version: 66.12
glider: 196
mission: 7
dive: 312
start: 9 9 114 7 17 59
data:
$ID,196
$MISSION,7
$DIVE,312
$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,-7205.0308
$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,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
$GPS1,090914,071024,7446.305,-14212.939,33,0.8,53,24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.8
$GPS2,090914,071739,7446.258,-14212.957,6,0.8,26,24.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,187.8,166331,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,192,2764,443,551,0.0,0.0,0,91,0.00,0.00,-72.15,0.000,16386,0.000,0.000,191,2764,2321,2332,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,191,2765,2333,2313,4.1,-5.1,7,137,12.25,1.83,-26.30,0.000,18692,0.399,0.119,2656,3793,3855,3921,3789,0,0,0,0,0,0,13.93,14.21,14.48
$GC,362,-0.69,-145.9,2658,3794,3923,3795,91.3,-25.0,61,367,0.00,1.70,0.00,0.000,1030,0.000,0.051,2653,2768,3857,3921,3794,0,0,0,0,0,0,28.83,14.26,28.83
$GC,672,-0.69,-145.9,2658,2768,3922,3795,157.6,-19.6,93,677,0.00,1.85,0.00,0.000,260,0.000,0.099,2648,3787,3857,3921,3794,0,0,0,0,0,0,28.83,14.25,28.83
$GC,902,-0.69,-145.9,2649,3788,3922,3795,203.4,-20.1,139,907,0.00,1.70,0.00,0.000,1030,0.000,0.052,2648,2763,3857,3921,3794,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1212,-0.69,-145.9,2649,2761,3923,3794,255.9,-15.7,169,1217,0.00,1.83,0.00,0.000,260,0.000,0.100,2640,3792,3857,3921,3794,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1317,-0.69,-145.9,2641,3794,3918,3795,273.9,-17.1,190,1322,0.10,1.70,0.00,0.000,3078,0.226,0.052,2666,2759,3857,3921,3794,0,0,0,0,0,0,14.19,14.47,28.83
$GC,1633,-0.69,-145.9,2667,2760,3922,3792,315.3,-12.7,203,1638,0.00,1.80,0.00,0.000,260,0.000,0.101,2660,3787,3857,3921,3794,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1657,-0.69,-145.9,2661,3790,3922,3803,318.7,-14.3,208,1664,0.00,1.67,0.00,0.000,1030,0.000,0.052,2661,2763,3857,3921,3794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1963,-0.69,-145.9,2661,2764,3922,3795,358.3,-13.0,219,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-0.69,-145.9,2661,2764,3922,3795,397.4,-12.9,229,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-0.69,-145.9,2661,2763,3922,3794,435.4,-12.5,239,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,-0.69,-145.9,2661,2763,3922,3794,472.0,-12.1,249,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3858,3922,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.69,-145.9,2661,2763,3918,3794,508.2,-12.0,259,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.69,-145.9,2660,2763,3922,3793,543.8,-11.8,269,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2762,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,-0.69,-145.9,2659,2763,3916,3794,578.8,-11.6,279,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2762,3857,3920,3794,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b7eda7bf3;,*09
$MODEM_MSG,CACST,6,0,20140909080050.395139,3,213,-6,0096,0150,217,03,03,05,03,1,004,000,0,5,1,0,150,6.5,3.2,-100,-0.2,-01,-0.2,27,900,0025*27
$GC,4063,-0.69,-145.9,2660,2763,3922,3794,613.3,-11.5,289,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2763,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.69,-145.9,2660,2763,3922,3794,648.1,-11.6,299,4368,0.00,2.33,0.00,0.000,516,0.000,0.063,2659,1375,3857,3921,3794,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4408,-0.69,-145.9,2660,1373,3922,3794,653.2,-11.3,308,4413,0.00,2.47,0.00,0.000,1030,0.000,0.095,2650,2769,3857,3921,3794,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4724,-0.69,-145.9,2651,2770,3923,3794,691.0,-12.0,321,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.69,-145.9,2651,2769,3922,3795,726.7,-11.8,331,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2769,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5231,begin apogee
$GC,5235,-0.13,0.0,2651,2774,3922,3795,751.7,-11.9,338,5365,0.73,0.00,126.97,1.994,10244,0.219,0.000,2843,2770,3256,3276,3236,0,0,0,0,0,0,14.24,28.83,13.03
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5368,0.69,145.9,2844,2770,3274,3233,754.9,0.0,342,5500,0.88,0.00,124.95,1.838,11270,0.119,0.000,3110,2770,2662,2669,2656,0,0,0,0,0,0,13.74,28.83,12.62
$GC,5805,0.69,145.9,3111,2771,2665,2648,709.7,13.2,382,5810,0.00,2.45,0.00,0.000,516,0.000,0.062,3121,1353,2655,2666,2645,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5840,0.69,145.9,3122,1352,2667,2648,705.4,12.4,389,5845,0.00,2.50,0.00,0.000,1030,0.000,0.088,3121,2738,2656,2666,2647,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6166,0.69,145.9,3122,2739,2668,2646,661.6,13.5,404,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,0.69,145.9,3122,2740,2667,2647,621.3,13.4,414,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6765,0.69,145.9,3122,2740,2667,2646,581.4,13.3,424,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7065,0.69,145.9,3122,2739,2667,2645,542.0,13.1,434,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,0.69,145.9,3122,2740,2667,2646,503.5,12.8,444,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7665,0.69,145.9,3122,2739,2668,2645,465.5,12.7,454,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7965,0.69,145.9,3122,2740,2665,2646,427.6,12.7,464,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8265,0.69,145.9,3122,2740,2667,2646,390.6,12.2,474,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8565,0.69,145.9,3122,2740,2667,2646,354.5,12.0,484,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2739,2660,2675,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8865,0.69,152.3,3122,2739,2668,2645,319.9,11.3,494,8869,0.00,0.00,3.53,1.234,8198,0.000,0.000,3121,2739,2636,2648,2625,0,0,0,0,0,0,28.83,28.83,13.58
$GC,9165,0.70,161.5,3122,2739,2668,2627,287.3,11.1,504,9178,0.00,0.00,12.30,1.355,8198,0.000,0.000,3122,2739,2599,2610,2589,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9465,0.71,176.8,3122,2739,2607,2582,254.3,10.8,514,9479,0.00,0.00,13.48,1.317,8198,0.000,0.000,3121,2739,2537,2547,2528,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9765,0.75,231.5,3122,2740,2544,2521,226.3,8.7,540,9817,0.00,2.38,46.17,1.270,8708,0.000,0.062,3126,1357,2306,2309,2304,0,0,0,0,0,0,28.83,14.23,13.64
$GC,9876,0.78,268.4,3126,1357,2308,2303,215.3,9.7,562,9912,0.00,2.45,31.25,1.310,9222,0.000,0.090,3125,2736,2161,2163,2160,0,0,0,0,0,0,28.83,14.24,13.53
$GC,10217,0.80,301.0,3126,2736,2161,2145,179.0,9.9,600,10249,0.00,0.00,27.65,1.252,8198,0.000,0.000,3125,2736,2024,2030,2019,0,0,0,0,0,0,28.83,28.83,13.62
$GC,10549,0.82,328.9,3126,2736,2031,2009,145.3,10.1,633,10579,0.00,0.00,23.75,1.219,8710,0.000,0.000,3125,2736,1914,1915,1914,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10879,0.84,367.0,3126,2737,1915,1901,113.0,9.6,667,10914,0.12,2.45,30.58,1.180,10756,0.124,0.066,3197,1352,1755,1757,1753,0,0,0,0,0,0,14.36,14.23,13.67
$GC,10963,0.84,367.0,3198,1353,1754,1747,101.7,13.3,684,10970,0.00,2.47,0.00,0.000,1030,0.000,0.091,3197,2733,1749,1754,1745,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11269,0.85,373.9,3197,2733,1757,1739,62.3,11.3,715,11272,0.00,0.00,1.67,0.329,8198,0.000,0.000,3197,2733,1732,1740,1725,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11569,0.96,526.8,3198,2733,1756,1725,43.6,3.5,745,11640,0.00,0.00,69.72,0.319,8198,0.000,0.000,3197,2732,1109,1124,1094,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11939,1.03,630.3,3198,2733,1125,1082,22.8,6.1,782,11991,0.00,1.95,47.20,0.269,8452,0.000,0.099,3197,3786,687,673,701,0,0,0,0,0,0,28.83,14.17,14.02
$GC,12105,1.11,746.6,3198,3786,672,702,13.4,5.4,815,12133,0.12,1.77,21.65,0.239,11270,0.076,0.049,3264,2720,498,446,551,0,0,0,0,0,0,14.21,14.25,14.02
$FREEZE,8.83,-1.205,-1.423,2,1,0
$FREEZE,8.08,-1.210,-1.422,2,1,0
$FREEZE,7.12,-1.209,-1.421,2,1,0
$FREEZE,6.16,-1.206,-1.421,2,1,0
$FREEZE,5.35,-1.208,-1.420,2,1,0
$FREEZE,4.50,-1.206,-1.419,2,1,0
$FREEZE,3.58,-1.207,-1.418,2,1,0
$FREEZE,2.66,-1.209,-1.418,2,1,0
$FREEZE,1.96,-1.210,-1.417,2,1,0
$STATE,12249,end climb,SURFACE_DEPTH_REACHED
$STATE,12249,begin surface coast
$FREEZE,0.99,-1.211,-1.417,2,1,0
$FREEZE,0.88,-1.234,-0.885,2,1,0
$FINISH,0.9,1.013044
$STATE,12270,end surface coast,FINISH_DEPTH_REACHED
$STATE,12271,begin surface
$SM_CCo,12348,0.00,0.000,0,0,496,677.52
$SM_GC,1.97,9.40,0.08,0.00,0.077,0.200,0.000,194,2760,496,-8.37,-0.71,677.52,0,0,0,0,0,0,14.35,14.29,28.83
$RAFOS_CLK,486
$MODEM,4,1410249650,74.95300,-144.59399,50.395,72970.8
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7405.88,-14203.91,090914,034411
$TT8_MAMPS,0.044191,0.044191
$HUMID,44.84
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,4
$SC_FREEKB,3798848
$24V_AH,12.62,96.533
$10V_AH,12.71,0.000
$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,23.600,37.375,580.875,0.000,0.000,0.000,0.000,240.075,1.000,0.000,27.391,0.000,9994.384,629.092,1948.328,205.895,0.000,1543.002,0.000,1245.394,1491.000,0.540,0.000
$DEVICE_MAMPS,398.565,200.430,1994.355,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12319.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.971,0.000,0.000,0.000
$MEM,184732
$DATA_FILE_SIZE,29974,834
$CAP_FILE_SIZE,132391,0
$CFSIZE,2097872896,2031878144
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12554.59,0x2378b6,7,5
$INTR,1,5232.39,0x2378b6,2,5
$SOUNDSPEED,1448.1
$GPS,090914,104512,7444.899,-14216.296,36,0.9,56,24.1