version: 66.12
glider: 196
mission: 7
dive: 301
start: 9 7 114 15 52 2
data:
$ID,196
$MISSION,7
$DIVE,301
$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,-6463.0322
$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,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
$GPS1,070914,153424,7433.657,-14230.148,31,0.7,52,24.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.0
$GPS2,070914,155142,7433.561,-14229.502,3,0.7,24,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,352.1,50966,-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,-145.9,200,2759,432,551,0.0,0.0,0,90,0.00,0.00,-71.97,0.000,16386,0.000,0.000,199,2759,2288,2299,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,200,2759,2301,2279,3.8,-4.1,7,141,12.35,2.42,-28.25,0.000,18948,0.402,0.089,2664,1381,3857,3923,3792,0,0,0,0,0,0,13.89,14.17,14.42
$GC,307,-0.69,-145.9,2665,1381,3924,3796,67.6,-23.0,50,313,0.00,2.47,0.00,0.000,1030,0.000,0.094,2655,2762,3858,3923,3794,0,0,0,0,0,0,28.83,14.21,28.83
$GC,616,-0.69,-145.9,2655,2763,3929,3795,134.5,-20.1,81,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3924,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-0.69,-145.9,2655,2761,3924,3795,191.2,-18.3,111,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1215,-0.69,-145.9,2656,2762,3931,3795,241.9,-15.9,141,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3856,3918,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-0.69,-145.9,2656,2763,3928,3795,289.8,-14.1,155,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2762,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.69,-145.9,2656,2763,3924,3795,331.4,-13.7,165,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b74ba739f;,*00
$MODEM_MSG,CACST,6,0,20140907160107.461752,3,326,01,0407,0150,217,03,03,04,03,1,004,000,0,5,1,0,150,6.8,4.6,-100,-1.6,-01,-0.3,29,900,0025*33
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5aeb2a99c2;,*56
$MODEM_MSG,CACST,6,0,20140907160421.564406,3,1036,06,0243,0150,250,03,03,04,05,1,005,000,0,5,1,0,150,20.2,14.6,-100,-11.6,-01,0.3,35,900,0025*16
$GC,2135,-0.69,-145.9,2656,2763,3924,3796,371.8,-13.3,175,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-0.69,-145.9,2656,2763,3924,3796,411.5,-13.2,185,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2735,-0.69,-145.9,2656,2763,3924,3795,450.3,-12.9,195,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3035,-0.69,-145.9,2656,2763,3923,3795,488.7,-12.7,205,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3923,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3335,-0.69,-145.9,2655,2763,3924,3796,526.1,-12.4,215,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.69,-145.9,2656,2764,3924,3796,563.3,-12.4,225,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.69,-145.9,2656,2763,3924,3795,600.3,-12.3,235,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3859,3923,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4235,-0.69,-145.9,2656,2763,3922,3796,636.8,-12.2,245,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4535,-0.69,-145.9,2656,2763,3924,3797,673.6,-12.3,255,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4835,-0.69,-145.9,2656,2763,3924,3797,709.6,-12.0,265,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5135,-0.69,-145.9,2656,2763,3924,3797,745.6,-12.0,275,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5193,begin apogee
$GC,5197,-0.13,0.0,2656,2763,3923,3797,752.5,-11.9,277,5327,0.70,0.00,127.03,2.004,10246,0.218,0.000,2843,2762,3257,3279,3236,0,0,0,0,0,0,14.31,28.83,13.07
$STATE,5328,end apogee,CONTROL_FINISHED_OK
$STATE,5328,begin climb
$GC,5330,0.69,145.9,2844,2763,3274,3234,756.4,0.0,281,5460,0.90,0.00,126.78,1.843,10246,0.120,0.000,3111,2763,2661,2667,2656,0,0,0,0,0,0,13.77,28.83,12.62
$GC,5735,0.69,145.9,3111,2763,2666,2644,716.4,13.0,295,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2763,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,0.69,145.9,3111,2762,2665,2645,677.5,12.9,305,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6335,0.69,145.9,3111,2764,2665,2645,639.1,12.7,315,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2763,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,0.69,145.9,3111,2763,2666,2644,601.0,12.7,325,6640,0.00,1.83,0.00,0.000,260,0.000,0.097,3111,3783,2654,2664,2644,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6660,0.69,145.9,3111,3783,2666,2644,597.5,14.3,330,6666,0.00,1.70,0.00,0.000,1030,0.000,0.050,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6965,0.69,145.9,3119,2747,2665,2645,557.4,13.1,341,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,0.69,145.9,3118,2747,2666,2644,518.3,13.0,351,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,0.69,145.9,3119,2747,2665,2645,479.4,12.9,361,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,0.69,145.9,3119,2748,2665,2645,440.8,12.8,371,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,0.69,145.9,3119,2748,2665,2645,402.8,12.6,381,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,0.69,145.9,3119,2747,2666,2644,365.5,12.2,391,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,0.69,145.9,3119,2748,2666,2645,329.7,11.7,401,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2747,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,0.70,158.0,3119,2748,2665,2645,296.4,11.0,411,9077,0.00,0.00,11.27,1.380,8198,0.000,0.000,3118,2747,2612,2621,2603,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9365,0.70,164.1,3119,2748,2617,2598,262.3,11.3,421,9369,0.00,0.00,3.05,1.080,8198,0.000,0.000,3118,2747,2589,2599,2579,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9665,0.75,234.0,3119,2747,2618,2581,232.7,7.9,443,9728,0.00,0.00,61.75,1.346,8710,0.000,0.000,3118,2747,2303,2308,2299,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10025,0.78,275.0,3118,2747,2304,2285,199.8,9.4,482,10065,0.00,0.00,34.28,1.258,8710,0.000,0.000,3119,2746,2132,2138,2126,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10365,0.81,318.0,3118,2748,2133,2118,165.4,9.3,519,10407,0.12,2.45,36.47,1.220,10756,0.125,0.067,3178,1357,1954,1954,1954,0,0,0,0,0,0,14.38,14.21,13.62
$GC,10462,0.81,318.0,3179,1358,1950,1953,153.6,12.2,538,10468,0.00,2.47,0.00,0.000,1030,0.000,0.090,3178,2744,1950,1951,1950,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10767,0.81,318.0,3178,2745,1952,1946,113.9,12.6,569,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2745,1949,1951,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11067,0.83,349.3,3179,2746,1952,1946,78.8,10.0,599,11081,0.00,0.00,12.75,0.420,8198,0.000,0.000,3177,2745,1833,1832,1834,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11377,0.90,452.3,3178,2745,1846,1834,50.3,6.1,630,11429,0.00,2.45,46.97,0.339,8708,0.000,0.063,3186,1355,1414,1429,1399,0,0,0,0,0,0,28.83,14.23,13.98
$GC,11480,1.00,588.1,3187,1356,1431,1399,45.9,4.4,645,11550,0.00,2.47,61.65,0.324,9222,0.000,0.090,3186,2741,856,858,855,0,0,0,0,0,0,28.83,14.20,13.93
$GC,11849,1.07,693.0,3183,2741,859,848,21.2,6.0,689,11895,0.17,1.85,41.03,0.264,10500,0.112,0.093,3257,3784,498,448,548,0,0,0,0,0,0,14.26,14.17,13.96
$GC,11930,1.09,724.6,3258,3785,450,549,14.1,9.9,703,11935,0.00,1.75,0.00,0.000,1030,0.000,0.048,3259,2745,499,450,548,0,0,0,0,0,0,28.83,14.22,28.83
$FREEZE,8.78,-1.329,-1.427,2,1,0
$FREEZE,8.11,-1.328,-1.426,2,1,0
$FREEZE,7.67,-1.330,-1.426,2,1,0
$FREEZE,7.01,-1.329,-1.425,2,1,0
$FREEZE,6.31,-1.330,-1.425,2,1,0
$FREEZE,5.71,-1.329,-1.424,2,1,0
$FREEZE,4.64,-1.329,-1.423,2,1,0
$FREEZE,3.78,-1.329,-1.423,2,1,0
$FREEZE,3.25,-1.330,-1.422,2,1,0
$FREEZE,2.55,-1.328,-1.422,2,1,0
$FREEZE,2.10,-1.333,-1.421,2,1,0
$FREEZE,2.12,-1.332,-1.421,2,1,0
$FREEZE,1.96,-1.336,-1.421,2,1,0
$STATE,12108,end climb,SURFACE_DEPTH_REACHED
$STATE,12108,begin surface coast
$FREEZE,2.00,-1.336,-1.421,2,1,0
$FREEZE,1.98,-1.335,-1.421,2,1,0
$FREEZE,2.01,-1.335,-1.421,2,1,0
$FREEZE,1.93,-1.338,-1.421,2,1,0
$FREEZE,1.89,-1.336,-1.421,2,1,0
$FREEZE,1.92,-1.336,-1.421,2,1,0
$FINISH,1.9,1.020951
$STATE,12168,end surface coast,CONTROL_FINISHED_OK
$STATE,12168,begin surface
$RAFOS_CLK,597
$MODEM,5,1410105861,74.48040,-141.54160,261.564,378869.5
$MODEM,4,1410105667,74.92060,-145.44679,67.462,97716.7
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7350.26,-14233.79,070914,153835
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.02
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3803776
$24V_AH,12.62,92.815
$10V_AH,12.96,0.000
$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,14.250,21.875,563.025,0.000,0.000,0.000,0.000,713.725,1.500,0.000,25.969,0.000,10164.376,623.408,2228.794,292.322,0.000,1925.144,0.000,1102.126,1499.000,0.539,0.000
$DEVICE_MAMPS,401.625,97.155,2003.535,0.000,0.000,0.000,0.000,185.895,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.673,0.000,0.000,0.000
$MEM,190968
$DATA_FILE_SIZE,23410,728
$CAP_FILE_SIZE,131279,0
$CFSIZE,2097872896,2033975296
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13459.13,0x2378b6,7,5
$INTR,1,5195.12,0x2378b6,2,5
$SOUNDSPEED,1447.5
$GPS,070914,155142,7433.561,-14229.502,3,0.7,24,24.0