version: 66.12
glider: 196
mission: 7
dive: 305
start: 9 8 114 6 13 45
data:
$ID,196
$MISSION,7
$DIVE,305
$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,-6830.7168
$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,18
$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
$GPS1,080914,055854,7439.570,-14220.606,32,0.8,52,24.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.7
$GPS2,080914,061326,7439.521,-14220.450,5,0.9,25,24.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7500.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,350.5,39174,-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,-145.9,206,2769,439,550,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,16386,0.000,0.000,205,2769,2260,2272,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,206,2770,2273,2252,3.5,-3.4,7,141,12.23,2.45,-28.73,0.000,19204,0.399,0.085,2668,1369,3857,3921,3793,0,0,0,0,0,0,13.90,14.19,14.44
$GC,366,-0.69,-145.9,2668,1370,3923,3795,83.1,-20.8,62,372,0.00,2.53,0.00,0.000,1030,0.000,0.093,2659,2756,3858,3921,3795,0,0,0,0,0,0,28.83,14.21,28.83
$GC,671,-0.69,-145.9,2659,2757,3922,3795,147.5,-20.2,93,676,0.00,2.35,0.00,0.000,516,0.000,0.063,2659,1367,3861,3927,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,901,-0.69,-145.9,2660,1368,3921,3796,187.3,-16.5,139,906,0.00,2.47,0.00,0.000,1030,0.000,0.094,2648,2762,3858,3921,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1211,-0.69,-145.9,2649,2763,3922,3796,242.7,-17.3,171,1216,0.00,2.35,0.00,0.000,516,0.000,0.063,2648,1366,3858,3921,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1256,-0.69,-145.9,2649,1367,3922,3796,249.9,-14.9,180,1262,0.15,2.47,0.00,0.000,3078,0.269,0.094,2668,2761,3858,3921,3795,0,0,0,0,0,0,14.16,14.34,28.83
$GC,1562,-0.69,-145.9,2669,2763,3922,3796,290.1,-13.0,191,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2762,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,-0.69,-145.9,2669,2763,3922,3796,328.0,-12.4,201,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2762,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.69,-145.9,2669,2763,3922,3796,365.0,-12.4,211,2166,0.00,1.83,0.00,0.000,260,0.000,0.101,2663,3777,3858,3921,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2191,-0.69,-145.9,2664,3778,3922,3796,368.9,-13.7,217,2196,0.00,1.67,0.00,0.000,1030,0.000,0.053,2663,2736,3858,3921,3795,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2522,-0.69,-145.9,2663,2736,3922,3797,410.4,-12.5,233,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2735,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.69,-145.9,2664,2736,3922,3796,447.1,-12.1,243,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2735,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.69,-145.9,2664,2736,3922,3796,483.2,-12.0,253,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2735,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.69,-145.9,2664,2736,3922,3796,519.4,-12.1,263,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2735,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.69,-145.9,2663,2735,3922,3795,555.6,-12.0,273,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2734,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-0.69,-145.9,2663,2736,3922,3795,591.2,-11.7,283,4026,0.00,1.85,0.00,0.000,260,0.000,0.105,2654,3788,3858,3921,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4066,-0.69,-145.9,2655,3788,3922,3796,597.0,-13.2,292,4071,0.00,1.67,0.00,0.000,1030,0.000,0.052,2653,2761,3858,3921,3795,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4381,-0.69,-145.9,2655,2762,3922,3796,635.3,-12.1,305,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3858,3920,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4681,-0.69,-145.9,2655,2762,3922,3797,671.6,-12.0,315,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.69,-145.9,2655,2762,3922,3797,707.8,-12.1,325,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5281,-0.69,-145.9,2655,2761,3922,3798,744.0,-12.0,335,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2762,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5339,begin apogee
$GC,5344,-0.13,0.0,2655,2762,3922,3797,751.2,-12.0,337,5472,0.73,0.00,126.45,1.989,10244,0.217,0.000,2848,2761,3257,3278,3236,0,0,0,0,0,0,14.30,28.83,13.07
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5476,0.69,145.9,2849,2762,3273,3233,755.1,0.0,341,5608,0.85,0.00,125.15,1.861,11270,0.117,0.000,3109,2761,2659,2666,2652,0,0,0,0,0,0,13.77,28.83,12.62
$GC,5913,0.69,145.9,3111,2762,2665,2645,712.0,12.7,381,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2761,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6213,0.69,145.9,3110,2761,2666,2644,673.9,12.7,391,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2654,2665,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6514,0.69,145.9,3110,2761,2666,2643,635.8,12.7,401,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6813,0.69,145.9,3110,2761,2666,2643,597.7,12.7,411,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2759,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7113,0.69,145.9,3110,2761,2666,2643,559.5,12.7,421,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,0.69,145.9,3110,2760,2665,2642,521.1,12.8,431,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2761,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,0.69,145.9,3110,2761,2665,2643,482.9,12.7,441,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5af13a9cc1;,*56
$MODEM_MSG,CACST,6,0,20140908080426.777718,3,108,-3,0138,0150,250,03,03,04,05,1,005,000,0,5,1,0,150,7.6,4.5,-100,-1.5,-01,0.1,38,900,0025*01
$GC,8013,0.69,145.9,3110,2762,2665,2643,445.1,12.6,451,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,0.69,145.9,3111,2761,2666,2642,408.3,12.1,461,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2761,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,0.69,145.9,3110,2761,2666,2638,372.8,11.9,471,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2761,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8913,0.69,145.9,3110,2761,2666,2642,337.4,11.8,481,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2761,2653,2665,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9213,0.70,163.5,3111,2763,2666,2645,304.1,10.7,491,9230,0.00,0.00,15.43,1.379,8198,0.000,0.000,3109,2761,2590,2599,2581,0,0,0,0,0,0,28.83,28.83,13.86
$GC,9513,0.71,179.2,3110,2761,2595,2574,271.3,10.8,501,9527,0.00,0.00,13.43,1.354,8198,0.000,0.000,3109,2761,2529,2539,2519,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9813,0.75,224.9,3110,2761,2535,2511,240.7,9.2,517,9858,0.00,2.45,38.67,1.364,8708,0.000,0.065,3120,1353,2335,2339,2332,0,0,0,0,0,0,28.83,14.27,13.62
$GC,9913,0.78,273.2,3121,1354,2336,2332,231.2,9.1,537,9959,0.00,2.47,41.12,1.401,9222,0.000,0.090,3120,2741,2143,2145,2141,0,0,0,0,0,0,28.83,14.24,13.50
$GC,10264,0.81,311.7,3122,2746,2141,2128,194.2,9.6,577,10298,0.00,0.00,32.72,1.234,8198,0.000,0.000,3120,2745,1985,1992,1979,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10596,0.81,322.1,3121,2745,1981,1971,159.0,11.1,610,10610,0.12,2.38,9.12,1.238,10756,0.122,0.065,3192,1355,1937,1937,1938,0,0,0,0,0,0,14.37,14.35,13.75
$GC,10661,0.81,322.1,3193,1356,1938,1936,149.9,14.5,623,10668,0.15,2.47,0.00,0.000,5126,0.243,0.090,3159,2751,1937,1938,1936,0,0,0,0,0,0,14.15,14.31,28.83
$GC,10967,0.82,333.3,3160,2751,1940,1934,112.0,11.0,654,10976,0.00,0.00,6.95,1.203,8198,0.000,0.000,3160,2751,1896,1897,1896,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11275,0.85,378.0,3160,2752,1898,1892,79.1,9.3,685,11301,0.00,2.40,19.80,0.426,8708,0.000,0.067,3167,1354,1715,1719,1712,0,0,0,0,0,0,28.83,14.29,13.96
$GC,11347,0.89,437.9,3168,1355,1724,1714,72.7,8.4,699,11381,0.00,2.45,27.73,0.405,9222,0.000,0.091,3167,2734,1471,1483,1460,0,0,0,0,0,0,28.83,14.24,13.93
$GC,11686,0.96,532.6,3168,2735,1488,1447,44.5,6.6,737,11737,0.00,2.42,42.67,0.320,8708,0.000,0.066,3173,1357,1086,1100,1072,0,0,0,0,0,0,28.83,14.21,13.98
$GC,11769,1.01,609.3,3174,1358,1102,1072,38.8,7.6,753,11809,0.15,2.45,35.03,0.304,11270,0.112,0.091,3233,2729,773,766,781,0,0,0,0,0,0,14.24,14.14,13.97
$GC,12107,1.10,731.4,3233,2729,764,776,12.7,5.1,791,12143,0.00,1.90,31.10,0.236,8452,0.000,0.093,3232,3792,498,450,547,0,0,0,0,0,0,28.83,14.14,14.02
$GC,12163,1.19,859.3,3234,3791,453,547,9.7,4.8,801,12169,0.10,1.77,0.00,0.000,3078,0.069,0.050,3305,2733,500,453,547,0,0,0,0,0,0,14.22,14.25,28.83
$FREEZE,8.45,-1.218,-1.423,2,1,0
$FREEZE,7.39,-1.218,-1.422,2,1,0
$FREEZE,6.26,-1.220,-1.403,2,1,0
$FREEZE,5.30,-1.220,-1.420,2,1,0
$FREEZE,4.30,-1.221,-1.420,2,1,0
$FREEZE,3.13,-1.221,-1.419,2,1,0
$FREEZE,1.50,-1.221,-1.418,2,1,0
$STATE,12237,end climb,SURFACE_DEPTH_REACHED
$STATE,12238,begin surface coast
$FREEZE,1.13,-1.220,-1.417,2,1,0
$FINISH,1.1,1.020904
$STATE,12246,end surface coast,CONTROL_FINISHED_OK
$STATE,12246,begin surface
$SM_CCo,12323,0.00,0.000,0,0,496,677.52
$SM_GC,1.92,9.38,0.00,0.00,0.066,0.000,0.000,202,2733,496,-8.36,-0.76,677.52,0,0,0,0,0,0,14.34,28.83,28.83
$RAFOS_CLK,296
$MODEM,5,1410163466,74.49980,-141.23480,266.778,386423.9
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7358.04,-14218.93,080914,060240
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.80
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,12
$SC_FREEKB,3801984
$24V_AH,12.62,94.173
$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,23.850,44.825,565.375,0.000,0.000,0.000,0.000,583.450,3.000,0.000,26.309,0.000,10079.140,619.523,2233.614,257.186,0.000,1872.133,0.000,1207.737,1484.000,0.539,0.000
$DEVICE_MAMPS,398.565,104.805,1989.000,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.455,0.000,0.000,0.000
$MEM,188776
$DATA_FILE_SIZE,26714,810
$CAP_FILE_SIZE,135272,0
$CFSIZE,2097872896,2033254400
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13141.54,0x2378b6,7,5
$INTR,1,5341.17,0x2378b6,2,5
$INTR,2,12250.86,0x2378b6,7,5
$SOUNDSPEED,1448.4
$GPS,080914,094024,7440.867,-14219.126,27,0.7,47,24.1