version: 66.12
glider: 196
mission: 7
dive: 281
start: 9 4 114 17 6 40
data:
$ID,196
$MISSION,7
$DIVE,281
$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,-5902.6846
$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,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
$GPS1,040914,165524,7408.482,-14337.951,36,0.8,56,23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.7
$GPS2,040914,170620,7408.465,-14338.181,5,0.8,25,23.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.8,59513,-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,-145.9,205,2756,430,554,0.0,0.0,0,90,0.00,0.00,-71.78,0.000,16386,0.000,0.000,205,2755,2200,2211,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2756,2213,2192,3.7,-4.2,7,141,12.25,0.00,-30.58,0.000,18950,0.401,0.000,2661,2756,3853,3919,3788,0,0,0,0,0,0,13.93,28.83,14.45
$GC,438,-0.69,-145.9,2662,2756,3920,3794,103.5,-22.0,47,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2756,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.69,-145.9,2661,2756,3920,3794,164.2,-19.2,77,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1038,-0.69,-145.9,2661,2756,3921,3794,217.3,-16.4,107,1043,0.00,2.33,0.00,0.000,516,0.000,0.064,2661,1370,3856,3919,3793,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1088,-0.69,-145.9,2662,1370,3920,3795,225.1,-14.3,117,1093,0.00,2.47,0.00,0.000,1030,0.000,0.096,2651,2765,3856,3919,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1398,-0.69,-145.9,2653,2767,3920,3795,272.3,-14.7,139,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-0.69,-145.9,2653,2767,3920,3795,315.3,-14.0,149,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.69,-145.9,2653,2767,3920,3795,355.9,-13.5,159,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,-0.69,-145.9,2653,2764,3920,3800,395.3,-13.0,169,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-0.69,-145.9,2653,2768,3920,3794,433.8,-12.8,179,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.69,-145.9,2653,2766,3919,3794,472.2,-12.7,189,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3198,-0.69,-145.9,2653,2766,3921,3794,510.6,-12.8,199,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3498,-0.69,-145.9,2653,2766,3920,3794,548.7,-12.7,209,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.69,-145.9,2653,2767,3920,3794,586.5,-12.5,219,3803,0.00,2.33,0.00,0.000,516,0.000,0.063,2652,1369,3856,3919,3794,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3843,-0.69,-145.9,2653,1367,3921,3794,592.0,-12.1,228,3848,0.12,2.42,0.00,0.000,3078,0.267,0.095,2667,2757,3856,3918,3794,0,0,0,0,0,0,14.34,14.51,28.83
$GC,4159,-0.69,-145.9,2668,2758,3920,3795,627.8,-11.4,241,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4458,-0.69,-145.9,2668,2758,3920,3795,661.3,-11.0,251,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3857,3919,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4758,-0.69,-145.9,2667,2758,3921,3794,694.5,-11.1,261,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5058,-0.69,-145.9,2667,2758,3921,3794,727.3,-11.0,271,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3856,3919,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5270,-0.13,0.0,2668,2759,3920,3795,750.1,-10.8,278,5399,0.65,0.00,126.40,2.010,10244,0.216,0.000,2843,2758,3257,3277,3238,0,0,0,0,0,0,14.36,28.83,13.08
$STATE,5400,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5402,0.69,145.9,2844,2758,3273,3235,753.6,0.0,282,5535,0.88,0.00,125.12,1.867,11270,0.124,0.000,3109,2757,2660,2666,2654,0,0,0,0,0,0,13.77,28.83,12.64
$GC,5839,0.69,145.9,3110,2758,2666,2647,709.5,12.7,322,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2656,2665,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6139,0.69,145.9,3110,2758,2666,2646,671.3,12.6,332,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,0.69,145.9,3110,2758,2667,2646,633.3,12.7,342,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6740,0.69,145.9,3110,2757,2666,2646,595.7,12.6,352,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2758,2655,2665,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7039,0.69,145.9,3111,2758,2666,2646,558.9,12.3,362,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2758,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,0.69,145.9,3110,2757,2666,2646,522.1,12.2,372,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2757,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7639,0.69,145.9,3111,2758,2666,2646,485.7,12.1,382,7644,0.00,1.83,0.00,0.000,260,0.000,0.097,3109,3780,2655,2666,2645,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7649,0.69,145.9,3111,3782,2666,2646,484.4,12.2,384,7654,0.00,1.70,0.00,0.000,1030,0.000,0.050,3117,2738,2655,2665,2645,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7971,0.69,145.9,3118,2737,2666,2646,444.8,12.3,398,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,0.69,145.9,3118,2737,2667,2645,408.1,12.1,408,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2737,2652,2660,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,0.69,145.9,3118,2736,2666,2643,371.3,12.2,418,8574,0.00,1.88,0.00,0.000,260,0.000,0.098,3117,3789,2655,2666,2645,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8594,0.69,145.9,3118,3789,2667,2645,368.1,13.5,423,8600,0.00,1.70,0.00,0.000,1030,0.000,0.051,3125,2742,2655,2666,2645,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8899,0.69,145.9,3126,2743,2666,2653,330.4,12.2,434,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9199,0.69,145.9,3126,2743,2667,2646,294.5,11.7,444,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2743,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9500,0.70,160.6,3125,2743,2667,2645,261.4,10.8,454,9520,0.00,2.38,13.18,1.336,8708,0.000,0.065,3135,1347,2597,2605,2590,0,0,0,0,0,0,28.83,14.54,13.91
$GC,9564,0.72,188.2,3137,1347,2604,2592,254.9,10.2,467,9595,0.00,2.45,23.40,1.298,9222,0.000,0.091,3136,2750,2485,2490,2481,0,0,0,0,0,0,28.83,14.45,13.81
$GC,9900,0.74,217.5,3137,2751,2491,2478,217.2,10.1,506,9926,0.00,0.00,24.67,1.283,8454,0.000,0.000,3136,2750,2371,2374,2369,0,0,0,0,0,0,28.83,28.83,13.73
$GC,10232,0.76,249.7,3136,2750,2371,2359,183.5,9.9,540,10262,0.00,0.00,27.92,1.284,8198,0.000,0.000,3136,2750,2236,2239,2233,0,0,0,0,0,0,28.83,28.83,13.67
$GC,10565,0.78,281.0,3137,2751,2238,2226,149.9,10.0,573,10596,0.00,0.00,27.23,1.278,8198,0.000,0.000,3135,2750,2106,2111,2102,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10896,0.81,319.1,3137,2751,2112,2100,117.5,9.6,606,10931,0.00,2.42,29.02,1.230,8708,0.000,0.067,3145,1357,1954,1954,1954,0,0,0,0,0,0,28.83,14.16,13.59
$GC,10950,0.83,351.2,3145,1357,1952,1953,111.9,9.9,615,10981,0.00,2.50,26.35,1.243,9222,0.000,0.092,3144,2747,1824,1824,1825,0,0,0,0,0,0,28.83,14.14,13.52
$GC,11286,0.87,402.6,3145,2747,1820,1807,78.0,8.9,652,11310,0.00,0.00,22.42,0.422,8198,0.000,0.000,3145,2747,1615,1622,1609,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11607,0.93,485.5,3146,2748,1630,1602,50.6,7.2,684,11652,0.12,2.47,37.60,0.337,10756,0.129,0.067,3210,1353,1277,1293,1262,0,0,0,0,0,0,14.16,14.13,13.93
$GC,11757,0.99,567.8,3212,1353,1291,1260,38.9,7.3,714,11798,0.00,2.53,37.40,0.302,9222,0.000,0.091,3211,2753,943,946,940,0,0,0,0,0,0,28.83,14.14,13.90
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bbc0a6d82;,*5A
$MODEM_MSG,CACST,6,0,20140904200132.948079,3,1166,-5,0344,0150,217,04,04,06,04,1,004,000,0,5,1,0,150,13.9,12.8,-100,-9.8,-01,-0.2,20,900,0025*1B
$GC,12097,1.07,693.3,3211,2754,947,932,13.9,5.0,752,12149,0.00,0.00,50.15,0.237,8710,0.000,0.000,3210,2752,498,448,549,0,0,0,0,0,0,28.83,28.83,14.00
$FREEZE,8.75,-1.313,-1.436,2,1,0
$FREEZE,8.20,-1.314,-1.435,2,1,0
$FREEZE,7.57,-1.315,-1.435,2,1,0
$FREEZE,7.02,-1.314,-1.434,2,1,0
$FREEZE,6.50,-1.315,-1.434,2,1,0
$FREEZE,5.89,-1.315,-1.433,2,1,0
$FREEZE,5.27,-1.311,-1.433,2,1,0
$FREEZE,4.69,-1.311,-1.432,2,1,0
$FREEZE,4.19,-1.309,-1.432,2,1,0
$FREEZE,3.62,-1.307,-1.431,2,1,0
$FREEZE,3.14,-1.302,-1.431,2,1,0
$FREEZE,2.46,-1.305,-1.430,2,1,0
$FREEZE,1.90,-1.300,-1.430,2,1,0
$STATE,12305,end climb,SURFACE_DEPTH_REACHED
$STATE,12305,begin surface coast
$FREEZE,1.33,-1.290,-1.429,2,1,0
$FREEZE,0.75,-1.291,-1.429,2,1,0
$FREEZE,0.72,-1.277,-0.655,2,1,0
$FINISH,0.7,1.009586
$STATE,12335,end surface coast,FINISH_DEPTH_REACHED
$STATE,12335,begin surface
$SM_CCo,12412,0.00,0.000,0,0,494,677.76
$SM_GC,2.00,9.23,0.00,0.00,0.079,0.000,0.000,207,2753,494,-8.36,-0.23,677.76,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,103
$MODEM,4,1409860892,75.14880,-146.07280,92.948,134650.1
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7319.74,-14343.92,040914,100115
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.36
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,13
$SC_FREEKB,3812736
$24V_AH,12.64,86.255
$10V_AH,12.77,0.000
$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,23.250,31.400,570.875,0.000,0.000,0.000,0.000,432.700,3.250,0.000,26.862,0.000,10179.178,614.435,2037.843,232.194,0.000,1687.621,0.000,1173.003,1492.000,0.539,0.000
$DEVICE_MAMPS,400.860,97.920,2009.655,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12385.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.002,0.000,0.000,0.000
$MEM,201884
$DATA_FILE_SIZE,26766,779
$CAP_FILE_SIZE,129858,0
$CFSIZE,2097872896,2037645312
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13064.20,0x2378b6,7,5
$INTR,1,5268.02,0x2378b6,2,5
$INTR,2,12339.50,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,040914,203454,7409.757,-14334.745,34,0.9,54,23.5