version: 66.12
glider: 196
mission: 7
dive: 255
start: 8 31 114 21 24 7
data:
$ID,196
$MISSION,7
$DIVE,255
$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,-5689.1426
$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,59
$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
$GPS1,310814,211554,7341.681,-14503.085,39,1.0,59,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.9
$GPS2,310814,212347,7341.725,-14503.106,5,1.0,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.4,4806,-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,-145.9,206,2748,434,551,0.0,0.0,0,80,0.00,0.00,-62.53,0.000,16386,0.000,0.000,205,2748,2027,2032,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.69,-145.9,206,2748,2033,2025,3.3,-4.0,6,135,11.95,2.42,-35.95,0.000,18948,0.395,0.086,2662,1373,3857,3920,3795,0,0,0,0,0,0,13.98,14.26,14.47
$GC,245,-0.69,-145.9,2663,1373,3921,3801,52.9,-29.0,38,250,0.00,2.50,0.00,0.000,1030,0.000,0.096,2653,2767,3861,3921,3802,0,0,0,0,0,0,28.83,14.23,28.83
$GC,555,-0.69,-145.9,2654,2767,3921,3801,128.6,-21.6,70,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2766,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-0.69,-145.9,2654,2766,3922,3800,188.9,-18.6,100,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2766,3860,3921,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1155,-0.69,-145.9,2654,2767,3922,3800,241.9,-16.5,130,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2766,3858,3920,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1456,-0.69,-145.9,2654,2766,3922,3800,288.4,-15.0,144,1461,0.00,2.33,0.00,0.000,516,0.000,0.065,2654,1376,3860,3920,3800,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1490,-0.69,-145.9,2654,1377,3921,3801,293.4,-13.3,151,1495,0.00,2.45,0.00,0.000,1030,0.000,0.097,2643,2762,3860,3921,3800,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1817,-0.69,-145.9,2643,2762,3922,3800,342.1,-14.9,166,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2115,-0.69,-145.9,2643,2762,3922,3800,385.7,-14.3,176,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,-0.69,-145.9,2644,2763,3921,3801,427.8,-13.9,186,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3860,3921,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.69,-145.9,2643,2762,3922,3800,469.5,-13.9,196,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-0.69,-145.9,2643,2762,3922,3800,510.9,-13.8,206,3016,0.12,0.00,0.00,0.000,2054,0.288,0.000,2668,2763,3860,3921,3800,0,0,0,0,0,0,14.38,28.83,28.83
$GC,3315,-0.69,-145.9,2669,2763,3922,3800,546.5,-11.8,216,3320,0.00,2.33,0.00,0.000,516,0.000,0.063,2668,1370,3860,3920,3800,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3360,-0.69,-145.9,2669,1370,3922,3800,551.8,-10.6,225,3365,0.00,2.42,0.00,0.000,1030,0.000,0.096,2660,2754,3860,3920,3800,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3675,-0.69,-145.9,2660,2755,3921,3800,590.4,-12.3,238,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2755,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.69,-145.9,2661,2756,3921,3801,627.1,-12.1,248,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2755,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.69,-145.9,2660,2755,3922,3800,663.0,-11.9,258,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-0.69,-145.9,2661,2756,3921,3801,698.7,-11.9,268,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2755,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.69,-145.9,2661,2756,3921,3801,734.0,-11.7,278,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2755,3860,3921,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5028,-0.13,0.0,2660,2756,3921,3801,751.6,-11.6,283,5155,0.70,0.00,125.12,1.930,10244,0.224,0.000,2846,2755,3260,3279,3242,0,0,0,0,0,0,14.40,28.83,13.14
$STATE,5156,end apogee,CONTROL_FINISHED_OK
$STATE,5156,begin climb
$GC,5158,0.69,145.9,2847,2755,3275,3238,755.2,0.0,287,5292,0.85,2.47,124.47,1.831,10756,0.111,0.063,3110,1353,2659,2663,2656,0,0,0,0,0,0,13.82,13.85,12.70
$GC,5517,0.69,152.7,3111,1354,2663,2651,725.2,11.3,361,5528,0.00,2.55,6.50,1.694,9222,0.000,0.091,3106,2744,2636,2645,2628,0,0,0,0,0,0,28.83,13.91,13.19
$GC,5838,0.69,152.7,3111,2745,2644,2626,683.0,13.3,375,5843,0.00,1.85,0.00,0.000,260,0.000,0.096,3110,3792,2634,2643,2625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6067,0.69,152.7,3111,3792,2644,2625,647.6,15.0,421,6073,0.00,1.75,0.00,0.000,1030,0.000,0.049,3118,2735,2634,2643,2625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6378,0.69,152.7,3118,2735,2644,2625,605.1,13.7,433,6383,0.00,1.85,0.00,0.000,260,0.000,0.096,3118,3789,2634,2643,2625,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6533,0.69,152.7,3119,3792,2644,2625,580.7,15.6,464,6538,0.00,1.75,0.00,0.000,1030,0.000,0.050,3126,2732,2638,2652,2625,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6859,0.69,152.7,3127,2731,2644,2625,535.7,13.7,479,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2732,2633,2643,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7158,0.69,152.7,3126,2732,2645,2624,495.4,13.4,489,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2732,2633,2643,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7458,0.69,152.7,3126,2732,2644,2624,454.8,13.5,499,7463,0.00,1.88,0.00,0.000,260,0.000,0.098,3126,3786,2634,2645,2624,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7477,0.69,152.7,3126,3786,2644,2624,451.9,14.5,503,7483,0.00,1.70,0.00,0.000,1030,0.000,0.050,3133,2744,2633,2642,2625,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7788,0.69,152.7,3135,2744,2644,2625,409.1,13.7,515,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2743,2633,2643,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,0.69,152.7,3134,2743,2644,2624,368.6,13.5,525,8093,0.00,1.85,0.00,0.000,260,0.000,0.098,3133,3810,2633,2643,2624,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8107,0.69,152.7,3134,3812,2644,2625,365.7,14.6,529,8113,0.00,1.75,0.00,0.000,1030,0.000,0.050,3141,2733,2633,2643,2624,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8418,0.69,152.7,3142,2737,2644,2624,323.5,13.5,541,8423,0.00,1.85,0.00,0.000,260,0.000,0.097,3141,3778,2633,2643,2624,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8457,0.69,152.7,3142,3780,2645,2625,317.4,15.8,549,8463,0.10,1.67,0.00,0.000,5126,0.251,0.050,3124,2749,2633,2643,2624,0,0,0,0,0,0,14.34,14.60,28.83
$GC,8779,0.70,160.4,3125,2748,2644,2624,279.6,11.2,563,8789,0.00,0.00,8.35,1.369,8198,0.000,0.000,3124,2748,2606,2611,2602,0,0,0,0,0,0,28.83,28.83,13.92
$GC,9079,0.72,187.4,3125,2749,2609,2591,246.5,10.2,575,9104,0.00,0.00,23.15,1.277,8710,0.000,0.000,3124,2748,2492,2497,2488,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9411,0.75,227.5,3125,2748,2495,2481,212.4,9.5,609,9453,0.00,2.42,32.90,1.252,8708,0.000,0.065,3133,1359,2330,2331,2329,0,0,0,0,0,0,28.83,14.26,13.69
$GC,9489,0.78,277.3,3134,1360,2331,2327,205.4,9.0,624,9538,0.00,2.47,43.15,1.271,9222,0.000,0.093,3133,2748,2121,2121,2122,0,0,0,0,0,0,28.83,14.28,13.52
$GC,9843,0.79,287.3,3134,2748,2122,2111,164.8,11.1,665,9854,0.00,0.00,8.20,1.274,8198,0.000,0.000,3133,2753,2083,2089,2078,0,0,0,0,0,0,28.83,28.83,13.69
$GC,10153,0.80,307.5,3134,2748,2089,2075,132.1,10.6,696,10174,0.00,0.00,17.80,1.183,8710,0.000,0.000,3133,2747,2002,2007,1997,0,0,0,0,0,0,28.83,28.83,13.70
$GC,10474,0.84,353.7,3134,2748,2009,1988,100.2,9.2,730,10515,0.00,2.45,36.92,1.144,8708,0.000,0.067,3140,1351,1811,1811,1811,0,0,0,0,0,0,28.83,14.15,13.59
$GC,10565,0.87,400.3,3141,1352,1807,1807,91.8,9.1,748,10591,0.00,2.50,20.92,0.470,9222,0.000,0.092,3141,2737,1624,1629,1620,0,0,0,0,0,0,28.83,14.11,13.83
$MODEM_MSG,CACST,6,1,20140901000145.257091,3,2806,-1,0406,0150,255,02,02,06,05,-1,-01,-01,1,3,0,0,150,13.5,-0.5,-100,3.5,-01,0.2,32,900,0025*2C
$GC,10896,0.91,457.6,3142,2737,1636,1609,60.6,8.6,784,10928,0.15,2.40,25.77,0.369,10756,0.114,0.065,3210,1347,1391,1404,1379,0,0,0,0,0,0,14.26,14.19,13.94
$GC,10967,0.94,508.8,3211,1347,1406,1379,53.4,8.9,798,10999,0.00,2.50,23.83,0.349,9222,0.000,0.093,3217,2739,1181,1192,1170,0,0,0,0,0,0,28.83,14.18,13.93
$GC,11297,0.98,567.4,3211,2740,1193,1160,21.6,8.5,834,11329,0.00,2.38,26.00,0.269,8708,0.000,0.065,3217,1356,945,947,944,0,0,0,0,0,0,28.83,14.23,14.02
$GC,11394,1.08,707.1,3219,1356,948,944,15.4,4.2,853,11451,0.00,2.47,50.10,0.246,9222,0.000,0.092,3218,2738,499,448,550,0,0,0,0,0,0,28.83,14.22,14.04
$FREEZE,8.46,-1.119,-1.416,2,1,0
$FREEZE,7.78,-1.124,-1.416,2,1,0
$FREEZE,7.12,-1.139,-1.415,2,1,0
$FREEZE,6.47,-1.127,-1.414,2,1,0
$FREEZE,5.92,-1.139,-1.414,2,1,0
$FREEZE,5.36,-1.149,-1.413,2,1,0
$FREEZE,4.90,-1.149,-1.394,2,1,0
$FREEZE,4.38,-1.148,-1.412,2,1,0
$FREEZE,3.85,-1.150,-1.411,2,1,0
$FREEZE,3.35,-1.152,-1.411,2,1,0
$FREEZE,2.81,-1.154,-1.411,2,1,0
$FREEZE,2.09,-1.157,-1.410,2,1,0
$FREEZE,1.67,-1.156,-1.409,2,1,0
$STATE,11629,end climb,SURFACE_DEPTH_REACHED
$STATE,11629,begin surface coast
$FREEZE,0.90,-1.153,-1.409,2,1,0
$FREEZE,0.80,-1.117,-0.372,2,1,0
$FINISH,0.8,1.005330
$STATE,11648,end surface coast,FINISH_DEPTH_REACHED
$STATE,11648,begin surface
$SM_CCo,11724,0.00,0.000,0,0,493,678.25
$SM_GC,1.85,9.30,0.00,0.00,0.083,0.000,0.000,204,2739,493,-8.36,-0.59,678.25,0,0,0,0,0,0,14.31,28.83,28.83
$RAFOS_CLK,116
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7257.42,-14459.85,310814,175548
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.76
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,3
$SC_FREEKB,3824384
$24V_AH,12.70,77.700
$10V_AH,12.82,0.000
$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,23.175,56.975,573.200,0.000,0.000,0.000,0.000,282.100,0.750,0.000,26.861,0.000,9304.318,626.155,2072.017,191.188,0.000,1631.998,0.000,1316.431,1437.000,0.539,0.000
$DEVICE_MAMPS,394.740,97.920,1930.095,0.000,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.957,0.000,0.000,0.000
$MEM,217200
$DATA_FILE_SIZE,29991,884
$CAP_FILE_SIZE,136110,0
$CFSIZE,2097872896,2042626048
$ERRORS,0,5,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12210.35,0x2378b6,7,5
$INTR,1,23.95,0x234484,0,24
$INTR,2,79.55,0x213684,0,24
$INTR,3,5025.87,0x2378b6,2,5
$INTR,4,11652.35,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,010914,004054,7340.625,-14506.020,34,0.8,54,22.9