version: 66.12
glider: 196
mission: 7
dive: 215
start: 8 26 114 2 12 49
data:
$ID,196
$MISSION,7
$DIVE,215
$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,-5284.0181
$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,54
$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
$GPS1,260814,020524,7319.084,-14502.760,28,0.9,48,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.9
$GPS2,260814,021230,7319.099,-14502.766,5,0.9,25,22.8
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7330.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,326.5,20544,-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,-145.9,210,2759,417,569,0.0,0.0,0,90,0.00,0.00,-72.28,0.000,16386,0.000,0.000,209,2758,2273,2282,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,210,2758,2283,2265,3.4,-2.5,7,139,12.20,0.00,-29.20,0.000,18438,0.402,0.000,2663,2759,3855,3919,3791,0,0,0,0,0,0,14.00,28.83,14.47
$GC,439,-0.69,-145.9,2664,2760,3920,3796,100.8,-21.0,42,443,0.00,2.35,0.00,0.000,516,0.000,0.065,2663,1368,3857,3919,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,473,-0.69,-145.9,2665,1369,3920,3796,107.7,-18.7,49,479,0.00,2.47,0.00,0.000,1030,0.000,0.096,2655,2759,3857,3919,3795,0,0,0,0,0,0,28.83,14.31,28.83
$GC,778,-0.69,-145.9,2655,2760,3920,3795,170.1,-19.4,80,783,0.00,1.83,0.00,0.000,260,0.000,0.101,2647,3780,3857,3919,3795,0,0,0,0,0,0,28.83,14.40,28.83
$GC,832,-0.69,-145.9,2647,3781,3921,3794,181.5,-21.4,91,839,0.00,1.70,0.00,0.000,1030,0.000,0.054,2647,2756,3857,3919,3795,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1138,-0.69,-145.9,2647,2755,3921,3795,236.8,-16.6,122,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2756,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,-0.69,-145.9,2648,2756,3920,3796,284.2,-15.4,138,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2756,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-0.69,-145.9,2648,2756,3920,3795,328.9,-14.8,148,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2755,3855,3919,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-0.69,-145.9,2648,2755,3920,3795,372.0,-14.3,158,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2755,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-0.69,-145.9,2647,2755,3920,3795,414.2,-14.0,168,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2755,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.69,-145.9,2648,2756,3920,3796,455.9,-13.7,178,2643,0.00,2.30,0.00,0.000,516,0.000,0.067,2647,1370,3856,3918,3794,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2677,-0.69,-145.9,2647,1372,3920,3797,461.2,-13.0,186,2683,0.15,2.47,0.00,0.000,3078,0.263,0.098,2668,2756,3857,3919,3795,0,0,0,0,0,0,14.42,14.52,28.83
$GC,2999,-0.69,-145.9,2669,2757,3919,3794,499.7,-11.9,200,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.69,-145.9,2669,2758,3920,3796,535.1,-11.8,210,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3856,3918,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.69,-145.9,2669,2757,3920,3796,570.1,-11.7,220,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.69,-145.9,2669,2756,3919,3794,604.7,-11.5,230,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.69,-145.9,2669,2757,3920,3796,638.9,-11.5,240,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4498,-0.69,-145.9,2669,2757,3920,3795,673.1,-11.4,250,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2756,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.69,-145.9,2669,2757,3921,3794,707.0,-11.3,260,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.69,-145.9,2669,2758,3920,3796,740.9,-11.2,270,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2757,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5186,begin apogee
$GC,5190,-0.13,0.0,2669,2757,3918,3795,750.8,-11.1,273,5319,0.65,0.00,126.35,2.006,10244,0.223,0.000,2846,2757,3256,3275,3238,0,0,0,0,0,0,14.48,28.83,13.12
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5321,0.69,145.9,2846,2757,3274,3234,754.5,0.0,277,5455,0.88,0.00,124.47,1.841,11270,0.125,0.000,3111,2757,2659,2666,2653,0,0,0,0,0,0,13.78,28.83,12.71
$GC,5759,0.69,145.9,3113,2758,2666,2649,709.3,13.2,317,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2757,2657,2666,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,0.69,145.9,3113,2757,2667,2647,669.5,13.3,327,6064,0.00,1.88,0.00,0.000,260,0.000,0.098,3112,3792,2656,2666,2647,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6094,0.69,145.9,3113,3792,2667,2647,664.3,15.1,334,6099,0.00,1.75,0.00,0.000,1030,0.000,0.050,3120,2742,2657,2668,2647,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6419,0.69,145.9,3121,2743,2666,2648,620.0,13.5,349,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2742,2656,2666,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6719,0.69,145.9,3120,2742,2667,2646,579.7,13.4,359,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,0.69,145.9,3120,2742,2667,2646,539.1,13.5,369,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2744,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,0.69,145.9,3121,2742,2667,2645,499.3,13.3,379,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,0.69,145.9,3121,2743,2667,2647,460.5,12.9,389,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140826040506.869378,3,607,-8,0131,0150,255,03,03,06,03,1,000,000,2,5,1,0,150,14.2,2.4,-100,0.6,-01,0.0,27,900,0025*1C
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58825a7ddf;,*33
$MODEM_MSG,CACST,6,0,20140826041706.325237,3,534,-8,0124,0150,255,03,03,06,05,1,014,000,0,5,1,0,150,14.5,3.0,-100,0.0,-01,0.1,26,900,0025*18
$GC,7924,0.69,145.9,3121,2742,2667,2646,422.1,12.7,399,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8219,0.69,145.9,3121,2743,2665,2647,384.3,12.4,409,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8519,0.69,145.9,3120,2746,2667,2646,347.1,12.3,419,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8819,0.69,145.9,3121,2743,2667,2646,311.1,11.9,429,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,0.70,157.7,3121,2743,2667,2648,277.5,11.0,439,9135,0.00,2.33,10.55,1.351,8708,0.000,0.064,3130,1349,2611,2619,2603,0,0,0,0,0,0,28.83,14.55,13.94
$GC,9174,0.71,175.7,3132,1349,2619,2604,271.5,10.7,450,9195,0.00,2.45,15.93,1.309,9222,0.000,0.092,3131,2753,2538,2545,2532,0,0,0,0,0,0,28.83,14.49,13.88
$GC,9500,0.72,190.6,3131,2753,2545,2526,233.2,10.8,476,9515,0.00,0.00,13.00,1.281,8710,0.000,0.000,3130,2753,2478,2486,2470,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9821,0.76,242.8,3131,2753,2485,2467,201.4,8.9,510,9871,0.00,0.00,43.97,1.209,8198,0.000,0.000,3131,2753,2262,2266,2259,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10171,0.78,272.9,3132,2750,2267,2253,166.2,10.0,545,10201,0.00,0.00,25.48,1.216,8198,0.000,0.000,3131,2753,2141,2147,2136,0,0,0,0,0,0,28.83,28.83,13.68
$GC,10501,0.80,305.4,3132,2754,2147,2130,132.7,9.9,578,10532,0.00,0.00,27.88,1.203,8198,0.000,0.000,3131,2753,2009,2015,2003,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10831,0.83,348.3,3131,2753,2015,1993,100.8,9.3,611,10872,0.00,2.42,33.78,1.196,8708,0.000,0.068,3135,1354,1832,1834,1831,0,0,0,0,0,0,28.83,14.15,13.61
$GC,10881,0.86,393.6,3140,1355,1832,1829,96.1,9.2,621,10907,0.10,2.50,20.17,0.490,11270,0.145,0.093,3185,2741,1654,1657,1651,0,0,0,0,0,0,14.17,14.14,13.86
$GC,11212,0.90,450.1,3185,2740,1665,1636,57.3,8.6,657,11244,0.00,0.00,25.65,0.362,8198,0.000,0.000,3185,2741,1423,1436,1411,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11543,0.95,524.2,3186,2742,1440,1400,28.6,7.7,690,11578,0.00,0.00,33.50,0.292,8454,0.000,0.000,3185,2738,1118,1127,1110,0,0,0,0,0,0,28.83,28.83,14.05
$FREEZE,8.72,-0.207,-1.439,2,1,0
$FREEZE,8.30,-0.425,-1.439,2,1,0
$FREEZE,7.85,-0.425,-1.438,2,1,0
$FREEZE,7.43,-0.554,-1.435,2,1,0
$FREEZE,6.82,-0.554,-1.434,2,1,0
$FREEZE,6.36,-0.623,-1.432,2,1,0
$GC,11883,1.06,674.3,3186,2741,1129,1100,10.7,3.6,728,11959,0.15,2.45,67.50,0.225,10756,0.125,0.070,3255,1357,507,454,560,0,0,0,0,0,0,14.33,14.21,14.09
$FREEZE,5.35,-0.653,-1.429,2,1,0
$FREEZE,4.88,-0.653,-1.429,2,1,0
$FREEZE,4.51,-0.662,-1.428,2,1,0
$FREEZE,4.09,-0.662,-1.428,2,1,0
$GC,11979,1.11,743.4,3256,1357,455,561,4.1,8.0,745,11986,0.00,2.47,0.85,0.297,9222,0.000,0.093,3255,2736,497,445,550,0,0,0,0,0,0,28.83,14.20,14.12
$FREEZE,2.81,-0.647,-1.425,2,1,0
$FREEZE,1.90,-0.643,-1.424,2,1,0
$STATE,12002,end climb,SURFACE_DEPTH_REACHED
$STATE,12002,begin surface coast
$FREEZE,1.01,-0.639,-1.424,2,1,0
$FREEZE,0.80,-0.627,-0.803,2,1,0
$FINISH,0.8,1.011844
$STATE,12024,end surface coast,CONTROL_FINISHED_OK
$STATE,12024,begin surface
$SM_CCo,12100,0.00,0.000,0,0,497,677.52
$SM_GC,1.92,9.38,0.00,0.00,0.081,0.000,0.000,208,2737,497,-8.35,-0.68,677.52,0,0,0,0,0,0,14.30,28.83,28.83
$RAFOS_CLK,282
$MODEM,14,1409026626,72.50660,-144.39720,66.325,96071.6
$RAFOS_FIX,7234.998535,-14359.204102,210814,040433,2,255,0.30
$IRIDIUM_FIX,7242.81,-14522.55,250814,223727
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.88
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.50
$XPDR_PINGS,8
$SC_FREEKB,3842336
$24V_AH,12.71,64.834
$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,23.500,31.375,569.075,0.000,0.000,0.000,0.000,246.275,2.000,0.000,26.886,0.000,9911.591,634.857,1816.770,160.644,0.000,1500.332,0.000,1128.200,1484.000,0.539,0.000
$DEVICE_MAMPS,402.390,100.980,2005.830,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12074.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.188,0.000,0.000,0.000
$MEM,239464
$DATA_FILE_SIZE,26707,750
$CAP_FILE_SIZE,127695,0
$CFSIZE,2097872896,2049998848
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12770.27,0x2378b6,7,5
$INTR,1,5187.63,0x2378b6,2,5
$INTR,2,12027.54,0x2378b6,7,5
$SOUNDSPEED,1449.1
$GPS,260814,053554,7320.855,-14503.163,39,0.8,59,22.8