version: 66.12
glider: 196
mission: 7
dive: 249
start: 8 31 114 0 34 53
data:
$ID,196
$MISSION,7
$DIVE,249
$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,-5681.4839
$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,56
$R_STBD_OVSHOOT,17
$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
$GPS1,310814,002554,7348.294,-14440.926,40,0.8,60,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.9
$GPS2,310814,003433,7348.319,-14440.828,5,0.8,26,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.6,21639,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b6aea6a45;,*52
$MODEM_MSG,CACST,6,0,20140831000132.232924,3,383,01,0390,0150,255,02,02,04,04,1,004,000,0,5,1,0,150,20.8,19.5,-100,-16.5,-01,0.1,28,900,0025*22
$GC,16,-0.69,-145.9,204,2760,435,546,0.0,0.0,0,89,0.00,0.00,-71.60,0.000,16386,0.000,0.000,208,2759,2220,2224,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,204,2760,2225,2217,3.2,-2.8,7,140,12.05,2.38,-30.77,0.000,18948,0.395,0.083,2662,1370,3856,3917,3795,0,0,0,0,0,0,13.97,14.23,14.45
$GC,220,-0.69,-145.9,2663,1370,3918,3798,47.1,-31.9,33,225,0.00,2.50,0.00,0.000,1030,0.000,0.093,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,14.19,28.83
$GC,530,-0.69,-145.9,2654,2764,3918,3798,124.1,-21.8,65,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-0.69,-145.9,2654,2764,3918,3798,185.1,-19.0,95,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.69,-145.9,2654,2764,3918,3799,237.9,-16.3,125,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.69,-145.9,2655,2765,3918,3799,287.1,-15.2,141,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3861,3917,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.69,-145.9,2655,2765,3918,3799,330.9,-14.2,151,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.69,-145.9,2655,2765,3918,3799,372.3,-13.8,161,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.69,-145.9,2655,2765,3918,3799,412.7,-13.4,171,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.69,-145.9,2655,2764,3918,3798,452.3,-13.1,181,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.69,-145.9,2655,2765,3918,3797,491.6,-13.1,191,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3858,3919,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-0.69,-145.9,2654,2764,3918,3798,530.7,-13.0,201,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.69,-145.9,2654,2764,3919,3798,569.5,-12.8,211,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3850,-0.69,-145.9,2655,2765,3918,3800,607.8,-12.8,221,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2764,3857,3917,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4150,-0.69,-145.9,2654,2765,3918,3800,646.0,-12.7,231,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3858,3917,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.69,-145.9,2654,2765,3918,3800,684.3,-12.6,241,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2764,3861,3917,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.69,-145.9,2655,2764,3918,3800,721.6,-12.4,251,4755,0.00,1.80,0.00,0.000,260,0.000,0.101,2646,3804,3858,3917,3799,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4785,-0.69,-145.9,2647,3805,3918,3800,726.3,-13.7,258,4790,0.00,1.70,0.00,0.000,1030,0.000,0.053,2645,2761,3858,3917,3799,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4992,-0.13,0.0,2647,2762,3918,3800,752.7,-12.8,269,5121,0.75,0.00,126.32,1.965,10246,0.225,0.000,2846,2760,3257,3276,3239,0,0,0,0,0,0,14.40,28.83,13.12
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5124,0.69,145.9,2848,2761,3273,3236,756.4,0.0,273,5254,0.90,0.00,126.35,1.851,10246,0.117,0.000,3117,2760,2659,2665,2653,0,0,0,0,0,0,13.81,28.83,12.69
$GC,5530,0.69,145.9,3118,2760,2665,2644,713.6,13.6,287,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,0.69,145.9,3118,2760,2664,2644,672.6,13.5,297,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,0.69,145.9,3118,2760,2665,2643,631.8,13.6,307,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6430,0.69,145.9,3118,2760,2665,2643,591.2,13.5,317,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2761,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6730,0.69,145.9,3118,2761,2664,2644,551.2,13.4,327,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7030,0.69,145.9,3118,2761,2664,2644,511.6,13.0,337,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,0.69,145.9,3118,2759,2664,2643,472.3,13.0,347,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,0.69,145.9,3118,2760,2664,2643,433.5,12.9,357,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2759,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,0.69,145.9,3118,2760,2664,2643,395.4,12.7,367,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,0.69,145.9,3118,2761,2664,2644,357.5,12.5,377,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,0.69,145.9,3118,2761,2664,2644,320.5,12.1,387,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2760,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,0.70,156.9,3118,2761,2664,2644,286.6,11.0,397,8841,0.00,0.00,9.73,1.370,8198,0.000,0.000,3117,2760,2617,2627,2607,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9130,0.71,176.8,3118,2761,2624,2604,254.4,10.6,407,9155,0.00,2.42,17.17,1.304,8708,0.000,0.065,3126,1351,2530,2538,2523,0,0,0,0,0,0,28.83,14.49,13.90
$GC,9205,0.73,199.1,3127,1352,2538,2524,246.6,10.4,422,9231,0.00,2.42,19.12,1.280,9222,0.000,0.090,3126,2735,2441,2447,2436,0,0,0,0,0,0,28.83,14.45,13.81
$GC,9530,0.75,233.8,3127,2735,2448,2433,211.4,9.8,457,9561,0.00,0.00,29.67,1.232,8198,0.000,0.000,3125,2735,2301,2303,2300,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9861,0.78,270.4,3127,2736,2302,2292,177.3,9.7,490,9896,0.00,2.38,31.05,1.215,8708,0.000,0.063,3134,1349,2149,2152,2147,0,0,0,0,0,0,28.83,14.26,13.68
$GC,9937,0.80,307.8,3134,1347,2150,2145,170.2,9.6,505,9973,0.00,2.47,31.65,1.223,9222,0.000,0.090,3134,2740,2001,2003,1999,0,0,0,0,0,0,28.83,14.26,13.56
$GC,10271,0.82,329.7,3135,2741,2000,1984,133.5,10.5,542,10297,0.00,2.42,19.00,1.195,8708,0.000,0.066,3141,1357,1906,1907,1905,0,0,0,0,0,0,28.83,14.26,13.69
$GC,10312,0.83,345.1,3142,1358,1905,1905,129.2,10.8,549,10333,0.00,2.45,13.48,1.200,9222,0.000,0.090,3141,2732,1845,1846,1844,0,0,0,0,0,0,28.83,14.25,13.66
$GC,10633,0.85,373.4,3142,2732,1847,1833,94.3,10.1,583,10646,0.00,0.00,11.95,0.477,8198,0.000,0.000,3142,2731,1736,1739,1733,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10942,0.89,433.5,3142,2733,1749,1731,64.3,8.4,614,10974,0.12,2.45,27.45,0.381,10756,0.123,0.067,3206,1350,1491,1498,1484,0,0,0,0,0,0,14.34,14.26,14.00
$GC,11010,0.90,452.1,3208,1349,1501,1483,57.2,10.6,627,11026,0.00,2.47,8.95,0.359,9222,0.000,0.090,3206,2736,1414,1426,1402,0,0,0,0,0,0,28.83,14.23,14.00
$GC,11325,0.95,515.3,3207,2736,1431,1392,28.6,8.3,660,11356,0.00,0.00,28.88,0.289,8198,0.000,0.000,3206,2736,1156,1167,1145,0,0,0,0,0,0,28.83,28.83,14.07
$FREEZE,8.83,-1.226,-1.422,2,1,0
$FREEZE,8.53,-1.226,-1.422,2,1,0
$FREEZE,8.29,-1.218,-1.420,2,1,0
$FREEZE,7.95,-1.218,-1.420,2,1,0
$FREEZE,7.58,-1.211,-1.419,2,1,0
$FREEZE,7.33,-1.211,-1.419,2,1,0
$GC,11655,1.04,649.8,3207,2737,1169,1137,10.0,4.5,693,11724,0.00,2.42,60.60,0.221,8708,0.000,0.067,3208,1361,606,577,636,0,0,0,0,0,0,28.83,14.22,14.10
$FREEZE,6.53,-1.209,-1.418,2,1,0
$FREEZE,6.28,-1.206,-1.417,2,1,0
$FREEZE,5.92,-1.206,-1.417,2,1,0
$FREEZE,5.76,-1.203,-1.417,2,1,0
$FREEZE,5.47,-1.203,-1.417,2,1,0
$FREEZE,5.17,-1.204,-1.417,2,1,0
$FREEZE,5.00,-1.204,-1.416,2,1,0
$FREEZE,4.63,-1.204,-1.416,2,1,0
$FREEZE,4.42,-1.204,-1.416,2,1,0
$FREEZE,4.03,-1.204,-1.416,2,1,0
$FREEZE,3.74,-1.204,-1.415,2,1,0
$FREEZE,3.49,-1.205,-1.415,2,1,0
$GC,11775,1.12,760.5,3208,1361,577,637,4.0,5.7,715,11794,0.15,2.42,12.15,0.209,11270,0.133,0.090,3260,2721,497,445,549,0,0,0,0,0,0,14.24,14.21,14.06
$FREEZE,2.47,-1.206,-1.414,2,1,0
$FREEZE,1.73,-1.230,-1.413,2,1,0
$STATE,11807,end climb,SURFACE_DEPTH_REACHED
$STATE,11807,begin surface coast
$FREEZE,1.00,-1.264,-1.411,2,1,0
$FREEZE,0.82,-1.258,-1.407,2,1,0
$FINISH,0.8,1.020757
$STATE,11827,end surface coast,CONTROL_FINISHED_OK
$STATE,11828,begin surface
$SM_CCo,11904,0.00,0.000,0,0,495,677.76
$SM_GC,1.87,9.38,0.08,0.00,0.077,0.194,0.000,201,2771,495,-8.36,-0.59,677.76,0,0,0,0,0,0,14.33,14.28,28.83
$RAFOS_CLK,593
$MODEM,4,1409443292,74.88920,-146.40440,92.233,133698.5
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7312.24,-14437.64,300814,210249
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.48
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.60
$XPDR_PINGS,8
$SC_FREEKB,3827104
$24V_AH,12.69,75.753
$10V_AH,13.03,0.000
$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,23.350,32.800,573.525,0.000,0.000,0.000,0.000,333.200,2.000,0.000,27.358,0.000,9759.219,648.862,1832.731,182.586,0.000,1565.666,0.000,1087.339,0.000,0.540,0.000
$DEVICE_MAMPS,394.740,193.545,1964.520,0.000,0.000,0.000,0.000,148.410,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.532,0.000,0.000,0.000
$MEM,220716
$DATA_FILE_SIZE,23430,722
$CAP_FILE_SIZE,125489,0
$CFSIZE,2097872896,2043772928
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12235.38,0x2378b6,7,5
$INTR,1,4990.43,0x2378b6,2,5
$SOUNDSPEED,1447.7
$GPS,310814,035419,7347.087,-14444.787,14,0.7,34,23.0