version: 66.12
glider: 196
mission: 7
dive: 207
start: 8 24 114 22 14 53
data:
$ID,196
$MISSION,7
$DIVE,207
$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,-5273.8418
$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,53
$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
$GPS1,240814,220724,7306.935,-14457.601,23,0.8,43,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.7
$GPS2,240814,221438,7306.896,-14457.853,4,0.8,24,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.7,43263,-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,-145.9,183,2743,435,559,0.0,0.0,0,80,0.00,0.00,-62.75,0.000,16386,0.000,0.000,186,2743,2080,2090,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,181,2743,2091,2072,3.3,-3.6,6,134,12.18,1.85,-34.92,0.000,18692,0.396,0.122,2655,3788,3855,3916,3794,0,0,0,0,0,0,14.00,14.24,14.47
$GC,358,-0.69,-145.9,2655,3789,3917,3799,89.1,-25.7,59,364,0.00,1.73,0.00,0.000,1030,0.000,0.052,2655,2756,3857,3916,3798,0,0,0,0,0,0,28.83,14.35,28.83
$GC,668,-0.69,-145.9,2655,2755,3917,3796,155.1,-19.8,91,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.69,-145.9,2655,2756,3922,3798,211.4,-18.0,121,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2755,3857,3916,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.69,-145.9,2656,2756,3917,3799,260.8,-15.8,147,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.69,-145.9,2656,2756,3917,3799,305.9,-14.7,157,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.69,-145.9,2656,2756,3917,3798,348.4,-13.8,167,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2755,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-0.69,-145.9,2654,2756,3918,3798,389.8,-13.8,177,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2468,-0.69,-145.9,2655,2755,3917,3798,430.3,-13.4,187,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,-0.69,-145.9,2656,2756,3917,3799,470.2,-13.3,197,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,-0.69,-145.9,2656,2755,3917,3797,510.1,-13.4,207,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2755,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.69,-145.9,2656,2756,3917,3797,549.9,-13.3,217,3374,0.00,2.30,0.00,0.000,516,0.000,0.066,2654,1368,3856,3916,3797,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3408,-0.69,-145.9,2655,1368,3918,3798,555.0,-12.4,225,3414,0.00,2.47,0.00,0.000,1030,0.000,0.096,2644,2758,3856,3916,3797,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3729,-0.69,-145.9,2645,2758,3917,3797,598.0,-13.4,239,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.69,-145.9,2645,2759,3917,3798,638.2,-13.3,249,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.69,-145.9,2645,2758,3917,3797,678.4,-13.3,259,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.69,-145.9,2645,2759,3917,3798,718.3,-13.3,269,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2758,3856,3916,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4901,-0.13,0.0,2646,2758,3917,3797,753.7,-13.1,278,5028,0.75,0.00,124.40,1.993,10246,0.231,0.000,2844,2758,3258,3276,3240,0,0,0,0,0,0,14.47,28.83,13.14
$STATE,5029,end apogee,CONTROL_FINISHED_OK
$STATE,5029,begin climb
$GC,5030,0.69,145.9,2845,2758,3273,3236,757.3,0.0,282,5158,0.93,0.00,124.03,1.815,10246,0.131,0.000,3117,2755,2661,2666,2656,0,0,0,0,0,0,13.80,28.83,12.77
$GC,5438,0.69,145.9,3118,2760,2665,2648,713.8,13.5,296,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2759,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5738,0.69,145.9,3118,2759,2665,2647,673.6,13.4,306,5744,0.00,1.88,0.00,0.000,260,0.000,0.098,3117,3790,2655,2664,2646,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5753,0.69,145.9,3118,3791,2665,2647,671.3,14.0,309,5759,0.00,1.75,0.00,0.000,1030,0.000,0.050,3125,2742,2654,2664,2645,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6069,0.69,145.9,3126,2743,2665,2646,628.3,13.6,322,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2746,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,0.69,145.9,3126,2743,2664,2646,587.3,13.6,332,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,0.69,145.9,3126,2742,2664,2645,547.1,13.3,342,6674,0.00,1.88,0.00,0.000,260,0.000,0.099,3125,3784,2654,2664,2644,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6693,0.69,145.9,3126,3785,2665,2645,543.2,15.2,347,6700,0.00,1.73,0.00,0.000,1030,0.000,0.050,3131,2737,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6999,0.69,145.9,3132,2738,2665,2646,501.5,13.8,358,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2736,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7299,0.69,145.9,3132,2737,2665,2646,460.7,13.7,368,7304,0.00,1.88,0.00,0.000,260,0.000,0.099,3131,3780,2654,2664,2644,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7313,0.69,145.9,3132,3780,2665,2645,458.5,14.0,371,7319,0.00,1.73,0.00,0.000,1030,0.000,0.049,3139,2734,2654,2664,2644,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7629,0.69,145.9,3137,2730,2665,2646,414.4,14.1,384,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140825001700.165378,3,920,-6,0156,0150,217,04,04,06,04,-1,-01,-01,1,3,0,0,150,5.8,0.8,-100,2.2,-01,0.2,26,900,0025*07
$GC,7929,0.69,145.9,3140,2734,2665,2644,372.8,13.8,394,7934,0.00,1.88,0.00,0.000,260,0.000,0.099,3139,3793,2654,2665,2644,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7963,0.69,145.9,3140,3793,2665,2643,367.5,15.4,401,7969,0.10,1.73,0.00,0.000,5126,0.258,0.050,3123,2742,2654,2664,2644,0,0,0,0,0,0,14.31,14.54,28.83
$GC,8290,0.69,145.9,3123,2743,2665,2644,327.0,12.0,416,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,0.69,151.1,3126,2743,2665,2644,292.1,11.4,426,8592,0.00,0.00,2.50,0.848,8198,0.000,0.000,3123,2742,2641,2652,2631,0,0,0,0,0,0,28.83,28.83,13.59
$GC,8889,0.71,173.5,3123,2743,2670,2633,259.9,10.4,436,8913,0.00,0.00,22.58,1.291,8198,0.000,0.000,3123,2742,2549,2558,2540,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9189,0.73,197.4,3123,2743,2561,2533,226.9,10.4,460,9211,0.00,0.00,20.35,1.262,8198,0.000,0.000,3124,2742,2451,2459,2444,0,0,0,0,0,0,28.83,28.83,13.82
$GC,9509,0.75,237.8,3124,2743,2456,2438,195.2,9.5,492,9544,0.00,0.00,34.03,1.231,8198,0.000,0.000,3123,2742,2288,2292,2284,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9840,0.78,270.5,3124,2743,2289,2272,163.3,9.9,525,9870,0.00,0.00,27.92,1.232,8198,0.000,0.000,3123,2742,2151,2157,2145,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10170,0.81,313.4,3124,2744,2156,2135,131.4,9.3,558,10210,0.00,0.00,36.35,1.229,8198,0.000,0.000,3123,2742,1974,1977,1972,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10510,0.84,361.5,3124,2743,1975,1964,98.7,9.1,592,10535,0.12,2.40,20.88,0.493,10756,0.128,0.069,3179,1353,1786,1786,1786,0,0,0,0,0,0,14.28,14.23,13.95
$GC,10576,0.84,361.5,3179,1352,1793,1785,91.1,11.9,605,10581,0.00,2.47,0.00,0.000,1030,0.000,0.093,3178,2739,1788,1792,1785,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10880,0.88,414.3,3179,2739,1793,1781,56.4,8.8,636,10912,0.00,2.45,24.02,0.356,8708,0.000,0.069,3178,1349,1568,1575,1562,0,0,0,0,0,0,28.83,14.26,14.05
$GC,10936,0.93,489.5,3179,1351,1577,1562,51.8,7.6,647,10977,0.00,2.47,34.03,0.340,9222,0.000,0.093,3178,2738,1260,1274,1246,0,0,0,0,0,0,28.83,14.23,14.01
$GC,11282,0.98,567.5,3178,2739,1277,1234,23.5,7.5,686,11323,0.10,0.00,34.90,0.270,10246,0.150,0.000,3221,2739,944,945,944,0,0,0,0,0,0,14.31,28.83,14.09
$FREEZE,8.56,2.333,-1.430,2,1,0
$FREEZE,8.07,2.326,-1.423,2,1,0
$FREEZE,7.50,2.328,-1.418,2,1,0
$FREEZE,6.99,2.329,-1.418,2,1,0
$FREEZE,6.45,2.327,-1.415,2,1,0
$FREEZE,5.85,2.324,-1.414,2,1,0
$FREEZE,5.22,2.320,-1.412,2,1,0
$FREEZE,4.63,2.314,-1.410,2,1,0
$FREEZE,4.08,2.315,-1.409,2,1,0
$FREEZE,3.52,2.313,-1.408,2,1,0
$FREEZE,2.74,2.313,-1.408,2,1,0
$FREEZE,2.08,2.314,-1.407,2,1,0
$FREEZE,1.61,2.314,-1.406,2,1,0
$GC,11622,1.05,665.1,3222,2739,942,936,2.1,6.4,720,11636,0.00,0.00,12.48,0.203,8194,0.000,0.000,3221,2739,830,821,839,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11636,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FREEZE,0.83,2.309,-1.406,2,1,0
$FREEZE,0.71,2.279,-1.406,2,1,0
$FREEZE,0.89,2.288,-1.407,2,1,0
$FINISH,0.9,1.020642
$STATE,11660,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11676,37.12,0.199,0,0,497,676.54
$SM_GC,1.92,9.12,0.00,37.12,0.070,0.000,0.199,208,2740,497,-8.35,-0.57,676.54,0,0,0,0,0,0,14.36,28.83,14.20
$RAFOS_CLK,270
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7228.39,-14452.62,240814,184508
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.20
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.70
$XPDR_PINGS,3
$SC_FREEKB,3845920
$24V_AH,12.77,62.251
$10V_AH,13.10,0.000
$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,23.300,32.575,518.450,37.125,0.000,0.000,0.000,257.850,0.750,0.000,26.121,0.000,9537.418,670.325,1782.609,151.642,0.000,1493.057,0.000,1091.257,1440.000,0.539,0.000
$DEVICE_MAMPS,396.270,122.400,1992.825,198.900,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11692.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.335,0.000,0.000,0.000
$MEM,244080
$DATA_FILE_SIZE,23423,724
$CAP_FILE_SIZE,124092,0
$CFSIZE,2097872896,2051506176
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12281.25,0x2378b6,7,5
$INTR,1,4898.51,0x2378b6,2,5
$INTR,2,11664.01,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,250814,013124,7308.390,-14459.010,29,0.8,49,22.8