version: 66.12
glider: 196
mission: 7
dive: 298
start: 9 7 114 5 21 47
data:
$ID,196
$MISSION,7
$DIVE,298
$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,-6461.7705
$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,60
$R_STBD_OVSHOOT,14
$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
$GPS1,070914,050724,7429.506,-14238.231,36,0.8,56,23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.3
$GPS2,070914,052127,7429.410,-14238.319,3,0.9,24,23.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.7,11135,-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,17,-0.69,-145.9,207,2744,416,573,0.0,0.0,0,90,0.00,0.00,-71.45,0.000,16386,0.000,0.000,205,2743,2272,2284,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2744,2285,2263,3.7,-3.7,7,141,12.15,2.40,-28.73,0.000,18948,0.397,0.085,2661,1372,3856,3921,3792,0,0,0,0,0,0,13.90,14.19,14.42
$GC,317,-0.69,-145.9,2663,1373,3921,3796,70.3,-21.6,52,323,0.00,2.53,0.00,0.000,1030,0.000,0.098,2654,2774,3858,3921,3795,0,0,0,0,0,0,28.83,14.21,28.83
$GC,622,-0.69,-145.9,2654,2774,3922,3794,137.8,-20.6,83,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2773,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,921,-0.69,-145.9,2654,2775,3922,3796,194.0,-17.9,113,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2774,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1221,-0.69,-145.9,2654,2775,3922,3796,245.0,-15.7,143,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2774,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.69,-145.9,2654,2773,3922,3795,291.5,-14.4,156,1536,0.00,1.77,0.00,0.000,260,0.000,0.102,2646,3783,3857,3920,3795,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1546,-0.69,-145.9,2647,3783,3921,3796,293.8,-14.4,159,1551,0.00,1.70,0.00,0.000,1030,0.000,0.054,2646,2755,3858,3921,3795,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1862,-0.69,-145.9,2647,2756,3922,3796,339.2,-14.0,172,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2755,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.69,-145.9,2647,2754,3921,3796,379.9,-13.3,182,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2754,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.69,-145.9,2648,2754,3917,3795,420.1,-13.4,192,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,-0.69,-145.9,2647,2755,3921,3795,460.2,-13.3,202,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-0.69,-145.9,2646,2754,3922,3795,499.5,-12.9,212,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,-0.69,-145.9,2647,2755,3921,3796,537.9,-12.7,222,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.69,-145.9,2647,2755,3922,3796,576.2,-12.7,232,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2754,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3961,-0.69,-145.9,2646,2755,3922,3796,614.4,-12.7,242,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2754,3857,3920,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4261,-0.69,-145.9,2646,2754,3922,3795,652.2,-12.6,252,4266,0.00,2.30,0.00,0.000,516,0.000,0.064,2646,1370,3858,3921,3795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4301,-0.69,-145.9,2645,1370,3922,3795,657.3,-12.2,260,4307,0.15,2.45,0.00,0.000,3078,0.249,0.095,2668,2761,3858,3921,3795,0,0,0,0,0,0,14.31,14.49,28.83
$GC,4623,-0.69,-145.9,2669,2761,3922,3797,692.7,-11.0,274,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-0.69,-145.9,2669,2762,3921,3796,725.7,-11.0,284,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5164,-0.13,0.0,2669,2762,3921,3797,751.9,-10.8,292,5292,0.65,0.00,126.15,2.003,10244,0.212,0.000,2845,2761,3257,3278,3237,0,0,0,0,0,0,14.32,28.83,13.08
$STATE,5293,end apogee,CONTROL_FINISHED_OK
$STATE,5294,begin climb
$GC,5296,0.69,145.9,2846,2762,3275,3236,755.6,0.0,296,5428,0.88,0.00,125.55,1.851,11270,0.119,0.000,3112,2761,2658,2665,2652,0,0,0,0,0,0,13.77,28.83,12.63
$GC,5733,0.69,145.9,3114,2762,2665,2646,711.1,13.1,336,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2761,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,0.69,145.9,3113,2761,2666,2645,672.0,13.0,346,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2761,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6333,0.69,145.9,3114,2762,2665,2646,633.2,13.0,356,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2761,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6633,0.69,145.9,3113,2761,2666,2645,594.5,12.9,366,6638,0.00,2.38,0.00,0.000,516,0.000,0.064,3124,1348,2654,2665,2644,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6658,0.69,149.0,3125,1349,2665,2646,591.3,11.5,371,6664,0.00,2.45,0.00,0.000,1030,0.000,0.090,3124,2743,2655,2665,2645,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6963,0.69,149.0,3125,2745,2665,2645,550.4,13.3,382,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,0.69,149.0,3125,2745,2665,2644,510.4,13.2,392,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2744,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,0.69,149.0,3124,2744,2666,2644,471.5,13.0,402,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2744,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,0.69,149.0,3124,2745,2665,2645,432.8,12.8,412,7868,0.00,1.83,0.00,0.000,260,0.000,0.096,3124,3773,2654,2665,2644,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7888,0.69,149.0,3124,3773,2666,2644,429.1,14.5,417,7894,0.00,1.70,0.00,0.000,1030,0.000,0.050,3131,2728,2654,2665,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8193,0.69,149.0,3132,2729,2666,2645,389.2,13.0,428,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2728,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,0.69,149.0,3132,2729,2664,2645,350.5,12.7,438,8498,0.00,1.83,0.00,0.000,260,0.000,0.095,3131,3785,2654,2665,2644,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8523,0.69,149.0,3132,3785,2666,2644,346.4,14.1,444,8528,0.00,1.70,0.00,0.000,1030,0.000,0.049,3139,2735,2654,2665,2644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8854,0.69,149.0,3139,2735,2667,2644,304.8,12.2,460,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2735,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9153,0.70,157.6,3140,2736,2666,2645,269.9,11.2,470,9168,0.00,2.30,10.55,1.366,8708,0.000,0.062,3150,1349,2611,2619,2603,0,0,0,0,0,0,28.83,14.57,13.89
$GC,9228,0.72,185.8,3151,1349,2618,2604,261.8,10.1,485,9258,0.00,2.42,23.65,1.327,9222,0.000,0.090,3150,2735,2496,2501,2492,0,0,0,0,0,0,28.83,14.38,13.78
$GC,9567,0.72,185.9,3151,2737,2501,2489,221.3,11.6,519,9572,0.00,1.88,0.00,0.000,260,0.000,0.097,3150,3780,2492,2500,2485,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9632,0.72,187.9,3151,3780,2502,2489,213.6,11.5,532,9638,0.10,1.73,0.00,0.000,5126,0.252,0.050,3121,2740,2492,2496,2488,0,0,0,0,0,0,14.12,14.38,28.83
$GC,9938,0.77,266.2,3122,2740,2501,2489,189.4,7.5,563,10008,0.00,0.00,67.78,1.342,8198,0.000,0.000,3121,2739,2170,2173,2167,0,0,0,0,0,0,28.83,28.83,13.50
$GC,10307,0.80,307.2,3122,2740,2172,2155,155.3,9.4,600,10347,0.00,0.00,34.62,1.208,8710,0.000,0.000,3120,2739,1999,2007,1992,0,0,0,0,0,0,28.83,28.83,13.56
$GC,10647,0.83,353.2,3121,2740,2009,1982,123.0,9.2,638,10692,0.15,2.45,38.00,1.161,10756,0.113,0.066,3190,1353,1812,1814,1810,0,0,0,0,0,0,14.28,14.11,13.57
$GC,10757,0.83,353.2,3191,1354,1811,1805,108.7,12.8,660,10762,0.00,2.50,0.00,0.000,1030,0.000,0.092,3190,2736,1809,1810,1809,0,0,0,0,0,0,28.83,14.08,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5ae57a989d;,*0B
$MODEM_MSG,CACST,6,0,20140907080420.956546,3,526,09,0375,0150,217,03,03,03,03,1,005,000,0,5,1,0,150,21.3,16.5,-100,-13.5,-01,-0.2,22,900,0025*04
$MODEM_MSG,CACST,6,1,20140907080557.797301,3,3371,-6,0386,0150,217,04,04,07,04,-1,-01,-01,1,3,1,0,150,10.8,3.0,-100,-0.0,-01,0.0,19,900,0025*21
$GC,11067,0.83,353.2,3191,2737,1812,1800,69.3,11.7,692,11072,0.00,2.38,0.00,0.000,516,0.000,0.064,3199,1352,1805,1811,1800,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11107,0.87,399.0,3200,1353,1811,1800,65.3,9.2,700,11133,0.00,2.45,19.45,0.386,9222,0.000,0.092,3200,2727,1632,1638,1626,0,0,0,0,0,0,28.83,14.20,13.92
$GC,11438,0.97,549.5,3200,2727,1646,1619,41.5,3.6,736,11510,0.00,1.98,68.15,0.311,8452,0.000,0.099,3200,3792,1016,1024,1008,0,0,0,0,0,0,28.83,14.16,13.97
$GC,11526,1.02,615.3,3201,3792,1025,1009,35.9,8.1,748,11561,0.00,1.73,30.02,0.311,9222,0.000,0.050,3205,2733,749,739,759,0,0,0,0,0,0,28.83,14.23,13.94
$GC,11860,1.10,729.3,3206,2734,739,752,13.3,5.6,785,11891,0.15,0.00,28.33,0.239,10246,0.116,0.000,3273,2733,499,450,549,0,0,0,0,0,0,14.28,28.83,14.04
$FREEZE,8.36,-1.382,-1.435,2,1,0
$FREEZE,7.35,-1.384,-1.434,2,1,0
$FREEZE,6.31,-1.385,-1.433,2,1,0
$STATE,11938,end climb,FINISH_DEPTH_REACHED
$STATE,11939,begin subsurface finish
$FINISH1,6.3,1.021083,358
$GC,11944,0.25,357.7,3275,2733,453,550,6.3,9.6,793,11987,1.05,2.42,-34.80,0.000,20996,0.177,0.089,2978,1353,1802,1859,1745,0,0,0,0,0,0,14.09,14.20,14.45
$FINISH2,6.8
$STATE,11987,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11988,begin surface
$RAFOS_CLK,121
$MODEM,5,1410077060,74.46220,-141.65880,260.957,378100.4
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7342.54,-14235.68,070914,013848
$TT8_MAMPS,0.04494,0.04494
$HUMID,44.09
$INTERNAL_PRESSURE,8.67999
$TCM_TEMP,13.30
$XPDR_PINGS,9
$SC_FREEKB,3805120
$24V_AH,12.63,91.843
$10V_AH,12.73,0.000
$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,15.275,49.250,572.250,0.000,0.000,0.000,0.000,581.075,2.250,0.000,26.134,0.000,9670.297,655.555,2207.273,295.347,0.000,1907.115,0.000,1196.909,1492.000,0.539,0.000
$DEVICE_MAMPS,397.035,101.745,2002.770,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.079,0.000,0.000,0.000
$MEM,192584
$DATA_FILE_SIZE,26689,801
$CAP_FILE_SIZE,135546,0
$CFSIZE,2097872896,2034532352
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13168.57,0x2378b6,7,5
$INTR,1,5161.32,0x2378b6,2,5
$INTR,2,11941.41,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,070914,052127,7429.410,-14238.319,3,0.9,24,23.9