version: 66.12
glider: 196
mission: 7
dive: 212
start: 8 25 114 15 38 2
data:
$ID,196
$MISSION,7
$DIVE,212
$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,-5280.1401
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,250814,153024,7314.248,-14501.066,19,1.0,39,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.8
$GPS2,250814,153743,7314.245,-14501.081,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.1,29553,-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,-145.9,209,2739,441,545,0.0,0.0,0,90,0.00,0.00,-72.18,0.000,16386,0.000,0.000,207,2739,2276,2285,2268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,208,2739,2285,2269,3.3,-2.9,7,141,12.02,2.40,-28.90,0.000,18948,0.398,0.091,2664,1370,3853,3915,3792,0,0,0,0,0,0,14.02,14.25,14.46
$GC,271,-0.69,-145.9,2665,1369,3916,3795,59.0,-25.7,43,276,0.00,2.47,0.00,0.000,1030,0.000,0.096,2656,2759,3855,3915,3795,0,0,0,0,0,0,28.83,14.23,28.83
$GC,581,-0.69,-145.9,2656,2759,3916,3796,130.0,-21.0,75,586,0.00,1.85,0.00,0.000,260,0.000,0.100,2647,3786,3854,3915,3793,0,0,0,0,0,0,28.83,14.31,28.83
$GC,735,-0.69,-145.9,2648,3786,3916,3795,164.6,-21.9,106,742,0.00,1.70,0.00,0.000,1030,0.000,0.054,2647,2760,3855,3915,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1041,-0.69,-145.9,2648,2761,3916,3796,222.3,-17.8,137,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2760,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,-0.69,-145.9,2648,2761,3916,3796,274.2,-15.7,159,1366,0.00,2.33,0.00,0.000,516,0.000,0.067,2647,1372,3855,3915,3796,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1410,-0.69,-145.9,2648,1373,3916,3796,281.6,-14.5,169,1416,0.15,2.50,0.00,0.000,3078,0.265,0.099,2668,2778,3855,3915,3795,0,0,0,0,0,0,14.30,14.40,28.83
$GC,1722,-0.69,-145.9,2669,2779,3916,3794,322.8,-13.1,181,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2778,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2021,-0.69,-145.9,2668,2778,3916,3795,361.2,-12.7,191,2026,0.00,2.38,0.00,0.000,516,0.000,0.065,2668,1370,3855,3915,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2076,-0.69,-145.9,2669,1371,3916,3795,367.8,-11.6,202,2082,0.00,2.45,0.00,0.000,1030,0.000,0.098,2659,2757,3855,3915,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2381,-0.69,-145.9,2660,2756,3916,3795,407.8,-13.2,213,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2756,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.69,-145.9,2659,2758,3916,3796,446.9,-12.9,223,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2756,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140825161701.079162,3,81,-4,0094,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,11.5,1.0,-100,2.0,-01,0.1,35,900,0025*09
$GC,2982,-0.69,-145.9,2661,2758,3916,3796,485.0,-12.6,233,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.69,-145.9,2660,2756,3916,3795,522.7,-12.5,243,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2756,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3581,-0.69,-145.9,2660,2758,3916,3794,560.4,-12.5,253,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-0.69,-145.9,2660,2757,3916,3796,597.6,-12.4,263,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2757,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.69,-145.9,2661,2758,3916,3796,634.4,-12.1,273,4186,0.00,2.33,0.00,0.000,516,0.000,0.067,2659,1366,3855,3915,3795,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4216,-0.69,-145.9,2660,1366,3916,3795,638.6,-11.8,280,4221,0.00,2.47,0.00,0.000,1030,0.000,0.097,2649,2751,3854,3915,3794,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4542,-0.69,-145.9,2650,2752,3916,3796,679.1,-12.4,295,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-0.69,-145.9,2649,2751,3916,3795,716.3,-12.3,305,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3855,3915,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5139,begin apogee
$GC,5143,-0.13,0.0,2648,2751,3916,3795,753.3,-12.3,315,5272,0.73,0.00,125.90,1.994,10244,0.228,0.000,2843,2751,3256,3275,3237,0,0,0,0,0,0,14.46,28.83,13.14
$STATE,5273,end apogee,CONTROL_FINISHED_OK
$STATE,5273,begin climb
$GC,5274,0.69,145.9,2844,2751,3273,3235,756.5,0.0,319,5407,0.88,0.00,124.18,1.831,11270,0.127,0.000,3109,2751,2659,2666,2652,0,0,0,0,0,0,13.78,28.83,12.72
$GC,5712,0.69,145.9,3110,2751,2665,2647,709.2,13.5,359,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,0.69,145.9,3109,2752,2666,2647,669.8,13.0,369,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2751,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,0.69,145.9,3110,2751,2667,2646,630.6,12.9,379,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,0.69,145.9,3110,2752,2666,2646,591.9,12.8,389,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,0.69,145.9,3109,2753,2667,2648,553.5,12.8,399,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,0.69,145.9,3110,2751,2667,2645,515.8,12.6,409,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7512,0.69,145.9,3110,2752,2667,2645,478.9,12.2,419,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2752,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,0.69,145.9,3110,2752,2667,2646,442.4,12.2,429,7817,0.00,1.83,0.00,0.000,260,0.000,0.099,3109,3786,2655,2666,2645,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7847,0.69,145.9,3110,3786,2667,2645,437.5,13.9,436,7852,0.00,1.70,0.00,0.000,1030,0.000,0.050,3115,2742,2655,2666,2645,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8173,0.69,145.9,3116,2743,2667,2646,396.7,12.5,451,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2748,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.69,145.9,3117,2743,2666,2646,360.1,12.1,461,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2742,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,0.69,150.1,3117,2743,2667,2645,324.9,11.4,471,8778,0.00,2.30,1.12,0.317,8708,0.000,0.064,3126,1356,2648,2663,2634,0,0,0,0,0,0,28.83,14.61,14.26
$GC,8802,0.71,170.1,3127,1355,2672,2637,321.6,10.6,477,8828,0.00,2.40,20.30,1.371,9222,0.000,0.093,3126,2740,2561,2569,2554,0,0,0,0,0,0,28.83,14.59,13.91
$GC,9132,0.71,170.1,3128,2741,2568,2550,279.7,12.6,493,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2740,2558,2567,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,0.71,170.1,3127,2740,2569,2549,244.3,11.9,505,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2740,2558,2568,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9732,0.74,223.2,3127,2741,2568,2550,215.3,8.8,535,9784,0.00,2.42,43.80,1.258,8708,0.000,0.067,3137,1353,2343,2345,2342,0,0,0,0,0,0,28.83,14.28,13.74
$GC,9843,0.77,260.4,3137,1353,2343,2341,205.0,9.7,557,9880,0.00,2.45,31.48,1.283,9222,0.000,0.092,3136,2729,2195,2195,2196,0,0,0,0,0,0,28.83,14.31,13.62
$GC,10184,0.78,278.3,3137,2733,2195,2184,167.7,10.7,595,10206,0.00,1.88,16.10,1.242,8452,0.000,0.096,3137,3791,2116,2119,2113,0,0,0,0,0,0,28.83,14.26,13.71
$GC,10270,0.78,278.3,3137,3792,2119,2113,156.9,13.0,612,10277,0.00,1.75,0.00,0.000,1030,0.000,0.050,3144,2742,2115,2119,2111,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10577,0.80,309.0,3145,2743,2119,2109,124.4,10.0,643,10607,0.00,0.00,24.98,1.189,8710,0.000,0.000,3144,2742,1992,1997,1988,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10907,0.83,349.6,3144,2743,1997,1980,91.2,9.5,679,10928,0.00,2.45,17.33,0.464,8708,0.000,0.068,3152,1354,1832,1832,1833,0,0,0,0,0,0,28.83,14.27,13.97
$GC,10947,0.86,383.1,3156,1353,1838,1832,87.2,9.8,687,10969,0.00,2.50,15.93,0.455,9222,0.000,0.093,3152,2753,1696,1698,1694,0,0,0,0,0,0,28.83,14.23,13.96
$GC,11267,0.92,468.2,3153,2754,1704,1688,57.6,7.1,721,11310,0.12,1.90,37.90,0.359,10500,0.129,0.099,3204,3786,1350,1360,1340,0,0,0,0,0,0,14.33,14.21,14.02
$GC,11399,0.92,468.2,3204,3786,1361,1340,42.4,12.4,747,11405,0.00,1.73,0.00,0.000,1030,0.000,0.051,3210,2760,1348,1360,1337,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11711,1.05,654.4,3211,2759,1362,1327,17.7,1.7,779,11801,0.00,2.45,83.20,0.249,8708,0.000,0.068,3212,1344,590,559,621,0,0,0,0,0,0,28.83,14.21,14.07
$FREEZE,8.64,-0.379,-1.439,2,1,0
$GC,11862,1.11,752.1,3213,1345,559,622,9.3,6.4,809,11880,0.12,2.50,10.30,0.232,11270,0.153,0.091,3251,2743,497,448,546,0,0,0,0,0,0,14.21,14.20,14.07
$FREEZE,7.69,-0.352,-1.438,2,1,0
$FREEZE,6.96,-0.364,-1.438,2,1,0
$FREEZE,6.14,-0.328,-1.436,2,1,0
$FREEZE,5.48,-0.318,-1.436,2,1,0
$FREEZE,4.58,-0.316,-1.435,2,1,0
$FREEZE,3.86,-0.317,-1.435,2,1,0
$FREEZE,3.13,-0.308,-1.434,2,1,0
$FREEZE,2.16,-0.305,-1.433,2,1,0
$FREEZE,1.27,-0.310,-1.433,2,1,0
$STATE,11963,end climb,SURFACE_DEPTH_REACHED
$STATE,11963,begin surface coast
$FREEZE,0.85,-0.318,-1.431,2,1,0
$FREEZE,0.97,-0.344,-1.434,2,1,0
$FINISH,1.0,1.021139
$STATE,11983,end surface coast,CONTROL_FINISHED_OK
$STATE,11983,begin surface
$SM_CCo,12059,0.00,0.000,0,0,495,677.52
$SM_GC,1.76,9.25,0.00,0.00,0.070,0.000,0.000,206,2745,495,-8.36,-0.42,677.52,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,536
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7235.57,-14504.14,250814,120337
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.64
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,18
$SC_FREEKB,3843680
$24V_AH,12.72,63.848
$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,23.275,53.125,552.500,0.000,0.000,0.000,0.000,256.825,4.500,0.000,26.799,0.000,9771.423,614.051,1946.307,161.405,0.000,1554.890,0.000,1229.684,1489.000,0.539,0.000
$DEVICE_MAMPS,397.800,100.215,1993.590,0.000,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12032.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.092,0.000,0.000,0.000
$MEM,241212
$DATA_FILE_SIZE,26755,823
$CAP_FILE_SIZE,133164,0
$CFSIZE,2097872896,2050555904
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12597.36,0x2378b6,7,5
$INTR,1,5140.77,0x2378b6,2,5
$INTR,2,11987.10,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,250814,190024,7315.836,-14501.338,36,0.8,56,22.8