.76,0,0,0,0,0,0,14.32,14.30,28.83
$RAFOS_CLK,480
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7228.39,-14452.62,240814,113002
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.53
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3846816
$24V_AH,12.73,61.610
$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,23.200,36.750,567.825,0.000,0.000,0.000,0.000,253.925,1.000,0.000,26.563,0.000,10178.069,600.298,1947.490,153.461,0.000,1529.380,0.000,1229.153,1499.000,0.539,0.000
$DEVICE_MAMPS,400.095,231.795,1985.940,0.000,0.000,0.000,0.000,162.945,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12427.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.050,0.000,0.000,0.000
$MEM,245260
$DATA_FILE_SIZE,26669,824
$CAP_FILE_SIZE,132491,0
$CFSIZE,2097872896,2051833856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13129.29,0x2378b6,7,5
$INTR,1,5530.26,0x2378b6,2,5
$SOUNDSPEED,1449.2
$GPS,240814,184218,7305.597,-14456.141,35,0.8,55,22.8