version: 66.12
glider: 196
mission: 7
dive: 209
start: 8 25 114 5 8 57
data:
$ID,196
$MISSION,7
$DIVE,209
$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,-5276.3618
$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,52
$R_STBD_OVSHOOT,18
$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
$GPS1,250814,050118,7309.927,-14459.439,39,0.8,59,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.9
$GPS2,250814,050842,7309.901,-14459.327,5,0.8,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.6,37644,-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,-145.9,191,2769,431,546,0.0,0.0,0,90,0.00,0.00,-72.25,0.000,16386,0.000,0.000,188,2768,2349,2357,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,188,2769,2357,2344,4.4,-5.7,7,136,12.10,2.45,-25.27,0.000,18948,0.397,0.092,2666,1375,3856,3919,3794,0,0,0,0,0,0,14.02,14.23,14.47
$GC,250,-0.69,-145.9,2667,1370,3920,3797,54.2,-24.2,39,256,0.00,2.47,0.00,0.000,1030,0.000,0.098,2658,2761,3857,3919,3796,0,0,0,0,0,0,28.83,14.23,28.83
$GC,560,-0.69,-145.9,2658,2761,3920,3797,125.8,-20.9,71,566,0.00,1.85,0.00,0.000,260,0.000,0.100,2649,3788,3858,3919,3797,0,0,0,0,0,0,28.83,14.33,28.83
$GC,670,-0.69,-145.9,2650,3788,3920,3798,150.2,-22.0,93,676,0.00,1.70,0.00,0.000,1030,0.000,0.054,2650,2761,3858,3919,3797,0,0,0,0,0,0,28.83,14.44,28.83
$GC,980,-0.69,-145.9,2650,2761,3920,3797,210.5,-18.4,125,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2761,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.69,-145.9,2650,2762,3920,3798,260.4,-15.7,151,1286,0.00,2.33,0.00,0.000,516,0.000,0.068,2649,1372,3858,3919,3797,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1335,-0.69,-145.9,2647,1373,3920,3798,268.4,-14.1,162,1342,0.15,2.50,0.00,0.000,3078,0.268,0.099,2670,2785,3856,3916,3797,0,0,0,0,0,0,14.34,14.45,28.83
$GC,1641,-0.69,-145.9,2671,2785,3920,3797,309.7,-13.4,173,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2785,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-0.69,-145.9,2671,2786,3920,3797,348.1,-12.6,183,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2785,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.69,-145.9,2671,2786,3919,3798,385.0,-12.3,193,2246,0.00,2.35,0.00,0.000,516,0.000,0.066,2668,1373,3858,3919,3797,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2285,-0.69,-145.9,2672,1374,3919,3798,390.4,-11.4,202,2291,0.00,2.42,0.00,0.000,1030,0.000,0.098,2661,2754,3857,3919,3796,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2600,-0.69,-145.9,2663,2754,3920,3797,430.3,-12.7,215,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.69,-145.9,2663,2754,3920,3798,468.4,-12.6,225,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.69,-145.9,2663,2754,3920,3797,506.5,-12.7,235,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3501,-0.69,-145.9,2663,2754,3920,3797,544.2,-12.6,245,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3857,3918,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3800,-0.69,-145.9,2662,2754,3918,3797,581.7,-12.4,255,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.69,-145.9,2663,2755,3919,3798,618.5,-12.2,265,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3857,3919,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.69,-145.9,2663,2755,3920,3798,654.8,-12.1,275,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.69,-145.9,2663,2754,3920,3797,690.6,-11.8,285,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5000,-0.69,-145.9,2663,2755,3919,3798,725.8,-11.7,295,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3858,3919,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5209,begin apogee
$GC,5213,-0.13,0.0,2663,2755,3920,3798,750.2,-11.6,302,5341,0.68,0.00,125.32,1.982,10244,0.223,0.000,2843,2754,3256,3275,3237,0,0,0,0,0,0,14.47,28.83,13.17
$STATE,5341,end apogee,CONTROL_FINISHED_OK
$STATE,5342,begin climb
$GC,5343,0.69,145.9,2844,2755,3272,3235,753.6,0.0,306,5472,0.88,0.00,123.12,1.807,11270,0.132,0.000,3107,2760,2660,2667,2653,0,0,0,0,0,0,13.80,28.83,12.75
$GC,5782,0.69,145.9,3107,2755,2666,2645,706.9,13.0,346,5787,0.00,1.90,0.00,0.000,260,0.000,0.099,3107,3780,2654,2665,2644,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5806,0.69,145.9,3108,3781,2666,2645,703.2,14.3,351,5813,0.00,1.75,0.00,0.000,1030,0.000,0.050,3113,2745,2654,2665,2644,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6112,0.69,145.9,3113,2745,2666,2644,662.8,13.2,362,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,0.69,145.9,3114,2745,2666,2644,623.7,13.0,372,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2746,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,0.69,145.9,3114,2746,2664,2644,584.6,13.0,382,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,0.69,145.9,3113,2746,2666,2643,545.4,13.1,392,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,0.69,145.9,3113,2745,2666,2640,506.9,12.8,402,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7612,0.69,145.9,3113,2745,2666,2643,469.0,12.5,412,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7912,0.69,145.9,3114,2746,2666,2644,432.0,12.2,422,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8212,0.69,145.9,3113,2746,2666,2643,396.1,11.8,432,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8512,0.69,149.3,3114,2746,2666,2644,361.1,11.4,442,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2745,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,0.69,152.4,3113,2746,2666,2643,326.4,11.5,452,8816,0.00,0.00,3.40,1.202,8198,0.000,0.000,3113,2745,2636,2647,2625,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9112,0.70,163.2,3113,2745,2666,2626,292.8,11.1,462,9127,0.00,0.00,13.50,1.354,8198,0.000,0.000,3112,2745,2591,2602,2580,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9412,0.71,170.8,3114,2746,2599,2575,259.1,11.2,472,9420,0.00,0.00,6.97,1.347,8198,0.000,0.000,3113,2745,2561,2573,2550,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9712,0.73,206.9,3114,2746,2570,2546,227.8,9.7,496,9748,0.00,2.38,30.55,1.248,8708,0.000,0.067,3123,1350,2409,2415,2404,0,0,0,0,0,0,28.83,14.37,13.81
$GC,9857,0.76,244.1,3124,1350,2414,2404,213.8,9.6,525,9894,0.00,2.47,31.33,1.244,9222,0.000,0.092,3124,2747,2258,2260,2257,0,0,0,0,0,0,28.83,14.34,13.69
$GC,10192,0.78,269.3,3125,2748,2260,2248,178.6,10.3,562,10223,0.00,0.00,21.83,1.235,8198,0.000,0.000,3124,2748,2154,2159,2149,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10517,0.81,314.5,3125,2748,2153,2142,145.9,9.2,594,10559,0.00,0.00,38.20,1.205,8454,0.000,0.000,3124,2747,1970,1970,1970,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10858,0.83,348.9,3125,2748,1969,1961,111.9,9.8,629,10889,0.12,0.00,26.75,1.197,10246,0.130,0.000,3177,2747,1831,1829,1833,0,0,0,0,0,0,14.26,28.83,13.61
$GC,11188,0.84,360.1,3177,2747,1834,1821,70.6,11.0,662,11199,0.00,2.42,3.90,0.382,8708,0.000,0.070,3177,1354,1791,1794,1789,0,0,0,0,0,0,28.83,14.21,13.97
$GC,11218,0.86,394.5,3178,1355,1803,1790,67.4,9.8,668,11240,0.00,2.50,16.42,0.389,9222,0.000,0.092,3178,2745,1649,1653,1646,0,0,0,0,0,0,28.83,14.19,13.95
$GC,11539,0.93,493.8,3178,2745,1660,1639,39.4,6.3,702,11590,0.00,0.00,44.58,0.303,8710,0.000,0.000,3177,2745,1245,1256,1234,0,0,0,0,0,0,28.83,28.83,13.98
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b55aa6301;,*55
$MODEM_MSG,CACST,6,0,20140825080215.691960,3,744,-7,0377,0150,255,02,02,06,04,1,004,000,0,5,1,0,150,4.3,5.7,-100,-2.7,-01,-0.2,31,900,0025*2E
$MODEM_MSG,CACST,6,1,20140825081659.314124,3,353,-4,0127,0150,255,02,02,05,04,-1,-01,-01,1,3,1,0,150,11.4,2.2,-100,0.8,-01,0.1,36,900,0025*33
$GC,11888,1.04,641.1,3178,2744,1258,1221,16.6,3.8,740,11961,0.15,2.47,66.47,0.245,10756,0.123,0.070,3245,1355,641,613,670,0,0,0,0,0,0,14.25,14.15,14.06
$GC,11972,1.09,722.2,3246,1355,614,671,11.8,7.3,756,11994,0.00,2.47,15.75,0.237,9222,0.000,0.091,3246,2740,499,447,551,0,0,0,0,0,0,28.83,14.18,14.09
$FREEZE,8.48,-0.314,-1.432,2,1,0
$FREEZE,7.65,-0.205,-1.428,2,1,0
$FREEZE,6.70,-0.208,-1.428,2,1,0
$FREEZE,5.91,-0.202,-1.427,2,1,0
$FREEZE,4.97,-0.380,-1.436,2,1,0
$FREEZE,4.17,-0.200,-1.426,2,1,0
$FREEZE,3.46,-0.201,-1.426,2,1,0
$FREEZE,2.47,-0.201,-1.425,2,1,0
$FREEZE,1.70,-0.203,-1.424,2,1,0
$STATE,12090,end climb,SURFACE_DEPTH_REACHED
$STATE,12090,begin surface coast
$FREEZE,0.90,-0.207,-1.424,2,1,0
$FREEZE,0.90,-0.273,-1.427,2,1,0
$FINISH,0.9,1.021032
$STATE,12110,end surface coast,CONTROL_FINISHED_OK
$STATE,12111,begin surface
$SM_CCo,12186,0.00,0.000,0,0,495,677.76
$SM_GC,1.98,9.35,0.00,0.00,0.078,0.000,0.000,204,2740,495,-8.36,-0.57,677.76,0,0,0,0,0,0,14.29,28.83,28.83
$RAFOS_CLK,98
$MODEM,4,1408953735,74.82120,-147.14841,135.692,196647.2
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7228.39,-14504.72,250814,013412
$TT8_MAMPS,0.044191,0.044191
$HUMID,43.93
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,3
$SC_FREEKB,3845024
$24V_AH,12.75,62.909
$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,23.425,36.450,568.100,0.000,0.000,0.000,0.000,267.525,0.750,0.000,26.840,0.000,9983.075,619.695,1871.133,151.466,0.000,1530.047,0.000,1155.837,1491.000,0.539,0.000
$DEVICE_MAMPS,397.035,100.215,1982.115,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.544,0.000,0.000,0.000
$MEM,242932
$DATA_FILE_SIZE,26791,772
$CAP_FILE_SIZE,128457,0
$CFSIZE,2097872896,2051145728
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12630.30,0x2378b6,7,5
$INTR,1,5210.41,0x2378b6,2,5
$INTR,2,12114.19,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,250814,083323,7311.284,-14459.374,33,0.8,53,22.8